A semi-automatic assembly device for a space-wound extendable arm

Abstract

This invention relates to the field of spacecraft component technology, and discloses a semi-automatic assembly device for a space-wound extendable arm. The device includes a base, a cylindrical boss at the center of the upper surface of the base, a central shaft rotatably connected to the upper end of the cylindrical boss, and upper and lower hinge joint fixing brackets respectively on the upper and lower sides of the central shaft. A hinge joint is provided at the end of each of the upper and lower hinge joint fixing brackets away from the central shaft. A support is provided along the outer edge of the base, and a stiffening cable insertion mechanism housing is mounted on the support. Two rotating arms facing away from the center of the base are located on the left side of the stiffening cable insertion mechanism housing, and two rotating arms facing closer to the center of the base are located on the right side of the stiffening cable insertion mechanism housing. This invention is applicable to a semi-automatic assembly device for a space-wound extendable arm, where the insertion of the stiffening cable is completed fully automatically.

Description

Technical Field

[0001] This invention relates to the field of spacecraft component technology, specifically a semi-automatic assembly device for a space-wrapped extendable arm. Background Technology

[0002] With the continuous development of aerospace technology, space missions are trending towards higher precision and complexity, and the requirements for spacecraft platforms for some advanced detection payloads are gradually increasing. For example, some high-precision space environment detection payloads need to operate far from the platform to ensure they are not affected by the electromagnetic environment of the satellite platform. To meet these new requirements, variable satellite configuration has become a solution, and this variable configuration requirement is often achieved through space deployable mechanisms, which retract during satellite launch and deploy after the satellite enters orbit. Benefiting from their simple construction, small mass, high reliability, and large scaling ratio, space-wound extendable arms are commonly used in optical payloads such as space telescopes. However, optical payloads have very high requirements for vibration characteristics during deployment and positional accuracy after deployment. Considering that the main structure of the wound extendable arm is composed of repeatable symmetrical geometric features, the uniformity of its assembly largely determines its performance and requires close attention. For example, if there are differences in the preload of the stiffening cables between different sections, uneven deformation of the longitudinal main frame will occur, leading to instability during deployment. The deployed extendable arm is also prone to large overall shape deviations, thus causing the space mission to fail. Therefore, improvements to the existing assembly mechanism are necessary. Summary of the Invention

[0003] This invention provides a semi-automatic assembly device for a space-wrapped extension arm, which solves the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A semi-automatic assembly device for a space-winding extension arm includes a base. A cylindrical boss is provided in the middle of the upper surface of the base. A central shaft is rotatably connected to the upper end of the cylindrical boss. An upper hinge joint fixing bracket and a lower hinge joint fixing bracket are respectively provided on the upper and lower sides of the central shaft. A hinge joint is provided at the end of the upper and lower hinge joint fixing brackets away from the central shaft. A bracket is provided on the outer edge of the base. A stiffening cable insertion mechanism housing is provided on the bracket. Two rotating arms facing away from the center of the base are provided on the left side of the stiffening cable insertion mechanism housing, and two rotating arms facing closer to the center of the base are provided on the right side of the stiffening cable insertion mechanism housing. The two rotating arms on the same side of the stiffening cable insertion mechanism housing rotate synchronously in opposite directions.

[0006] As a preferred embodiment of the present invention, a rotary motor is provided on the cylindrical boss, and the output shaft of the rotary motor is connected to the central shaft.

[0007] As a preferred embodiment of the present invention, both the upper hinge joint fixing bracket and the lower hinge joint fixing bracket are provided with electric screwdrivers that cooperate with the hinge joint, and a compression spring is provided at one end of the electric screwdriver near the central shaft.

[0008] As a preferred embodiment of the present invention, stepper motors are provided on both the upper and lower sides of the housing of the stiffening cable insertion mechanism, and the output shafts of the stepper motors are connected to the two rotating arms on the same side of the housing of the stiffening cable insertion mechanism through a gear pair.

[0009] As a preferred embodiment of the present invention, a thread-lifting rod drive base is provided in the middle of the rotating arm, a thread-lifting rod is provided on the thread-lifting rod drive base, and a thread-carrying wheel drive base is provided at the end of the rotating arm, a thread-carrying wheel is provided on the thread-carrying wheel drive base.

[0010] The present invention has the following advantages:

[0011] This invention relates to a semi-automatic assembly device for a space-wound articulated boom. The insertion of the stiffening cable is completed automatically by the device, which makes it possible to standardize and mass-produce the coiled articulated boom. By adopting a standardized and automated assembly method, higher assembly accuracy can be achieved. Whether it is the distance between each layer, the distance between the hinge joints, or the preload of the stiffening cable, the assembly accuracy can be better guaranteed, thereby improving the overall performance of the coiled articulated boom. Moreover, it reduces the pressure of manual assembly and reduces the consumption of manpower, material resources, and time, thus making standardized mass production possible. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of a semi-automatic assembly device for a space-oriented spiral extension arm.

[0014] Figure 2 This is a schematic diagram of the automatic wiring mechanism in a semi-automatic assembly device for a space-oriented spiral extension arm.

[0015] Figure 3 This is a schematic diagram of the structure of a stepper motor and gear pair in a semi-automatic assembly device for a space-oriented spiral extension arm.

[0016] Figure 4This is a schematic diagram of the base structure in a semi-automatic assembly device for a space-oriented spiral extension arm.

[0017] Figure 5 This is a schematic diagram of the structure of a coiled extension arm in a semi-automatic assembly device for a space-oriented coiled extension arm.

[0018] In the diagram: 1. Base; 2. Lower hinge joint fixing bracket; 3. Rotary motor; 4. Upper hinge joint fixing bracket; 5. Central shaft; 6. Compression spring; 7. Electric screwdriver; 8. Hinge joint; 9. Hurting cable insertion mechanism housing; 10. Gear pair; 11. Stepper motor; 12. Stepper motor bracket; 13. Rotating arm; 14. Wire take-up lever drive base; 15. Wire guide wheel; 16. Wire take-up lever; 17. Wire guide wheel drive base; 18. Vertical bar; 19. Hinge; 20. Hurting cable; 21. Horizontal bar. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In one embodiment, see Figures 1-5 A semi-automatic assembly device for a space-oriented spiral extension arm includes a base 1. A cylindrical boss is provided in the middle of the upper surface of the base 1. A central shaft 5 is rotatably connected to the upper end of the cylindrical boss. An upper hinge joint fixing bracket 4 and a lower hinge joint fixing bracket 2 are respectively provided on the upper and lower sides of the central shaft 5. A hinge joint 8 is provided at the end of the upper hinge joint fixing bracket 4 and the lower hinge joint fixing bracket 2 away from the central shaft 5. A rotary motor 3 is provided on the cylindrical boss, and the output shaft of the rotary motor 3 is connected to the central shaft 5. The base 1 provides installation positions for various mechanisms. It is disc-shaped with three concentric arc grooves and three supports evenly distributed around its circumference. A cylindrical boss is provided in the center for mounting the rotary motor 3. The central shaft 5 is cylindrical and is coaxially fixed to the base 1. The central shaft 5 coaxially passes through the rotary motor 3 but is not fixed. The upper hinge joint fixing bracket 4 and the lower hinge joint fixing bracket 2 are three radially rotationally symmetrical plate structures with a central hole. There are two cylindrical bosses. One is fixed to the upper part of the central shaft 5 through the central hole, and the other is fixed to the rotor of the rotary motor 3 at the bottom and is directly driven by the rotary motor 3.

[0021] In one embodiment, both the upper hinge joint fixing bracket 4 and the lower hinge joint fixing bracket 2 are equipped with electric screwdrivers 7 that mate with the hinge joint 8. A compression spring 6 is located at one end of the electric screwdriver 7 near the central shaft 5. The compression spring 6 and the electric screwdriver 7 form an automatic tightening mechanism. One end of the compression spring 6 is fixedly connected to the upper hinge joint fixing bracket 4 and the lower hinge joint fixing bracket 2, and the other end is fixedly connected to a spring frame on the electric screwdriver 7. The electric screwdriver 7 and the compression spring 6 are coaxial, and the entire electric screwdriver 7 is located inside the compression spring 6.

[0022] In one embodiment, a support is provided along the outer edge of the base 1, and a stiffening cable insertion mechanism housing 9 is provided on the support. Two rotating arms 13 are provided on the left side of the stiffening cable insertion mechanism housing 9, pointing away from the center of the base 1, and two rotating arms 13 are provided on the right side of the stiffening cable insertion mechanism housing 9, pointing closer to the center of the base 1. The two rotating arms 13 on the same side of the stiffening cable insertion mechanism housing 9 rotate synchronously in opposite directions. Stepper motors 11 are provided on both the upper and lower sides of the stiffening cable insertion mechanism housing 9, and the output shafts of the stepper motors 11 are simultaneously connected to the two rotating arms 13 on the same side of the stiffening cable insertion mechanism housing 9 via gear pairs 10. The stiffening cable insertion mechanism consists of a housing 9, a stepper motor 11, a stepper motor bracket 12, gears, and a rotating arm 13. The housing 9 is fixedly connected to the base 1 and is evenly distributed circumferentially on the base 1. The stepper motor bracket 12 is fixedly connected to the housing 9. The housing 9 contains two stepper motors 11. The two stepper motors 11 are positioned with their motor shafts parallel and installed in opposite directions, driving the gears on both sides respectively. The housing 9 has two gear pairs 10 on each side, with the same module and number of teeth. The driving gears are directly driven by the stepper motors 11. The rotating arm 13 is rectangular in shape, with one end fixedly connected to the gear. The connection is coaxial.

[0023] In one embodiment, a thread-lifting rod drive base 14 is provided in the middle of the rotating arm 13, a thread-lifting rod 16 is provided on the thread-lifting rod drive base 14, and a thread-carrying wheel drive base 17 is provided at the end of the rotating arm 13, with a thread-carrying wheel 15 provided on the thread-carrying wheel drive base 17. The automatic thread feeding mechanism consists of a thread feeding needle, a thread feeding wheel 15, a thread feeding wheel drive base 17, a thread take-up lever 16, and a thread take-up lever drive base 14. The thread feeding needle is needle-shaped with one sharp end and the other end is fixedly connected to the stiffening cable 20. The thread feeding wheel drive base 17 is square in shape and is fixedly connected to the top of the rotating arm 13. The thread feeding wheel 15 is mounted on the thread feeding wheel drive base 17 and is directly driven by the drive plate to rotate in one direction. The entire assembly is arranged in an array. The thread take-up lever drive base 14 is fixedly connected to the rotating arm 13 and is located at the rear of the thread feeding wheel drive base 17, directly connected to it. The thread take-up lever 16 is directly mounted on the drive shaft on the thread take-up lever 16 base 1, and the mating relationship is coaxial.

[0024] In this embodiment, the stiffening cable 20 on one side of the hinge joint 8 is first installed: initially, the upper hinge joint fixing bracket 2 assembly layer and the upper hinge joint fixing bracket 4 positioning layer are aligned. Driven by the lower servo motor of the device, the assembly layer begins to rotate. After rotating to the predetermined position, the rotating arm 13 guides the stiffening cable 20 from the positioning layer through the stiffening cable 20 hole on the hinge joint 8. Then, under the action of the take-up rod 16 and the guide wheel 15, the stiffening cable 20 is completely passed through the hinge joint 8. The hinge joint 8 is connected to the longitudinal rod 18 via the hinge 19.

[0025] Next, install and reset the stiffening cable 20 on the other side: the assembly layer will then rotate in the opposite direction to the predetermined position on the other side, thereby completing the insertion of the stiffening cable 20 on the other side of the hinge joint 8. After the insertion of the stiffening cable 20 is completed, the assembly layer will return to its initial state and align with the upper fixed layer.

[0026] The crossbar 21 is manually installed and locked: Finally, the crossbar 21 is installed manually, and the automatic locking device completes the locking and fixing. Because the distance between the assembly layer and the fixed layer is fixed, and the hinge joints 8 in the assembly layer are evenly distributed circumferentially, these ensure the assembly accuracy requirements. The tensioning of the stiffening cable 20 is completed by the rotating arm 13, so the assembly tension of each stiffening cable 20 is within a controllable range. The assembly work can be completed by repeating the above process.

[0027] The main assembly difficulty of the spatial coiled extendable boom lies in the insertion of the stiffening cables 20. A coiled extendable boom requires a total of six stiffening cables 20, arranged in pairs, for a total of three groups. The assembly requirements stipulate that the stiffening cables 20 must be inserted in a "Z" shape, and that the same amount of preload must be applied to the stiffening cables 20 during the assembly process.

[0028] Preparation: Pre-install the hinge joint 8 to be assembled on the longitudinal rod 18 and place it on the base 1. Place the longitudinal rod 18 of the coiled extension arm in the arc-shaped slot on the base 1. Initially, the lower hinge joint fixing bracket 2 and the upper hinge joint fixing bracket 4 are aligned. Manually install the hinge joint 8 to be assembled on the lower hinge joint fixing bracket 2.

[0029] The stiffening cable 20 passes through the hinge joint 8: Driven by the rotary motor 3, the lower hinge joint fixing bracket 2 first rotates counterclockwise by 116°. Initially, the rotating arm 13 is extended outside the device; subsequently, driven by the stepper motor 11, the rotating arm 13 begins to move inward towards the device. (See reference...) Figure 1 and Figure 2 The rotating arms 13 work in pairs, fixedly connected to and directly driven by the gear pair 10. Therefore, both rotating arms 13 rotate in opposite directions during movement. Although the stiffening cable 20 is made of flexible material, during automatic assembly, thread guide needles of the same diameter can be installed at the head of the stiffening cable 20. Initially, the thread guide needles are in the upper thread guide wheel 15. The rotating arms 13 stop moving after reaching a parallel state. Driven by the thread guide wheel drive base 17, the thread guide wheel 15 starts working, guiding the thread guide needle from the upper thread guide wheel 15 through the stiffening cable 20 hole on the hinge joint 8 to the lower thread guide wheel 15. Subsequently, driven by the thread take-up lever drive base 14, the thread take-up lever 16 picks up the stiffening cable 20 from the upper thread guide wheel 15. After completing the thread take-up operation, the thread take-up lever 16 then resets.

[0030] The stiffening cable 20 passes entirely through the hinge joint 8: the cable guide wheel 15 stops working, and the cable guide needle remains in the lower cable guide wheel 15. The stepper motor 11 then drives the rotating arm 13 to move outward, rotating 180°. At this point, the rotating arm 13 is back in a parallel state and extends out of the device. Driven by the cable guide wheel drive base 17, the cable guide wheel 15 transports the cable guide needle from the lower cable guide wheel 15 to the upper cable guide wheel 15. Driven by the stepper motor 11, the rotating arm 13 rotates inward 90°, now in a vertical state. The upper cable guide wheel 15 remains stationary, while the lower cable guide wheel 15, driven by the cable guide wheel drive base 17, transports the stiffening cable 20 outward, ensuring that the stiffening cable 20 completely passes through the hinge joint 8. This completes the installation of the stiffening cable 20 on one side of the hinge joint 8.

[0031] Assembly of the stiffening cable 20 on the other side of the hinge joint 8: Driven by the rotary motor 3, the lower hinge joint fixing bracket 2 rotates clockwise by 232° × 116° × 2. Consistent with the above process, the assembly of the stiffening cable 20 on the other side of the hinge joint 8 is completed. Then, the lower hinge joint fixing bracket 2 rotates counterclockwise by 116° to return to its initial position. Therefore, the lower hinge joint fixing bracket 2 first rotates counterclockwise by 116°, then clockwise by 232°, and finally counterclockwise by 116°, thus ensuring that the stiffening cable 20 is installed in a "Z" shape.

[0032] Pre-tensioning and locking of stiffening cables 20: With the rotating arms 13 on both sides of the insertion mechanism module in a vertical position, the lower cable guide wheel 15, driven by the cable guide wheel drive base 17, simultaneously pre-tensions the six stiffening cables 20. Next, three crossbars 21 are manually installed in the hinge joint 8 and locked with screws. Next, the lower cable take-up lever 16, driven by the cable take-up lever drive base 14, pulls the stiffening cables 20 out of the lower cable guide wheel 15. Next, under the action of the compression spring 6 and the electric screwdriver 7, the hinge joint 8 is locked to the longitudinal bar 18. At this point, the hinge joint 8 of the lower hinge joint fixing bracket 2 has completed its assembly.

[0033] Preparation for the installation of the next layer of the coiled telescopic arm: The worker transfers the assembled hinge joint 8 from the lower hinge joint fixing bracket 2 to the upper hinge joint fixing bracket 4. Then, the worker places the unassembled hinge joint 8 into the lower hinge joint fixing bracket 2 for the next assembly. This process is repeated to complete the assembly of the coiled telescopic arm.

[0034] This invention relates to a semi-automatic assembly device for a space-wound articulated boom. The insertion of the stiffening cable 20 is completed automatically by the device, which makes it possible to standardize and mass-produce the coiled articulated boom. By adopting a standardized and automated assembly method, higher assembly accuracy can be achieved. Whether it is the distance between each layer, the distance between the hinge joints 8, or the preload of the stiffening cable 20, the assembly accuracy can be better guaranteed, thereby improving the overall performance of the coiled articulated boom. Moreover, it reduces the pressure of manual assembly and reduces the consumption of manpower, material resources, and time, thus making standardized mass production possible.

[0035] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A semi-automatic assembly device for a space-wound extendable arm, characterized in that, The system includes a base with a cylindrical boss at the center of its upper surface. A central shaft is rotatably connected to the upper end of the cylindrical boss. An upper hinge joint fixing bracket and a lower hinge joint fixing bracket are respectively provided on the upper and lower sides of the central shaft. The upper and lower hinge joint fixing brackets are three radially rotationally symmetrical plate-like structures. A hinge joint is provided at the end of the upper and lower hinge joint fixing brackets away from the central shaft. A bracket is provided on the outer edge of the base. The base is generally disc-shaped with three concentric arc grooves and three brackets evenly distributed around its circumference. A stiffening cable insertion mechanism housing is provided on the bracket. Two rotating arms facing away from the center of the base are provided on the left side of the stiffening cable insertion mechanism housing, and two rotating arms facing closer to the center of the base are provided on the right side of the stiffening cable insertion mechanism housing. The two rotating arms on the same side of the stiffening cable insertion mechanism housing rotate synchronously in opposite directions. The rotating arm is provided with a thread-lifting rod drive base in the middle, and a thread-lifting rod is provided on the thread-lifting rod drive base. The end of the rotating arm is provided with a thread-carrying wheel drive base, and a thread-carrying wheel is provided on the thread-carrying wheel drive base. The thread-carrying wheel is directly driven by the thread-carrying wheel drive base to rotate in one direction. The thread-lifting rod is directly installed on the drive shaft on the thread-lifting rod drive base, and the cooperation relationship is coaxial.

2. The semi-automatic assembly device for a space-oriented spiral extension arm according to claim 1, characterized in that, A rotary motor is installed on the cylindrical boss, and the output shaft of the rotary motor is connected to the central shaft.

3. The semi-automatic assembly device for a space-oriented spiral extension arm according to claim 1, characterized in that, Both the upper and lower hinge joint fixing brackets are equipped with electric screwdrivers that mate with the hinge joints, and a compression spring is provided at one end of the electric screwdriver near the central shaft.

4. A semi-automatic assembly device for a space-oriented spiral extension arm according to claim 1, characterized in that, The stiffening cable insertion mechanism housing is equipped with stepper motors on both the upper and lower sides. The output shafts of the stepper motors are connected to the two rotating arms on the same side of the stiffening cable insertion mechanism housing via gear pairs.

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