Truss structure on-orbit construction system and construction method

Abstract

The application discloses a truss structure on-orbit construction system and a construction method, which comprises a rod supply device, a rod welding platform and a truss assembly platform; the rod supply device, the rod welding platform and the truss assembly platform are all transported into a spacecraft by a carrier rocket; the rod supply device is used for providing processable rods to the rod welding platform; the rod welding platform is used for welding the rods into truss units and providing the truss units to the truss assembly platform; and the truss assembly platform is used for assembling the truss units to realize on-orbit construction of the truss structure; the application can break through the limitation of the rocket carrying envelope and capacity, realize on-orbit autonomous construction of a large high-rigidity space truss structure, and has the characteristics of small occupied volume during launching, fast forming speed, small equipment power consumption and high structural rigidity.

Description

Technical Field

[0001] This invention belongs to the field of on-orbit construction technology, specifically relating to an on-orbit construction system and method for truss structures. Background Technology

[0002] Truss structures are the most common structural configuration in spacecraft applications. High-rigidity space truss structures are a necessary basic structure for ultra-large payloads of high-performance spacecraft. In the future, there will be a demand for high-rigidity space truss structures in fields such as space station operation, deep space exploration, and on-orbit service and maintenance of spacecraft.

[0003] With the rapid development of aerospace technology, space truss structure loads carried on spacecraft are developing towards larger size, more multifunctionality, and higher performance. Currently, almost all spacecraft are manufactured and tested on the ground before being sent into orbit by launch vehicles. In order to fit the entire spacecraft into the fairing of the launch vehicle, the size of high-rigidity space truss structure loads is severely constrained.

[0004] In-orbit construction technology, including in-orbit manufacturing and assembly technologies, provides an engineering-feasible technical path for large, high-rigidity space truss structures, with enormous application potential. In-orbit construction on space stations can significantly expand their functionality. In the future, the construction of ultra-large antennas (hundreds of meters), ultra-long detection baselines (kilometers), in-orbit service platforms, integrated satellite platforms, the main frame of deep space exploration "sailboats," and large components for lunar bases must be achieved through in-orbit construction. Summary of the Invention

[0005] In view of this, the present invention provides an on-orbit construction system for truss structures, which can overcome the limitations of rocket launch envelope and capacity, and realize the autonomous on-orbit construction of large-scale high-rigidity space truss structures. It has the characteristics of small volume during launch, fast forming speed, low power consumption of equipment, and high structural rigidity.

[0006] This invention is achieved through the following technical solution:

[0007] A truss on-orbit construction system includes: a member supply device, a member welding platform, and a truss assembly platform;

[0008] The component supply device, component welding platform, and truss assembly platform were all transported to the spacecraft via launch vehicle;

[0009] The rod supply device is used to supply machinable rods to the rod welding platform;

[0010] The rod welding platform is used to process and weld rods into truss units and provide them to the truss assembly platform;

[0011] The truss assembly platform is used to assemble truss units, enabling on-orbit construction of truss structures.

[0012] Furthermore, the rod supply device includes a metal strip storage platform and a rod forming platform;

[0013] The metal strip storage platform is used to store metal strips, and the rod forming platform is used to process the metal strips into rods and transfer the rods to the rod welding platform.

[0014] Furthermore, the metal strip storage platform includes metal strip and strip storage wheels;

[0015] The metal strip is a cold-bent metal material; the metal strip is long and is wound around a strip storage wheel to form a disc-shaped structure for storage; and the metal strip and the strip storage wheel are detachably connected.

[0016] The strip storage wheel is set on the rod forming platform.

[0017] Furthermore, the rod welding platform includes a rod cutting device, a rod transfer device, a joint storage device, and a rod joint welding device;

[0018] The rod cutting device is used to cut the rods to a set length. The rod transfer device is used to move the cut rods to the rod joint welding device. The joint storage device is used to store the joints. The rod joint welding device is used to clamp the joints in the joint storage device and weld the rods and joints to form a truss unit.

[0019] Furthermore, the connector storage device includes a connector magazine and a rotary drive mechanism; the connector magazine is used to store connectors; the rotary drive mechanism is used to drive the connector magazine to rotate so as to clamp the connectors; the connector magazine has a modular structure and can be repeatedly disassembled and replaced.

[0020] Furthermore, the truss assembly platform includes a truss unit clamping device, a robotic arm moving device, a truss structure assembly device, and a truss unit welding device.

[0021] The truss structure assembly device provides a welding platform for welding truss units into a truss structure and outputs the welded truss structure. The truss unit clamping device is located at the end of the robotic arm moving device and is used to clamp the truss units. The robotic arm moving device is used to move the truss unit clamping device and adjust the relative position between the truss unit clamping device and the truss structure assembly device to facilitate welding. The truss unit welding device is located at the end of the robotic arm moving device and on both sides of the truss unit clamping device. It is used to weld the truss units in the truss structure assembly device, complete the fixation between the truss units, and form a truss structure.

[0022] Furthermore, the truss structure assembly device includes a truss structure joint positioning mechanism, a truss structure rotation mechanism, and a truss structure lifting mechanism; the truss structure joint positioning mechanism is used to fix and position the joints of the truss units; the truss structure rotation mechanism is used to rotate the welded truss units to make way for the welding position of the next truss unit; the truss structure lifting mechanism is used to lift the welded and assembled truss structure, thereby realizing the output of the truss structure and leaving space for the welding of the next truss structure.

[0023] Furthermore, the rod forming platform includes a strip transfer device, a strip bending device, and a strip meshing device; a metal strip storage platform is set on the strip transfer device, which is used to transfer the metal strip to the strip bending device; the strip bending device is used to process the meshing edges of the two long sides of the metal strip and transfer it to the strip meshing device, which is used to mesh the meshing edges of the two long sides of the metal strip to form a hollow cylindrical rod.

[0024] Furthermore, the strip engagement device includes a base support plate, a transmission tensioning rod, a mandrel, a spiral die sleeve, a lateral pressing wheel, and a lateral compaction wheel;

[0025] The base support plate is fixed relative to the spacecraft during use, used to determine the angle between the metal strip on the interlocking edge and the interlocking device. A mandrel, spiral die sleeve, lateral pressing wheel, and lateral compacting wheel are mounted on the base support plate. One end of the mandrel is rotatably connected to the base support plate, allowing it to rotate; the other end is used for spirally winding the metal strip, controlling the diameter of the formed rod. A tensioning rod is positioned between the mandrel and the strip bending device, used to adjust the tension of the metal strip entering the mandrel. The spiral die sleeve is located in the middle of the mandrel, controlling the spiral forming angle of the strip and providing positioning and guidance for the interlocking edge, ensuring the metal strip spirally winds on the mandrel with the two long sides of the metal strip overlapping. The lateral pressing wheel and lateral compacting wheel are respectively located on both sides of the mandrel, opposite the part of the metal strip being wound. The lateral pressing wheel is used to achieve initial engagement of the interlocking edge; the lateral compacting wheel is used to press and compact the interlocking edge, thus realizing the processing and forming of the metal strip into a rod.

[0026] A method for constructing a truss in orbit, and a system for constructing a truss in orbit, comprising the following steps:

[0027] Step 1: After the metal strip storage platform, rod forming platform, rod welding platform, truss assembly platform and other modules are debugged on the ground, they are launched into space by a carrier rocket and docked on the interface of a special or dedicated spacecraft to achieve the connection with the spacecraft's electro-hydraulic interface;

[0028] Step 2: Based on the truss structure form and stiffness requirements, select a suitable size of disc-shaped metal strip and install the metal strip on the strip storage wheel of the metal strip storage platform;

[0029] Step 3: Transfer the strip storage wheel to the strip transfer device on the rod forming platform, and pull the metal strip out of the strip transfer device;

[0030] Step 4: Connect the pulled-out metal strip to the strip bending device to form a strip with interlocking edges;

[0031] Step 5: Connect the strip with interlocking edges to the spiral die sleeve. The spiral die sleeve completes the spiral winding of the bent strip on the mandrel. Then, adjust the height of the conveyor tension rod up and down to adjust the tension of the strip entering the mandrel. At the same time, the lateral pressing wheel and the lateral compacting wheel cooperate with the mandrel to rotate synchronously to complete the continuous production of the rod.

[0032] Step Six: The continuously produced rods enter the rod welding platform, and the rod cutting device cuts the rods after detecting that they have been formed to the specified length;

[0033] Step 7: The rod transfer device picks up the cut rods and transfers them to the rod joint storage device. The rod joint welding device picks up the joints from the rod joint library and installs them onto both ends of the rods.

[0034] Step 8: The joints and rods after being welded and positioned by the rod joint welding device are combined to form a truss unit, and then the continuous production of the truss unit is realized.

[0035] Step 9: The truss unit clamping device in the truss assembly platform starts to work. The truss unit clamping device clamps the truss unit after the joint welding is completed. The robotic arm moving device moves the truss unit clamping device to adjust the relative positional relationship between the truss unit and the truss structure assembly device.

[0036] Step 10: Complete the initial assembly of the truss unit and the truss structure assembly device. The truss unit welding mechanism starts working to weld the truss units installed on the truss structure assembly device.

[0037] Step 11: The welded truss unit rotates on the truss structure assembly device to make room for the assembly of the next truss unit. The assembly and welding of all truss units on a set of truss structures are completed in sequence to form the truss structure.

[0038] Step 12: The truss assembly platform lifts the welded and assembled truss structure to realize the output of the truss structure and leave space for the welding of the next truss structure.

[0039] Beneficial effects:

[0040] (1) The present invention transports the rod supply device, rod welding platform and truss assembly platform to the spacecraft via a launch vehicle, which can realize the processing of truss structures inside the spacecraft. First, it can build ultra-large truss structures in space without being limited by the launch vehicle envelope and carrying capacity. Second, it can manufacture and process truss structures that cannot be manufactured on the ground due to the Earth's gravity. Third, it can manufacture on demand according to actual needs to solve emergency needs. Finally, in the subsequent transportation, only the raw materials for processing need to be transported, which reduces transportation costs.

[0041] (2) The rod supply device of the present invention includes a metal strip storage platform and a rod forming platform, which can further realize the production of metal strip into rods in space. The metal strip saves more space than hollow rods, thereby further reducing the transportation cost.

[0042] (3) The metal strip of the present invention is a cold-bent metal material, which has a faster forming speed than 3D printing, higher forming efficiency, lower equipment power consumption, and higher strength / rigidity.

[0043] The metal strip is long and narrow, and stored in a disc-like structure; it features high storage ratio, low environmental constraints, and good forming quality.

[0044] The metal strip and the strip storage wheel are detachably connected; on the one hand, the metal strip can be directly transported in subsequent space transportation to replenish raw materials and reduce transportation costs; on the other hand, metal strips of different specifications and materials can be quickly replaced to improve work efficiency and meet different needs.

[0045] (4) The connector library in this invention is a modular structure that can be repeatedly disassembled and replaced. On the one hand, in subsequent space transportation, the connector library can be transported directly to replenish raw materials and reduce transportation costs. On the other hand, it facilitates timely replacement of the connector library and improves processing efficiency.

[0046] (5) The metal strip of the present invention adopts a spiral interlocking method, which can realize the continuous production of rods and improve work efficiency.

[0047] (6) In the method provided by the present invention, each platform of the on-orbit construction system and the raw materials for on-orbit construction can be carried into space in batches by the launch vehicle. After docking and parking on the interface of a special or dedicated spacecraft and realizing the connection with the electro-hydraulic interface of the spacecraft, the truss structure can be constructed in orbit. In subsequent construction tasks, only the metal strips for truss construction and the rod joint library need to be transported, which improves work efficiency and reduces the cost of use.

[0048] Moreover, the length of the rods and the form of the joints in this invention can be freely designed and selected according to the actual needs of the on-orbit construction structure. It can design and build a variety of complex truss structure configurations to meet the actual application needs of on-orbit assembly structures in the future space environment. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the overall structure of the truss on-orbit construction system;

[0050] Figure 2 This is a schematic diagram of the rod welding platform structure;

[0051] Figure 3 This is a schematic diagram of the truss assembly platform structure;

[0052] Figure 4 This is an example diagram of truss structure type I;

[0053] Figure 5 This is an example diagram of truss structure type II;

[0054] Figure 6 This is an example diagram of truss type III;

[0055] Figure 7 This is an example diagram of truss type IV;

[0056] Figure 8 This is a schematic diagram of the metal strip storage platform structure;

[0057] Figure 9 This is a schematic diagram of the rod forming platform structure;

[0058] Figure 10 This is a schematic diagram of metal strip spirally wound on a mandrel;

[0059] Figure 11 This is a front view of the truss on-orbit construction system in its working state;

[0060] Figure 12 This is a left view of the truss on-orbit construction system in operation.

[0061] The components include: 1-Metal strip storage platform; 2-Staff forming platform; 3-Staff welding platform; 4-Truss assembly platform; 11-Metal strip; 12-Strip storage wheel; 21-Strip transfer device; 22-Strip bending device; 23-Strip engagement device; 211-Strip storage wheel mounting base; 212-Strip guide base; 221-Rotating base; 222-Guide wheel assembly; 223-Bending wheel assembly; 224-Force adjustment device; 231-Base support plate; 232-Transmitting tension rod; 233-Mandrel; 234-Spiral die sleeve; 235-Side pressing wheel; 236-Side compaction wheel; 31-Staff cutting. Devices; 32-Staff transfer device; 33-Joint storage device; 34-Staff joint welding device; 311-Staff length arrival detection switch; 312-Staff cutting gun; 321-Staff clamping mechanism; 322-Staff rotation mechanism; 331-Joint magazine; 332-Rotary drive mechanism; 341-Joint clamping mechanism; 342-Joint welding mechanism; 41-Truss unit clamping device; 42-Robotic arm moving device; 43-Truss structure assembly device; 44-Truss unit welding device; 431-Truss structure joint positioning mechanism; 432-Truss structure rotation mechanism; 433-Truss structure lifting mechanism. Detailed Implementation

[0062] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0063] Example 1:

[0064] This embodiment provides an on-orbit construction system for truss structures; see attached document. Figure 1 It includes: a member supply device, a member welding platform 3 and a truss assembly platform 4;

[0065] The rod supply device, the rod welding platform 3, and the truss assembly platform 4 were all transported to the spacecraft by a launch vehicle;

[0066] The rod supply device is used to supply machinable rods to the rod welding platform;

[0067] The rod welding platform 3 is used to process and weld rods into truss units and provide them to the truss assembly platform 4;

[0068] The truss assembly platform 4 is used to assemble truss units, enabling on-orbit construction of the truss structure.

[0069] A member supply device, a member welding platform 3, and a truss assembly platform 4 are arranged on a square platform. The member supply device is arranged along one side of the square platform in the longitudinal direction. The member welding platform 3 and the truss assembly platform 4 are arranged side by side on one side of the member supply device. The member supply device is used to supply members to the member welding platform 3 with the output port facing the member welding platform 3. The member welding platform 3 provides the truss unit openings to the truss assembly platform 4 with the openings facing the truss assembly platform 4.

[0070] This embodiment places the member supply device, member welding platform 3, and truss assembly platform 4 inside the spacecraft. During subsequent construction, only raw materials need to be transported into the spacecraft, enabling on-orbit construction of the truss. This overcomes the limitations of rocket payload envelope and capacity, achieving autonomous on-orbit construction of ultra-large, high-rigidity space truss structures. Furthermore, the on-orbit construction method used in this embodiment can manufacture structures that cannot be manufactured on the ground due to Earth's gravity, and can also be manufactured on demand according to actual needs, addressing emergency requirements.

[0071] See appendix Figure 2 The rod welding platform 3 includes a rod cutting device 31, a rod transfer device 32, a joint storage device 33, and a rod joint welding device 34;

[0072] The rod cutting device 31 is used to cut the rod to a set length, the rod transfer device 32 is used to move the cut rod to the rod joint welding device 34, the joint storage device 33 is used to store the joint, and the rod joint welding device 34 is used to clamp the joint in the joint storage device 33 and weld the rod and the joint to form a truss unit.

[0073] Specifically, the rod cutting device 31 includes a rod length arrival detection switch 311 and a rod cutting gun 312. The rod length arrival detection switch 311 is used to detect the length of the rod, and the rod cutting gun 312 is used to cut rods of a specified length.

[0074] The joint storage device 33 includes a joint library 331 and a rotary drive mechanism 332; the joint library 331 is used to store joints; the rotary drive mechanism 332 is used to drive the joint library 331 to rotate, so as to achieve repeated positioning of the joint clamping position; the joint library 331 is a modular structure that can be repeatedly disassembled and replaced; the form of the joint can be freely designed and selected according to the actual needs of the on-orbit construction structure, and various complex truss structure configurations can be designed and constructed to meet the actual application scenarios of on-orbit assembly structures in the future space environment.

[0075] The rod transfer device 32 includes a rod clamping mechanism 321 and a rod rotating mechanism 322; the rod clamping mechanism 321 is used to clamp the cut rod and transfer the cut rod from the rod cutting device 31 to the rod joint welding device 34; the rod rotating mechanism 322 is used to rotate the cut rod to realize the rotational welding of the rod and the joint.

[0076] The member joint welding device 34 includes a joint clamping mechanism 341 and a joint welding mechanism 342; the joint clamping mechanism 341 is used to clamp the joints in the joint library and initially install and position the joints and members; the joint welding mechanism 342 is used to weld the connection between the positioned joints and members, thereby realizing the construction of the truss unit.

[0077] See appendix Figure 3 The truss assembly platform 4 includes a truss unit clamping device 41, a robotic arm moving device 42, a truss structure assembly device 43, and a truss unit welding device 44.

[0078] The truss structure assembly device 43 provides a welding platform for welding truss units into a truss structure and outputs the welded truss structure; the truss unit clamping device 41 is located at the end of the robotic arm moving device 42 and is used to clamp the truss unit; the robotic arm moving device 42 is used to move the truss unit clamping device 41 and adjust the relative position between the truss unit clamping device 41 and the truss structure assembly device 43 to facilitate welding; the truss unit welding device 44 is located at the end of the robotic arm moving device 42 and on both sides of the truss unit clamping device 41, and is used to weld the truss units in the truss structure assembly device 43 to complete the fixation between the truss units and form a truss structure.

[0079] Specifically, the truss structure assembly device 43 includes a truss structure joint positioning mechanism 431, a truss structure rotation mechanism 432, and a truss structure lifting mechanism 433; the truss structure joint positioning mechanism 431 is used to fix and position the joints of the truss units; the truss structure rotation mechanism 432 is used to rotate the welded truss units to make way for the welding position of the next truss unit; the truss structure lifting mechanism 433 is used to lift the welded and assembled truss structure, thereby realizing the output of the truss structure and leaving space for the welding of the next truss structure.

[0080] See appendix Figure 4-7 Based on the truss on-orbit construction system in this embodiment, a variety of cubic truss structures can be constructed, including but not limited to triangular prisms, quadrangular prisms, pentagonal prisms and hexagonal prisms.

[0081] Example 2:

[0082] This embodiment is based on Embodiment 1, see Appendix Figure 1The rod supply device includes a metal strip storage platform 1 and a rod forming platform 2; the metal strip storage platform 1 is used to store metal strip 11, and the rod forming platform 2 is used to process the metal strip into rods and transfer the rods to the rod welding platform 3.

[0083] See appendix Figure 8 The metal strip storage platform 1 includes a metal strip 11 and a strip storage wheel 12. The metal strip 11 is elongated and wound around the strip storage wheel 12 to form a disc-shaped structure for storage. The metal strip 11 and the strip storage wheel 12 are detachably connected. A spring-tensioned clamp is provided on the outer ring of the disc-shaped structure to fix the metal strip. By storing the metal strip in a disc shape, it has the advantages of high storage ratio, low environmental constraints, and good forming quality. A bearing is provided in the axial center of the strip storage wheel 12, and the disc-shaped metal strip is detachably connected to the bearing. On the one hand, in subsequent space transportation, the metal strip can be directly transported to replenish raw materials; on the other hand, metal strips of different specifications and materials can be replaced to meet different needs.

[0084] The metal strip 11 is a cold-bent metal material, such as aluminum alloy. This embodiment uses a metal cold-bending forming method, which has a faster forming speed, higher forming efficiency, lower equipment power consumption, and higher strength / rigidity compared to 3D printing. In addition, the use of metal materials allows for the use of welding technology, which can further increase the rigidity and on-orbit stability of the truss structure, making it safer and more reliable.

[0085] See appendix Figure 9 The rod forming platform 2 includes a strip transfer device 21, a strip bending device 22, and a strip biting device 23; the metal strip storage platform 1 is set on the strip transfer device, which is used to transfer the metal strip to the strip bending device 22; the strip bending device 22 is used to process the biting edges of the two long sides of the metal strip and transfer it to the strip biting device 23; the strip biting device 23 is used to bite the biting edges of the two long sides of the metal strip to form a hollow cylindrical rod.

[0086] Specifically, the strip transfer device 21 includes a strip storage wheel mounting base 211 and a strip guide base 212; the strip guide base 212 is fixedly mounted to the spacecraft; the strip storage wheel mounting base 211 is mounted on the strip guide base 212, and a rotating shaft is provided at the axis of the strip storage wheel mounting base 211; the metal strip storage platform 1 is coaxially fixedly mounted on the rotating shaft, and the metal strip storage platform 1 is detachably connected to the rotating shaft; thereby enabling the free rotation of the metal strip storage platform 1; the strip guide base 212 is used to guide the metal strip conveying towards the strip bending device 22;

[0087] The strip bending device 22 includes a rotating base 221, a guide wheel assembly 222, a bending wheel assembly 223, and a force adjustment device 224;

[0088] The rotating base 221 has a U-shaped structure. One end of the U-shaped structure is open and faces the strip transfer device 21, while the other end is open at an acute angle to the strip engagement device 23. The angle of the rotating base 221 is adjustable and is used to adjust the angle between the rotating base 221 and the strip engagement device 23, thereby adjusting the angle at which the metal strip enters the strip bending device 22.

[0089] The guide wheel group 222 is located on the side of the strip transfer device 21. The guide wheel group 222 includes one or more guide wheels. Each group of guide wheels includes two guide wheels. The two guide wheels are arranged opposite to each other inside the two side plates of the rotating base 221. They are used to correct the movement direction of the metal strip and fix the metal strip left and right to prevent the metal strip from swaying left and right, resulting in strip slippage and uneven edge bite.

[0090] The bending wheel assembly 223 is located on the side of the strip engagement device 23. The bending wheel assembly 223 includes one or more bending wheels. Each set of bending wheels includes two bending wheel structures. The two bending wheel structures are arranged opposite to each other inside the two side plates of the rotating base 221. They are used to bend the edge of the long side of the metal strip to form a metal strip with an engagement edge. The force adjustment device 224 is used to adjust the engagement gap and engagement pressure of the bending wheel structure.

[0091] The strip engagement device 23 includes a base support plate 231, a transmission tensioning rod 232, a mandrel 233, a spiral die sleeve 234, a lateral pressing wheel 235, and a lateral compaction wheel 236;

[0092] The base support plate 231 is fixed relative to the spacecraft during use to determine the angle between the metal strip on the interlocking edge and the interlocking device 23. The mandrel 233, spiral die sleeve 234, lateral pressing wheel 235, and lateral compaction wheel 236 are mounted on the base support plate 231. One end of the mandrel 223 is rotatably connected to the base support plate 231, allowing the mandrel to rotate; the other end is used for spirally winding the metal strip to control the diameter of the formed rod. (See attached diagram.) Figure 10The tensioning rod 232 is positioned between the base support plate 231 and the strip bending device 22 to adjust the tension of the metal strip entering the mandrel 233. The spiral die sleeve 234 is positioned in the middle of the mandrel, controlling the spiral forming angle of the strip and providing positioning and guidance for the interlocking edges, allowing the metal strip to spirally wind around the mandrel 223, with the interlocking edges of the two long sides of the metal strip coinciding. Lateral pressing rollers 235 and lateral compacting rollers 236 are respectively positioned on both sides of the mandrel, opposite to the part where the metal strip is wound. Lateral pressing rollers 235 are used to achieve initial engagement of the interlocking edges; lateral compacting rollers 236 are used to achieve pressing and compaction of the interlocking edges, thus realizing the processing and forming of the metal strip into a rod, and conveying the rod to the rod welding platform 3.

[0093] Example 3:

[0094] This embodiment, based on Embodiment 2, provides an on-orbit construction method for a truss structure, including the following steps:

[0095] Step 1: After the metal strip storage platform 1, rod forming platform 2, rod welding platform 3, truss assembly platform 4 and other modules are debugged on the ground, they are launched into space by a carrier rocket and docked on the interface of a special or dedicated spacecraft to achieve connection with the spacecraft's electro-hydraulic interface;

[0096] Step 2: Based on the truss structure form and stiffness requirements, select a disc-shaped metal strip 11 of appropriate specifications and install the metal strip 11 on the strip storage wheel 12 of the metal strip storage platform 1.

[0097] Step 3: Transfer the strip storage wheel 12 to the strip transfer device 21 of the rod forming platform 2, complete the installation and fixation on the strip storage wheel mounting seat 211, adjust the installation angle of the strip guide base 212 and pull the disc-shaped metal strip 11 out from the strip transfer device 21;

[0098] Step 4: Adjust the installation angle of the rotating base 221 on the strip bending device 22, and connect the pulled-out metal strip into the guide wheel group 222 to complete the fixing and continuous strip output. Then, the strip edge is bent and formed by the bending wheel group 223. The force adjustment device 224 is used to adjust the biting gap and biting pressure of the upper and lower bending wheel groups 223 to form a strip with biting edges.

[0099] Step 5: Adjust the installation angle of the base support plate 231 on the strip biting device, and connect the strip with the biting edge to the spiral die sleeve 234. The spiral die sleeve 234 completes the spiral winding of the bent strip on the mandrel 233. Then, adjust the height of the transmission tension rod 232 up and down to adjust the tension of the strip entering the mandrel 233. At the same time, the lateral pressing wheel 235 and the lateral compacting wheel 236 cooperate with the mandrel 233 to rotate synchronously to complete the continuous production of the rod.

[0100] Step 6: The continuously produced rods enter the rod welding platform 3. The rod length detection switch 311 of the rod cutting device 31 detects that the rod has been formed to the specified length, and the rod cutting gun 312 starts to work to cut the rod.

[0101] Step 7: The rod clamping mechanism 321 of the rod transfer device 32 clamps the cut rod and transfers it to the rod joint storage device 33. The rotary drive mechanism 332 is used to drive the rod joint library 331 to rotate so as to facilitate the clamping of the joint. The joint clamping mechanism 341 in the rod joint welding device 34 clamps the joint in the rod joint library 331 and installs it to both ends of the rod.

[0102] Step 8: The joint welding mechanism 342 and the rod rotation mechanism 322 work synchronously to weld and position the joint and rod, forming a truss unit, thus realizing the continuous production of the truss unit;

[0103] Step 9: The truss unit clamping device 41 in the truss assembly platform 4 starts to work. The truss unit clamping mechanism 411 clamps the truss unit after the joint welding is completed. The truss unit clamping device 41 is moved by the robotic arm moving device 42 to adjust the relative positional relationship between the truss unit and the truss structure assembly device 43.

[0104] Step 10: The truss unit is initially assembled with the truss assembly device 43 using the truss joint positioning mechanism 431 of the truss assembly device 43. The truss unit welding mechanism 44 starts working to weld the truss unit installed on the truss joint positioning mechanism 431, thereby increasing the rigidity of the truss structure.

[0105] Step 11: The welded truss unit rotates on the truss structure rotation mechanism 432 to make room for the assembly of the next truss unit. The assembly and welding of all truss units on a set of truss structures are completed in sequence to form the truss structure.

[0106] Step 12: The truss assembly platform 4 lifts the welded and assembled truss structure to realize the output of the truss structure and leave space for the welding of the next truss structure.

[0107] Step 13: Repeat steps 6 to 11 to achieve continuous production of the truss structure.

[0108] Appendix Figure 11 and attached Figure 12 This is a schematic diagram of the truss on-orbit construction system in operation. The method in this embodiment can realize the on-orbit construction of truss structures, which can break through the limitations of rocket launch envelope and capacity, realize the autonomous on-orbit construction of large, high-rigidity space truss structures, save launch vehicle space, reduce transportation costs, and improve processing efficiency.

[0109] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A truss on-orbit construction system, characterized in that, include: Member supply device, member welding platform and truss assembly platform; The rod supply device, rod welding platform, and truss assembly platform are all transported to the spacecraft via a launch vehicle. The rod supply device provides machinable rods to the rod welding platform. The rod supply device includes a metal strip storage platform and a rod forming platform. The metal strip storage platform includes metal strip and strip storage wheels. The rod forming platform includes a strip transfer device, a strip bending device, and a strip engagement device. The metal strip storage platform is mounted on the strip transfer device, which transfers the metal strip to the strip bending device. The strip bending device processes the two long sides of the metal strip into engagement edges and transfers them to the strip engagement device. The strip engagement device engages the two long sides of the metal strip to form a hollow cylindrical rod. A member welding platform is used to process and weld members into truss units and provide them to a truss assembly platform. The member welding platform includes a member cutting device, a member transfer device, a joint storage device, and a member joint welding device. The member cutting device is used to cut members into a set length. The member transfer device is used to move the cut members to the member joint welding device. The joint storage device is used to store joints. The member joint welding device is used to clamp the joints in the joint storage device and weld the members and joints to form a truss unit. The truss assembly platform is used to assemble truss units, enabling on-orbit construction of the truss structure. The platform includes a truss unit clamping device, a robotic arm moving device, a truss structure assembly device, and a truss unit welding device. The truss structure assembly device provides a welding platform for welding truss units into a truss structure and outputs the welded truss structure. The truss unit clamping device is located at the end of the robotic arm moving device and is used to clamp the truss units. The robotic arm moving device moves the truss unit clamping device and adjusts the relative position between it and the truss structure assembly device to facilitate welding. The truss unit welding device is located at the end of the robotic arm moving device and on both sides of the truss unit clamping device. It is used to weld truss units in the truss structure assembly device, completing the fixation between the truss units and forming the truss structure.

2. The on-orbit truss construction system as described in claim 1, characterized in that, The metal strip storage platform is used to store metal strips, and the rod forming platform is used to process the metal strips into rods and transfer the rods to the rod welding platform.

3. The on-orbit truss construction system as described in claim 2, characterized in that, The metal strip is a cold-bent metal material; the metal strip is long and is wound around a strip storage wheel to form a disc-shaped structure for storage; and the metal strip and the strip storage wheel are detachably connected. The strip storage wheel is set on the rod forming platform.

4. The on-orbit truss construction system as described in claim 3, characterized in that, The connector storage device includes a connector magazine and a rotary drive mechanism; the connector magazine is used to store connectors; the rotary drive mechanism is used to drive the connector magazine to rotate so as to clamp the connectors; the connector magazine has a modular structure and can be repeatedly disassembled and replaced.

5. The on-orbit truss construction system as described in claim 1, characterized in that, The truss structure assembly device includes a truss structure joint positioning mechanism, a truss structure rotation mechanism, and a truss structure lifting mechanism. The truss structure joint positioning mechanism is used to fix and position the joints of the truss units. The truss structure rotation mechanism is used to rotate the welded truss units to make way for the welding position of the next truss unit. The truss structure lifting mechanism is used to lift the welded and assembled truss structure, thereby realizing the output of the truss structure and leaving space for the welding of the next truss structure.

6. The on-orbit truss construction system as described in claim 1, characterized in that, The strip engagement device includes a base support plate, a transmission tensioning rod, a mandrel, a spiral die sleeve, a lateral pressing wheel, and a lateral compaction wheel; The base support plate is fixed relative to the spacecraft during use, used to determine the angle between the metal strip on the interlocking edge and the interlocking device. A mandrel, spiral die sleeve, lateral pressing wheel, and lateral compacting wheel are mounted on the base support plate. One end of the mandrel is rotatably connected to the base support plate, allowing it to rotate; the other end is used for spirally winding the metal strip, controlling the diameter of the formed rod. A tensioning rod is positioned between the mandrel and the strip bending device, used to adjust the tension of the metal strip entering the mandrel. The spiral die sleeve is located in the middle of the mandrel, controlling the spiral forming angle of the strip and providing positioning and guidance for the interlocking edge, ensuring the metal strip spirally winds on the mandrel with the two long sides of the metal strip overlapping. The lateral pressing wheel and lateral compacting wheel are respectively located on both sides of the mandrel, opposite the part of the metal strip being wound. The lateral pressing wheel is used to achieve initial engagement of the interlocking edge; the lateral compacting wheel is used to press and compact the interlocking edge, thus realizing the processing and forming of the metal strip into a rod.

7. A method for on-orbit truss construction, based on the on-orbit truss construction system according to any one of claims 2-6, characterized in that, Includes the following steps: Step 1: After the metal strip storage platform, rod forming platform, rod welding platform, and truss assembly platform modules are debugged on the ground, they are launched into space by a launch vehicle and docked on the interface of a special or dedicated spacecraft to achieve connection with the spacecraft's electro-hydraulic interface; Step 2: Based on the truss structure form and stiffness requirements, select a suitable size of disc-shaped metal strip and install the metal strip on the strip storage wheel of the metal strip storage platform; Step 3: Transfer the strip storage wheel to the strip transfer device on the rod forming platform, and pull the metal strip out of the strip transfer device; Step 4: Connect the pulled-out metal strip to the strip bending device to form a strip with interlocking edges; Step 5: Connect the strip with interlocking edges to the spiral die sleeve. The spiral die sleeve completes the spiral winding of the bent strip on the mandrel. Then, adjust the height of the conveyor tension rod up and down to adjust the tension of the strip entering the mandrel. At the same time, the lateral pressing wheel and the lateral compacting wheel cooperate with the mandrel to rotate synchronously to complete the continuous production of the rod. Step Six: The continuously produced rods enter the rod welding platform, and the rod cutting device cuts the rods after detecting that they have been formed to the specified length; Step 7: The rod transfer device picks up the cut rods and transfers them to the rod joint storage device. The rod joint welding device picks up the joints from the rod joint library and installs them onto both ends of the rods. Step 8: The joints and rods after being welded and positioned by the rod joint welding device are combined to form a truss unit, and then the continuous production of the truss unit is realized. Step 9: The truss unit clamping device in the truss assembly platform starts to work. The truss unit clamping device clamps the truss unit after the joint welding is completed. The robotic arm moving device moves the truss unit clamping device to adjust the relative positional relationship between the truss unit and the truss structure assembly device. Step 10: Complete the initial assembly of the truss unit and the truss structure assembly device. The truss unit welding mechanism starts working to weld the truss units installed on the truss structure assembly device. Step 11: The welded truss unit rotates on the truss structure assembly device to make room for the assembly of the next truss unit. The assembly and welding of all truss units on a set of truss structures are completed in sequence to form the truss structure. Step 12: The truss assembly platform lifts the welded and assembled truss structure to realize the output of the truss structure and leave space for the welding of the next truss structure.

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