Installation sleeve, large space truss structure installation system and method

Abstract

The mounting sleeve includes a bracket, a support rod, a lifting plate and a lower pressure plate. The bracket provides a cavity for accommodating the truss unit; the support rod is arranged on the bracket; the lifting plate is located on the support rod and is arranged to be able to move up and down and rotate around the connecting rod; the lower pressure plate is located on the support rod and is arranged to be able to rotate around the connecting rod; wherein the lifting plate is used to insert into the gap to lift the first frame, thereby unfolding the truss unit, and the lower pressure plate is used to insert into the gap to press down and fix the second frame. A large-scale space truss structure installation system and method are also provided. The above-mentioned system and method have the characteristics of high precision and high automation, and are suitable for the installation of large-scale space truss structures of large spacecraft.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft trusses, and in particular to the field of truss installation methods. Background Art

[0002] Large spacecraft ranging from hundreds to thousands of meters in length have a large number of trusses, forming a large space truss structure. During the installation process, there are a lot of complex operations such as docking and fixing, which all require highly automated operations. For the split folding truss unit, high-precision unfolding and docking are also required. Summary of the invention

[0003] An object of the present invention is to provide a mounting sleeve that can efficiently assist a truss unit in completing the unfolding process.

[0004] The truss unit includes a first frame, a second frame and a connecting rod, the first end of the connecting rod is rotatably connected to one of the first frame and the second frame, the second end of the connecting rod is movably connected to the other one, and there is a gap between the first frame and the second frame of the truss unit in a stored state; the mounting sleeve includes a bracket, a support rod, a lifting plate and a lower pressure plate, the bracket provides a cavity for accommodating the truss unit; the support rod is arranged on the bracket; the lifting plate is located on the support rod and is arranged to be able to move up and down and rotate around the connecting rod; the lower pressure plate is located on the support rod and is arranged to be able to rotate around the connecting rod; wherein the lifting plate is used to be inserted into the gap to lift the first frame, thereby expanding the truss unit, and the lower pressure plate is used to be inserted into the gap to press down and fix the second frame.

[0005] In one or more embodiments, the sleeve further comprises a push rod disposed on the bracket, wherein the push rod is configured to be able to reciprocate along a length direction of the truss unit.

[0006] In one or more embodiments, the end of the push rod further includes a pressing piece for applying a downward force to the first frame.

[0007] In one or more embodiments, the bottom of the bracket includes a guide groove for accommodating the second frame.

[0008] In one or more embodiments, the bracket is further provided with a connecting plate with connecting holes.

[0009] Another object of the present invention is to provide a large-scale space truss structure installation system, the large-scale space truss structure includes multiple truss units, the truss units are initially located in a storage cabin, the installation system includes the above-mentioned installation sleeve and an installation robot, the installation sleeve is initially located in the storage cabin, the truss units are stacked in the cavity of the installation sleeve; the installation robot includes a walking device and a robotic arm, the walking device moves along the storage cabin and the truss units.

[0010] Another object of the present invention is to provide a method for installing a space truss structure, which method includes the following steps: S1. Use an installation robot to take out an installation sleeve from a storage cabin and connect the installation sleeve to the main star; S2. Use an installation robot to take out a truss unit and place it in the installation sleeve; S3. Move the lifting plate and the lower pressure plate of the installation sleeve to the gap between the first frame and the second frame, so that the lifting plate lifts the first frame, and then unfolds the truss unit to fix the truss unit; S4. Move the installation sleeve, repeat S2-S3, connect adjacent truss units to extend and form a space truss structure.

[0011] In one or more embodiments, the installation sleeve further includes a push rod. In S1, the push rod is moved to create an opening in the installation sleeve, and then the installation sleeve located in the storage compartment is taken out.

[0012] In one or more embodiments, the second end of the connecting rod includes a first connecting hole, and the second frame includes a second connecting hole. In S3, the push rod is moved to press down the first frame of the truss unit to align the first connecting hole and the second connecting hole and use a connecting member to fasten the connecting rod and the second frame.

[0013] In one or more embodiments, two ends of the truss unit have docking holes. In step S4, the docking holes of adjacent truss units are docked, and the adjacent truss units are fixed using connectors.

[0014] In one or more embodiments, in step S4, the installation sleeve is separated from the main star, moved to the installation position of the next truss unit adjacent to the truss unit, and the installation sleeve is connected to the truss unit.

[0015] In one or more embodiments, steps S1-S4 are performed simultaneously using multiple installation robots.

[0016] The installation sleeve cooperates with the installation robot to assist the efficient installation of each truss unit. The installation method has the characteristics of high precision and high automation, and is suitable for the installation of large space truss structures of large spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0018] Figure 1A It is a truss unit in the stowed state;

[0019] Figure 1B is the truss element in the unfolded state;

[0020] Figure 2 is a schematic diagram of a stacked truss unit located within a mounting sleeve;

[0021] Figure 3 It is a schematic diagram of installing the sleeve;

[0022] Figure 4 is a top view of the installation sleeve;

[0023] Figure 5A-5B This is a schematic diagram of the installation sleeve docking with the main satellite;

[0024] Figure 6 It is a partial enlarged view of the installation sleeve and the pre-installation frame;

[0025] Figure 7 It is the left side view of the installation sleeve;

[0026] Figures 8A-8B is a schematic diagram of the truss unit placed in the cavity;

[0027] Figures 9A-9B It is a schematic diagram of the lifting plate and the lower pressure plate when they rotate;

[0028] Figures 10A-10B is a schematic diagram of a truss unit deployed in a cavity;

[0029] Fig.11 It is a schematic diagram of the moving position of the installation sleeve;

[0030] Fig.12 It is a schematic diagram of a space truss structure;

[0031] Fig.13 This is a schematic diagram of the storage module and the main star after docking;

[0032] Fig.14 This is a schematic diagram of installing the robot;

[0033] Fig.15 is a schematic diagram of the installation robot taking out the installation sleeve;

[0034] Fig.16 This is a schematic diagram of the installation robot grabbing the installation sleeve and docking with the main satellite;

[0035] Fig.17is a schematic diagram of the truss unit after it is deployed in the mounting sleeve;

[0036] Fig.18 is a schematic diagram of installing a robot to grab a truss unit;

[0037] Fig.19 It is a schematic diagram of the space truss structure and the main star. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0039] It should be noted that these and other subsequent drawings are only examples and are not drawn to scale, and should not be used to limit the actual scope of protection required by the present invention.

[0040] Figure 1A-1B The structure of a single split folding truss unit 10 is shown, comprising a first frame 11, a second frame 12 and a connecting rod 14, one end of the connecting rod 14 is rotatably connected to one of the first frame 11 and the second frame 12, and is movably connected to the other one. Figure 1B In the illustrated embodiment, the first end 141 of the connecting rod 14 is rotatably connected to the first frame 11 via the rotating shaft 15 , and the second end 142 is slidably located in the receiving groove 16 on the second frame 12 .

[0041] As the connecting rod 14 rotates, the first frame 11 moves up and down relative to the second frame 12 until the connecting rod 14 is completely accommodated in the accommodating groove 16. At this time, the distance between the first frame 11 and the second frame 12 is the smallest, and the truss unit is in a state as shown in FIG. Figure 1A When the connecting rod 14 is rotated to be perpendicular to the receiving slot 16, the truss unit is in the storage state shown in FIG. Figure 1B The expanded state shown in the figure. Multiple truss units are docked with each other to form the main truss structure of a large spacecraft, such as Fig.19 The depth of the receiving groove 16 is smaller than the width of the connecting rod 14, so that there is a gap 17 between the first frame 11 and the second frame 12 of the truss unit in the storage state, which is convenient for subsequent deployment and installation. The first frame 11 and the second frame 12 are also provided with connecting ends 13 with docking holes 130 on both sides.

[0042] The truss unit 10 is also provided with a fastening structure to keep the connecting rod 14 relatively fixed relative to the first frame 11 and the second frame 12, so that the truss unit remains in the expanded state without retracting. Figure 1B and 10B As shown, a sunken groove 160 is provided at the end of the accommodating groove 16, and a first connecting hole 143 is provided at the second end 142 of the connecting rod 14. After the second end 142 is placed in the sunken groove 160, it is aligned with the second connecting hole 120 on the frame and fastened by connecting parts such as rivets and bolts.

[0043] The stored truss units are stacked in the storage compartment 2. Figure 2 As shown, the storage cabin 2 can be detachably docked with the main satellite 1 of the spacecraft. When the length of the space truss structure needs to be increased, the storage cabin 2 carrying multiple truss units is launched, and the storage cabin 2 is taken out and installed after docking with the main satellite, extending the length of the space truss structure.

[0044] The installation sleeve 20 provided by the present invention is used to unfold the truss unit 10 in the storage state to assist in the installation of the space truss structure. The installation sleeve 20 and the truss unit 10 are located in the storage compartment 2 together. Figure 2 shown.

[0045] The mounting sleeve 20 includes a bracket 21, a support rod 22, a lifting plate 23 and a lower pressing plate 24. The bracket 21 is a cubic structure and provides a cavity 210 for accommodating the truss unit. When the truss unit is in the storage state, multiple truss units are stacked in the cavity 210 to save the transportation space of the storage compartment 2. When the truss unit is ready to be deployed, the cavity 210 accommodates a single truss unit 10, and the volume of the cavity 210 is set to allow the truss unit 10 to be fully deployed in the cavity 210. The bracket 21 is also provided with a connecting plate 27 with a connecting hole 270, such as Figure 3-Figure 4 As shown, it is used to be fixed to the mounting frame 101 on the main satellite 1, or to the connecting end 13 of the truss unit 10.

[0046] The support rod 22 is located on the bracket 21 and extends along the lifting direction of the truss unit 10. Figure 3 The lifting plate 23 and the lower pressing plate 24 are both connected to the shaft hole of the support rod 22 and are configured to be able to rotate around the support rod 22. Figures 9A-9B The lifting plate 24 is also configured to be able to move up and down along the support rod 22, as shown in the direction P. The lifting plate 23 is used to be inserted into the gap 17 between the first frame 11 and the second frame 12 to lift the first frame 11, thereby expanding the truss unit 10, as shown in FIG. Fig. 10A The lower pressing plate 24 is also arranged to be inserted into the gap 17, the purpose of which is to press down the second frame 12 to fix it. It can be understood that the lower pressing plate 24 is located at the lower side of the lifting plate 23.

[0047] The lifting plate 23 and the lower pressing plate 24 are preferably rotated by an automatic structure, for example, the support rod 22 is an automatic rotating shaft, or is connected to the support rod 22 by an automatically rotatable shaft sleeve.

[0048] In some embodiments, in order to prevent the truss unit from accidentally disengaging from the mounting sleeve during installation, the bracket 21 is further provided with a guide groove 26 for accommodating a side frame of the truss unit, such as Figure 7 When the truss unit 10 is placed in the sleeve, even if the truss unit 10 is not aligned with the sleeve initially, during the process of being placed at the bottom of the bracket 21, the second frame 12 can automatically return to the center along the guide groove 26 and be placed at the bottom of the sleeve.

[0049] like Figures 3 to 11 As shown, the sleeve also includes a push rod 25 arranged on the bracket, and the push rod 25 is arranged on the end surface of the bracket 21 close to the first frame 11. The bracket 21 provides a support member 117, and the push rod 25 is matched with the hole axis of the support member 117 and is arranged to be able to reciprocate along the length direction N of the truss unit. The push rod 25 moves to Figure 5B When the outermost side is shown, there is no obstacle on the end face of the sleeve, and the formation Figure 5B The opening 28 shown is for easy removal from the storage compartment 2. The push rod 25 moves to Figure 5A When inside the sleeve as shown, the opening 28 is closed and the truss element in the cavity 210 is trapped.

[0050] The end of the push rod 25 also includes a lower pressing plate 26, which is perpendicular to the axial direction of the push rod 25 and is used to apply downward pressure to the first frame 11, thereby pressing the second end 142 of the connecting rod 14 into the sinking groove 160 of the receiving groove 16, so that the two connecting holes are aligned, and the truss unit after unfolding is fixed with the connecting piece. The lower pressing piece 26 of the push rod 25 can also cooperate with the card slot 18 of the first frame 11, such as Fig. 10B As shown, to push the truss unit to move in the sleeve.

[0051] FIG. 8A to FIG. 11 Figure 2 shows a schematic diagram of deploying a truss unit using a mounting sleeve. Fig. 8A As shown, the push rod 25 is pulled outward to expose the opening 28, and the truss unit 10 in the storage state is placed in the cavity 210. The second frame 12 cooperates with the guide groove 26 of the bracket 21 to guide the truss unit to be placed in the sleeve, as shown in FIG. Figure 8B shown. Figures 9A-9B The next step is shown: the lifting plate 23 and the lower pressing plate 24 are rotated 180 degrees along the L direction to insert them into the gap 17 between the first frame 11 and the second frame 12. The lower pressing plate 24 presses down the second frame 12 and remains fixed, and the lifting plate 23 moves along the support rod 22 to lift the first frame 11, so that the truss unit is unfolded until the distance between the first frame 11 and the second frame 12 is the largest, as shown in FIG. Fig. 10A At this time, the push rod 25 is pushed to move toward the truss unit, and the pressing member 26 presses down the unfolded first frame 11, so that the second end 142 of the connecting rod 14 moves down slightly until it enters the sinking groove 160 in the second frame 12 or the first frame 11, and the connecting member is inserted into the aligned first connecting hole 143 and the second connecting hole 120 to complete the fixing of the truss unit.

[0052] It is understandable that the plurality of connecting rods 14 have the same structure, and the positions of the first end and the second end can be set to be the same or different. For example, when the first end 141 of the connecting rod 14 is rotatably connected to the second frame 12, and the second end 142 is located in the receiving groove 16 in the first frame 11, the first frame 11 is pressed down, so that the second end 142 extends into the sinking groove 160 in the first frame 11, and the connecting piece is inserted into the second connecting hole on the first frame 11 and the first connecting hole of the second end 142, and the fixing of the connecting rod 14 to the first frame 11 is completed.

[0053] Finally, the connection end 13 of the truss unit is fixed to the mounting frame 101 of the main star 1 to complete the installation of the first truss unit. Fig. 10B shown.

[0054] After the fixing of a single truss unit is completed, the installation sleeve 20 is separated from the installation frame 101 of the main satellite 1, and the installation sleeve is moved to the installation position of the next truss unit, such as Fig.11 For example, the installation sleeve is moved to the side of the currently installed truss unit away from the main star 1 by means of the thrust rod 25, and the connecting plate 27 of the installation sleeve 20 is docked with the connecting end 13' of the truss unit on this side to fix the installation sleeve 20.

[0055] After repeating the steps of unfolding and fixing the next truss unit 10', the connecting end 13 of the next truss unit 10 is butted against the connecting end 13 of the adjacent truss unit 10 and fastened using a connector to form a spatial truss structure 100, such as Fig.12 shown.

[0056] The above-mentioned installation sleeve can efficiently assist the unfolding and fixing process of the truss unit.

[0057] In combination with the introduction of the above-mentioned installation sleeve, a space truss structure installation system can also be understood, which is used to install multiple truss units in zero-gravity space, and the truss units are initially located in the storage cabin 2. Figures 13 to 18 As shown, the system includes the above-mentioned installation sleeve 20 and also includes an installation robot 40.

[0058] The installation sleeve 20 is also initially located in the storage compartment 2, and the truss unit 10 is stacked in the cavity 210 of the installation sleeve 20. The installation robot 40 is used to take the installation sleeve 20 and the truss unit 10 from the storage compartment 2 and install them. The installation robot 40 includes a walking device 41 and a mechanical arm 42, and the walking device moves along the storage compartment 2 and the truss unit 10. The first frame 11 or the second frame 12 of the truss unit 10 provides a moving track A, and the outside of the storage compartment 2 is provided with a moving track B. The mechanical arm 42 is used to grab the installation sleeve and the truss unit, and can also enable the installation robot 40 to change the track.

[0059] The storage cabin 2 is detachably connected to the main satellite 1, and the number of truss units 10 determines the deployment length of the truss structure 100. For large truss structures of hundreds of meters or thousands of meters, the deployment length of the truss structure can be extended by launching the storage cabin 2 separately.

[0060] Combined with the introduction of the above-mentioned installation system, it can also be understood that a large-scale space truss structure installation method with a length of over 100 meters is used to form a large-scale space truss structure 100. The method includes the following steps: S1. Use the installation robot 40 to take out the installation sleeve 20 from the storage cabin 2, so that the installation sleeve 20 is connected to the main star 1; S2. Use the installation robot 40 to take out the truss unit 10 and place it in the installation sleeve 20; S3. Make the lifting plate 23 and the lower pressing plate 21 of the installation sleeve 20 rotate to the gap 17 between the first frame 11 and the second frame 12, so that the lifting plate 23 lifts the first frame 11, and then the truss unit 10 is unfolded and the truss unit is fixed; S4. Move the installation sleeve 20, repeat S2-S3, connect adjacent truss units 10, and extend to form a space truss structure 100.

[0061] Figure 15-16 Step S1 is shown, first the push rod 25 is moved to create an opening 28 in the installation sleeve 20. The storage cabin 2 or the main star 1 is rotated to align the external mobile track B of the storage tank directly below the robot. The installation robot 40 uses one end of the mechanical arm 42 to fix on the anchor hole of the mobile track B, and moves the robot itself onto the mobile track B. The installation sleeve 20 located in the storage cabin 2 is taken out by the installation robot 40, and the truss unit 10 is left in the storage cabin 2. The mechanical arm 42 lifts the installation sleeve 20 to make it fixedly connected to the connecting frame 101 of the main star 1.

[0062] Put the truss unit 10 into the installation sleeve 20, rotate the lifting plate 23 and the lower pressure plate 24 180 degrees, and insert them into the gap 17 between the upper and lower frames of the platform unit. The lower pressure plate 24 remains stationary, and the lifting plate 23 is lifted up to complete the lifting of the first frame 11. Also move the push rod 25 to press down the first frame of the truss unit, align the first connection hole with the second connection hole, and use a connector to keep the connecting rod 14, the first frame 11, and the second frame 12 fixed. The truss unit 10 has connecting ends 13 on both sides, and the connecting ends 13 of adjacent truss units are fixed to each other using a connector. For the first truss unit 10, the butt end 13 on one side is fixedly connected to the connecting frame 101 of the main star 1.

[0063] like Fig.18 As shown, after the current truss unit is installed, the installation sleeve 20 is separated from the main star 1 or the current truss unit, moved to the installation position of the next truss unit adjacent to the truss unit, and the installation sleeve 20 is connected to the currently installed truss unit 10. Then the next truss unit is grabbed and the unfolding and fixing steps are performed. After each truss unit is installed, the installation sleeve 20 is moved to the installation position of the next truss unit adjacent to the truss unit, and the grasping, unfolding and installation are repeated to extend the length of the space truss structure 100. When the space truss structure 100 is long enough, the installation robot flips over to the truss unit and moves, following the sleeve to advance, thereby realizing the extended installation of the space truss structure 100.

[0064] It is understandable that the splicing work can be carried out in multiple directions simultaneously. Fig.19 As shown, the scheme uses multiple installation robots to perform steps S1-S4 simultaneously. The sides of the main satellite are consistent with the track where the robots are located. At the same time, with the main satellite 1 as the center, when installing the multi-side truss structure, it is necessary to maintain the center of mass of the entire satellite close to the main satellite.

[0065] The above method has simple installation steps and can realize highly automated and refined installation of truss structures. When the number of truss units is sufficient, the truss length can be continuously extended for automatic construction of spacecraft truss platforms ranging from hundreds of meters to thousands of meters. The installation sleeve is used to limit the installation space of the truss unit to avoid instability during the installation of the unfolded truss unit. The design structure of the installation sleeve can significantly reduce the complexity of installation.

[0066] It should be noted that the above content uses words such as "first" and "second" to limit components, which is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0067] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0068] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A large-scale spatial truss structure installation system, the truss structure includes a plurality of truss units, the truss units are initially located in a storage compartment, characterized in that: include: a mounting sleeve, the mounting sleeve initially being located in the storage compartment, the truss units being stacked in a cavity of the mounting sleeve, the mounting sleeve being used to unfold the truss units, The truss unit comprises a first frame, a second frame and a connecting rod, wherein a first end of the connecting rod is rotatably connected to one of the first frame and the second frame, and a second end of the connecting rod is movably connected to the other of the first frame and the second frame, and a gap is formed between the first frame and the second frame of the truss unit in a stored state; The sleeve comprises: a bracket, providing a cavity for accommodating the truss unit; a support rod, arranged on the bracket; a lifting plate, located on the support rod and arranged to be able to move up and down and rotate around the connecting rod; a lower pressing plate, located on the support rod and arranged to be able to rotate around the connecting rod; The lifting plate is used to be inserted into the gap to lift the first frame, thereby expanding the truss unit, and the pressing plate is used to be inserted into the gap to press down and fix the second frame. The sleeve further comprises a push rod disposed on the bracket, wherein the push rod is configured to be able to reciprocate along the length direction of the truss unit; and The installation robot includes a walking device and a mechanical arm, and the walking device moves along the storage compartment and the truss unit.

2. The mounting system according to claim 1, characterized in that The end of the push rod also includes a pressing piece for applying a downward force to the first frame.

3. The mounting system according to claim 1, wherein: The bottom of the bracket includes a guide groove for accommodating the second frame.

4. The mounting system according to claim 1, wherein: The bracket is also provided with a connecting plate with connecting holes.

5. A method for installing a large space truss structure, characterized in that: The installation is performed using the installation system according to any one of claims 1 to 4, the method comprising the following steps: S1. Use the installation robot to take out the installation sleeve from the storage compartment and connect the installation sleeve to the main satellite; S2. Remove the truss unit using the installation robot and place it in the installation sleeve; S3. The lifting plate and the lower pressure plate of the mounting sleeve are transferred to the gap between the first frame and the second frame, so that the lifting plate lifts the first frame, thereby expanding the truss unit and fixing the truss unit; S4. Move the installation sleeve, repeat S2-S3, and connect adjacent truss units to extend and form a spatial truss structure.

6. The method according to claim 5, characterized in that In S1, the push rod is moved to open the installation sleeve, and then the installation sleeve located in the storage compartment is taken out.

7. The method according to claim 6, characterized in that The second end of the connecting rod includes a first connecting hole, the second frame includes a second connecting hole, and the end of the push rod also includes a pressing piece. In S3, the push rod is moved to press down the first frame of the truss unit to align the first connecting hole and the second connecting hole, and the connecting rod and the second frame are fastened using the connecting piece.

8. The method according to claim 5, characterized in that Both ends of the truss unit have butt joint holes. In step S4, the butt joint holes of adjacent truss units are butt jointed, and the adjacent truss units are fixed using connectors.

9. The method according to claim 5, characterized in that In step S4, the installation sleeve is separated from the main star, moved to the installation position of the next truss unit adjacent to the truss unit, and the installation sleeve is connected to the truss unit.

10. The method according to claim 5, characterized in that Steps S1-S4 are performed simultaneously using multiple mounting robots.

Images