Novel space one-dimensional truss on-orbit assembling mechanism

Abstract

According to the novel space one-dimensional truss on-orbit assembling mechanism, assembling materials are provided through on-orbit additive manufacturing rod pieces, and the rod pieces are automatically clamped and installed through an assembling tool; expandable construction of one-dimensional trusses can be achieved, trusses with corresponding lengths can be constructed based on different requirements, and the purpose that the trusses are constructed as required is achieved. The device comprises a positioning platform, an assembling tool, a moving part and a rod piece storage tool, and further comprises the rod piece storage tool and an assembling operation face. The assembly operation surface, the moving part and the rod piece storage tool are all arranged above the base plate, a positioning platform is arranged above the assembly operation surface, a vertical rod is spliced above the positioning platform, an assembly tool is arranged at the other end of the moving part, and the assembly tool comprises a side arm screw rod, a side arm rotary table and a main arm screw rod; a side arm rotary table is fixedly arranged at one end of the moving part, a side arm lead screw is arranged on the outer side of the side arm rotary table, main arm lead screws are arranged at the two ends of the side arm lead screw, and a rod piece clamping mechanism is arranged at one end of each main arm lead screw.

Description

Technical Field

[0001] The invention relates to a novel on-orbit assembly mechanism for a one-dimensional spatial truss, and specifically belongs to the field of aerospace technology. Background Art

[0002] At present, the scale of on-orbit structures in various fields is gradually increasing. However, due to space constraints, it is difficult to transport large structures, which has hindered development. In response to the urgent need to solve the large-scale space structure, an on-orbit assembly plan for spatial one-dimensional trusses is designed, and an on-orbit assembly device is developed. Summary of the invention

[0003] The purpose of the present invention is to provide a novel on-track assembly mechanism for a spatial one-dimensional truss, so as to ensure that the on-track assembly of the truss can build trusses of corresponding lengths based on different requirements, thus realizing "what is needed is built".

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: the invention includes a positioning platform, an assembly tool, a moving part and a rod storage tool, and also includes a rod storage tool and an assembly operation surface;

[0005] The assembly operation surface, the moving parts and the rod storage tooling are all arranged above the base plate. A positioning platform is arranged above the assembly operation surface. A vertical rod is spliced ​​above the positioning platform. An assembly tool is arranged at the other end of the moving parts.

[0006] Furthermore, the function of the positioning platform is to position the rods to be assembled and to lift the assembled truss units upwards; the function of the assembly tool is to clamp and assemble the rods; the function of the moving part is to move the assembly tool back and forth between the rod storage position and the positioning platform installation station to achieve sustainability of assembly.

[0007] Further, the assembly tool includes a side arm screw, a side arm turntable and a main arm screw;

[0008] A side arm turntable is fixedly arranged at one end of the moving component, a side arm screw rod is arranged outside the side arm turntable, main arm screw rods are arranged at both ends of the side arm screw rod, and a rod clamping mechanism is arranged at one end of the main arm screw rod.

[0009] Furthermore, the rod clamping mechanism is driven by the side arm turntable to assemble the truss rods on track, so that trusses of corresponding lengths can be built based on different requirements.

[0010] The rod clamping mechanism includes a clamping claw, a connecting rod, a crank, a steering gear, a rotating shaft and a ball claw; a steering gear is fixedly arranged inside the rod clamping mechanism, a crank is fixedly arranged at the end of the output shaft of the steering gear, both ends of the crank are connected to the connecting rod through the rotating shaft, and a clamping claw or a ball claw is arranged at the other end of the connecting rod;

[0011] Furthermore, the rod clamping mechanism fits with the connecting head through the conical surface shape, so that during the clamping process, the rod clamping mechanism and the corresponding position of the rod can be automatically aligned and clamped by relying on the conical surface, thereby achieving relative symmetrical movement of the two-sided clamps and completing the clamping work of the rod connecting head.

[0012] The rod clamping mechanism also includes a pin copper sleeve and a positioning pin; the pin copper sleeve is arranged on the outer side of the rotating shaft, and the positioning pin is arranged on the side of the rod clamping mechanism facing the clamping claw or the ball claw;

[0013] Furthermore, in order to ensure smooth rotation and clamping of the mechanism, a pin plus copper sleeve connection method is adopted between the crankshaft and the connecting rod, and between the connecting rod and the clamping claw. The locating pin is fixed at the rotating position with a cotter pin to ensure that the locating pin will not fall off.

[0014] The positioning platform includes an extension leg mechanism, a high-precision platform and a turntable; a turntable is arranged above the assembly operation surface, a high-precision platform is arranged outside the turntable, and an extension leg mechanism is arranged above the high-precision platform;

[0015] Furthermore, the positioning platform is rotated by a turntable, and the eight extending leg structures on the upper and lower planes of the positioning platform play the role of positioning and unlocking the truss joints. The shape of the front end thereof fits with the shape of the rear end of the truss joint, and is driven to move forward and backward by the rotation of the lead screw, thereby realizing repeated positioning, locking and unlocking of the joints.

[0016] Both ends of the preassembled rod, cross bar and diagonal rod are provided with clamping positions, and one side of the preassembled rod, cross bar and diagonal rod is provided with elastic pins, and the other side of the preassembled rod, cross bar and diagonal rod is provided with pre-connection holes;

[0017] Furthermore, the rod is a quadrangular column structure, and can be divided into two sizes: a horizontal rod and an oblique rod according to different lengths of the rod.

[0018] The pre-assembled rods, cross bars and diagonal bars are connected with joints through elastic pins. Pre-connected rod connection threaded holes are set on both sides of the joints, and the left and right sides of the joints are reserved welding planes. Assembly docking holes are set on both sides of the joints. The middle position of the joint is provided with a positioning platform docking position and a positioning ball, and the positioning platform docking position is set for an adsorption iron plate.

[0019] Furthermore, an electromagnet is installed at the docking position of the extension leg mechanism, and an adsorption iron plate is installed at the corresponding position of the truss joint to increase the connection stability and realize the clamping and lifting action of the truss.

[0020] The driving shaft of the rod clamping mechanism is connected with a main arm screw rod, a main arm slider is arranged outside the main arm screw rod, and a side arm motor is arranged at one end of the main arm slider;

[0021] Furthermore, by driving the rod clamping mechanism through the side arm motor, a truss of corresponding length can be built based on different requirements.

[0022] The beneficial effects of the present invention are:

[0023] 1. By providing assembly materials through on-track additive manufacturing of rods, assembly tools are used to automatically clamp and install the rods; the scalable construction of one-dimensional trusses can be realized, and trusses of corresponding lengths can be built based on different needs, realizing "what is needed is built". BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a general schematic diagram of the on-track assembly of the space truss of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of the assembly tool of the present invention;

[0026] Figure 3 It is a schematic diagram of the overall structure of the clamp of the present invention;

[0027] Figure 4 It is a schematic diagram of the rotating shaft structure of the present invention;

[0028] Figure 5 It is a schematic diagram of the ball claw structure of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of the positioning platform of the present invention;

[0030] Figure 7 It is a schematic diagram of the joint structure of the present invention;

[0031] Figure 8 It is a schematic diagram of the side view structure of the joint of the present invention;

[0032] Fig. 9 It is a schematic diagram of the positioning ball structure of the present invention;

[0033] Fig.10 It is a schematic diagram of the clamping position of the present invention;

[0034] Fig.11 It is a schematic diagram of the structure of the preassembled rods, cross bars and diagonal bars of the present invention;

[0035] Fig.12 It is a schematic diagram of the assembly tool scheme of the present invention;

[0036] Fig.13 It is a schematic diagram of the clamping mechanism of the present invention;

[0037] Fig.14 It is a schematic diagram of the three-dimensional structure of the elastic pin of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the attached Figure 1-14 , clearly and completely describe the technical solutions in the embodiments. Figure 1-2As shown, the overall assembly system can be divided into three parts, namely, the truss to be assembled, the design of the assembly tool 2, the design of the positioning platform 1, the assembly materials provided by ground launch or on-orbit additive manufacturing of rods, and the use of the assembly tool 2 to automatically clamp and install the rods; the function of the moving part 3 is to move the assembly tool 2 back and forth between the rod storage position and the positioning platform installation station to achieve the sustainability of the assembly;

[0039] like Figure 6 As shown, the function of the positioning platform 1 is to position the rods to be assembled and to lift the assembled truss units upward; the positioning platform 1 includes an extension leg mechanism 33, a high-precision platform 34 and a turntable 35; a turntable 35 is arranged above the assembly operation surface, a high-precision platform 34 is arranged outside the turntable 35, and an extension leg mechanism 33 is arranged above the high-precision platform 34; the positioning platform 1 needs to be rotated by the turntable 35, and the maximum rotation angle is 180°. The 8 extension leg structures 33 on the upper and lower planes of the positioning platform 1 play the role of positioning and unlocking the truss joints. The shape of its front end fits the shape of the rear end of the truss joint, and it is driven to move forward and backward by the rotation of the lead screw to achieve repeated positioning, locking and unlocking of the joint; the positioning platform needs to provide four functions of positioning, connection, unlocking and lifting for the on-track assembly solution;

[0040] like Figure 7-14 As shown, the function of the assembly tool 2 is to clamp and assemble rods; the assembly tool 2 includes a side arm screw 30, a side arm turntable 31 and a main arm screw 32; the side arm screw 30 is driven to rotate by the side arm turntable 31, and the two ends of the side arm screw 30 drive the main arm screw 32 to rotate, and one end of the main arm screw 32 drives the rod clamping mechanism 21 to move as a whole, so that the assembly tool 2 adopts a lifting mechanism to achieve the extension and growth of the truss;

[0041] The driving shaft of the rod clamping mechanism 21 is connected to the main arm screw rod 20, and the main arm slider 19 is arranged outside the main arm screw rod 20. The side arm motor 18 is arranged at one end of the main arm slider 19. The side arm motor drives the clamping claw 22 or the ball claw 29 arranged on the rod clamping mechanism to drive, and the truss of corresponding length can be built according to different requirements;

[0042] like Figure 3-5 The rod clamping mechanism 21 includes a clamping claw 22, a connecting rod 23, a crank 24, a steering gear 25, a rotating shaft 27 and a ball claw 29; the rod clamping mechanism 21 matches the connector through the conical surface shape, so that the rod clamping mechanism 21 and the corresponding position of the rod can be automatically aligned and clamped by relying on the conical surface during the clamping process. The steering gear 25 rotates to drive the crank 24 to rotate, and drives the two connecting rods 23 to rotate, so as to achieve the relative symmetrical movement of the rod clamping mechanism 21 on both sides, and complete the clamping work of the rod connector. The rod is positioned on the positioning platform by a magnet, and the positioning ball 15 is used for positioning during the assembly process;

[0043] Both ends of the preassembled rod 401, the cross bar 402 and the diagonal rod 404 are provided with a clamping position 17, and one side of the preassembled rod 401, the cross bar 402 and the diagonal rod 404 is provided with an elastic pin 10, and the other side of the preassembled rod 401, the cross bar 402 and the diagonal rod 404 is provided with a pre-connection hole 16; the design of the assembly process disassembles the rod assembly process into 6 steps, corresponding to the installation of the preassembled rod 401, the cross bar 402, the vertical rod 403, the diagonal rod 404 and the lifting action of the assembled rod; the rod truncated head adopts the form of an elastic pin 10, and the elastic pin 10 is inserted into the assembly docking hole 11 when the rod is assembled;

[0044] The assembly tool 2 also needs to have a pre-connection function for the positioning ball 15. When assembling ordinary rods, the assembly tool 2 needs to capture the positioning ball 15 first, confirm that the position of the rod is aligned with the hole position, and then proceed with the assembly work;

[0045] A pin copper sleeve 26 is provided on the outside of the rotating shaft 27, and a positioning pin 28 is provided on the side of the rod clamping mechanism 21 facing the clamping claw 22 or the ball claw 29; in order to ensure that the clamping process of the rod clamping mechanism 21 is smooth, a connection method of a pin copper sleeve 26 is adopted between the crank 24 and the connecting rod 23, and between the connecting rod 23 and the clamping claw 22, and the positioning pin 28 is fixed at the rotating position by a cotter pin to ensure that the positioning pin 28 will not fall off. On the linear moving pair of the clamping claw 22, a copper plate is used for the sliding plate surface, and an aluminum alloy material is selected for the corresponding clamping claw 22. The positioning and fixed connection between the sliding plate and the base plate of the rod clamping mechanism 21 are realized by the cooperation of the two positioning pin holes 28 and the countersunk screws;

[0046] The pre-assembled rod 401, the cross bar 402 and the diagonal rod 404 are connected with the joint 7 through the elastic pin 10, the left and right sides of the joint 7 are provided with pre-connected rod connection threaded holes 12, and the left and right sides of the joint 7 are reserved welding planes 13, the upper and lower sides of the joint 7 are provided with assembly docking holes 11, and the middle position of the joint 7 is provided with a platform docking position 14 and a positioning ball 15, and the platform docking position 14 is provided for an adsorption iron plate;

[0047] An electromagnet is installed at the docking position of the extension leg mechanism 33, and an adsorption iron plate is installed at the platform docking position 14 of the truss joint to increase the connection stability. Using the central lifting method, a combination of a multi-stage lifting cylinder and a three-stage follower column is adopted. The lifting extension leg is lifted repeatedly by the central multi-stage lifting cylinder to drive the lifting claw to achieve the clamping and lifting action of the feeling. The lifting clamps the frame through the clamp 22 or the ball claw 29;

[0048] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A novel spatial one-dimensional truss on-track assembly mechanism, comprising a positioning platform (1), an assembly tool (2), a moving part (3) and a rod storage tool (8), characterized in that: It also includes a rod storage tool (8) and an assembly operation surface (9); The assembly operation surface (9), the moving component (3) and the rod storage tool (8) are all arranged above the base plate; a positioning platform (1) is arranged above the assembly operation surface (9); a vertical rod (403) is spliced ​​above the positioning platform (1); and an assembly tool (2) is arranged at the other end of the moving component (3).

2. According to claim 1, a novel spatial one-dimensional truss on-track assembly mechanism is characterized in that: The assembly tool (2) comprises a side arm screw (30), a side arm turntable (31) and a main arm screw (32); A side arm turntable (31) is fixedly arranged at one end of the moving component (3), a side arm screw rod (30) is arranged outside the side arm turntable (31), main arm screw rods (32) are arranged at both ends of the side arm screw rod (30), and a rod clamping mechanism (21) is arranged at one end of the main arm screw rod (32).

3. According to claim 2, a novel spatial one-dimensional truss on-track assembly mechanism is characterized in that: The rod clamping mechanism (21) comprises a clamping claw (22), a connecting rod (23), a crank (24), a steering gear (25), a rotating shaft (27) and a ball claw (29); A steering gear (25) is fixedly arranged inside the rod clamping mechanism (21), a crank (24) is fixedly arranged at the end of the output shaft of the steering gear (25), both ends of the crank (24) are connected to a connecting rod (23) via a rotating shaft (27), and a clamping claw (22) or a ball claw (29) is arranged at the other end of the connecting rod (23).

4. According to claim 3, the novel spatial one-dimensional truss on-track assembly mechanism is characterized in that: The rod clamping mechanism (21) further comprises a pin copper sleeve (26) and a positioning pin (28); A pin copper sleeve (26) is arranged outside the rotating shaft (27), and a positioning pin (28) is arranged on the side of the rod clamping mechanism (21) facing the clamping claw (22) or the ball claw (29).

5. The novel spatial one-dimensional truss on-track assembly mechanism according to claim 3 is characterized in that: The positioning platform (1) comprises an extension leg mechanism (33), a high-precision platform (34) and a turntable (35); A turntable (35) is arranged above the assembly operation surface (9), a high-precision platform (34) is arranged outside the turntable (35), and a leg extension mechanism (33) is arranged above the high-precision platform (34).

6. The novel spatial one-dimensional truss on-track assembly mechanism according to claim 1 is characterized in that: The rod storage tool (8) also includes pre-assembled rods (401), cross bars (402) and diagonal bars (404); Both ends of the preassembled rod (401), the cross bar (402) and the diagonal rod (404) are provided with clamping positions (17), and one side of the preassembled rod (401), the cross bar (402) and the diagonal rod (404) is provided with an elastic pin (10), and the other side of the preassembled rod (401), the cross bar (402) and the diagonal rod (404) is provided with a pre-connection hole (16).

7. The novel spatial one-dimensional truss on-track assembly mechanism according to claim 4 is characterized in that: The pre-assembled rods (401), the cross bars (402) and the diagonal bars (404) are connected to a joint (7) via an elastic pin (10); both left and right sides of the joint (7) are provided with pre-connected rod connection threaded holes (12); both left and right sides of the joint (7) are reserved welding planes (13); both upper and lower sides of the joint (7) are provided with assembly docking holes (11); a platform docking position (14) and a positioning ball (15) are provided at the middle of the joint (7); and the platform docking position (14) is provided for an adsorption iron plate.

8. The novel spatial one-dimensional truss on-track assembly mechanism according to claim 4 is characterized in that: The driving shaft of the rod clamping mechanism (21) is connected to a main arm screw rod (20), a main arm slider (19) is arranged outside the main arm screw rod (20), and a side arm motor (18) is arranged at one end of the main arm slider (19).

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