High-precision assembly method and device for spacecraft deployment arm

Abstract

The application provides a high-precision assembly method and device for a spacecraft deployment arm, wherein a first precision mirror is pasted on a mounting surface of a mounting device, a coordinate measuring device is used to measure Euler angles of a coordinate system of the mounting device under a coordinate system of the first precision mirror, the position of the mounting device is adjusted according to the theoretical Euler angles of the mounting device, a second precision mirror is pasted on a mounting flange of the deployment arm, the coordinate measuring device is used to measure Euler angles of a coordinate system of the mounting flange of the deployment arm under a coordinate system of the second precision mirror, the position deviation of the mounting device is fine-adjusted according to the change of the theoretical Euler angles of the mounting flange of the deployment arm, and the position deviation of the mounting device is fine-adjusted until the assembly precision requirement is met. The assembly method can ensure the micro-stress assembly of the high-precision deployment arm product and the high-precision angle requirement after the product is deployed, and the flatness and perpendicularity of the mounting surface of the mounting device are both better than 0.02.

Description

TECHNICAL FIELD

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

[0002] The deployment arm product is an important mechanism on the spacecraft, which is used to stretch the effective load to make it away from the satellite. After the deployment arm is deployed, the load forms a certain angle relative to the satellite, and the angle is determined by the precision of the deployment arm. The deployment precision of the deployment arm directly affects the precision and even the working efficiency of the load. Therefore, a high-precision assembly device and method under microgravity or even zero gravity condition is needed to ensure the high deployment precision of the deployment arm after stress-free assembly, so as to obtain the deployment precision data of the product in orbit. SUMMARY

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

[0004] According to a first aspect of the present application, the present application provides a high-precision assembly method of a spacecraft deployment arm, which comprises the following steps: pasting a first precision mirror on a mounting surface of a mounting device, positioning the position of the mounting device by using a positioning device, removing the positioning device after determining the position of the mounting device, measuring the Euler angle of the coordinate system of the mounting device under the coordinate system of the first precision mirror by using a coordinate measuring device, adjusting the position of the mounting device according to the theoretical Euler angle of the mounting device, pasting a second precision mirror on a mounting flange of the deployment arm, measuring the Euler angle of the coordinate system of the mounting flange of the deployment arm under the coordinate system of the second precision mirror by using the coordinate measuring device, 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 precision requirement is met; connecting the arm rod of the deployment arm with the flange mounting surface corresponding to the mounting device, collimating the second precision mirror on the deployment arm by using a precision measuring device, so that the change amount of the second precision mirror mark line on the deployment arm is less than 0.005 mm, and the high-precision assembly of the deployment arm is completed.

[0005] In a possible implementation manner, the measuring of the Euler angle of the coordinate system of the mounting device under the coordinate system of the first precision mirror by using the coordinate measuring device comprises the following steps: sampling points on the mounting surface, the first precision hole and the first precision mirror respectively by using the coordinate measuring device, fitting the coordinate system of the mounting surface and the coordinate system of the first precision mirror, and then obtaining the Euler angle of the coordinate system of the mounting device under the coordinate system of the first precision mirror.

[0006] In a possible implementation, the coordinate system of the mounting device is as follows: the center of the fine measurement hole on the mounting surface is taken as the coordinate origin, the X direction is the connecting direction of the two fine measurement 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 Euler angle of the coordinate system of the mounting flange of the spread arm in the second fine measurement mirror coordinate system is obtained by using the coordinate measurement device to sample points on the mounting flange, the second fine measurement hole and the second fine measurement mirror respectively, fitting the coordinate system of the mounting flange and the coordinate system of the second fine measurement mirror, and then obtaining the Euler angle of the coordinate system of the spread arm in the coordinate system of the second fine measurement mirror.

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

[0009] In a possible implementation, the position deviation of the fine adjustment mounting device includes: according to the angle of the offset, the thickness of the required adjusting pad is calculated by using sine, the adjusting pad with the corresponding thickness is added to the bottom of the mounting device, and is fixed by using adhesive, and the calculation method of the thickness of the adjusting pad is: sinα = adjusting pad thickness / tool width, that is, adjusting pad thickness = sinα * tool width.

[0010] In a possible implementation, after the position of the mounting device is determined, the positioning device is removed, and then the spread arm is placed at the position of the positioning device, the height deviation of the reference measurement positions at both ends of the spread arm is measured by using the height gauge, and the deviation between the weight unloaded by the gravity unloading device and the actual weight of the spread arm is less than 3%.

[0011] In a possible implementation, the height deviation of the reference measurement positions at both ends of the spread arm is measured by using the height gauge, and if the height deviation is greater than or equal to 0.05 mm, the height of the air foot on the gravity unloading device is adjusted to level the spread arm.

[0012] According to a second aspect of the present application, the present application provides a high-precision assembly device of a spacecraft spread arm, which comprises: a positioning device; a mounting device, the mounting device comprising a support frame, a mounting surface and a first fine measurement mirror, the mounting surface being arranged on one side of the support frame, the mounting surface being provided with a first fine measurement hole, and the first fine measurement mirror being arranged on the mounting surface; a spread arm; a mounting flange, the mounting flange being arranged at both ends of the spread arm, and the mounting flange corresponding to the mounting surface one by one; a second fine measurement hole being arranged on the mounting flange, and the second fine measurement hole corresponding to the first fine measurement hole one by one; and a second fine measurement mirror, the second fine measurement mirror being arranged on the mounting flange.

[0013] In a possible implementation, the positioning device comprises a support plate, a connecting beam arranged on the support plate, and a reinforcing beam arranged between the support plate and the connecting beam.

[0014] The high-precision assembly method and device for a spacecraft deployment arm provided by the application comprises the following steps: a first precision mirror is pasted on a mounting surface of a mounting device; a positioning device is used to position the mounting device; after the position of the mounting device is determined, the positioning device is removed; a coordinate measuring device is used to measure the Euler angle of the coordinate system of the mounting device under the coordinate system of the first precision mirror; the position of the mounting device is adjusted according to the theoretical Euler angle of the mounting device; a second precision mirror is pasted on a mounting flange of the deployment arm; the coordinate measuring device is used to measure the Euler angle of the coordinate system of the mounting flange of the deployment arm under the coordinate system of the second precision mirror; the position deviation of the mounting device is fine-adjusted according to the change of the theoretical Euler angle of the mounting flange of the deployment arm until the assembly precision requirement is met; the arm rod of the deployment arm is connected to the flange mounting surface corresponding to the mounting device; the second precision mirror on the deployment arm is collimated by using a precision measuring device, so that the change of the scribe line of the second precision mirror on the deployment arm is less than 0.005 mm, and the high-precision assembly of the deployment arm is completed. According to the change relationship between the actual position and the theory, the position of the mounting device is fine-adjusted until the precision requirement is met. The assembly method can ensure the micro-stress assembly of the high-precision deployment arm product and the high-precision angle requirement after the product is deployed. The flatness and perpendicularity of the mounting surface of the assembly device are both better than 0.02. The application has a multifunctional structure integrating the functions of positioning, assembly and measurement. By using the positioning, assembly and measurement technology, the influence of gravity on the assembly precision of the product is overcome, the technical problem that the assembly precision of the high-precision deployment arm is difficult to guarantee is solved, and the high deployment precision requirement of the deployment arm up to microns is realized. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 Fig. 1 shows the overall structure of the high-precision assembly device for a deployment arm provided by an embodiment of the application;

[0016] Figure 2 Fig. 2 shows a top view of the high-precision assembly device for a deployment arm provided by an embodiment of the application;

[0017] Figure 3 Fig. 3 shows a side view of the high-precision assembly device for a deployment arm provided by an embodiment of the application; Figure 2 Fig. 4 shows a side view of the high-precision assembly device for a deployment arm provided by an embodiment of the application;

[0018] Figure 4 Fig. 5 shows a side view of the high-precision assembly device for a deployment arm provided by an embodiment of the application; Figure 2 Fig. 6 shows a side view of the high-precision assembly device for a deployment arm provided by an embodiment of the application;

[0019] Figure 5 Fig. 7 shows a structure diagram of a deployment arm provided by an embodiment of the application;

[0020] Figure 6 Fig. 1 shows a structural schematic diagram of a first mounting flange of a spread arm according to an embodiment of the present application;

[0021] Figure 7 Fig. 2 shows a structural schematic diagram of a second mounting flange of a spread arm according to an embodiment of the present application;

[0022] Figure 8 Fig. 3 shows a structural schematic diagram of a third mounting flange of a spread arm according to an embodiment of the present application.

[0023] Legend of reference signs:

[0024] 1, positioning device; 11, support plate; 12, connecting beam; 13, reinforcing beam;

[0025] 2, mounting device; 21, support frame; 22, mounting surface; 23, first precision measuring mirror; 24, first precision measuring hole;

[0026] 3, spread 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 present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited. All directional indications, such as upper, lower, left, right, front, back, top, bottom, etc., are used in the description of the present application to facilitate the relative position relationship, movement condition, etc. between components, and if the specific posture (as shown in the drawings) changes, the directional indications also change accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units that are not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0028] In addition, the reference to "embodiments" in this document means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

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

[0031] Figure 1 Fig. 1 shows a schematic diagram of the overall structure of a high-precision assembly device for a deployable arm according to an embodiment of the present application; Figure 2 Fig. 2 shows a top view of the high-precision assembly device for the deployable arm according to an embodiment of the present application; Figure 3 Fig. 3 shows a side view of the high-precision assembly device for the deployable arm according to an embodiment of the present application; Figure 2 Fig. 4 shows a front view of the high-precision assembly device for the deployable arm according to an embodiment of the present application; Figure 4 Fig. 5 shows a side view of the high-precision assembly device for the deployable arm according to an embodiment of the present application; Figure 2 Fig. 6 shows a structure schematic diagram of the deployable arm according to an embodiment of the present application; Figure 5 Fig. 7 shows a structure schematic diagram of a first mounting flange of the deployable arm according to an embodiment of the present application; Figure 6 Fig. 8 shows a structure schematic diagram of a second mounting flange of the deployable arm according to an embodiment of the present application; Figure 7 Fig. 9 shows a structure schematic diagram of a third mounting flange of the deployable arm according to an embodiment of the present application. Figure 8 As shown in Fig. 6, the deployable arm includes a first mounting flange 61, a second mounting flange 62, and a third mounting flange 63.

[0032] Figures 1-8 ​As shown, the application provides a high-precision assembly method of a spacecraft deployment arm, which comprises the following steps: pasting a first precision mirror 23 on a mounting surface 22 of a mounting device 2, positioning the mounting device 2 using a positioning device 1, removing the positioning device 1 after the position of the mounting device 2 is determined, measuring the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision mirror 23 using a coordinate measuring device, adjusting the position of the mounting device according to the theoretical Euler angle of the mounting device, pasting a second precision mirror 32 on a mounting flange 31 of the deployment arm 3, measuring 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 mirror 32 using the coordinate measuring device, 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 precision requirement is met; connecting the arm rod of the deployment arm 3 with the corresponding mounting surface 22 of the mounting device, collimating the second precision mirror 32 on the deployment arm 3 using a precision measuring device, so that the change of the second precision mirror 32 line on the deployment arm 3 is less than 0.005 mm, and the high-precision assembly of the deployment arm is completed. According to the change relationship between the actual position and the theory, the position of the mounting device is fine-tuned until the precision meets the requirement. The assembly method can ensure the micro-stress assembly of the high-precision deployment arm product and the high-precision angle requirement after the product is deployed. The flatness and perpendicularity of the mounting surface of the assembly device are better than 0.02. The assembly device has a multifunctional structure integrating positioning, assembly and measurement functions. By using the positioning, assembly and measurement technology, the influence of gravity on the assembly precision of the product is overcome, the technical problem of difficult guarantee of the assembly precision of the high-precision deployment arm 3 is solved, and the high deployment precision requirement of the deployment arm 3 up to microns is realized.

[0033] In a possible implementation, the measurement of the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision mirror 23 using the coordinate measuring device comprises the following steps: using the coordinate measuring device to sample points on the mounting surface, the first precision hole and the first precision mirror 23 respectively, fitting the mounting surface coordinate system and the first precision mirror 23 coordinate system, and then obtaining the Euler angle of the coordinate system of the mounting device in the coordinate system of the first precision 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 as follows: taking the center of the first precision hole 24 on the mounting surface 22 as the coordinate origin, the X direction as the direction of the connecting line of the two first precision holes 24, the Y direction as the direction perpendicular to the mounting surface 22, and the Z direction satisfying the right-hand rule.

[0035] Specifically, according to the definition of the coordinate system of the mounting device hole and the definition of the coordinate system of the precision measuring mirror, the precision measuring device is used to sample points on the three mutually perpendicular surfaces of the first precision measuring mirror 23 on the mounting device, and the displacement and rotation matrix of the coordinate system of the mounting device 2 in the coordinate system of the second precision measuring mirror 23 are obtained. The coordinate system of the first precision measuring mirror 23 is defined as the center of the second precision measuring mirror 23 as the origin, and the vectors perpendicular to the sampling surfaces and pointing outward as the XYZ coordinate axes. The coordinate system of the mounting device 2 is positioned as the coordinate origin of the intersection of the reference hole axis and the mounting surface 22, the Z direction is the same as the normal direction of the mounting 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, 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 spread arms 3. A first precision measuring mirror 23 is attached to each mounting device 2. Each mounting device 2 has three first precision measuring holes 24, which are located and defined in the same way as the second precision measuring holes 33 of the corresponding mounting flanges 31 of the spread arms 3. By sampling points on the mounting surface 22, the first precision measuring holes 24, and the first precision measuring mirror 23 of the mounting device 2 using a high-precision three-coordinate measuring device, the mounting surface coordinate system and the first precision measuring mirror 23 coordinate system can be fitted, and 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 is obtained, i.e., 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 coordinate system origin 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.

[0038] During the installation and adjustment process of the mounting device, the precision of the mounting device 2 is judged by measuring the relationship of different first precision measuring mirror 23 coordinate systems using a precision measuring device.

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

[0040] In one possible implementation, the coordinate system of the mounting flange is as follows: 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 a high-precision three-coordinate measuring device, the mounting flange 31 coordinate system and the second precision measuring mirror 32 coordinate system can be fitted, and then the Euler angle of each mounting flange 31 coordinate system in the second precision measuring mirror 32 coordinate system is 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 planes are the directions of the three coordinate axes.

[0043] As shown in Figures 6-8 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 follows: the center of the second precision measuring hole 33 is taken as the coordinate origin, the Y direction is perpendicular to the flange mounting surface direction, the X direction is the direction of the connecting line of 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] In the adjustment process, the relationship between different second precision measuring mirror 32 coordinate systems is measured by using a precision measuring device to determine whether the assembly precision of the spread arm meets the requirements. The spread arm precision adjustment process is the adjustment of the relative position relationship of the three flanges. The change of the Euler angle between the coordinate systems of the three flanges of the adjusted spread arm and the theoretical Euler angle of the three flanges of the spread arm is within 0.01.

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

[0046] Table 1 Theoretical matrix table of mounting interface coordinate system relationship

[0047]

[0048] In one possible implementation, the position deviation of the fine adjustment mounting device includes: according to the angle of the offset, using sine to calculate the required thickness of the adjusting pad, adding an adjusting pad with the corresponding thickness under the mounting device 2, and fixing it using adhesive. The calculation method of the thickness of the adjusting pad is: sinα = adjusting pad thickness / tool width, that is, adjusting pad thickness = sinα * tool width.

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

[0050] In a possible implementation, after determining the position of the mounting device and removing the positioning device, the unfolded arm 3 is placed in the position of the positioning device 1, the height deviation of the reference measurement positions at both ends of the unfolded arm is measured using a height gauge, and the deviation between the weight unloaded by the gravity unloading device and the actual weight of the unfolded arm is less than 3%. Figure 5 The unfolded arm shown has three sections, and each section has mounting flanges on both sides. If the height difference between the mounting flanges on both sides is consistent, it is considered that the product is leveled without height deviation.

[0051] In a possible implementation, measuring the height deviation of the reference measurement positions at both ends of the unfolded arm using a height gauge includes: if the height deviation is greater than or equal to 0.05 mm, adjusting the height of the air foot (not shown in the figure) on the gravity unloading device to level the unfolded arm. There are three air pads, also known as air feet, below the zero-gravity adjusting device, which can adjust the height.

[0052] After leveling the height of the reference measurement positions at both ends of the unfolded arm, the unfolded arm is connected to the mounting device using fasteners. The fastener force is applied from top to bottom in sequence. During the connection process, the fine measuring device is used to align the fine measuring mirror on the unfolded arm, and the change in the fine measuring mirror mark on the unfolded arm is less than 0.005 mm. After each section of the unfolded arm is connected to the mounting device, each section of the unfolded arm is connected together using fasteners according to the above method. After the unfolded arm is assembled, the connection between the unfolded arm and the high-precision product mounting device is disconnected.

[0053] According to a second aspect of the present application, the present application provides a high-precision assembly device for a spacecraft unfolded arm, comprising: a positioning device; a mounting device, the mounting device comprising a support frame, a mounting surface, and a first fine measuring mirror 23, the mounting surface being arranged on one side of the support frame, the mounting surface being provided with a first fine measuring hole, and the first fine measuring mirror 23 being arranged on the mounting surface; an unfolded arm; mounting flanges arranged at both ends of the unfolded arm, the mounting flanges corresponding one-to-one to the mounting surface; the mounting flanges being provided with second fine measuring holes, the second fine measuring holes corresponding one-to-one to the first fine measuring holes; and a second fine measuring mirror arranged on the mounting flanges.

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

[0055] Specifically, the positioning device is used to replace the precision measurement interface of the unfolded arm product before the formal assembly of the product, where the product can be an unfolded arm or other assembled product. The maximum outer envelope size of the positioning device is the same as that of the unfolded arm product, and the precision of the replaced product interface is the same as that of the real product. In addition to replacing the product interface and the precision determined by the specific product, the high-precision product positioning device has no limitation on other structural forms, which can be changed according to the size of the unfolded arm product, the gravity unloading system, the assembly site, etc. Before installation, the parts of the high-precision product positioning device can be connected and fixed as a whole through screwing and welding. The positional relationship between the high-precision positioning surfaces in the high-precision product positioning device and the corresponding precision are the same as the precision of the finally adjusted product.

[0056] In the present application, a precision measuring mirror is installed on each mounting device to precisely measure whether the positional relationship of each set of high-precision product mounting device meets the precision requirements of the unfolded arm, and the position of the mounting device can be adjusted according to the measurement results. The precision measurement system is used to measure the product precision interface on the high-precision product mounting device through the collimating precision measuring mirror. Before precision measurement, a measurement system with a precision better than 0.003 mm is used to obtain the angular positional relationship between the product interface and the center of the product precision mirror, and the angular positional relationship between the high-precision product mounting device and the center of the precision mirror on the mounting device. According to the measurement results, the position of the unfolded arm is adjusted. During the assembly process, the force is applied to ensure that the precision position does not change before and after the connection of each component of the unfolded arm. After the unfolded arm product is installed, the precision measurement system is used again to precisely measure the unfolding precision of the product. The precision measurement method is various, and the specific precision measurement equipment and method are determined according to the specific product form.

[0057] The present application integrates the functions of high-precision unfolded arm positioning, assembly, and measurement into a multifunctional structure, and proposes a high-precision assembly method under microgravity. By using the positioning-assembly-measurement technology, the influence of gravity on the assembly precision of the product is overcome, the technical problem of difficult guarantee of high-precision unfolded arm assembly precision is solved, and the high-unfolding precision requirement of the unfolded arm up to microns is realized.

[0058] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, 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 method of high precision assembly of a spacecraft deployable arm, characterized in that, The assembly method comprises: The first fine measurement mirror is pasted on the mounting surface of the mounting device, the position of the mounting device is positioned using the positioning device, after the position of the mounting device is determined, the positioning device is removed, the Euler angle of the coordinate system of the mounting device under the first fine measurement mirror coordinate system is measured using the coordinate measuring equipment, the position of the mounting device is adjusted according to the Euler angle of the mounting device theory, The second fine measurement mirror is pasted on the mounting flange of the unfolding arm, the Euler angle of the mounting flange coordinate system of the unfolding arm under the second fine measurement mirror coordinate system is measured using the coordinate measuring equipment, the position deviation of the mounting device is fine adjusted according to the change of the Euler angle of the mounting flange theory of the unfolding arm, until the assembly precision requirement is met; The arm rod of the unfolding arm is connected with the corresponding flange mounting surface of the mounting device, the second fine measurement mirror on the unfolding arm is collimated using the fine measurement equipment, so that the change amount of the second fine measurement mirror scribe line on the unfolding arm is less than 0.005mm, and the high-precision assembly of the unfolding arm is completed.

2. The high precision assembly method of claim 1, wherein, The Euler angle of the coordinate system of the mounting device under the first fine measurement mirror coordinate system measured using the coordinate measuring equipment comprises: points are collected on the mounting surface, the first fine measurement hole and the first fine measurement mirror respectively using the coordinate measuring equipment, the mounting surface coordinate system and the first fine measurement mirror coordinate system are fitted, and then the Euler angle of the mounting device coordinate system under the first fine measurement mirror coordinate system is obtained.

3. The high precision assembly method of claim 2, wherein, The coordinate system of the mounting device is that the center of the first fine measurement hole on the mounting surface is taken as a coordinate origin, the X direction is the connecting line direction of the two first fine measurement holes, the Y direction is the direction perpendicular to the mounting surface, and the Z direction satisfies the right-hand rule.

4. The high precision assembly method of claim 1, wherein, The Euler angle of the mounting flange coordinate system of the unfolding arm under the second fine measurement mirror coordinate system measured using the coordinate measuring equipment comprises: points are collected on the mounting flange, the second fine measurement hole and the second fine measurement mirror respectively using the coordinate measuring equipment, the mounting flange coordinate system and the second fine measurement mirror coordinate system are fitted, and then the Euler angle of the unfolding arm coordinate system under the second fine measurement mirror coordinate system is obtained.

5. The high precision assembly method of claim 4, wherein, The coordinate system of the mounting flange is that the center of the second fine measurement hole on the mounting flange is taken as a coordinate origin, the X direction is the connecting line direction of the two second fine measurement 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 of claim 1, wherein, The fine adjustment of the position deviation of the mounting device comprises: according to the angle of the deviation, the thickness of the required adjusting pad is calculated using the sine, the adjusting pad with the corresponding thickness is added at the bottom of the mounting device, and the adjusting pad is fixed using the adhesive, and the calculation method of the thickness of the adjusting pad is: sinα=adjusting pad thickness / frock width, that is, adjusting pad thickness=sinα*frock width.

7. The method of assembling according to claim 1, wherein, After the position of the mounting device is determined and the positioning device is removed, the unfolding arm is placed at the position of the positioning device, the height deviation of the reference measurement positions at both ends of the unfolding arm is measured using the height gauge, so that the deviation between the weight unloaded by the gravity unloading device and the actual weight of the unfolding arm is less than 3%.

8. The high precision assembly method of claim 7, wherein, The height deviation of the reference measurement positions at both ends of the unfolding arm measured using the height gauge comprises: if the height deviation is more than 0.05mm, the height of the air foot on the gravity unloading device is adjusted to level the unfolding arm.

9. A high precision assembly device for a spacecraft deployable arm, characterized in that, The positioning device comprises: ​ The mounting device comprises a support frame, a mounting surface provided on one side of the support frame, a first fine measurement mirror installed on the mounting surface, a spread arm, a mounting flange provided at both ends of the spread arm, a second fine measurement mirror installed on the mounting flange, and a positioning device. The spread arm; The mounting flange corresponds to the mounting surface one by one, and a second fine measurement hole is formed in the mounting flange and corresponds to the first fine measurement hole one by one.

10. The high precision assembly apparatus of claim 9, wherein, The positioning device comprises: The support plate; The connecting beam is provided on the support plate; The reinforcing beam is provided between the support plate and the connecting beam.

Images