Large space facility agile self-generating construction platform and construction method

Abstract

The application discloses a large space facility agile self-generating construction platform and a construction method, relates to the field of space on-orbit service, and solves the problems that traditional construction robots cannot meet flexible and various task requirements and that the connecting stiffness of a truss structure is low and it is inconvenient to disassemble and maintain after connection is completed. The application comprises a round pipe forming device, a truss forming device and a satellite platform, the round pipe forming device and the truss forming device are arranged on the satellite platform, and two assembly mechanical arms are arranged on the satellite platform; the round pipe forming device, the truss forming device and the assembly mechanical arms construct robots according to task requirements, the robots are used for constructing large space facilities, and the truss structures are connected through butt joint structures. The construction platform provided by the application can generate robots based on tasks, can construct various types of space robots on an orbit based on continuous forming equipment, and can realize on-orbit construction of large space structures through multi-arm cooperation and multi-robot cooperation.

Description

A large-scale space facility agile self-construction platform and construction method Technical Field

[0001] This invention relates to the field of space on-orbit servicing technology, specifically to an agile self-construction platform and construction method for large-scale space facilities. Background Technology

[0002] With the development of aerospace technology, spacecraft structures are continuously becoming larger. Large space structures are difficult to launch directly from the ground and require the application of on-orbit assembly and maintenance technologies. On-orbit assembly and on-orbit maintenance have become the focus of spacecraft technology research in recent years.

[0003] Currently, the construction of large-scale space structures in orbit involves a wide range of tasks, a variety of missions, and a mix of macro and micro operations. Traditional methods of manufacturing robots before launching them or launching robot functional modules into space orbits and then assembling them make it difficult for the types of robots and their corresponding functions to meet the flexible and diverse tasks. Furthermore, the completed truss structure has low rigidity, is not easy to disassemble after connection, and is inconvenient to replace structural components, thus reducing maintenance efficiency. Summary of the Invention

[0004] To address the aforementioned issues of traditional construction robots' inability to meet diverse and flexible task requirements, low rigidity of truss structure connections, and inconvenient disassembly and maintenance after connection, this invention proposes an agile, self-sustaining construction platform and method for large-scale space facilities. This invention utilizes a circular tube forming device and a truss forming device mounted on a satellite platform, along with onboard raw materials and robots required for on-orbit construction tasks. Through multi-arm and multi-robot collaboration, large-scale space structures can be constructed in orbit. Furthermore, a docking mechanism connects the truss structures, ensuring structural rigidity while facilitating disassembly and maintenance.

[0005] This invention proposes an agile, self-constructing platform for large-scale space facilities, specifically comprising a tube forming device, a truss forming device, and a satellite platform. The tube forming device and the truss forming device are mounted on the satellite platform, which is equipped with two assembly robotic arms. The truss forming device continuously forms several composite material trusses, and the tube forming device continuously forms several metal tubes. The assembly robotic arms grasp the composite material trusses and metal tubes for on-orbit robotic construction. The robot utilizes the composite material trusses to assemble large-scale space structures. The composite material trusses are connected by a docking mechanism and... The mating groove connection includes a spring, several connecting rods 1 and 2, a base 1 and a base 2, a straight rod, two locking springs, a mating joint, and a mating base. A straight rod is mounted on the mating base; a base 1 is mounted on the straight rod, and a base 2 is mounted at its end; several connecting rods 1 are evenly hinged to base 1, and several connecting rods 2 are evenly hinged to base 2; connecting rods 1 and 2 are hinged in a one-to-one correspondence; a mating joint is mounted on base 2, and two locking springs are installed inside the mating joint; an annular protrusion is provided at the head of the straight rod and cooperates with the locking springs; a spring is installed between base 1 and the mating base.

[0006] Furthermore, the robot includes a short-arm robot, which includes a robot base, several joints, several metal tubes, and several grippers. The metal tubes are connected by joints to form a mechanical arm, and the end of the mechanical arm is equipped with a gripper. Several mechanical arms are evenly arranged on the robot base. The length of a single mechanical arm is 1m.

[0007] Furthermore, the robot includes a long-arm robot, which includes a robot base, several joints, several composite material trusses, and several grippers. The composite material trusses are connected by joints to form a robotic arm, and the robotic arm is equipped with a gripper at its end. Several robotic arms are evenly arranged on the robot base. The length of a single robotic arm is 10m.

[0008] Furthermore, the robot includes a tower crane robot, which is a two-degree-of-freedom linkage structure with a height of 120m; the tower crane robot is constructed through several joints and several composite material trusses.

[0009] A method for constructing large-scale space structures using the aforementioned agile self-construction platform for large-scale space facilities includes the following steps:

[0010] Step 1: Construct short-arm robots, long-arm robots, and tower crane robots using a circular tube forming device, a truss forming device, and an assembly robotic arm on a satellite platform;

[0011] Step 2: The short-arm robot carries the composite material truss and attaches it to the long-arm robot to form a robot group. The long-arm robot climbs onto the end of the tower crane robot and the tower crane robot transports the robot group to the assembly position.

[0012] Step 3: The long-arm robot climbs down to the end of the tower crane, and the short-arm robot performs precision assembly of the composite material truss.

[0013] The beneficial effects of the agile self-construction platform and construction method for large-scale space facilities described in this invention are as follows:

[0014] (1) The large space facility agile self-construction platform and construction method described in this invention can build robots of different configurations, including precision operation short-arm robots, crawling long-arm robots and tower crane robots, according to different task needs, relying on round tube forming device, truss forming device and assembly robotic arm, to meet different construction or maintenance task requirements.

[0015] (2) The large space facility agile self-construction platform and construction method described in this invention can efficiently and quickly complete the task of constructing large space structures in orbit through multi-arm collaboration of a single robot and multi-robot collaboration.

[0016] (3) The large-scale space facility agile self-construction platform and construction method described in this invention are connected by a docking mechanism. The connection between the truss structures is achieved by matching the space inside the docking groove through the unfolding of the connecting rod structure. The connecting rod structure is locked in the unfolded state by the ring-shaped protrusion structure at the head of the straight rod and the locking spring. This improves the connection rigidity and facilitates the replacement of structural components, as well as on-orbit maintenance. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] In the attached diagram:

[0019] Figure 1 is a schematic diagram of the retracted state of the assembly robotic arm of the agile self-construction platform for large space facilities according to the present invention.

[0020] Figure 2 is a schematic diagram of the assembly robotic arm unfolding and constructing a support truss of a large-scale space facility agile self-construction platform according to the present invention.

[0021] Figure 3 is a schematic diagram of a circular tube robotic arm assembled on an agile self-construction platform for large-scale space facilities according to the present invention.

[0022] Figure 4 is a schematic diagram of the circular tube robotic arm of a large-scale space facility agile self-construction platform attached to a supporting truss according to the present invention.

[0023] Figure 5 is a schematic diagram of a short-arm robot constructed by an agile self-construction platform for large-scale space facilities according to the present invention.

[0024] Figure 6 is a structural schematic diagram of a short-arm robot for an agile self-construction platform for large-scale space facilities according to the present invention.

[0025] Figure 7 is a schematic diagram of the assembly of a truss-type robotic arm for an agile self-construction platform for large-scale space facilities according to the present invention;

[0026] Figure 8 is a schematic diagram of the truss-type robotic arm of a large-scale space facility agile self-construction platform attached to a supporting truss according to the present invention.

[0027] Figure 9 is a schematic diagram of a long-arm robot constructed by an agile self-construction platform for large-scale space facilities according to the present invention.

[0028] Figure 10 is a structural schematic diagram of a long-arm robot for an agile self-construction platform for large-scale space facilities according to the present invention.

[0029] Figure 11 is a schematic diagram of the truss structure of a tower crane robot assembled on an agile self-construction platform for large-scale space facilities according to the present invention.

[0030] Figure 12 is a schematic diagram of the truss structure of the robot group for picking up tower crane robots in a large space facility agile self-construction platform according to the present invention.

[0031] Figure 13 is a schematic diagram of a tower crane robot built by an agile self-construction platform for large-scale space facilities according to the present invention;

[0032] Figure 14 is a structural schematic diagram of a tower crane robot for an agile self-construction platform for large-scale space facilities according to the present invention.

[0033] Figure 15 is a schematic diagram of a robot group retrieving structural units in a large-scale space facility agile self-construction platform according to the present invention.

[0034] Figure 16 is a schematic diagram of a long-arm robot of a large space facility agile self-construction platform described in this invention crawling on a tower crane robot;

[0035] Figure 17 is a schematic diagram of a tower crane robot transport robot group for a large-scale space facility agile self-construction platform according to the present invention.

[0036] Figure 18 is a schematic diagram of a long-arm robot climbing down a tower crane robot of an agile self-construction platform for large space facilities according to the present invention.

[0037] Figure 19 is a schematic diagram of a short-arm robot assembling structural units for a large-scale space facility agile self-construction platform according to the present invention.

[0038] Figure 20 is a schematic diagram of a multi-robot collaborative construction of a large-scale space structure using an agile self-construction platform for large-scale space facilities as described in this invention.

[0039] Figure 21 is a schematic diagram of the docking mechanism of a large-scale space facility agile self-construction platform according to the present invention;

[0040] Figure 22 is a schematic diagram of the docking mechanism and docking groove of a large-scale space facility agile self-construction platform according to the present invention.

[0041] Figure 23 is a schematic diagram of the docking mechanism and docking groove docking process of a large-scale space facility agile self-construction platform according to the present invention.

[0042] Figure 24 is a schematic diagram of the linkage deployment of the docking mechanism of a large-scale space facility agile self-construction platform according to the present invention.

[0043] Among them: 1-Circular tube forming device, 2-Truss forming device, 3-Satellite platform, 4-Assembly robotic arm, 5-Spring, 6-Link 1, 7-Link 2, 8-Base 1, 9-Base 2, 10-Straight rod, 11-Locking spring, 12-Connecting joint, 13-Connecting base, 14-Supporting truss. Detailed Implementation

[0044] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0045] Specific Implementation Method 1: Refer to Figures 1-24 for a detailed description of this implementation method. This implementation method describes a large-scale space facility agile self-construction platform, specifically comprising a circular tube forming device 1, a truss forming device 2, and a satellite platform 3. The circular tube forming device 1 and the truss forming device 2 are mounted on the satellite platform 3, which is equipped with two assembly robotic arms 4. The truss forming device 2 continuously forms several composite material trusses, and the circular tube forming device 1 continuously forms several metal circular tubes. The assembly robotic arms 4 grasp the composite material trusses and metal circular tubes for on-orbit robotic construction. The robot utilizes the composite material trusses to construct large-scale space structures. Several composite material trusses are connected by a docking mechanism and docking grooves. The docking mechanism includes a spring 5, several connecting rods 6, several connecting rods 7, a base 8, a base 9, a straight rod 10, and two... The system includes a locking spring 11, a connector 12, and a docking base 13. A straight rod 10 is mounted on the docking base 13. A base 8 is slidably mounted on the straight rod 10, and a second base 9 is slidably mounted at its end. Several connecting rods 6 are evenly hinged to the base 8, and several connecting rods 7 are evenly hinged to the base 9. Connecting rods 6 and 7 are hinged in a one-to-one correspondence. The connector 12 is mounted on the base 9, and two locking springs 11 are symmetrically arranged inside the connector 12. Both locking springs 11 are L-shaped, with their short sides facing each other and leaving a certain gap. The head of the straight rod 10 has an annular protrusion that cooperates with the locking springs 11. A spring 5 is installed between the base 8 and the docking base 13. The spring 5 has high rigidity and can withstand impact, thus providing a buffering effect. In the initial state, several connecting rods 6 and 7 are close to the straight rod 10, with the head of the straight rod 10 positioned below the locking spring 11. During the docking process, the docking mechanism gradually approaches the docking groove. After the mating joint 12 of the docking mechanism reaches the bottom of the groove, the bottom of the docking mechanism continues to advance, and the connecting rods 6 and 7 bend together to fit into the inside of the groove. Simultaneously, the forward-pushing head of the straight rod 10 passes between the two locking springs 11. The two locking springs 11 cooperate with the annular protrusion structure at the head of the straight rod 10 to lock the straight rod 10 in place, achieving the locking effect of the docking. This docking mechanism has the advantages of simple structural assembly and no energy consumption. Compared with hinge connections, it has greater rigidity, and compared with welded connections, it is easier to replace the structure, making it suitable for on-orbit maintenance.

[0046] The robot includes a short-arm robot, belonging to the category of precision manipulation robots. The short-arm robot comprises a robot base, several joints, several metal tubes, and several grippers. The metal tubes are connected by joints to form robotic arms, and grippers are located at the ends of the robotic arms. Several robotic arms are evenly arranged on the robot base. Each robotic arm is 1m long, enabling precise assembly of structural components. The self-construction of the precision manipulation short-arm robot includes three steps: first, the tube forming device 1 assembles the metal tubes and joints into robotic arms; second, the assembled tube robotic arms grip the supporting truss 14 at their ends; and third, the robot base is connected to the multiple tube robotic arms, completing the self-construction of the precision manipulation short-arm robot.

[0047] The robot includes a long-arm robot, which comprises a robot base, several joints, several composite material trusses, and several grippers. The composite material trusses are connected by joints to form robotic arms, and grippers are provided at the ends of the robotic arms. Several robotic arms are evenly arranged on the robot base. Each robotic arm is 10m long and can crawl quickly on large spatial structures. The self-construction of the crawling long-arm robot includes three steps, similar to the construction process of the short-arm robot. The first step is that the truss forming device 2 assembles the composite material trusses and joints into robotic arms. The second step is that the ends of the assembled truss robotic arms grip the supporting truss 14. The third step is to connect the robot base to the multiple truss robotic arms to complete the self-construction of the crawling long-arm robot.

[0048] The robot includes a tower crane robot, which is a two-degree-of-freedom linkage structure with a height of 120m. The tower crane robot is constructed using several joints and composite material trusses, enabling rapid, wide-range movement of the robot group. The self-construction of the tower crane robot involves three steps: first, the truss forming device 2 assembles truss units into a truss structure; second, a robot group consisting of long-arm and short-arm robots picks up the truss structure; and third, the long-arm robot is responsible for crawling, while the short-arm robot is responsible for assembly. Together, the robot group completes the self-construction of the tower crane robot.

[0049] A method for constructing large-scale space structures using the aforementioned agile self-construction platform for large-scale space facilities includes the following steps:

[0050] Step 1: Using the raw materials carried by the assembly robotic arm 4 on the circular tube forming device 1, truss forming device 2 and satellite platform 3, the short-arm robot, long-arm robot and tower crane robot are constructed in orbit.

[0051] Step 2: The short-arm robot carries the composite material truss and attaches it to the long-arm robot to form a robot group. The long-arm robot climbs onto the end of the tower crane robot and the tower crane robot transports the robot group to the assembly position.

[0052] Step 3: The long-arm robot carries the short-arm robot down to the end of the tower crane. The short-arm robot performs precision assembly of the composite material truss. The composite material trusses are connected through a docking mechanism, realizing the on-orbit construction and maintenance of large space structures.

[0053] In summary, the agile self-construction platform and method for large-scale space facilities described in this invention can construct robots of different configurations, including precision-operation short-arm robots, crawling long-arm robots, and tower crane robots, based on different task requirements, relying on the circular tube forming device 1, the truss forming device 2, and the assembly robotic arm 4, to meet different construction or maintenance task needs. The agile self-construction platform and method for large-scale space facilities described in this invention efficiently and quickly completes the task of constructing large-scale space structures in orbit through multi-arm collaboration of a single robot and multi-robot collaboration. In the agile self-construction platform and method for large-scale space facilities described in this invention, truss structures are connected by a docking mechanism. The connection between truss structures is achieved by matching the space inside the docking groove through the unfolding of the connecting rod structure. The locking of the unfolded state of the connecting rod structure is achieved through the snap-fitting of the annular protrusion structure at the head of the straight rod 10 and the locking spring 11, which improves the connection rigidity and facilitates the replacement of structural components, making on-orbit maintenance and repair convenient.

[0054] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the invention. They can also be reasonable combinations of the features described in the above embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A large-scale space facility agile self-construction platform, characterized in that: The system includes a tube forming device (1), a truss forming device (2), and a satellite platform (3). The tube forming device (1) and the truss forming device (2) are set on the satellite platform (3), and two assembly robotic arms (4) are set on the satellite platform (3). The truss forming device (2) continuously forms several composite material trusses, and the tube forming device (1) continuously forms several metal tubes. The assembly robotic arms (4) grab the composite material trusses and metal tubes for on-orbit construction by the robot. The robot uses the composite material trusses to build large-scale spatial structures. Several composite material trusses are connected by a docking mechanism and a docking groove. The docking mechanism includes a spring (5), several connecting rods (6), several connecting rods (7), a base (8), a base (9), a straight rod (10), two locking springs (11), a connector (12), and a docking base (13). A straight rod (10) is set on the docking base (13). A base (8) is set on the straight rod (10), and a base (9) is set at the end. The base (8) is uniformly... A number of connecting rods 1 (6) are hinged together, and a number of connecting rods 2 (7) are evenly hinged together on the base 2 (9); connecting rods 1 (6) and connecting rods 2 (7) are hinged together in a one-to-one correspondence; a butt joint (12) is provided on the base 2 (9), and two locking springs (11) are provided inside the butt joint (12); an annular protrusion provided on the head of the straight rod (10) cooperates with the locking springs (11); a spring (5) is provided between the base 1 (8) and the docking base (13); the robot includes a short-arm robot and a long-arm robot; the short-arm robot The robot includes a robot base, several joints, several metal tubes, and several grippers. The metal tubes are connected by joints to form a robotic arm, and the robotic arm is equipped with a gripper at its end. Several robotic arms are evenly arranged on the robot base. The length of a single robotic arm is 1m. The long-arm robot includes a robot base, several joints, several composite material trusses, and several grippers. The composite material trusses are connected by joints to form a robotic arm, and the robotic arm is equipped with a gripper at its end. Several robotic arms are evenly arranged on the robot base. The length of a single robotic arm is 10m.

2. The agile self-construction platform for large-scale space facilities according to claim 1, characterized in that: The robot also includes a tower crane robot, which is a two-degree-of-freedom linkage structure with a height of 120m; the tower crane robot is composed of several joints and several composite material trusses.

3. A method for constructing a large-scale space structure using the agile self-construction platform for large-scale space facilities as described in claim 2, characterized in that: The process includes the following steps: Step 1: Construct a short-arm robot, a long-arm robot, and a tower crane robot using a tube forming device (1), a truss forming device (2), and an assembly robotic arm (4) on a satellite platform (3); Step 2: The short-arm robot carries a composite material truss and attaches it to the long-arm robot to form a robot group. The long-arm robot climbs onto the end of the tower crane robot and the tower crane robot transports the robot group to the assembly position; Step 3: The long-arm robot climbs down from the end of the tower crane robot, and the short-arm robot performs fine assembly of the composite material truss.

Images