Self-locking joint for space assembly

Abstract

The application discloses a self-locking joint for spatial assembly and relates to the field of mechanical assembly. A first limiting piece protruding from a first end face is arranged on the first end face. The end of the mounting cavity away from the first end face is a conical cavity. A first limiting groove and a second limiting groove are arranged on the inner side wall of the mounting cavity. 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 a second joint is a conical section. A second limiting piece and a third limiting 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 be in contact with the inner side wall of the conical cavity. The first limiting piece can be in contact with the second limiting piece to align the second limiting piece with the opening of the first limiting groove. The first limiting groove can restrict the rotation of the second joint and the first joint around the axis of the conical section. The second limiting groove can restrict the movement of the second joint and the first joint along the axis of the conical section. The application can reduce the operation control requirement of a mechanical arm and facilitate assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical assembly, in particular to a self-locking joint for space assembly. BACKGROUND

[0002] With the rapid development of space technology, space structures play an increasingly important role in application scenarios such as military reconnaissance, deep space exploration, space communication, etc. However, due to the limitations of the carrying capacity of current carrier equipment, large 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 at a space station. Truss structures are the main support structures of large spacecraft and are 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 due to its small risk, fast response, and saving of manpower and 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 inserted into the mounting groove of the first joint to realize the docking of the two. The opening of the mounting groove of the traditional self-locking joint for space assembly and the shape of the mounting protrusion are matched, and there is a lack of manipulator positioning auxiliary structure. When docking, only the precise alignment of the interlocking structure of the first joint and the second joint can be achieved by controlling the manipulator, and the docking of the first joint and the second joint can be completed. The fault tolerance is low, and the requirement for the operation control of the manipulator is high. SUMMARY

[0003] The purpose of the present application is to provide a self-locking joint for space assembly to solve the problems existing in the prior art, improve the fault tolerance, reduce the installation difficulty, provide positioning assistance for the installation of the manipulator, reduce the requirement for the operation control of the manipulator, and facilitate assembly.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] The present application 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 limiting piece protruding from the first end face is arranged on the first end face; a mounting cavity is arranged on the first end face of the first joint, one end of the mounting cavity away from the first end face is a tapered cavity, a first limiting groove and a second limiting groove are arranged on the inner side wall of the mounting cavity, and the first limiting 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, the second joint is provided with a second limiting piece and a third limiting piece protruding from the outer side wall of the second joint; the tapered section can at least partially contact the tapered cavity; the first limiting piece can align the opening of the first limiting groove close to the first end face by contacting the second limiting piece; the second limiting piece can extend into the first limiting groove, and the two inner side walls of the first limiting groove can limit the rotation of the second joint around the axis of the tapered section by contacting the second limiting piece; the third limiting piece can extend into the second limiting groove, and the second limiting groove can limit the movement of the second joint along the axis of the tapered section by contacting the third limiting piece.

[0008] Preferably, the third limiting piece includes at least two elastic limiting pieces.

[0009] Preferably, at least two pushing assemblies are further included, each of the pushing assemblies includes a pushing block, a sliding block and at least one elastic component; one end of the first joint close to the first end face is provided with at least two installation grooves, each of the installation grooves corresponds to each of the pushing assemblies one by one, a first through hole is provided between each of the installation grooves and the outer side wall of the first joint, and a second through hole is provided between each of the installation grooves and the second limiting groove; one end of each of the pushing blocks is arranged in one of the installation grooves, and each of the pushing blocks can contact the inner side wall of the corresponding installation groove provided with the first through hole; at least one of the elastic components is arranged in each of the installation grooves, one end of each of the elastic components abuts against the 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 installation groove provided with the second through hole; one end of each of the sliding blocks is fixedly connected with one of the pushing blocks, and the other end of the sliding block can pass through the second through hole and press the third limiting piece to make the third limiting piece disengage from the second limiting groove.

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

[0011] Preferably, each of the elastic limiting pieces is in the shape of a fan ring, the outer side wall of each of the elastic limiting pieces is located on a tapered surface, and the inner side wall of each of the elastic limiting pieces is fixedly connected with the outer side wall of the second joint.

[0012] Preferably, the second joint comprises a tapered head and a cylindrical head, the tapered head is a tapered section of the second joint, and the cylindrical head is provided with a second limiting piece and a third limiting piece protruding from the outer sidewall of the cylindrical head; each damping piece comprises a pneumatic support rod and a damping spring, two ends of each pneumatic support rod are fixedly connected with the cylindrical head and the tapered head respectively, each pneumatic support rod is sleeved with one damping spring, and two ends of each damping spring can abut against the cylindrical head and the tapered head respectively.

[0013] Preferably, the tapered section comprises at least two tapered subsections connected in sequence, the tapered subsections comprise body sections and column sections fixedly connected with each other, the body section of each tapered subsection is arranged at one end of the column section of each tapered subsection away from the first limiting piece, the body section of the end of the tapered section away from the first limiting piece is a pointed body section, the pointed body section is conical or frustoconical, the body sections of the tapered section except the pointed body section are frustoconical, the column section of each tapered subsection is fixedly connected with the small end of the body section of the adjacent tapered subsection, and the diameter of the column section of each tapered subsection is smaller than the diameter of the small end of the body section of the adjacent tapered subsection.

[0014] Preferably, the taper of all the body sections of the tapered section and the taper of the tapered cavity are the same.

[0015] Preferably, the taper of all the body sections of the tapered section and the taper of the tapered cavity are the same.

[0016] Preferably, the first joint comprises a main body and at least two mounting portions, each mounting portion is fixedly connected to the outer sidewall of the main body, each mounting portion is used for being connected with a to-be-mounted piece, one end of the main body is provided with 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 first mounting hole is used for being connected with the to-be-mounted piece.

[0017] The present application has the following technical effects relative to the prior art:

[0018] The self-locking joint for spatial assembly provided by the application comprises a first end face, a first limiting part protruding from the first end face is arranged on the first end face, a mounting cavity is arranged on the first end face, one end of the mounting cavity away from the first end face is a conical cavity, a first limiting groove and a second limiting groove are arranged on the inner side wall of the mounting cavity, 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 a second joint is a conical section, a second limiting part and a third limiting part 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 be in contact with the inner side wall of the conical cavity, the first limiting part can be in contact with the second limiting part to align the second limiting part with the opening of the first limiting groove close to the first end face, the second limiting part can extend into the first limiting groove, the two inner side walls of the first limiting groove can be in contact with the second limiting part to limit the rotation of the second joint and the first joint around the axis of the conical section, and the third limiting part can extend into the second limiting groove, and the second limiting groove can be in contact with the third limiting part to limit the movement of the second joint and the first joint along the axis of the conical section.

[0019] The conical section of the second joint is aligned with the opening of the mounting cavity to assemble the first joint and the second joint, which is favorable for improving the fault tolerance and reducing the operation requirement. When the second joint extends into the mounting cavity for a distance, the second joint is rotated around the axis of the conical section to make the second limiting part in contact with the first limiting part, the positioning of the second limiting part is realized, then the second joint is continuously moved into the mounting cavity until the second limiting part enters the first limiting groove from the opening of the first limiting groove close to the first end face, the third limiting part extends into the second limiting groove, and the outer side wall of the conical section is in contact with the inner side wall of the conical cavity, at this time, the assembly of the first joint and the second joint is completed. After the assembly of the first joint and the second joint, the first limiting groove can limit the relative rotation of the second joint and the first joint around the conical section, the second limiting groove can limit the relative movement of the second joint and the first joint along the axis of the conical section, and the self-locking of the first joint and the second joint is realized. The first limiting part of the application can position the second limiting part, which reduces the installation difficulty, can assist the positioning of the installation of the mechanical arm, can reduce the operation control requirement of the mechanical arm, and is favorable for assembly. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0021] Figure 1 The structure schematic diagram of the self-locking joint for spatial assembly provided by the application after installation is completed;

[0022] Figure 2Structure schematic view of self-locking joint provided by the present application in installation process for spatial assembly

[0023] Figure 3 Plan view of self-locking joint provided by the present application after installation for spatial assembly

[0024] Figure 4 Structure schematic view of first joint provided by the present application Figure 1 ;

[0025] Figure 5 Structure schematic view of first joint provided by the present application Figure 2 ;

[0026] Figure 6 Structure schematic view of first joint provided by the present application Figure 3 ;

[0027] Figure 7 Structure schematic view of second joint provided by the present application

[0028] Figure 8 Structure schematic view of first assembly provided by the present application Figure 1 ;

[0029] Figure 9 Structure schematic view of first assembly provided by the present application Figure 2 ;

[0030] Figure 10 Structure schematic view of second assembly provided by the present application

[0031] Figure 11 Structure schematic view of regular hexahedron structure provided by the present application

[0032] Figure 12 Structure schematic view of spatial truss structure provided by the present application

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

[0034] 2, second joint; 201, conical section; 202, second limiting piece; 203, third limiting piece; 204, conical head; 205, cylindrical head; 206, conical sub-section; 207, vertebral body section; 208, column section

[0035] 3, pushing assembly; 301, pushing block; 302, sliding block; 303, elastic component; 304, arc plate; 305, cylindrical block;

[0036] 4, damping member; 401, pneumatic support rod; 402, damping spring;

[0037] 5, truss rod. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0039] The purpose of the present application is to provide a self-locking joint for space assembly, to solve the problems existing in the prior art, to improve the fault tolerance, to reduce the installation difficulty, to assist the positioning of the installation of the mechanical arm, to reduce the operation control requirements of the mechanical arm, and to facilitate assembly.

[0040] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0041] As Figures 1-12As shown, the present application 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 the first end face 101 is provided with a first limiting piece 102 protruding from the first end face 101; the first end face 101 of the first joint 1 is provided with a mounting cavity 103, and an end of the mounting cavity 103 away from the first end face 101 is a tapered cavity 104; the inner side wall of the mounting cavity 103 is provided with a first limiting groove 105 and a second limiting groove 106, and the first limiting groove 105 extends from the first end face 101 to the 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 the second joint 2 is provided with a second limiting piece 202 and a third limiting piece 203 protruding from the outer side wall of the second joint 2; at least part of the outer side wall of the tapered section 201 can be in contact with the inner side wall of the tapered cavity 104; the first limiting piece 102 can be in contact with the second limiting piece 202 to align the second limiting piece 202 with the opening of the first limiting groove 105 close to the first end face 101; the second limiting piece 202 can extend into the first limiting groove 105, and the two inner side walls of the first limiting groove 105 can be in contact with the second limiting piece 202 to limit the rotation of the second joint 2 and the first joint 1 around the axis of the tapered section 201; the third limiting piece 203 can extend into the second limiting groove 106, and the second limiting groove 106 can be in contact with the third limiting piece 203 to limit the movement of the second joint 2 and the first joint 1 along the axis of the tapered section 201.

[0042] The second joint 2 is aligned with the opening of the mounting cavity 103 through the tapered section 201 to assemble the first joint 1 and the second joint 2, which is favorable to improve the fault tolerance and reduce the operation requirement; the outer side wall of the tapered section 201 is in contact with the inner side wall of the tapered cavity 104, which can guide the mounting of the second joint 2 and the first joint 1 and is favorable to the insertion of the second joint 2. When the second joint 2 extends into the mounting cavity 103 for a distance, the second joint 2 is rotated around the axis of the tapered section 201 to make the second limiting part 202 contact with the first limiting part 102, so that the positioning of the second limiting part 202 is realized; then, the second joint 2 is continuously moved into the mounting cavity 103 until the second limiting part 202 enters the first limiting groove 105 from the opening close to the first end face 101, the third limiting part 203 extends into the second limiting groove 106, and the outer side wall of the tapered section 201 is in contact with the inner side wall of the tapered cavity 104, at this time, the mounting of the first joint 1 and the second joint 2 is completed. After the mounting of the first joint 1 and the second joint 2, the first limiting 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 limiting 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 that the self-locking of the first joint 1 and the second joint 2 is realized, and the stable connection with high rigidity and high precision can be realized. The first limiting part 102 can position the second limiting part 202, which reduces the installation difficulty, can assist the positioning of the installation of the mechanical arm, can reduce the operation control requirement of the mechanical arm, and is favorable to the assembly.

[0043] In the present application, the third limiting part 203 includes at least two elastic limiting parts. During the installation, the elastic limiting parts are contracted by the extrusion of the inner side wall of the mounting cavity 103, so as to move along the inner side wall of the mounting cavity 103 to the end close to the tapered cavity 104; when moving to the second limiting groove 106, the elastic limiting parts rebound to extend into the second limiting groove 106.

[0044] The application further comprises at least two pushing assemblies 3, each pushing assembly 3 comprising a pushing block 301, a sliding block 302 and at least one elastic component 303; the first connector 1 is provided with at least two installation grooves 107 at one end close to the first end face 101, each installation groove 107 corresponds to each pushing assembly 3, a first through hole 108 is arranged between each installation groove 107 and the outer side wall of the first connector 1, and a second through hole 109 is arranged between each installation groove 107 and the second limiting groove 106; one end of each pushing block 301 is arranged in one installation groove 107, and each pushing block 301 can be in contact with the inner side wall of the corresponding installation groove 107 provided with the first through hole 108; at least one elastic component 303 is arranged in each installation groove 107, one end of each elastic component 303 is in abutment with the side of the corresponding pushing block 301 away from the first through hole 108, and the other end of each elastic component 303 is in abutment with the inner side wall of the corresponding installation groove 107 provided with the second through hole 109; one end of each sliding block 302 is fixedly connected with one pushing block 301, and the other end of the sliding block 302 can pass through the second through hole 109 and press the third limiting piece 203 to make the third limiting piece 203 disengage from the second limiting groove 106. When the second connector 2 needs to be disassembled, the pushing block 301 is pushed by external force in a direction perpendicular to the axis of the conical section 201, so that the pushing block 301 presses the elastic component 303 and drives the sliding block 302 to move towards the side close to the second connector 2, the sliding block 302 can press the elastic limiting piece, so that the elastic limiting piece is pressed and shrinks to disengage from the second limiting groove 106, at this time, the second connector 2 can be pulled out. When the external force is removed, the pushing block 301 can be reset under the action of the elastic component 303.

[0045] In the application, one end of each pushing block 301 away from the installation cavity 103 can extend out of the corresponding first through hole 108, so as to facilitate pressing the pushing block 301 and moving the pushing block 301 radially along the installation cavity 103.

[0046] In the application, each elastic limiting piece is in the shape of a fan ring, the outer side wall of each elastic limiting piece is on a conical surface, and the inner side wall of each elastic limiting piece is fixedly connected with the outer side wall of the second connector 2. From one end of the second connector 2 close to the conical section 201 to the other end of the second connector 2, the outer diameter of the elastic limiting piece gradually increases in an arc conical shape, so as to facilitate the elastic limiting piece to enter the installation cavity 103 from the opening of the installation cavity 103, to quickly complete the butt joint, to prevent the occurrence of jamming and large collision during the butt joint process, and to further reduce the installation difficulty and the operation precision requirement of the mechanical arm.

[0047] As a preferred embodiment, the working surface of each sliding block 302 for extruding the elastic limiting piece is in a circular arc shape, so as to better extrude the elastic limiting piece. It should be noted that the length of the elastic limiting piece along the circumferential direction of the second joint 2 should not be too long, and the length should be set to ensure that the elastic limiting piece can be completely separated from the second limiting groove 106 under the extrusion of the sliding block 302.

[0048] In the present application, at least one damping piece 4 is further included, 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, and the cylindrical head 205 is provided with a second limiting piece 202 and a third limiting piece 203 protruding from the outer side wall of the cylindrical head 205; each damping piece 4 includes a pneumatic support rod 401 and a damping spring 402, both ends of each pneumatic support rod 401 are fixedly connected with the cylindrical head 205 and the conical head 204 respectively, each pneumatic support rod 401 is externally sleeved with a damping spring 402, and both ends of each damping spring 402 can abut against the cylindrical head 205 and the conical head 204 respectively. The pneumatic support rod 401 and the damping spring 402 can absorb the energy generated by the collision between the first joint 1 and the second joint 2 during installation, so as to achieve a damping effect. It should be noted that the pneumatic support rod 401 is a prior art, which will not be described here.

[0049] In the present application, the conical section 201 includes at least two conical sub-sections 206 connected in sequence, the conical sub-section 206 includes a pyramidal section 207 and a columnar section 208 fixedly connected with each other, the pyramidal section 207 of each conical sub-section 206 is arranged at one end of the columnar section 208 of each conical sub-section 206 away from the first limiting piece 102, the pyramidal section 207 of the end of the conical section 201 away from the first limiting piece 102 is a pointed pyramidal section 207, the pointed pyramidal section 207 is conical or frustoconical, the pyramidal sections 207 of the conical section 201 except the pointed pyramidal section 207 are frustoconical, the columnar section 208 of each conical sub-section 206 is fixedly connected with the small end of the pyramidal section 207 of the adjacent conical sub-section 206, and the diameter of the columnar section 208 of each conical sub-section 206 is smaller than the diameter of the small end of the pyramidal section 207 of the adjacent conical sub-section 206. The conical section 201 of the present embodiment is in a stepped shape.

[0050] In the present application, the tapers of all the pyramidal sections 207 of the conical section 201 and the taper of the conical cavity 104 are the same.

[0051] In the present application, the tapers of all the pyramidal sections 207 of the conical section 201 and the taper of the conical surface where the outer side wall of each elastic limiting piece is located are the same.

[0052] The first connector 1 comprises a main body 110 and at least two mounting portions 111, each mounting portion 111 is fixedly connected to the outer side wall of the main body 110, each mounting portion 111 is used for being connected with a to-be-mounted part, one end of the main body 110 is provided with a first end face 101, and the other end of the main body 110 and the one end, away from the tapered section 201, of the second connector 2 are provided with first mounting holes 112, and each first mounting hole 112 is used for being connected with a to-be-mounted part.

[0053] As a preferred embodiment, the mounting portion 111 is four, each mounting portion 111 comprises two oppositely arranged bosses 113, a gap is left between the two bosses 113 of each mounting portion 111, a second mounting hole 114 is arranged on each boss 113, and the two second mounting holes 114 of the two bosses 113 of each mounting portion 111 are coaxial, the installation of the rod part is realized by extending the rod part into the two bosses 113 of one mounting portion 111 and connecting the rod part and the two second mounting holes 114 through a positioning pin or the like.

[0054] As a preferred embodiment, each elastic component 303 is a spring. Two elastic components 303 are arranged in each mounting groove 107, and the two elastic components 303 are arranged on the two sides of the sliding block 302.

[0055] As a preferred embodiment, the sliding block 302 is slidably connected with the second through hole 109 to guide the sliding movement. The mounting groove 107 is an arc-shaped groove, the pushing block 301 comprises an arc-shaped plate 304 and a columnar block 305, the arc-shaped plate 304 is arranged in the mounting groove 107, one side of the arc-shaped plate 304 is capable of abutting against the end of the elastic component 303 away from the mounting cavity 103, the other side of the arc-shaped plate 304 is fixedly connected with the columnar block 305, the surface of the other side of the arc-shaped plate 304 is capable of matching the shape of the inner side wall of the one side of the mounting groove 107 away from the mounting cavity 103, and the columnar block 305 is 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 axes of the elastic components 303 are parallel to the center line of the sliding block 302.

[0056] As a preferred embodiment, the first limiting part 102 and the second limiting part 202 are 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 application can be applied to the spatial assembly of bars such as truss bars, and the installation method comprises the following steps: a first joint 1 is connected with at least one truss bar 5 to form a first assembly, and a second joint 2 is connected with one truss bar 5 to form a second assembly; the second assembly is butted with the first assembly, a tapered section 201 is steppedly inserted into an installation cavity 103 and matched with a tapered cavity 104, the tapered cavity 104 plays a guiding and positioning role on the tapered section 201, and the parallelism of the axis of the second joint 2 and the first joint 1 is required to be low during the butting process. When the second joint 2 is inserted into the installation cavity 103 by a part, the second joint 2 is rotated along the axis of the tapered section 201, when a second limiting piece 202 contacts with a first limiting piece 102, a mechanical arm continues to insert the second joint 2 into the installation cavity 103, and the second limiting piece 202 cooperates with the first limiting piece 102 to reduce the operation precision of the mechanical arm. A third limiting piece 203 cooperates with a second limiting groove 106 to realize the axial limiting and locking of the joint, and the second limiting piece 202 cooperates with a first limiting groove 105 to realize the limiting and locking of the mutual rotation of the joint. When it is needed to be unlocked, a cylindrical block 305 is pressed to drive an arc-shaped plate 304 to slide in an installation groove 107, so that a sliding block 302 on the arc-shaped plate 304 extrudes the third limiting piece 203, so that the third limiting piece 203 is withdrawn into the installation cavity 103, the truss bar 5 is pulled outward to take away the second assembly, and the unlocking function is completed, and the second assembly can be reused.

[0058] The spatial truss structure is composed of different truss units, as a feasible implementation manner, as shown in Figure 11 and Figure 12 the spatial assembly self-locking joint 100 of the application can realize the rapid assembly of the hexahedral truss unit, Figure 11 a completed regular hexahedral structure is shown, according to the need of the spatial truss unit, the first joint 1 can be connected with five truss bars 5 at most, the second assembly is gripped by a mechanical arm and moved towards the regular hexahedral node, and is aligned with the axis of the first joint 1, under the operation of the mechanical arm, the butting and locking are completed, Figure 12 a state after the assembly of the second assembly and each first joint 1 of the regular hexahedral structure is shown, after the assembly of the truss unit, the truss unit can be connected with other truss units, and can be further expanded on this basis.

[0059] The principle and implementation manner of the application are described by using specific examples in the application, and the above embodiment is only used for helping to understand the method and core idea of the application; meanwhile, according to the idea of the application, the specific implementation manner and application range can be changed by the person skilled in the art. In conclusion, the content of the specification should not be understood as the limitation of the application.

Claims

1. A self-locking joint for space assembly, characterized by: The first joint and the second joint are included, wherein: The first joint has a first end face, and a first limiting member protruding from the first end face is arranged on the first end face; a mounting cavity is arranged on the first end face of the first joint, and an end of the mounting cavity away from the first end face is a tapered cavity; a first limiting groove and a second limiting groove are arranged on the inner side wall of the mounting cavity, and the first limiting groove extends from the first end face to one side of the tapered cavity along an axis of the tapered cavity; One end of the second joint is a tapered section, and a second limiting member and a third limiting member protruding from the outer side wall of the second joint are arranged on the second joint; the tapered section can at least partially contact the tapered cavity; the first limiting member can be in contact with the second limiting member to align the second limiting member with the opening of the first limiting groove close to the first end face; the second limiting member can extend into the first limiting groove, and the two inner side walls of the first limiting groove can be in contact with the second limiting member to limit the second joint from rotating with the first joint around the axis of the tapered section; and the third limiting member can extend into the second limiting groove, and the second limiting groove can be in contact with the third limiting member to limit the second joint from moving along the axis of the tapered section with the first joint.

2. The self-locking joint for spatial 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 spatial assembly according to claim 2, characterized in that: At least two pushing assemblies are further included, each of the pushing assemblies includes a pushing block, a sliding block, and at least one elastic component; one end of the first joint close to the first end face is provided with at least two mounting grooves, each of the mounting grooves corresponds to one of the pushing assemblies, a first through hole is arranged between each of the mounting grooves and the outer side wall of the first joint, and a second through hole is arranged between each of the mounting grooves and the second limiting groove; one end of each of the pushing blocks is arranged in one of the mounting grooves, and each of the pushing blocks can be in contact with the inner side wall of the corresponding mounting groove provided with the first through hole; at least one of the elastic components is arranged in each of the mounting grooves, one end of each of the elastic components is in abutment with the side of the corresponding pushing block away from the first through hole, and the other end of each of the elastic components is in abutment with the inner side wall of the corresponding mounting groove provided with the second through hole; one end of each of the sliding blocks is fixedly connected with one of the pushing blocks, and the other end of each of the sliding blocks can pass through the second through hole and press the third limiting member to make the third limiting member disengage from the second limiting groove.

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

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

6. The self-locking joint for spatial assembly according to claim 1, characterized in that: The second joint comprises a tapered head and a cylindrical head, the tapered head is a tapered section of the second joint, and the cylindrical head is provided with a second limiting piece and a third limiting piece protruding from the outer wall of the cylindrical head.

7. The self-locking joint for spatial assembly according to claim 5, characterized in that: The tapered section comprises at least two tapered subsections connected in sequence, the tapered subsections comprise a columnar section and a body section fixedly connected with each other, the body section of each tapered subsection is arranged at one end of the columnar section of each tapered subsection away from the first limiting piece, the body section of the end of the tapered section away from the first limiting piece is a pointed body section, the pointed body section is tapered or frustoconical, the body sections of the tapered section except the pointed body section are frustoconical, the columnar section of each tapered subsection is fixedly connected with the small end of the body section of the adjacent tapered subsection, and the diameter of the columnar section of each tapered subsection is smaller than the diameter of the small end of the body section of the adjacent tapered subsection.

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

9. The self-locking joint for spatial assembly according to claim 7, characterized in that: The taper of all the body sections of the tapered section and the taper of the tapered cavity are the same.

10. The self-locking joint for spatial assembly according to claim 1, characterized in that: The first joint comprises a main body and at least two mounting portions, each mounting portion is fixedly connected to the outer wall of the main body, each mounting portion is used for being connected with a to-be-mounted piece, one end of the main body is provided with 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 first mounting hole is used for being connected with the to-be-mounted piece.

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