High-precision assembly method and device for spacecraft unfolding arm

Abstract

The invention provides a high-precision assembly method and device for a spacecraft unfolding arm, and the method comprises the steps: pasting a first precise measurement mirror on a mounting surface of a mounting device, measuring the Euler angle of a coordinate system of the mounting device under a coordinate system of the first precise measurement mirror through coordinate measurement equipment, and adjusting the position of the mounting device according to the theoretical Euler angle of the mounting device. Pasting a second accurate measurement mirror on the mounting flange of the unfolding arm, measuring the Euler angle of the coordinate system of the mounting flange of the unfolding arm under the coordinate system of the second accurate measurement mirror by using coordinate measurement equipment, and finely adjusting the position deviation of the mounting device according to the change of the theoretical Euler angle of the mounting flange of the unfolding arm until the requirement of assembly accuracy is met. According to the assembling method, micro-stress assembling of high-precision unfolding arm type products can be guaranteed, the high-precision angle requirement after the products are unfolded is guaranteed, and the flatness and perpendicularity of the mounting surface of the mounting device are both superior to 0.02.

Description

Technical Field

[0001] The present application relates to the technical field of space deployment arms, and in particular to a high-precision assembly method and device for a spacecraft deployment arm. Background Art

[0002] Deployment arm products are an important mechanism on spacecraft, used to extend the payload away from the satellite. After the deployment arm is deployed, the payload forms a certain angle relative to the satellite. The angle is determined by the accuracy of the deployment arm. The deployment accuracy of the deployment arm directly affects the accuracy of the payload and even the work efficiency. For this reason, a device and method for high-precision assembly under microgravity or even zero-gravity conditions is required to ensure the high deployment accuracy of the deployment arm after stress-free assembly, so as to obtain the deployment accuracy data of the product on orbit. Summary of the invention

[0003] In view of this, the present application provides a high-precision assembly method and device for a spacecraft deployment arm, which solves the technical problem in the prior art that the high deployment accuracy of the deployment arm cannot be guaranteed after stress-free assembly under microgravity or even zero-gravity conditions.

[0004] According to the first aspect of the present application, the present application provides a high-precision assembly method for a spacecraft deployment arm, the assembly method comprising: sticking a first precision measuring mirror on the mounting surface of a mounting device, using a positioning device to locate the position of the mounting device, after determining the position of the mounting device, removing the positioning device, using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror, adjusting the position of the mounting device according to the theoretical Euler angle of the mounting device, sticking a second precision measuring mirror on the mounting flange of the deployment arm, using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting flange of the deployment arm in the coordinate system of the second precision measuring mirror, and fine-tuning the position deviation of the mounting device according to the change of the theoretical Euler angle of the mounting flange of the deployment arm until the assembly accuracy requirement is met; connecting the arm rod of the deployment arm with the flange mounting surface corresponding to the mounting device, using a precision measuring device to align the second precision measuring mirror on the deployment arm so that the change in the scale line of the second precision measuring mirror on the deployment arm is less than 0.005 mm, thereby completing the high-precision assembly of the deployment arm.

[0005] In a possible implementation, the method of using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror includes: using the coordinate measuring device to respectively collect points on the mounting surface, the first precision measuring hole and the first precision measuring mirror, fitting the mounting surface coordinate system and the first precision measuring mirror coordinate system, and then obtaining the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror.

[0006] In a possible implementation, the coordinate system of the mounting device is: the center of the precision measuring hole on the mounting surface is the coordinate origin, the X direction is the direction of the line connecting the two precision measuring holes, the Y direction is the direction perpendicular to the mounting surface, and the Z direction satisfies the right-hand rule.

[0007] In a possible implementation, the use of a coordinate measuring device to measure the Euler angle of the mounting flange coordinate system of the deployment arm in the second precision measuring mirror coordinate system includes: using the coordinate measuring device to respectively sample points on the mounting flange, the second precision measuring hole, and the second precision measuring mirror, fitting the mounting flange coordinate system and the second precision measuring mirror coordinate system, and then obtaining the Euler angle of the deployment arm coordinate system in the second precision measuring mirror coordinate system.

[0008] In a possible implementation, the coordinate system of the mounting flange is: the center of the second precision measuring hole on the mounting flange is the coordinate origin, the X direction is the direction of the line connecting the two second precision measuring holes, the Y direction is the direction perpendicular to the mounting flange surface, and the Z direction satisfies the right-hand rule.

[0009] In one possible implementation, the position deviation of the fine-tuning installation device includes: according to the offset angle, using sine calculation to obtain the thickness of the adjustment plate that needs to be increased, adding an adjustment gasket of corresponding thickness to the bottom of the installation device, and fixing it with adhesive, and the calculation method of the adjustment gasket thickness is: sinα=adjustment gasket thickness / tooling width, that is, adjustment gasket thickness=sinα*tooling width.

[0010] In a possible implementation, after the position of the installation device is determined and the positioning device is removed, the method further includes placing the deployment arm at the position of the positioning device, and using a height gauge to measure the height deviation of the reference measurement positions at both ends of the deployment arm, so that the deviation between the weight of the deployment arm unloaded by the gravity unloading device and the actual weight of the deployment arm is less than 3%.

[0011] In a possible implementation, measuring the height deviation of the reference measurement positions at both ends of the deployment arm using a height gauge includes: if the height deviation is above 0.05 mm, adjusting the height of the air foot on the gravity unloading device to level the deployment arm.

[0012] According to the second aspect of the present application, the present application provides a high-precision assembly device for a spacecraft deployment arm, comprising: a positioning device; a mounting device, the mounting device comprising a support frame, a mounting surface and a first precision measuring mirror, the mounting surface is arranged on one side of the support frame, a first precision measuring hole is opened on the mounting surface, and the first precision measuring mirror is installed on the mounting surface; a deployment arm; a mounting flange, the mounting flange is arranged at both ends of the deployment arm, the mounting flange corresponds to the mounting surface one-to-one; a second precision measuring hole is opened on the mounting flange, the second precision measuring hole corresponds to the first precision measuring hole one-to-one; a second precision measuring mirror, the second precision measuring mirror is installed on the mounting flange.

[0013] In a possible implementation, the positioning device includes: a support plate; a connecting beam, which is arranged on the support plate; and a reinforcing beam, which is arranged between the support plate and the connecting beam.

[0014] The present application provides a high-precision assembly method and device for a deployment arm of a spacecraft. The method comprises the following steps: sticking a first precision measuring mirror on a mounting surface of a mounting device, using a positioning device to locate the position of the mounting device, removing the positioning device after determining the position of the mounting device, using a coordinate measuring device to measure the Euler angles of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror, adjusting the position of the mounting device according to the theoretical Euler angles of the mounting device, sticking a second precision measuring mirror on a mounting flange of the deployment arm, using a coordinate measuring device to measure the Euler angles of the coordinate system of the mounting flange of the deployment arm in the coordinate system of the second precision measuring mirror, and fine-tuning the position deviation of the mounting device according to the change of the theoretical Euler angles of the mounting flange of the deployment arm until the assembly accuracy requirement is met; connecting the arm rod of the deployment arm to the flange mounting surface corresponding to the mounting device, using a precision measuring device to align the second precision measuring mirror on the deployment arm, making the change of the scale line of the second precision measuring mirror on the deployment arm less than 0.005 mm, and completing the high-precision assembly of the deployment arm. According to the change relationship between the actual position and the theory, the position of the installation device is fine-tuned until the accuracy meets the requirements. This assembly method can ensure the micro-stress assembly of high-precision deployment arm products and the high-precision angle requirements of the product after deployment. The flatness and verticality of the installation surface of the assembly device are better than 0.02. This application has a multifunctional structure that integrates the three functions of high-precision deployment arm positioning-assembly-measurement. By adopting positioning-assembly-measurement technology, it overcomes the influence of gravity on the assembly accuracy of the product, solves the technical problem of high-precision deployment arm assembly accuracy being difficult to ensure, and achieves the high deployment accuracy requirements of the deployment arm up to micron level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the overall structure of a high-precision assembly device for a deployment arm provided in one embodiment of the present application;

[0016] Figure 2 The figure is a top view of a high-precision assembly device for a deployment arm provided by an embodiment of the present application;

[0017] Figure 3 Shown Figure 2 Middle A-direction view;

[0018] Figure 4 Shown Figure 2 Side view of middle A;

[0019] Figure 5 The figure is a schematic diagram of the structure of the deployment arm provided in one embodiment of the present application;

[0020] Figure 6 The figure is a schematic structural diagram of a first mounting flange of a deployment arm provided in one embodiment of the present application;

[0021] Figure 7 The figure is a schematic diagram of the structure of the second mounting flange of the deployment arm provided in one embodiment of the present application;

[0022] Figure 8 Shown is a schematic structural diagram of a third mounting flange of a deployment arm provided in one embodiment of the present application.

[0023] Description of reference numerals:

[0024] 1. Positioning device; 11. Support plate; 12. Connecting beam; 13. Reinforcement beam;

[0025] 2. Mounting device; 21. Support frame; 22. Mounting surface; 23. First precision measuring mirror; 24. First precision measuring hole;

[0026] 3. Deployment arm; 31. Mounting flange; 311. First flange; 312. Second flange; 313. Third flange; 32. Second precision measuring mirror; 33. Second precision measuring hole. DETAILED DESCRIPTION

[0027] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0028] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] Deployment arm products are an important mechanism on spacecraft, used to extend the payload away from the satellite. After the deployment arm is deployed, the payload forms a certain angle relative to the satellite. The angle is determined by the accuracy of the deployment arm. The deployment accuracy of the deployment arm directly affects the accuracy and even the work efficiency of the payload. Therefore, a device and method for high-precision assembly under microgravity or even zero-gravity conditions is needed.

[0031] Figure 1 The figure is a schematic diagram of the overall structure of a high-precision assembly device for a deployment arm provided in one embodiment of the present application; Figure 2 The figure is a top view of a high-precision assembly device for a deployment arm provided by an embodiment of the present application; Figure 3 Shown Figure 2 Middle A-direction view; Figure 4 Shown Figure 2 Side view of middle A; Figure 5 The figure is a schematic diagram of the structure of the deployment arm provided in one embodiment of the present application; Figure 6 The figure is a schematic structural diagram of a first mounting flange of a deployment arm provided in one embodiment of the present application; Figure 7 The figure is a schematic diagram of the structure of the second mounting flange of the deployment arm provided in one embodiment of the present application; Figure 8 Shown is a schematic structural diagram of a third mounting flange of a deployment arm provided in one embodiment of the present application.

[0032] like Figure 1-8As shown, the present application provides a high-precision assembly method for a deployment arm of a spacecraft, the assembly method comprising: pasting a first precision measuring mirror 23 on a mounting surface 22 of a mounting device 2, using a positioning device 1 to position the mounting device 2, after determining the position of the mounting device 2, removing the positioning device 1, using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror 23, adjusting the position of the mounting device according to the theoretical Euler angle of the mounting device, pasting a second precision measuring mirror 32 on a mounting flange 31 of a deployment arm 3, using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting flange 31 of the deployment arm 3 in the coordinate system of the second precision measuring mirror 32, and fine-tuning the position deviation of the mounting device 2 according to the change of the theoretical Euler angle of the mounting flange 31 of the deployment arm 3 until the assembly accuracy requirement is met; connecting the arm rod of the deployment arm 3 to the mounting surface 22 corresponding to the mounting device, using a precision measuring device to align the second precision measuring mirror 32 on the deployment arm 3, so that the change in the engraved line of the second precision measuring mirror 32 on the deployment arm 3 is less than 0.005 mm, and completing the high-precision assembly of the deployment arm. According to the changing relationship between the actual position and the theoretical one, the position of the installation device is fine-tuned until the accuracy meets the requirements. This assembly method can ensure the micro-stress assembly of high-precision deployment arm products and the high-precision angle requirements of the products after deployment. The flatness and verticality of the installation surface of the assembly device are better than 0.02. It has a multifunctional structure that integrates the three functions of high-precision deployment arm positioning-assembly-measurement. By adopting the positioning-assembly-measurement technology, it overcomes the influence of gravity on the assembly accuracy of the product, solves the technical problem of the difficulty in ensuring the assembly accuracy of the high-precision deployment arm 3, and achieves the high deployment accuracy requirement of the deployment arm 3 up to micron level.

[0033] In a possible implementation, using a coordinate measuring device to measure the Euler angle of the coordinate system of the installation device in the coordinate system of the first precision measuring mirror 23 includes: using the coordinate measuring device to respectively collect points on the installation surface, the first precision measuring hole and the first precision measuring mirror 23, fitting the installation surface coordinate system and the first precision measuring mirror 23 coordinate system, and then obtaining the Euler angle of the installation device coordinate system in the coordinate system of the first precision measuring mirror 23. The Euler angle refers to the rotation angle of an object around the three coordinate axes (X, Y, Z) of the coordinate system.

[0034] In a possible implementation, the coordinate system of the mounting device is: the center of the first precision measuring hole 24 on the mounting surface 22 is the coordinate origin, the X direction is the direction of the line connecting the two first precision measuring holes 24, the Y direction is the direction perpendicular to the mounting surface 22, and the Z direction satisfies the right-hand rule.

[0035] Specifically, according to the definition of the coordinate system of the installation device hole and the definition of the precision measuring mirror coordinate system, the precision measuring equipment is used to collect points on the three mutually perpendicular surfaces of the first precision measuring mirror 23 on the installation device to obtain the displacement and rotation matrix of the coordinate system of the installation device 2 in the coordinate system of the second precision measuring mirror 23. Among them, the coordinate system of the first precision measuring mirror 23 is defined as taking the center of the second precision measuring mirror 23 as the origin, and the vectors perpendicular to the sampling points and pointing outward as the XYZ coordinate axes. The coordinate system of the installation device 2 is positioned as the coordinate origin of the intersection of the reference hole axis and the installation surface 22, the Z direction is the same as the normal of the installation surface, the Y direction is the same as the direction of the line connecting the center of the reference hole and the center of the precision measuring hole, pointing to the precision measuring hole, and the X direction satisfies the right-hand rule.

[0036] More specifically, the number of mounting devices 2 is the same as the number of mounting flanges 31 of the deployment arm 3. A first precision measuring mirror 23 is attached to each mounting device 2. There are three first precision measuring holes 24 on each mounting device 2, and the positions of the first precision measuring holes 24 are the same as the positions of the second precision measuring holes 33 of the corresponding mounting flange 31 of the deployment arm 3, and the definitions are the same. By sampling points on the mounting surface 22 of the mounting device 2, the first precision measuring holes 24 and the first precision measuring mirror 23 with high-precision three-coordinate measuring equipment, the mounting surface coordinate system and the first precision measuring mirror 23 coordinate system can be fitted, and then the Euler angle of the coordinate system of the mounting surface 22 of each mounting device 2 in the coordinate system of the first precision measuring mirror 23 can be obtained, that is, the relationship between the mounting surface 22 of each mounting device 2 and the first precision measuring mirror 23.

[0037] In this embodiment, the coordinate system of the first precision measuring mirror 23 of the mounting device 2 is defined as follows: the origin of the coordinate system is the origin of the first precision measuring mirror 23, and the normals of the three mutually perpendicular surfaces are the directions of the three coordinate axes respectively.

[0038] During the installation and adjustment process of the installation device, the relationship between the coordinate systems of different first precision measuring mirrors 23 is measured by using precision measuring equipment to determine whether the precision of the installation device 2 meets the requirements.

[0039] In one possible implementation, using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting flange 31 of the deployment arm in the coordinate system of the second precision measuring mirror 32 includes: using the coordinate measuring device to respectively take points on the mounting flange 31, the second precision measuring hole 33 and the second precision measuring mirror 32, fitting the coordinate system of the mounting flange 31 and the coordinate system of the second precision measuring mirror 32, and then obtaining the Euler angle of the deployment arm coordinate system in the coordinate system of the second precision measuring mirror 32.

[0040] In a possible implementation, the coordinate system of the mounting flange is: the center of the second precision measuring hole 33 on the mounting flange 31 is the coordinate origin, the X direction is the direction of the line connecting the two second precision measuring holes 33, the Y direction is the direction perpendicular to the mounting flange 31, and the Z direction satisfies the right-hand rule.

[0041] Specifically, by sampling points on the mounting flange 31, the second precision measuring hole 33 and the second precision measuring mirror 32 through high-precision three-coordinate measuring equipment, the coordinate system of the mounting flange 31 and the coordinate system of the second precision measuring mirror 32 can be fitted, and then the Euler angle of each mounting flange 31 coordinate system in the second precision measuring mirror 32 coordinate system can be obtained, that is, the relationship between each mounting flange 31 and the second precision measuring mirror 32.

[0042] In this embodiment, the coordinate system of the precision measuring mirror is defined as follows: the origin of the coordinate system is the origin of the second precision measuring mirror 32, and the normals of the three mutually perpendicular surfaces are the directions of the three coordinate axes respectively.

[0043] like Figure 6-8 As shown, each mounting flange 31 has three second precision measuring holes 33, and the coordinate system of the second precision measuring hole 33 is defined as: the center of the second precision measuring hole 33 is the coordinate origin, wherein the Y direction is the direction of the vertical flange mounting surface, the X direction is the direction of the line connecting the two horizontal precision measuring holes, and the Z direction satisfies the right-hand rule. The coordinate system of the first flange 311 is defined as O1, the coordinate system of the second flange 312 is defined as O2, and the coordinate system of the third flange is defined as O3.

[0044] During the adjustment process, the relationship between the coordinate systems of different second precision measuring mirrors 32 is measured by precision measuring equipment to determine whether the assembly accuracy of the deployment arm meets the requirements. The deployment arm precision adjustment process is the adjustment of the relative position relationship of the three flanges. The Euler angle between the coordinate systems of the three flanges of the deployment arm after adjustment is within 0.01 of the theoretical Euler angle of the three flanges of the deployment arm.

[0045] In the present invention, the first precision measuring mirror 23 on the product installation device is aligned using a precision measuring device, and the coordinates of one precision measuring mirror are used as the initial coordinates to obtain the displacement and rotation angle of the coordinate system of the other precision measuring mirrors in the initial coordinate system, thereby obtaining the displacement and rotation angle relationship of the coordinate system of each product interface on the positioning device. By comparing the relationship between the measured matrix and the theoretical matrix, the angle and displacement changes of the product installation interface of the high-precision product installation device can be obtained, and the installation interface theoretical matrix table is shown in Table 1.

[0046] Table 1 Theoretical matrix of the relationship between the installation interface coordinate system

[0047]

[0048] In one possible implementation, fine-tuning the position deviation of the mounting device includes: using sine calculation to obtain the thickness of the adjustment plate that needs to be increased according to the offset angle, adding an adjustment gasket of corresponding thickness under the mounting device 2, and fixing it with adhesive. The calculation method of the adjustment gasket thickness is: sinα=adjustment gasket thickness / tooling width, that is, adjustment gasket thickness=sinα*tooling width.

[0049] In this embodiment, a three-point screw adjustment system can be added under the mounting device to adjust the angle of the precision measuring mirror of the precision measuring equipment to a theoretical angle. One person adjusts the screw adjustment system, and another person observes the change in the angle of the precision measuring mirror marking line in the precision measuring equipment until the requirements are met. This method is relatively costly, but greatly shortens the adjustment time.

[0050] In a possible implementation, after the position of the installation device is determined, after the positioning device is removed, the deployment arm 3 is placed at the position of the positioning device 1, and a height gauge is used to measure the height deviation of the reference measurement positions at both ends of the deployment arm, so that the deviation between the weight of the deployment arm unloaded by the gravity unloading device and the actual weight of the deployment arm is less than 3%. Figure 5 The unfolding arm shown has three sections, and there are mounting flanges on both sides of each section. If the height difference of the mounting flanges on both sides is consistent, it is considered that the product is leveled without height deviation.

[0051] In one possible implementation, using a height gauge to measure the height deviation of the reference measurement positions at both ends of the deployment arm includes: if the height deviation is above 0.05 mm, adjusting the height of the air foot (not shown in the figure) on the gravity unloading device to level the deployment arm, and there are three air cushions with adjustable height under the zero gravity adjustment device, also called air feet.

[0052] After the height of the reference measurement positions at both ends of the deployment arm is leveled, the deployment arm is connected to the installation device using fasteners. The fastener force is applied sequentially from top to bottom. During the connection process, the precision measuring equipment is used to align the precision measuring mirror on the deployment arm. The change in the precision measuring mirror scale on the deployment arm is less than 0.005mm. After each section of the deployment arm is connected to the installation device, each section of the deployment arm is connected together using fasteners according to the above method. After the deployment arm is assembled, disconnect the deployment arm from the high-precision product installation device.

[0053] According to the second aspect of the present application, the present application provides a high-precision assembly device for a spacecraft deployment arm, comprising: a positioning device; a mounting device, the mounting device comprising a support frame, a mounting surface and a first precision measuring mirror 23, the mounting surface is arranged on one side of the support frame, a first precision measuring hole is opened on the mounting surface, and the first precision measuring mirror 23 is installed on the mounting surface; a deployment arm; a mounting flange, the mounting flange is arranged at both ends of the deployment arm, and the mounting flange corresponds to the mounting surface one by one; a second precision measuring hole is opened on the mounting flange, and the second precision measuring hole corresponds to the first precision measuring hole one by one; a second precision measuring mirror, the second precision measuring mirror is installed on the mounting flange.

[0054] In a possible implementation, the positioning device includes: a support plate 11 ; a connecting beam 12 , which is disposed on the support plate 11 ; and a reinforcing beam 13 , which is disposed between the support plate 11 and the connecting beam 12 .

[0055] Specifically, the positioning device is used before the formal assembly of the product. The product here can be the deployment arm or other assembled products. The positioning device is used to replace the precision measurement interface of the deployment arm product. The maximum outer envelope size is the same as that of the deployment arm product, and the interface precision of the replaced product is the same as that of the real product. Except for the replacement product interface and precision which are determined by the specific product, the other structural forms of the high-precision product positioning device are not limited and can be changed according to the size of the deployment arm product, the gravity unloading system, the assembly site, etc. Before installation, the various parts of the high-precision product positioning device can be connected and fixed as a whole by screwing or welding. The positional relationship and corresponding precision between the high-precision positioning surfaces in the high-precision product positioning device are the same as the precision of the final assembled product.

[0056] In the present application, a precision measuring mirror is installed on each installation device to precisely measure whether the positional relationship of each set of high-precision product installation devices meets the precision requirements of the deployment arm, and the position of the installation device can be fine-tuned according to the precision measurement results. The precision measurement system is used to first measure the product precision measurement interface on the high-precision product installation device through the collimating precision measuring mirror. Before the precision measurement, a measurement system with an accuracy better than 0.003mm has been used to obtain the angular position relationship between the product interface and the center of the product precision measuring mirror, and the angular position relationship between the high-precision product installation device and the center of the precision measuring mirror on the installation device. The position of the deployment arm is fine-tuned according to the precision measurement results. During the assembly process, the force is applied to ensure that the precision measurement position does not change before and after the components of the deployment arm are connected. After the deployment arm product is installed, the precision measurement system is used again to precisely measure the deployment accuracy of the product. There are various precision measurement methods, and the specific precision measurement equipment and precision measurement methods are determined according to the specific product form.

[0057] The present application integrates the three functions of high-precision deployment arm positioning-assembly-measurement into a multifunctional structure, and proposes a high-precision assembly method under microgravity. By adopting the positioning-assembly-measurement technology, the influence of gravity on the assembly accuracy of the product is overcome, the technical problem of the difficulty in ensuring the assembly accuracy of the high-precision deployment arm is solved, and the high deployment accuracy requirement of the deployment arm up to micron level is achieved.

[0058] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A high-precision assembly method for a spacecraft deployment arm, characterized in that: The assembly method includes: The first precision measuring mirror is pasted on the mounting surface of the mounting device, and the positioning device is used to locate the position of the mounting device. After the position of the mounting device is determined, the positioning device is removed, and the coordinate measuring device is used to measure the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror, and the position of the mounting device is adjusted according to the theoretical Euler angle of the mounting device. The second precision measuring mirror is pasted on the mounting flange of the deployment arm, and the Euler angle of the mounting flange coordinate system of the deployment arm in the coordinate system of the second precision measuring mirror is measured by using a coordinate measuring device. According to the change of the theoretical Euler angle of the mounting flange of the deployment arm, the position deviation of the mounting device is fine-tuned until the assembly accuracy requirement is met; Connect the arm of the deployment arm to the flange mounting surface corresponding to the mounting device, use the precision measuring equipment to align the second precision measuring mirror on the deployment arm, so that the variation of the scale line of the second precision measuring mirror on the deployment arm is less than 0.005mm, and complete the high-precision assembly of the deployment arm.

2. The high-precision assembly method according to claim 1, characterized in that: The method of using a coordinate measuring device to measure the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror includes: using the coordinate measuring device to respectively collect points on the mounting surface, the first precision measuring hole and the first precision measuring mirror, fitting the mounting surface coordinate system and the first precision measuring mirror coordinate system, and then obtaining the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision measuring mirror.

3. The high-precision assembly method according to claim 2, characterized in that: The coordinate system of the installation device is: the center of the first precision measuring hole on the installation surface is the coordinate origin, the X direction is the direction of the line connecting the two first precision measuring holes, the Y direction is the direction perpendicular to the installation surface, and the Z direction satisfies the right-hand rule.

4. The high-precision assembly method according to claim 1, characterized in that: The method of using a coordinate measuring device to measure the Euler angle of the mounting flange coordinate system of the deployment arm in the second precision measuring mirror coordinate system includes: using the coordinate measuring device to respectively sample points on the mounting flange, the second precision measuring hole and the second precision measuring mirror, fitting the mounting flange coordinate system and the second precision measuring mirror coordinate system, and then obtaining the Euler angle of the deployment arm coordinate system in the second precision measuring mirror coordinate system.

5. The high-precision assembly method according to claim 4, characterized in that: The coordinate system of the mounting flange is: the center of the second precision measuring hole on the mounting flange is the coordinate origin, the X direction is the direction of the line connecting the two second precision measuring holes, the Y direction is the direction perpendicular to the mounting flange surface, and the Z direction satisfies the right-hand rule.

6. The high-precision assembly method according to claim 1, characterized in that: The position deviation of the fine-tuning installation device includes: according to the offset angle, the thickness of the adjustment plate that needs to be increased is calculated using sine calculation, an adjustment gasket of corresponding thickness is added to the bottom of the installation device, and fixed with glue, and the calculation method of the adjustment gasket thickness is: sinα=adjustment gasket thickness / tooling width, that is, adjustment gasket thickness=sinα*tooling width.

7. The assembly method according to claim 1, characterized in that: After the position of the installation device is determined, after removing the positioning device, the deployment arm is placed at the position of the positioning device, and the height deviation of the reference measurement positions at both ends of the deployment arm is measured using a height gauge, so that the deviation between the weight of the deployment arm unloaded by the gravity unloading device and the actual weight of the deployment arm is less than 3%.

8. The high-precision assembly method according to claim 7, characterized in that: The method of measuring the height deviation of the reference measurement positions at both ends of the deployment arm using a height gauge includes: if the height deviation is above 0.05 mm, adjusting the height of the air foot on the gravity unloading device to level the deployment arm.

9. A high-precision assembly device for a spacecraft deployment arm, characterized in that: include: Positioning device; A mounting device, the mounting device comprising a support frame, a mounting surface and a first precision measuring mirror, the mounting surface being arranged on one side of the support frame, a first precision measuring hole being opened on the mounting surface, and the first precision measuring mirror being mounted on the mounting surface; Deploy the arm; A mounting flange, wherein the mounting flange is arranged at both ends of the unfolding arm, and the mounting flange corresponds to the mounting surface one by one; a second precision measuring hole is opened on the mounting flange, and the second precision measuring hole corresponds to the first precision measuring hole one by one; a second precision measuring mirror, wherein the second precision measuring mirror is installed on the mounting flange.

10. The high-precision assembly device according to claim 9, characterized in that: The positioning device comprises: Support plate; A connecting beam, wherein the connecting beam is arranged on the supporting plate; A reinforcing beam is arranged between the supporting plate and the connecting beam.

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