Light spacecraft deck rack vehicle based on mechanical arm operation and final assembly method

Abstract

The invention discloses a light spacecraft deck rack vehicle based on mechanical arm operation and a general assembly method, and relates to the field of spacecrafts. The supporting frame comprises a supporting frame body and a heightening frame, the heightening frame is connected to the supporting frame body through an adjusting structure, and the adjusting structure is used for adjusting the mounting height of the heightening frame on the supporting frame body; the cabin plate butt-joint frame is connected to the top of the heightening frame, and an end effector is arranged on one side of the cabin plate butt-joint frame and used for being connected with a mechanical arm connector. A plurality of butt joint bosses are arranged on the outer edge of the cabin plate butt joint frame and used for being connected with a cabin plate. By means of the mechanical arm general assembly technology, the spacecraft deck rack car is simple and light in design, meanwhile, the mechanical arm has the powerful space rotation function and the accurate positioning function, and the rack car can be turned over and parked to the posture more suitable for general assembly and testing.

Description

Technical Field

[0001] The invention relates to a design of a light spacecraft cabin board support and overturning frame vehicle based on mechanical arm operation, belonging to the technical field of spacecraft design. Background Art

[0002] Spacecraft assembly is an important part of the spacecraft development process. According to the satellite development process requirements, corresponding ground support equipment is needed during the spacecraft assembly and testing process to meet the assembly and testing needs.

[0003] Common ground support equipment for spacecraft includes hoists, parking / transfer and flipping equipment, deployment equipment, special ground equipment for testing, packaging boxes, space suits, special tools and other ground equipment. Among them, parking, transfer and flipping equipment generally includes large component assembly parking support vehicles, cabin and whole vehicle parking support vehicles, flip and docking support vehicles for assembly and testing, transition support vehicles in packaging boxes, transfer vehicles, attitude adjustment turntables and auxiliary supports.

[0004] The traditional cabin flipping trolley completes the relevant assembly operations through the trolley's own rotation and flipping mechanism, which makes the trolley structure complex, large in size and heavy in weight, and is also easy to cause obstruction to other assembly operations of the satellite. Summary of the invention

[0005] The technical problem solved by the present application is: to overcome the deficiencies of the prior art and provide a light-weight spacecraft cabin panel frame vehicle based on robotic arm operation. Relying on the robotic arm assembly technology, the spacecraft cabin panel frame vehicle is designed to be simple and lightweight. At the same time, the robotic arm has more powerful spatial rotation and precise positioning functions, so that the frame vehicle can be flipped and parked to a posture that is more suitable for assembly and testing.

[0006] The technical solutions provided by this application are as follows:

[0007] A light spacecraft cabin panel frame vehicle based on mechanical arm operation includes a cabin panel docking frame and a support frame; the support frame includes a support frame body and an elevated frame, the elevated frame is connected to the support frame body through an adjustment structure, and the adjustment structure is used for the installation height of the elevated frame on the support frame body; the cabin panel docking frame is connected to the top of the elevated frame, an end effector is provided on one side of the cabin panel docking frame, and the end effector is used for connecting to the mechanical arm interface; a plurality of docking bosses are provided on the outer edge of the cabin panel docking frame, and the docking bosses are used for connecting to the cabin panel.

[0008] The adjustment structure includes assembly holes and support columns. The top of the support frame body is four support columns. The heightening frame includes two square frames. Each square frame has two assembly holes. Each square frame cooperates with two support columns. The support columns and the square frames are provided with multiple vertically arranged positioning holes, and the plug-in pins pass through the relative positioning holes of the support columns and the square frames.

[0009] The outer edge of the cabin board docking frame is provided with a first lug, the top and bottom of the heightening frame are provided with fixed lugs, and the first lug is connected to the fixed lug on the top of the heightening frame by screws.

[0010] The support frame body is provided with a second support ear, and the second support ear is connected to the fixed support ear at the bottom of the height-enhancing frame by means of screws.

[0011] The support frame also includes a bottom connecting plate, casters and a lifting mechanism. The bottom connecting plate is fixedly connected to the support frame body, and the casters are fixedly connected to the bottom of the bottom connecting plate; the lifting mechanism is connected to the bottom connecting plate and is used to adjust the height of the support frame body.

[0012] The lifting mechanism comprises a lead screw, a nut, a base and a hand wheel, the nut is fixedly connected to the bottom connecting plate, the lead screw is threadedly connected to the nut, the hand wheel is fixedly connected to the top of the lead screw, and the base is rotatably connected to the bottom of the lead screw.

[0013] The lead screw adopts a trapezoidal thread.

[0014] A method for assembling a light spacecraft cabin panel based on a robot arm operation, assembling according to any of the above-mentioned light spacecraft cabin panel rigging vehicles based on a robot arm operation, comprising:

[0015] The lifting mechanism is located in the middle of its own adjustment stroke, and the initial installation height of the heightening frame on the support frame body is adjusted by adjusting the structure according to the size of the star;

[0016] When the cabin board is connected to the satellite, the cabin board docking frame is connected to the cabin board, and the mechanical arm interface is connected to the end actuator of the cabin board docking frame;

[0017] The connection structure between the cabin and the star body is disassembled, the cabin docking frame and the cabin are driven to move together by the mechanical arm, and the cabin docking frame is installed on the top of the heightening frame; according to the height of the cabin at this time, the accurate height of the cabin is further adjusted by the lifting mechanism;

[0018] The connection structure between the cabin and the star body is disassembled, the cabin docking frame and the cabin are driven to move together by the mechanical arm, and the cabin docking frame is installed on the top of the heightening frame; according to the height of the cabin at this time, the accurate height of the cabin is further adjusted by the lifting mechanism;

[0019] Install the satellite's single-machine equipment and cable network on the deck. After installation, obtain the rear deck after assembly;

[0020] The mechanical arm drives the cabin panel docking frame and the rear cabin panel to move together, so that the rear cabin panel is moved to the installation position with the star body, and the rear cabin panel is connected with the star body.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The structure of the trolley is simple and light: the flipping function of the trolley is completed by the mechanical arm, which only provides corresponding strength, rigidity support and rotation joints.

[0023] 2. Due to the powerful spatial rotation and precise positioning functions of the robotic arm itself, the frame vehicle that relies on the robotic arm for flipping can adjust the cabin to a posture that is more suitable for assembly and testing.

[0024] 3. The frame design uses standard profiles and steel materials, which has low manufacturing costs.

[0025] 4. The external components used in the trolley are mature and standardized products, ensuring the overall quality of the trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the composition of the vehicle frame;

[0027] Figure 2 It is a schematic diagram of the cabin panel docking frame;

[0028] Figure 3 Schematic diagram of the support frame composition.

[0029] Description of the accompanying figures: 1. Cabin board docking frame; 11. End effector; 12. Docking boss;

[0030] 2. Support frame; 21. Support frame body; 22. Heightening frame; 23. Bottom connecting plate; 24. Casters; 25. Lifting mechanism; 251. Screw; 252. Nut; 253. Base; 254. Handwheel. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] The embodiment of the present application discloses a light-weight spacecraft cabin panel gantry vehicle based on mechanical arm operation. As the mechanical arm assembly technology becomes more mature, the mechanical arm is applied in the spacecraft assembly. The flipping function of the cabin panel can be completed by the mechanical arm, and the gantry vehicle only needs to provide corresponding support, rotating joints, etc. This can greatly simplify the design of the spacecraft cabin panel gantry vehicle, making the design of the gantry vehicle lighter. During the assembly, the cabin panel needs to be removed from the satellite (i.e., the satellite body), and the satellite single-machine equipment, cable network, etc., are installed on the cabin panel, and finally the cabin panel is installed on the satellite body.

[0033] like Figure 1 As shown, the spacecraft cabin panel bracket structurally includes a cabin panel docking frame 1 and a support frame 2. The structures of the cabin panel docking frame 1 and the support frame 2 are respectively introduced below.

[0034] like Figure 2As shown, the main body of the cabin panel docking frame 1 is made of welded steel profiles, with 12 docking bosses 12 on the outer edge, a through hole is set in the middle of the docking boss 12, and the docking boss 12 is connected to the cabin panel through M5 screws. The bottom of the cabin panel docking frame 1 is designed with an end effector 11, and the mechanical arm interface is provided with a positioning pin shaft hole, which can be connected with the positioning pin shaft hole of the mechanical arm interface through the through hole of the end effector 11, thereby connecting the cabin panel docking frame 1 and the mechanical arm interface. The mechanical arm can drive the cabin panel to move through the cabin panel docking frame 1, so that the mechanical arm drives the cabin panel to be removed from the satellite or installed on the satellite.

[0035] like Figure 2 and Figure 3 As shown, the support frame 2 is composed of a support frame body 21, a heightening frame 22, a bottom connecting plate 23 and casters 24, a lifting mechanism 25 and corresponding accessory mechanisms:

[0036] 1. Support frame body 21: It is made of industrial aluminum profiles (40 profiles), which is not only flexible in splicing, but also can reduce the overall weight of the trolley while ensuring strength. Each aluminum profile on the upper part of the trolley has 5 φ15mm pin holes, which can be used with the heightening frame 22 to adjust the height of the docking frame, and the bottom is screwed to the connecting plate of the caster 24.

[0037] 2. Elevating frame 22: Made of industrial aluminum profile (40 profile) and 4060 sleeve screwed together, the elevating frame 22 consists of two identical frames. The left and right frames are raised and lowered separately on the bottom frame, and the height is positioned by plug-in pins. The elevating frame 22 and the support frame 2 are the same size, which is convenient for fixed connection with the rack vehicle. The elevating frame 22 is installed on the top of the rack vehicle support frame 2, and the height is positioned by positioning pins. Two locking devices are fixed at the bottom and top of each elevating frame 22. The locking devices are fixed ears. The outer edge of the cabin board docking frame 1 is provided with a first ear, and the first ear and the fixed ear at the top of the elevating frame 22 are connected by screws. The support frame body 21 is provided with a second ear, and the second ear and the fixed ear at the bottom of the elevating frame 22 are connected by screws; and the middle of the elevating frame 22 is hollowed out, so it will not interfere with the end effector 11 of the robot arm.

[0038] 3. Lifting mechanism 25: It includes a lead screw 251, a nut 252, a base 253 and a hand wheel 254. The nut 252 is fixedly connected to the bottom connecting plate 23, the lead screw 251 is threadedly connected to the nut, the hand wheel is fixedly connected to the top of the lead screw 251, and the base is rotatably connected to the bottom of the lead screw 251. The lead screw 251 and the nut are used for transmission, and the height of the support vehicle is adjusted by adjusting the rotating hand wheel at the end of the lead screw 251. The lead screw 251 adopts a trapezoidal thread profile and has a self-locking function. When the product is parked for a long time, the support frame can be supported by a support mechanism, which is not only stable but also protects the caster 24.

[0039] 4. Bottom connecting plate 23 and casters 24: Use mature products, select models and specifications that match the load-bearing capacity, and use casters 24 to facilitate transportation by trucks.

[0040] Through the connection structure between the support frame body 21 and the heightening frame 22, and the lifting mechanism 25, the height of the deck connected to the deck docking frame 1 can be adjusted in two stages to ensure the accuracy of the relative height between the deck and the star body, thereby ensuring that the length of the cable net on the deck is within the required margin range after installation. And it can be applicable to a variety of different models of stars.

[0041] A method for assembling a light spacecraft cabin panel based on a mechanical arm operation based on the above-mentioned light spacecraft cabin panel erection vehicle based on a mechanical arm operation comprises the following steps:

[0042] The lifting mechanism 25 is located in the middle of its own adjustment stroke. According to the size of the star, the initial installation height of the heightening frame 22 on the support frame body 21 is adjusted by adjusting the structure so that after the cable net is installed on the cabin, the length of the cable net meets the requirements;

[0043] When the cabin board is connected to the star body, the cabin board docking frame 1 is connected to the cabin board, and the mechanical arm interface is connected to the end actuator of the cabin board docking frame 1;

[0044] The connection structure between the cabin and the star body is disassembled, and the cabin docking frame 1 and the cabin are moved together by the mechanical arm, and the cabin docking frame 1 is installed on the top of the heightening frame 22; according to the height of the cabin at this time, the accurate height of the cabin is further adjusted by the lifting mechanism 25, so that after the cable net is installed on the cabin body, the length of the cable net meets the requirements;

[0045] Install the satellite's single-machine equipment and cable network on the deck. After installation, obtain the rear deck after assembly;

[0046] The mechanical arm drives the cabin panel docking frame 1 and the assembled cabin panel to move together, so that the assembled cabin panel moves to the installation position with the star body, and connects the assembled cabin panel with the star body.

[0047] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0048] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. A lightweight spacecraft cabin panel rack vehicle based on mechanical arm operation, characterized in that: It comprises a cabin panel docking frame (1) and a support frame (2); The support frame (2) comprises a support frame body (21) and an elevated frame (22), wherein the elevated frame (22) is connected to the support frame body (21) via an adjustment structure, and the adjustment structure is used to adjust the installation height of the elevated frame (22) on the support frame body (21); The cabin board docking frame (1) is connected to the top of the heightening frame (22); an end effector (11) is provided on one side of the cabin board docking frame (1); the end effector (11) is used to connect to a mechanical arm interface; a plurality of docking bosses (12) are provided on the outer edge of the cabin board docking frame (1); the docking bosses (12) are used to connect to the cabin board.

2. A light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 1, characterized in that: The adjustment structure comprises assembly holes and support columns. The top of the support frame body (21) is provided with four support columns. The heightening frame (22) comprises two square frames. Each square frame has two assembly holes. Each square frame cooperates with two support columns. The support columns and the square frames are provided with a plurality of vertically arranged positioning holes. The plug-in pins pass through the positioning holes of the support columns and the square frames relative to each other.

3. A light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 1, characterized in that: The outer edge of the cabin board docking frame (1) is provided with a first lug, and the top and bottom of the heightening frame (22) are provided with fixed lugs, and the first lug and the fixed lug at the top of the heightening frame (22) are connected by screws.

4. A light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 3, characterized in that: The support frame body (21) is provided with a second support ear, and the second support ear is connected to the fixed support ear at the bottom of the height-enhancing frame (22) by means of screws.

5. The light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 1, characterized in that: The support frame (2) further comprises a bottom connecting plate (23), casters (24) and a lifting mechanism (25); the bottom connecting plate (23) is fixedly connected to the support frame body (21); the casters (24) are fixedly connected to the bottom of the bottom connecting plate (23); and the lifting mechanism (25) is connected to the bottom connecting plate (23) and is used to adjust the height of the support frame body (21).

6. A light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 5, characterized in that: The lifting mechanism (25) comprises a lead screw (251), a nut (252), a base (253) and a hand wheel (254); the nut (252) is fixedly connected to the bottom connecting plate (23); the lead screw (251) is threadedly connected to the nut (252); the hand wheel (254) is fixedly connected to the top of the lead screw (251); and the base (253) is rotatably connected to the bottom of the lead screw (251).

7. The light spacecraft cabin panel frame vehicle based on mechanical arm operation according to claim 5, characterized in that: The lead screw (251) adopts a trapezoidal thread.

8. A method for assembling a light spacecraft cabin panel based on a robotic arm operation, characterized in that: According to any one of claims 1 to 7, a lightweight spacecraft cabin panel frame vehicle based on mechanical arm operation is assembled, comprising: The lifting mechanism (25) is located in the middle of its own adjustment stroke, and the initial installation height of the heightening frame (22) on the supporting frame body (21) is adjusted by adjusting the structure according to the size of the star; When the cabin board is connected to the satellite, the cabin board docking frame (1) is connected to the cabin board, and the mechanical arm interface is connected to the end actuator of the cabin board docking frame (1); The connection structure between the cabin and the star body is disassembled, and the cabin docking frame (1) and the cabin are driven to move together by a mechanical arm, and the cabin docking frame (1) is installed on the top of the heightening frame (22); according to the height of the cabin at this time, the accurate height of the cabin is further adjusted by the lifting mechanism (25); The connection structure between the cabin and the star body is disassembled, and the cabin docking frame (1) and the cabin are driven to move together by a mechanical arm, and the cabin docking frame (1) is installed on the top of the heightening frame (22); according to the height of the cabin at this time, the accurate height of the cabin is further adjusted by the lifting mechanism (25); Install the satellite's single-machine equipment and cable network on the deck. After installation, obtain the rear deck after assembly; The mechanical arm drives the cabin panel docking frame (1) and the rear cabin panel to move together, so that the rear cabin panel moves to the installation position with the star body, and the rear cabin panel is connected with the star body.

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