Modularized space framework capable of being built on orbit and building assembly thereof

Abstract

According to the modular space architecture capable of being built on orbit and the building assembly thereof, a 3D printing-like building mode is adopted, after basic rod pieces of the space architecture are conveyed to the space, modular building is conducted through the building assembly, and an architecture foundation in a working state is formed; comprising three basic parts including main rods, supporting rods and joint components, the main rods are connected end to end to form a beam column, the three beam columns are arranged side by side at equal intervals to form a framework with a triangular section, the joint components are arranged on the main rods in a sleeving mode, each joint component is connected with two supporting rods, and the supporting rods are connected with the main rods. And the two supporting rods connected with the joint part on the main rod of each beam column are fixedly connected with the joint parts on the main rods of the other two beam columns respectively.

Description

Technical Field

[0001] The present invention belongs to the technical field of space frame equipment such as space satellite brackets and space station structures, and specifically relates to a modular space structure that can be built on orbit and its building components. Background Art

[0002] With the development of technology, whether it is the demand for communications or the demand for space science and technology research and development, on the one hand, it is necessary to launch a large number of low-orbit satellites for grid connection, and on the other hand, it is necessary to build a gradually expanding space research and development base. Both require launching a large number of framework systems into space, including satellite telescopic folding antennas or modular outward-expanding space station carrier frames.

[0003] Although the folding antenna can be launched into space in a retracted state and then automatically extend to a working state, the frame structure that serves as the supporting foundation obviously cannot be built and then launched into space. Its large size will make it extremely easy to be damaged during the launch process, or it may be impossible to transport it at all. Summary of the invention

[0004] Based on the above-mentioned technical status, the purpose of the present invention is to provide a modular space structure and its building components that can be built on orbit, adopting a 3D printing-like building mode. After the basic rods of the space structure are transported to space, the building components are used to carry out modular construction to form a working structural foundation.

[0005] The technical solution adopted by the present invention is as follows: a modular space structure that can be built on track, including three basic components: a main pole, a support pole and a joint component. The main pole is connected end to end to form a beam column, and three beam columns are equidistantly spaced and arranged side by side to form a structure with a triangular cross-section. The joint component is mounted on the main pole, each joint component is connected to two support poles, and the two support poles connected to the joint component on the main pole of each beam column are respectively fixedly connected to the joint components on the main poles of the other two beam columns.

[0006] The main rod includes a main body and a plug part and a docking part respectively located at both ends of the main body, and the maximum outer diameter of the plug part is the same as the minimum inner diameter of the docking part, and the plug part of each main rod is plugged and assembled with the docking part of another main rod; annular grooves are evenly distributed on the outer peripheral side of the main body, annular grooves are also evenly distributed on the outer peripheral side of the plug part, and annular grooves are evenly distributed on the inner peripheral surface of the docking part, and the outer diameter of the area between the annular grooves of the plug part is slightly smaller than the inner diameter of the area between the annular grooves of the docking part; a grouting port penetrating the wall of the docking part is opened on the docking part.

[0007] The support rod comprises a rod body and connecting heads located at two ends of the rod body, and annular grooves are evenly distributed on the outer peripheral wall of the connecting head.

[0008] The joint component includes a collar portion and two joint heads obliquely fixed on the collar portion, the two joint heads have the same axial inclination direction and the angle between the two joint heads is 60° when projected on the horizontal plane; the inner diameter of the collar portion is the same as the outer diameter of the main body of the main rod, so that the joint component is fixedly mounted on the main body of the main rod; the joint head is hollow, the smallest part of the inner diameter of the joint head is the same as the largest part of the outer diameter of the connecting head of the support rod, and both ends of each support rod are fixedly plugged into the joint head of the joint component. A wide groove is arranged on the inner circumference of the collar portion of the joint component, and the width of the wide groove at least covers the two annular grooves on the main body; the inner circumference of the joint head is evenly distributed with annular grooves, and the outer diameter of the area between the annular grooves of the connecting head is slightly smaller than the inner diameter of the area between the annular grooves of the joint head; the collar portion is provided with a collar portion grouting port that penetrates its wall thickness, and the joint head is provided with a joint head grouting port that penetrates its wall thickness.

[0009] The grouting ports on the butt joint, the collar portion and the joint head are all used to inject liquid adhesive material, and the connection positions between the three basic components are locked by the irregular shape formed after the liquid adhesive material is solidified. The liquid adhesive material is preferably liquid polyamide, and of course it can also use other curable adhesive materials.

[0010] The main rod can be a hollow rod or a solid rod. When a solid rod is used, the docking portion is hollow to form a slot for the plug portion to dock and insert.

[0011] The present invention also requests protection for a building assembly for assembling the above-mentioned modular space structure that can be built on track, including a longitudinal moving truss, a base, a circumferential moving truss and a robotic arm, wherein the base is slidably mounted on the longitudinal moving truss, and is driven to reciprocate along the axial direction of the longitudinal moving truss; the circumferential moving truss is a circular ring structure, which is fixedly mounted on the base, and the circumferential moving truss is driven to reciprocate by the base; the robotic arm is a three-degree-of-freedom robotic arm, which is slidably mounted on the circumferential moving truss, and is driven to move circumferentially along the circumferential moving truss.

[0012] The robotic arm at least includes a grouting robotic arm and a clamping robotic arm, wherein the clamping robotic arm is used to clamp and fix each basic component of the space structure, and the grouting robotic arm is used to bond the relative positions of each basic component.

[0013] Furthermore, the longitudinal movable truss is a rectangular frame with a certain axial length, the base is a square frame, the four corners of the square frame are respectively slidably mounted on the four columns of the rectangular frame, and when the square frame slides along the axial direction of the rectangular frame, it drives the annular movable truss fixed inside the square frame to move.

[0014] The advantages of the technical solution of the present invention are: the space frame is composed of three basic parts, which are convenient for standardized production and manufacturing, and are convenient for transportation to the space orbit in a scattered state; irregular gaps are formed between the basic parts through the ring grooves, and liquid curable materials are injected into the irregular gaps. The liquid pressure of the liquid material itself will cause the irregular gaps to tend to maximize the volume, thereby automatically adjusting the relative positions between the basic parts, and the cumulative error of the entire space frame will not continue to increase due to the error of the plug-in size, which can ensure the stability and firmness of the space frame structure. With the help of building components for a 3D printing-like assembly method, the construction and assembly process is faster, saving time, and can be automatically assembled with the help of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the construction process of the space structure and its construction components of the present invention;

[0016] Figure 2 It is a schematic diagram of the overall structure of the space framework of the present invention;

[0017] Figure 3 It is a schematic diagram of the split structure of the space framework of the present invention;

[0018] Figure 4 It is a schematic diagram of the main pole structure of the space structure of the present invention;

[0019] Figure 5 It is a schematic cross-sectional view of the main pole of the space structure of the present invention;

[0020] Figure 6 yes Figure 5 A and B in the middle are enlarged structural diagrams;

[0021] Figure 7 It is a schematic diagram of the overlapping state of two main poles of the space structure of the present invention;

[0022] Figure 8 It is a schematic diagram of the support rod structure of the space framework of the present invention;

[0023] Fig. 9 It is a schematic diagram of the structure of the joint components of the space framework of the present invention;

[0024] Fig.10 It is a schematic diagram of the structure of the building assembly of the present invention;

[0025] In the picture: 1. Space architecture, 2. Building components;

[0026] 1-1, main rod, 1-2, support rod, 1-3, joint component; 1-1-1, plug part, 1-1-2, main body, 1-1-3, docking part, 1-1-4, grouting port; 1-2-1, rod body, 1-2-2, connector; 1-3-1, collar part, 1-3-2, joint head, 1-3-3, collar part grouting port, 1-3-4, joint head grouting port;

[0027] 2-1, longitudinal moving truss, 2-2, base, 2-3, circumferential moving truss, 2-4, grouting robot arm, 2-5, clamping robot arm. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings.

[0029] The following is a specific embodiment to illustrate the implementation method of the present invention. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0030] With reference to the drawings, the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any structural modification, change in proportional relationship, or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention. At the same time, the position limiting terms quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of the relative relationship, without substantially changing the technical contents, should also be regarded as the scope of the implementation of the present invention.

[0031] Figure 1 1 is a schematic diagram of the construction process of the space structure and its construction components of the present invention. The construction process of the space structure of the present invention adopts a mode similar to that of a 3D printer. The working part is the construction component 2. The construction component 2 is an integrated frame structure on which multiple mechanical arms are installed. The mechanical arms are responsible for assembling the rods of the space structure 1. Figure 1 As shown, the robot arm performs circumferential rotation and axial movement on the building component 2, gradually assembling the space structure 1 into an integral structure. When the construction range reaches the limit of the building component 2, as shown in FIG. Figure 1 When the middle robot arm moves to the top of the outer frame, the entire building assembly 2 is moved along the building direction of the space structure 1, so that the robot arm continues to assemble the space structure 1 from the bottom of the outer frame of the building assembly 2.

[0032] In order to achieve the technical purpose of transporting scattered parts and 3D printing assembly in space, the present invention provides a self-designed space framework 1, see Figure 1 and Figure 2 , respectively are a schematic diagram of the overall structure of the space structure of the present invention and a schematic diagram of the disassembled structure of the space structure of the present invention. The space structure 1 after assembly comprises three beams and columns which are equidistant from each other and arranged in a triangle. Adjacent beams and columns are connected and fixed by support rods 1-2. Each beam and column is composed of a plurality of main rods 1-1 connected end to end. The space structure 1 is extended as it is built, that is, the length of the beams and columns is continuously extended by continuously connecting and assembling the main rods 1-1, and the main rods 1-1 are connected and fixed to the support rods 1-2 with each other in real time during the assembly process.

[0033] See also Figure 3 The space structure 1 includes three basic components, namely a main rod 1-1, a support rod 1-2, and a joint component 1-3. The main rods 1-1 are connected end to end to each other so that the length of the beam and column is continuously extended. The joint component 1-3 is fixedly mounted on the main rod 1-1, and both ends of the support rod 1-2 are respectively fixed on two joint components 1-3 mounted on different main rods 1-1, thereby fixing the relative position between the beam and column.

[0034] Figure 4 It is a schematic diagram of the main pole structure of the space structure of the present invention. As shown in the figure, the main pole 1-1 includes a main body 1-1-2 and a plug part 1-1-1 and a docking part 1-1-3 respectively located at the head and tail ends of the main body 1-1-2, the outer peripheral side of the main body 1-1-2 is evenly distributed with circumferential grooves, the outer diameter of the plug part 1-1-1 is slightly smaller than the outer diameter of the main body 1-1-2, and the outer peripheral side of the plug part 1-1-1 is also evenly distributed with circumferential grooves. The main body 1-1-2 can be a solid rod or a hollow rod, but the docking part 1-1-3 at the tail of the main body 1-1-2 is hollow inside, and the inner wall of the docking part 1-1-3 is uniformly provided with circumferential grooves, and the inner diameter of the docking part 1-1-3 is adapted to the outer diameter of the plug part 1-1-1, so that the plug part 1-1-1 of one main rod 1-1 can be inserted into the docking part 1-1-3 of another main rod 1-1, so as to achieve the head-to-tail connection of the main rods 1-1. The docking part 1-1-3 is also provided with a grouting port 1-1-4 connected to the internal space of the docking part 1-1-3. When the main rods are docked, a liquid coagulation material or nylon material is injected through the grouting port 1-1-4. In the embodiment, liquid polyamide is specifically selected, and solidified in the gap between the plug part 1-1-1 and the docking part 1-1-3 to achieve the fixed bonding of the two.

[0035] Figure 5 This is a schematic cross-sectional view of the main pole of the space structure of the present invention. For specific details, see Figure 6 , which are Figure 5Schematic diagram of the enlarged structure at A and B in the figure, A is a partial enlarged cross-sectional view of the docking part 1-1-3, on the inner wall of the docking part 1-1-3, there are multiple annular grooves evenly distributed, and the grouting port 1-1-4 penetrates the wall of the docking part 1-1-3 and communicates with the interior; B is a partial enlarged cross-sectional view of the plug part 1-1-1, the outer diameter of which is slightly smaller than the outer diameter of the main rod 1-1, and is adapted to the inner diameter of the docking part 1-1-3. Multiple annular grooves are also evenly distributed on the outer surface of the plug part 1-1-1. For details, please refer to Figure 7 , is a schematic diagram of the overlap state of the two main rods of the space structure of the present invention. The outer diameters of the parts at both ends of the area of ​​the uniformly distributed annular grooves of the plug part 1-1-1 are the same as the inner diameters of the parts at both ends of the area of ​​the uniformly distributed annular grooves of the docking part. In the area of ​​the uniformly distributed annular grooves of the two, the outer diameter of the parts between the annular grooves of the plug part 1-1-1 is further reduced, and the inner diameter of the parts between the annular grooves of the docking part 1-1-3 is further reduced. After the plug part 1-1-1 is inserted into the docking part 1-1-4, an irregular gap portion is formed between the two. Adhesive material is injected into the gap portion through the grouting port 1-1-4. After the adhesive material is cured, a mating fixing piece is formed between the plug part 1-1-1 and the docking part 1-1-3 to firmly lock the two together. One of the advantages of the technical solution of the present invention is that when liquid adhesive material is injected into the gap part through the grouting port 1-1-4, the pressure of the liquid itself will tend to force the volume of the gap part to increase, so that the plug part 1-1-1 and the docking part 1-1-3 can be inserted and matched to the best position when plugged in, so that the gap part between the two has the largest volume. The indirect effect is that the insertion length of each main rod 1-1 produced in a standardized manner is the same when docking, so that the three beams can ensure a synchronized elongation speed when they are continuously extended during construction, so as to avoid accumulating a large length difference between the three beams due to dimensional deviation, thereby preventing the structural stability of the space structure 1 from being destroyed.

[0036] Figure 8 It is a schematic diagram of the support rod structure of the space structure of the present invention. The support rod 1-2 includes a rod body 1-2-1 and connectors 1-2-2 located at both ends of the rod body 1-2-1. The structure of the connector 1-2-2 is similar to that of the plug part, and its outer peripheral wall is also provided with a plurality of evenly distributed annular grooves.

[0037] See also Fig. 9, is a schematic diagram of the joint component structure of the space frame of the present invention, the joint component 1-3 comprises a collar portion 1-3-1 and two joint heads 1-3-2 fixed on the collar portion 1-3-1, the two joint heads 1-3-2 are fixed or integrally formed on the collar portion 1-3-1 at a certain angle, preferably, the angle makes the projection of the two joint heads 1-3-2 on the horizontal plane 60°. The inner diameter of the collar portion 1-3-1 is the same as the outer diameter of the main body 1-1-2 of the main rod 1-1, and a wide groove is formed on its inner circumference, the width of the wide groove is preferably enough to cover the grooves on at least two main bodies 1-1-2, when the collar portion 1-3-1 is sleeved on the main body 1-1-2 of the main rod 1-1, liquid polyamide is injected into the interior through the collar portion grouting port 1-3-3 set on the collar portion 1-3-1, and the collar portion 1-3-1 is fixed on the main body 1-1-2 after solidification. The inner circumference of the two joint heads 1-3-2 is also provided with a plurality of evenly distributed annular grooves, and each joint head 1-3-2 is provided with a joint head grouting port 1-3-4. During assembly, the connecting head 1-2-2 of the support rod 1-2 is inserted into the joint head 1-3-2, and the matching mode between the two is the same as the matching mode between the plug part 1-1-1 and the docking part 1-1-3, and liquid polyamide is injected into the gap between the connecting head 1-2-2 and the joint head 1-3-2 through the joint head grouting port 1-3-4 to fix the two. For the connection mode, see Figure 2 and Figure 3 The two support rods 1-2 connected to the joint components 1-3 on the main rods 1-1 of each beam column are respectively fixedly connected to the joint components 1-3 on the main rods of the other two beam columns, thereby forming a Figure 2 The three beams shown constitute a space frame 1 having a triangular cross section.

[0038] The building assembly 2 of the present invention can adopt an existing three-degree-of-freedom mobile mechanical arm structure. Fig.10 This is a schematic diagram of the structure of the building assembly of the present invention. In order to clearly show its structure, Fig.10 Only a small section of the outer frame of the building assembly 2 is retained, namely the longitudinal moving truss 2-1, see Figure 1The longitudinal movable truss 2-1 is a rectangular frame with a certain length. A base 2-2 is slidably installed on the longitudinal movable truss 2-1. The base 2-2 is driven by an electric component (motor, wheel or motor, chain, etc.) to reciprocate along the longitudinal movable truss 2-1. An annular movable truss 2-3 is fixedly installed inside the base 2-2. A grouting robot arm 2-4 and a clamping robot arm 2-5 are slidably installed on the annular movable truss 2-3. Both robots are robots with three degrees of freedom, and both can be driven by an electric component to move circumferentially along the annular movable truss 2-3. The grouting robot arm 2-4 is used to inject liquid adhesive material into each grouting port, and the clamping robot arm 2-5 is used to clamp each component of the space structure 1 so as to assemble each component in place in sequence.

[0039] In the description of the present invention, it should be understood that the use of terms such as "first", "second", and "third" to limit components is only for the convenience of distinguishing the above components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A modular space architecture that can be built on orbit, characterized by: It includes three basic parts: a main rod, a support rod and a joint component. The main rod is connected end to end to form a beam column. Three beam columns are evenly spaced and arranged side by side to form a structure with a triangular cross-section. The joint component is mounted on the main rod, each joint component is connected to two support rods, and the two support rods connected by the joint component on the main rod of each beam column are respectively fixedly connected to the joint components on the main rods of the other two beam columns.

2. The modular space architecture that can be built on orbit according to claim 1, characterized in that: The main rod comprises a main body, a plug part and a docking part respectively located at two ends of the main body, and the maximum outer diameter of the plug part is the same as the minimum inner diameter of the docking part, and the plug part of each main rod is plugged and assembled with the docking part of another main rod; The support rod comprises a rod body and connecting heads located at two ends of the rod body; The joint component includes a collar portion and two joint heads obliquely fixed on the collar portion, the two joint heads have the same axial inclination direction and the angle between the two joint heads is 60° when projected on the horizontal plane; the inner diameter of the collar portion is the same as the outer diameter of the main body of the main rod, so that the joint component can be fixedly mounted on the main body of the main rod; the joint head is hollow, the smallest inner diameter of the joint head is the same as the largest outer diameter of the connecting head of the support rod, and both ends of each support rod are fixedly plugged into the joint head of the joint component.

3. The modular space architecture that can be built on-orbit according to claim 2, characterized in that: The outer circumference of the main body is evenly distributed with annular grooves at equal intervals, the outer circumference of the plug is also evenly distributed with annular grooves, the inner circumference of the docking part is evenly distributed with annular grooves, the outer diameter of the area between the annular grooves of the plug part is slightly smaller than the inner diameter of the area between the annular grooves of the docking part; the docking part is provided with a grouting port that penetrates the wall of the docking part; Annular grooves are evenly distributed on the outer peripheral wall of the connector; A wide groove is arranged on the inner circumference of the collar portion of the joint component, and the width of the wide groove at least covers the two annular grooves on the main body; the inner circumference of the joint head is evenly distributed with annular grooves, and the outer diameter of the area between the annular grooves of the connecting head is slightly smaller than the inner diameter of the area between the annular grooves of the joint head; the collar portion is provided with a collar portion grouting port that penetrates its wall thickness, and the joint head is provided with a joint head grouting port that penetrates its wall thickness.

4. The modular space architecture that can be built on orbit according to claim 3, characterized in that: The grouting openings on the docking portion, the grouting openings on the collar portion and the grouting openings on the joint head are all used to inject liquid adhesive material, and the connection positions between the three basic components are locked by relying on the irregular shapes formed after the liquid adhesive material is solidified.

5. The modular space architecture that can be built on-orbit according to claim 3, characterized in that: The liquid adhesive material is liquid polyamide.

6. The modular space architecture that can be built on-orbit according to claim 2, characterized in that: The main rod is a hollow rod.

7. A building assembly for assembling the modular space structure that can be built on orbit according to any one of claims 1 to 6, characterized in that: It includes a longitudinal moving truss, a base, a circumferential moving truss and a mechanical arm. The base is slidably mounted on the longitudinal moving truss and can be driven to move back and forth along the axial direction of the longitudinal moving truss. The circumferential moving truss is a circular ring structure, which is fixedly mounted on the base and is driven to move back and forth by the base. The mechanical arm is a three-degree-of-freedom mechanical arm, which is slidably mounted on the circumferential moving truss and can be driven to move circumferentially along the circumferential moving truss.

8. The building assembly according to claim 7, further characterized by: The robotic arm at least includes a grouting robotic arm and a clamping robotic arm, wherein the clamping robotic arm is used to clamp and fix each basic component of the space structure, and the grouting robotic arm is used to bond the relative positions of each basic component.

9. The building assembly according to claim 7 or 8, further characterized by: The longitudinal movable truss is a rectangular parallelepiped frame, and the base is a square frame. The four corners of the square frame are respectively slidably mounted on the four columns of the rectangular parallelepiped frame.

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