Self-locking connector for space assembly

Abstract

The invention discloses a self-locking connector for space assembly, and relates to the field of mechanical assembly. A first limiting piece protruding out of a first end face is arranged on the first end face; the end, away from the first end face, of the mounting cavity is a conical cavity, a first limiting groove and a second limiting groove are formed in the inner side wall of the mounting cavity, and the first limiting groove extends from the first end face to one side of the conical cavity along the axis of the conical cavity; one end of the second connector is a conical section, and a second limiting piece and a third limiting piece which protrude out of the outer side wall of the second connector are arranged on the second connector; at least part of the outer side wall of the conical section can be in contact with the inner side wall of the conical cavity; the first limiting piece can make contact with the second limiting piece so that the second limiting piece can be aligned with an opening of the first limiting groove. The first limiting groove can limit the second connector and the first connector from rotating around the axis of the conical section. The second limiting groove can limit the second connector and the first connector to move along the axis of the conical section. The operation control requirement for the mechanical arm can be lowered, and assembling is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical assembly, in particular to a self-locking joint for space assembly. Background Art

[0002] With the rapid development of space technology, the role of space structures in military reconnaissance, deep space exploration, space communication and other application scenarios has become increasingly prominent. However, due to the limitations of the carrying capacity of current carriers, large-scale space structures, such as large-scale space antennas, space solar power stations, space telescopes, etc., cannot be launched into space at one time, and need to be assembled on-orbit in the space station. The truss structure is the main supporting structure of large spacecraft, which is used to ensure the stability of the spacecraft. With the development of space manipulators, autonomous assembly has become an important development direction of space assembly with the advantages of low risk, fast response, and saving manpower and material resources. The self-locking joint for space assembly generally includes a first joint and a second joint that can be interlocked. The first joint is provided with a mounting groove, and the second joint is provided with a mounting protrusion. The mounting protrusion on the second joint is extended into the mounting groove of the first joint to achieve docking between the two. The opening of the mounting groove of the traditional self-locking joint for space assembly matches the shape of the mounting protrusion, and lacks a mechanical arm positioning auxiliary structure. When docking, the first joint and the second joint can only be docked by controlling the mechanical arm to achieve precise alignment of the interlocking structure of the first joint and the second joint. The fault tolerance rate is low, and the requirements for the operation and control of the mechanical arm are very high. Summary of the invention

[0003] The purpose of the present invention is to provide a self-locking joint for spatial assembly to solve the problems existing in the above-mentioned prior art, which is conducive to improving the fault tolerance rate, reducing the difficulty of installation, and can assist in positioning the installation of the robotic arm, which can reduce the operational control requirements for the robotic arm and facilitate assembly.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a self-locking joint for space assembly, comprising a first joint and a second joint, wherein:

[0006] The first joint has a first end face, and a first stopper protruding from the first end face is arranged on the first end face; an installation cavity is arranged on the first end face of the first joint, and an end of the installation cavity away from the first end face is a tapered cavity, and a first stopper groove and a second stopper groove are arranged on the inner side wall of the installation cavity, and the first stopper groove extends from the first end face to one side of the tapered cavity along the axis of the tapered cavity;

[0007] One end of the second joint is a tapered section, and the second joint is provided with a second limit piece and a third limit piece protruding from the outer side wall of the second joint; the tapered section can at least partially contact the tapered cavity; the first limit piece can contact the second limit piece to align the second limit piece with the opening of the first limit groove close to the first end face; the second limit piece can extend into the first limit groove, and the two inner side walls of the first limit groove can contact the second limit piece to limit the rotation of the second joint and the first joint around the axis of the tapered section; the third limit piece can extend into the second limit groove, and the second limit groove can contact the third limit piece to limit the movement of the second joint and the first joint along the axis of the tapered section.

[0008] Preferably, the third limiting member includes at least two elastic limiting members.

[0009] Preferably, it also includes at least two pushing components, each of which includes a pushing block, a slider and at least one elastic component; at least two mounting grooves are provided at one end of the first joint close to the first end face, each of the mounting grooves corresponds to each of the pushing components one by one, a first through hole is provided between each of the mounting grooves and the outer wall of the first joint, and a second through hole is provided between each of the mounting grooves and the second limiting groove; one end of each of the pushing blocks is provided in one of the mounting grooves, and each of the pushing blocks can contact the inner side wall of the corresponding mounting groove provided with the first through hole; at least one of the elastic components is provided in each of the mounting grooves, one end of each of the elastic components abuts against a side of the corresponding pushing block away from the first through hole, and the other end of each of the elastic components abuts against the inner side wall of the corresponding mounting groove provided with the second through hole; one end of each of the sliders is fixedly connected to one of the pushing blocks, and the other end of the slider can pass through the second through hole and squeeze the third limiting component to make the third limiting component disengage from the second limiting groove.

[0010] Preferably, one end of each of the pushing blocks away from the mounting cavity can extend from the corresponding first through hole to the outside of the corresponding first through hole.

[0011] Preferably, each of the elastic limiting members is in a fan-shaped shape, the surface where the outer side wall of each of the elastic limiting members is located is a conical surface, and the inner side wall of each of the elastic limiting members is fixedly connected to the outer side wall of the second joint.

[0012] Preferably, at least one shock-absorbing member is included, the second joint includes a conical head and a cylindrical head, the conical head is a conical section of the second joint, and the cylindrical head is provided with a second limit member and a third limit member protruding from the outer wall of the cylindrical head; each of the shock-absorbing members includes a pneumatic support rod and a shock-absorbing spring, the two ends of each of the pneumatic support rods are respectively fixedly connected to the cylindrical head and the conical head, and a shock-absorbing spring is provided on the outer sleeve of each of the pneumatic support rods, and the two ends of each of the shock-absorbing springs can respectively abut against the cylindrical head and the conical head.

[0013] Preferably, the conical segment includes at least two conical sub-segments connected in sequence, and the conical sub-segments include a vertebral segment and a column segment fixedly connected to each other, the vertebral segment of each conical sub-segment is arranged at an end of the column segment of each conical sub-segment away from the first limiting member, the vertebral segment at the end of the conical segment away from the first limiting member is a tip vertebral segment, the tip vertebral segment is conical or frustum-shaped, the vertebral segments of the conical segment other than the tip vertebral segment are frustum-shaped, the column segment of each conical sub-segment is fixedly connected to the small end of the vertebral segment of the adjacent conical sub-segment, and the diameter of the column segment of each conical sub-segment is smaller than the diameter of the small end of the vertebral segment of the adjacent conical sub-segment.

[0014] Preferably, the tapers of all the vertebral body segments of the tapered segment and the taper of the tapered cavity are the same.

[0015] Preferably, the tapers of the conical surfaces where the outer side walls of all the vertebral body segments of the conical segment and each elastic limiting member are located are the same.

[0016] Preferably, the first joint includes a main body and at least two mounting parts, each of the mounting parts is fixedly connected to the outer wall of the main body, each of the mounting parts is used to connect with the part to be installed, one end of the main body has the first end face, the other end of the main body and the end of the second joint away from the tapered section are both provided with a first mounting hole, and each of the first mounting holes is used to connect with the part to be installed.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] The present invention provides a self-locking joint for spatial assembly, wherein a first limit piece protruding from the first end face is arranged on a first end face; an end of the installation cavity away from the first end face is a conical cavity, and a first limit groove and a second limit groove are arranged on the inner side wall of the installation cavity, and the first limit groove extends from the first end face to one side of the conical cavity along the axis of the conical cavity; one end of the second joint is a conical section, and a second limit piece and a third limit piece protruding from the outer side wall of the second joint are arranged on the second joint; at least part of the outer side wall of the conical section can contact the inner side wall of the conical cavity; the first limit piece can align the second limit piece with the opening of the first limit groove close to the first end face by contacting the second limit piece; the second limit piece can extend into the first limit groove, and the two inner side walls of the first limit groove can contact the second limit piece to limit the rotation of the second joint and the first joint around the axis of the conical section; the third limit piece can extend into the second limit groove, and the second limit groove can limit the movement of the second joint and the first joint along the axis of the conical section by contacting the third limit piece.

[0019] The present invention aligns the tapered section of the second joint with the opening of the installation cavity to assemble the first joint and the second joint, which is conducive to improving the fault tolerance rate and reducing the operation requirements. When the second joint extends into the installation cavity for a distance, the second joint is rotated around the axis of the tapered section so that the second limiter contacts the first limiter to achieve the positioning of the second limiter. After that, the second joint continues to move into the installation cavity until the second limiter enters the first limiter groove from the opening of the first limiter groove close to the first end face, the third limiter extends into the second limiter groove, and the outer wall of the tapered section contacts the inner wall of the tapered cavity. At this time, the first joint and the second joint are installed. After the first joint and the second joint are installed, the first limiter groove can limit the relative rotation of the second joint and the first joint around the tapered section, and the second limiter groove can limit the relative movement of the second joint and the first joint along the axis of the tapered section to achieve the self-locking of the first joint and the second joint. The first limiter of the present invention can position the second limiter, reduce the difficulty of installation, can assist in positioning the installation of the mechanical arm, can reduce the operational control requirements of the mechanical arm, and facilitate assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure of the self-locking joint for space assembly provided by the present invention after installation;

[0022] Figure 2A schematic diagram of the structure of the self-locking joint for space assembly provided by the present invention during installation;

[0023] Figure 3 A top view of the self-locking joint for space assembly provided by the present invention after installation;

[0024] Figure 4 The structure of the first joint provided by the present invention is schematically shown Figure 1 ;

[0025] Figure 5 The structure of the first joint provided by the present invention is schematically shown Figure 2 ;

[0026] Figure 6 The structure of the first joint provided by the present invention is schematically shown Figure 3 ;

[0027] Figure 7 A schematic diagram of the structure of a second joint provided by the present invention;

[0028] Figure 8 The structure diagram of the first component provided by the present invention is Figure 1 ;

[0029] Fig. 9 The structure diagram of the first component provided by the present invention is Figure 2 ;

[0030] Fig.10 A schematic diagram of the structure of the second component provided by the present invention;

[0031] Fig.11 A schematic structural diagram of a regular hexahedron structure provided by the present invention;

[0032] Fig.12 A schematic structural diagram of a space truss structure provided by the present invention;

[0033] In the figure: 100, self-locking joint for space assembly; 1, first joint; 101, first end face; 102, first stopper; 103, mounting cavity; 104, tapered cavity; 105, first stopper groove; 106, second stopper groove; 107, mounting groove; 108, first through hole; 109, second through hole; 110, main body; 111, mounting part; 112, first mounting hole; 113, boss; 114, second mounting hole;

[0034] 2. Second joint; 201. Conical section; 202. Second stopper; 203. Third stopper; 204. Conical head; 205. Column head; 206. Conical sub-section; 207. Cone section; 208. Column section;

[0035] 3. Pushing assembly; 301. Pushing block; 302. Sliding block; 303. Elastic component; 304. Arc plate; 305. Column block;

[0036] 4. shock absorbing component; 401. pneumatic support rod; 402. shock absorbing spring;

[0037] 5. Truss rods. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The purpose of the present invention is to provide a self-locking joint for spatial assembly to solve the problems existing in the above-mentioned prior art, which is conducive to improving the fault tolerance rate, reducing the difficulty of installation, and can assist in positioning the installation of the robotic arm, which can reduce the operational control requirements for the robotic arm and facilitate assembly.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] like Figures 1 to 12As shown, the present invention provides a self-locking joint 100 for spatial assembly, comprising a first joint 1 and a second joint 2, wherein: the first joint 1 has a first end face 101, and a first stopper 102 protruding from the first end face 101 is arranged on the first end face 101; a mounting cavity 103 is arranged on the first end face 101 of the first joint 1, and one end of the mounting cavity 103 away from the first end face 101 is a tapered cavity 104, and a first stopper groove 105 and a second stopper groove 106 are arranged on the inner side wall of the mounting cavity 103, and the first stopper groove 105 extends from the first end face 101 to one side of the tapered cavity 104 along the axis of the tapered cavity 104; one end of the second joint 2 is a tapered section 201, and a second stopper 202 protruding from the outer side wall of the second joint 2 is arranged on the second joint 2 and the third limiting member 203; at least part of the outer wall of the conical section 201 can contact the inner wall of the conical cavity 104; the first limiting member 102 can contact the second limiting member 202 to align the second limiting member 202 with the opening of the first limiting groove 105 close to the first end face 101; the second limiting member 202 can extend into the first limiting groove 105, and the two inner walls of the first limiting groove 105 can contact the second limiting member 202 to limit the rotation of the second joint 2 and the first joint 1 around the axis of the conical section 201; the third limiting member 203 can extend into the second limiting groove 106, and the second limiting groove 106 can contact the third limiting member 203 to limit the movement of the second joint 2 and the first joint 1 along the axis of the conical section 201.

[0042] The present invention aligns the tapered section 201 of the second joint 2 with the opening of the installation cavity 103 to assemble the first joint 1 and the second joint 2, which is conducive to improving the fault tolerance rate and reducing the operation requirements; and the outer wall of the tapered section 201 contacts the inner wall of the tapered cavity 104, which can guide the installation of the second joint 2 and the first joint 1, which is conducive to the insertion of the second joint 2. When the second joint 2 extends into the installation cavity 103 for a distance, the second joint 2 is rotated around the axis of the tapered section 201, so that the second stopper 202 contacts the first stopper 102 to achieve the positioning of the second stopper 202, and then the second joint 2 continues to move into the installation cavity 103 until the second stopper 202 enters the first stopper groove 105 from the opening of the first stopper groove 105 close to the first end face 101, the third stopper 203 extends into the second stopper groove 106, and the outer wall of the tapered section 201 contacts the inner wall of the tapered cavity 104. At this time, the first joint 1 and the second joint 2 are installed. After the first joint 1 and the second joint 2 are installed, the first limit groove 105 can limit the relative rotation of the second joint 2 and the first joint 1 around the tapered section 201, and the second limit groove 106 can limit the relative movement of the second joint 2 and the first joint 1 along the axis of the tapered section 201, so as to realize the self-locking of the first joint 1 and the second joint 2, and realize a stable connection with high rigidity and high precision. The first limit member 102 of the present invention can position the second limit member 202, which reduces the difficulty of installation, can assist in positioning the installation of the robot arm, can reduce the requirements for the operation and control of the robot arm, and is easy to assemble.

[0043] In the present invention, the third stopper 203 includes at least two elastic stoppers. When installing, the elastic stopper is squeezed by the inner wall of the installation cavity 103 and shrinks, so that it can move along the inner wall of the installation cavity 103 toward one end close to the tapered cavity 104, and when it moves to the second stopper groove 106, the elastic stopper rebounds and extends into the second stopper groove 106.

[0044] The present invention further includes at least two pushing components 3, each pushing component 3 includes a pushing block 301, a slider 302 and at least one elastic component 303; at least two mounting grooves 107 are provided at one end of the first joint 1 close to the first end surface 101, each mounting groove 107 corresponds to each pushing component 3 one by one, a first through hole 108 is provided between each mounting groove 107 and the outer side wall of the first joint 1, and a second through hole 109 is provided between each mounting groove 107 and the second limiting groove 106; one end of each pushing block 301 is provided in a mounting groove 107, and each pushing block 301 can be connected with the corresponding The mounting groove 107 is provided with an inner side wall of a first through hole 108 in contact; at least one elastic component 303 is provided in each mounting groove 107, one end of each elastic component 303 abuts against a side of the corresponding pushing block 301 away from the first through hole 108, and the other end of each elastic component 303 abuts against an inner side wall of the corresponding mounting groove 107 provided with a second through hole 109; one end of each slider 302 is fixedly connected to a pushing block 301, and the other end of the slider 302 can pass through the second through hole 109 and squeeze the third limiting member 203 to make the third limiting member 203 disengage from the second limiting groove 106. When the second connector 2 needs to be disassembled, the push block 301 is pushed in a direction perpendicular to the axis of the tapered section 201 by an external force, so that the push block 301 squeezes the elastic component 303 and drives the slider 302 to move toward the side close to the second connector 2. The slider 302 can squeeze the elastic stopper, so that the elastic stopper is squeezed and shrinks, thereby detaching from the second stopper groove 106. At this time, the second connector 2 can be pulled out. When the external force is removed, the push block 301 can be reset under the action of the elastic component 303.

[0045] In the present invention, one end of each push block 301 away from the installation cavity 103 can extend from the corresponding first through hole 108 to the outside of the corresponding first through hole 108 , so as to press the push block 301 and move the push block 301 radially along the installation cavity 103 .

[0046] In the present invention, each elastic stopper is in a fan-shaped ring shape, the surface where the outer wall of each elastic stopper is located is a conical surface, and the inner wall of each elastic stopper is fixedly connected to the outer wall of the second joint 2. From one end of the second joint 2 close to the conical section 201 to the other end of the second joint 2, the outer diameter of the elastic stopper gradually increases and is in an arc cone shape, which facilitates the elastic stopper to enter the installation cavity 103 from the opening of the installation cavity 103, and can quickly complete the docking, prevent jamming and large collisions during the docking process, further reduce the difficulty of installation, and reduce the operating accuracy requirements of the robot arm.

[0047] As a preferred embodiment, the working surface of each slider 302 for squeezing the elastic stopper is in an arc shape to better squeeze with the elastic stopper. It should be noted that the length of the elastic stopper along the circumference of the second joint 2 is not too long, and the setting of the length needs to ensure that the elastic stopper can be completely separated from the second stopper groove 106 under the squeezing action of the slider 302.

[0048] The present invention also includes at least one shock absorbing member 4. The second joint 2 includes a conical head 204 and a cylindrical head 205. The conical head 204 is a conical section 201 of the second joint 2. The cylindrical head 205 is provided with a second stopper 202 and a third stopper 203 protruding from the outer wall of the cylindrical head 205. Each shock absorbing member 4 includes a pneumatic support rod 401 and a shock absorbing spring 402. The two ends of each pneumatic support rod 401 are respectively fixedly connected to the cylindrical head 205 and the conical head 204. A shock absorbing spring 402 is provided on the outer sleeve of each pneumatic support rod 401. The two ends of each shock absorbing spring 402 can respectively abut against the cylindrical head 205 and the conical head 204. The pneumatic support rod 401 and the shock absorbing spring 402 can absorb the energy generated by the collision between the first joint 1 and the second joint 2 during the installation process to achieve a shock absorbing effect. It should be noted that the pneumatic support rod 401 is a prior art and will not be described in detail here.

[0049] In the present invention, the conical segment 201 includes at least two conical sub-segments 206 connected in sequence, and the conical sub-segment 206 includes a vertebral segment 207 and a column segment 208 fixedly connected to each other. The vertebral segment 207 of each conical sub-segment 206 is arranged at an end of the column segment 208 of each conical sub-segment 206 away from the first limiting member 102. The vertebral segment 207 at the end of the conical segment 201 away from the first limiting member 102 is a tip vertebral segment 207, and the tip vertebral segment 207 is conical or frustum-shaped. The vertebral segments 207 of the conical segment 201 other than the tip vertebral segment 207 are frustum-shaped. The column segment 208 of each conical sub-segment 206 is fixedly connected to the small end of the vertebral segment 207 of the adjacent conical sub-segment 206, and the diameter of the column segment 208 of each conical sub-segment 206 is smaller than the diameter of the small end of the vertebral segment 207 of the adjacent conical sub-segment 206. The tapered section 201 of this embodiment is in a stepped shape.

[0050] In the present invention, the tapers of all vertebral body segments 207 of the tapered segment 201 and the taper of the tapered cavity 104 are the same.

[0051] In the present invention, the tapers of all the vertebral body segments 207 of the conical segment 201 and the conical surfaces where the outer side walls of each elastic limiting member are located are the same.

[0052] In the present invention, the first joint 1 includes a main body 110 and at least two mounting parts 111, each mounting part 111 is fixedly connected to the outer wall of the main body 110, each mounting part 111 is used to connect with the part to be installed, one end of the main body 110 has a first end face 101, the other end of the main body 110 and the end of the second joint 2 away from the tapered section 201 are both provided with a first mounting hole 112, each first mounting hole 112 is used to connect with the part to be installed.

[0053] As a preferred embodiment, there are four mounting parts 111, each mounting part 111 includes two oppositely arranged bosses 113, a gap is left between the two bosses 113 of each mounting part 111, and a second mounting hole 114 is provided on each boss 113. The two second mounting holes 114 of the two bosses 113 of each mounting part 111 are coaxial, and the installation of the rod is achieved by extending the rod between the two bosses 113 of a mounting part 111 and passing the rod and the two second mounting holes 114 through connecting parts such as locating pins.

[0054] As a preferred embodiment, each elastic component 303 is a spring. Two elastic components 303 are arranged in each installation slot 107 , and the two elastic components 303 are respectively arranged on both sides of the slider 302 .

[0055] As a preferred embodiment, the slider 302 can be slidably connected with the second through hole 109 to guide the sliding movement. The mounting groove 107 is an arc groove, and the push block 301 includes an arc plate 304 and a column block 305. The arc plate 304 is arranged in the mounting groove 107, and one side of the arc plate 304 can abut against one end of the elastic component 303 away from the mounting cavity 103, and the other side of the arc plate 304 is fixedly connected with the column block 305. The other side surface of the arc plate 304 can match the shape of the inner side wall of the side of the mounting groove 107 away from the mounting cavity 103, and the column block 305 can be slidably connected with the first through hole 108. The center lines of the first through hole 108 and the second through hole 109 are collinear. The axis of each elastic component 303 is parallel to the center line of the slider 302.

[0056] As a preferred embodiment, the first limiting member 102 and the second limiting member 202 are both in the shape of a cuboid, the first limiting groove 105 is in the shape of a cuboid, and the second limiting groove 106 is an annular groove.

[0057] The present invention can be applied to the spatial assembly of rods such as truss rods, and the installation method includes: the first joint 1 is pre-connected with at least one truss rod 5 as a first component, and the second joint 2 is pre-connected with a truss rod 5 as a second component; the second component is docked with the first component, and the tapered section 201 slides into the installation cavity 103 in a step-like manner to cooperate with the tapered cavity 104, and the tapered cavity 104 guides and positions the tapered section 201. During the docking process, the parallelism of the axes of the second joint 2 and the first joint 1 is required to be relatively low. When the second joint 2 extends into a part of the installation cavity 103, the second joint 2 is rotated along the axis of the tapered section 201. When the second stopper 202 contacts the first stopper 102, the robot arm continues to insert the second joint 2 into the installation cavity 103, and the second stopper 202 cooperates with the first stopper 102 to reduce the operating accuracy of the robot arm. The third stopper 203 cooperates with the second stopper groove 106 to realize the axial stopper locking of the joint, and the second stopper 202 cooperates with the first stopper groove 105 to realize the rotation stopper locking of the joint. When unlocking is required, the column block 305 is pressed to drive the arc plate 304 to slide in the installation groove 107, so that the slider 302 on the arc plate 304 squeezes the third stopper 203, so that the third stopper 203 is retracted into the installation cavity 103, and the truss rod 5 is pulled outward to remove the second component, completing the unlocking function, and it can be reused.

[0058] The space truss structure is composed of different truss units. As a feasible implementation, Fig.11 and Fig.12 As shown, the self-locking joint 100 for spatial assembly of the present invention can realize the rapid assembly of hexahedral truss units. Fig.11 The assembled hexahedron structure is shown. According to the space requirements of the truss unit, the first joint 1 can connect up to five truss rods 5. The second component is grasped by the robot arm and moved toward the node of the hexahedron to align with the axis of the first joint 1. Under the operation of the robot arm, the docking and locking are completed. Fig.12 The state of the second component after being assembled with each first joint 1 of the regular hexahedron structure is shown. After the truss unit is assembled, it can be connected with other truss units, and it can also be further expanded on this basis.

[0059] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A self-locking joint for space assembly, characterized in that: It comprises a first joint and a second joint, wherein: The first joint has a first end face, and a first stopper protruding from the first end face is arranged on the first end face; an installation cavity is arranged on the first end face of the first joint, and an end of the installation cavity away from the first end face is a tapered cavity, and a first stopper groove and a second stopper groove are arranged on the inner side wall of the installation cavity, and the first stopper groove extends from the first end face to one side of the tapered cavity along the axis of the tapered cavity; One end of the second joint is a tapered section, and the second joint is provided with a second limit piece and a third limit piece protruding from the outer side wall of the second joint; the tapered section can at least partially contact the tapered cavity; the first limit piece can contact the second limit piece to align the second limit piece with the opening of the first limit groove close to the first end face; the second limit piece can extend into the first limit groove, and the two inner side walls of the first limit groove can contact the second limit piece to limit the rotation of the second joint and the first joint around the axis of the tapered section; the third limit piece can extend into the second limit groove, and the second limit groove can contact the third limit piece to limit the movement of the second joint and the first joint along the axis of the tapered section.

2. The self-locking joint for space assembly according to claim 1, characterized in that: The third limiting member includes at least two elastic limiting members.

3. The self-locking joint for space assembly according to claim 2, characterized in that: It also includes at least two pushing components, each of which includes a pushing block, a slider and at least one elastic component; at least two mounting grooves are provided at one end of the first joint close to the first end face, each of the mounting grooves corresponds to each of the pushing components one by one, a first through hole is provided between each of the mounting grooves and the outer side wall of the first joint, and a second through hole is provided between each of the mounting grooves and the second limiting groove; one end of each of the pushing blocks is provided in one of the mounting grooves, and each of the pushing blocks can contact the inner side wall of the corresponding mounting groove provided with the first through hole; at least one of the elastic components is provided in each of the mounting grooves, one end of each of the elastic components abuts against a side of the corresponding pushing block away from the first through hole, and the other end of each of the elastic components abuts against the inner side wall of the corresponding mounting groove provided with the second through hole; one end of each of the sliders is fixedly connected to one of the pushing blocks, and the other end of the slider can pass through the second through hole and squeeze the third limiting component to make the third limiting component disengage from the second limiting groove.

4. The self-locking joint for space assembly according to claim 3, characterized in that: One end of each of the pushing blocks away from the mounting cavity can extend from the corresponding first through hole to the outside of the corresponding first through hole.

5. The self-locking joint for space assembly according to claim 2, characterized in that: Each of the elastic limiting members is in a fan-shaped shape, the surface where the outer side wall of each of the elastic limiting members is located is a conical surface, and the inner side wall of each of the elastic limiting members is fixedly connected to the outer side wall of the second joint.

6. The self-locking joint for space assembly according to claim 1, characterized in that: It also includes at least one shock-absorbing member, the second joint includes a conical head and a cylindrical head, the conical head is a conical section of the second joint, and the cylindrical head is provided with a second limit member and a third limit member protruding from the outer wall of the cylindrical head; each of the shock-absorbing members includes a pneumatic support rod and a shock-absorbing spring, the two ends of each of the pneumatic support rods are respectively fixedly connected to the cylindrical head and the conical head, and each of the pneumatic support rods is provided with a shock-absorbing spring on its outer sleeve, and the two ends of each of the shock-absorbing springs can respectively abut against the cylindrical head and the conical head.

7. The self-locking joint for space assembly according to claim 5, characterized in that: The conical segment includes at least two conical sub-segments connected in sequence, and the conical sub-segments include a vertebral segment and a column segment fixedly connected to each other. The vertebral segment of each conical sub-segment is arranged at an end of the column segment of each conical sub-segment away from the first limiting member, and the vertebral segment at the end of the conical segment away from the first limiting member is a tip vertebral segment, and the tip vertebral segment is conical or frustum-shaped. The vertebral segments of the conical segment other than the tip vertebral segment are frustum-shaped, and the column segment of each conical sub-segment is fixedly connected to the small end of the vertebral segment of the adjacent conical sub-segment, and the diameter of the column segment of each conical sub-segment is smaller than the diameter of the small end of the vertebral segment of the adjacent conical sub-segment.

8. The self-locking joint for space assembly according to claim 7, characterized in that: The tapers of all the vertebral body segments of the tapered section and the tapers of the tapered cavity are the same.

9. The self-locking joint for space assembly according to claim 7, characterized in that: The tapers of the conical surfaces where the outer side walls of all the vertebral body segments of the conical segment and each elastic limiting member are located are the same.

10. The self-locking joint for space assembly according to claim 1, characterized in that: The first joint includes a main body and at least two mounting parts, each of which is fixedly connected to the outer wall of the main body, and each of which is used to connect with the part to be installed. One end of the main body has the first end face, and the other end of the main body and the end of the second joint away from the tapered section are both provided with a first mounting hole, and each of the first mounting holes is used to connect with the part to be installed.

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