Load equipment with running track and steering device

Abstract

Load equipment with a running track and a steering device comprises a surface fixed track which comprises a transverse track base and a longitudinal track base which are perpendicular to each other, the surface of the surface fixed track is provided with a groove type sliding rail, the edge of the surface fixed track extends inwards, and the surface fixed track is arranged to be an I-shaped fixed track and used for a track robot to walk; a cavity used for containing a steering device is formed in the intersection position of the transverse rail base and the longitudinal rail base. The steering device comprises a telescopic mechanism, the output end of the telescopic mechanism is fixedly connected with a rotating mechanism, the output end of the rotating mechanism is fixedly connected with a rotating connector piece, and the rotating connector piece is used for achieving grabbing and releasing of the load equipment and steering of the track robot in the walking process. The steering device integrally and selectively extends out of or retracts into the cavity; inserting grooves are formed in the two adjacent ends of the surface fixing track, telescopic connecting plugs are arranged at the other two ends of the surface fixing track, and any two load devices can be electrically connected through the inserting grooves and the connecting plugs. According to the invention, the use benefit of the whole load task is improved.

Description

Technical Field

[0001] The invention relates to the technical field of aerospace engineering, and in particular to a load device with a running track and a steering device. Background Art

[0002] With the deepening of human exploration of space and the advancement of technology, the demand for large space structures is growing, such as large telescopes, space station expansion modules, solar power stations, etc. However, due to the limitation of rocket transportation capacity, it is difficult to launch large-scale space structures into the predetermined orbit at one time. Research on the in-orbit construction technology of large space equipment has become an inevitable trend and an effective way.

[0003] The on-orbit construction technology in the related technology uses robotic arms, robots or astronauts to complete the equipment assembly with the help of space truss structures. It does not take the design of the assembly equipment itself into consideration, and the construction cost is high and the process is complicated. Its on-orbit construction usually relies on robotic arms. For the construction of large-scale and super-large spacecraft, a large number of robotic arm movement paths (ie "footprints") need to be arranged, which limits the movement speed, prolongs the entire construction cycle, and reduces practicality. Summary of the invention

[0004] The present invention provides a load device with a running track and a steering device, which solves the problems of high on-track construction cost and complicated procedures of large space loads in the related art.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] A load device with a running track and a steering device is provided as a sub-load unit, comprising:

[0007] The surface fixed rail includes a transverse rail seat and a longitudinal rail seat which are perpendicular to each other.

[0008] The surfaces of the transverse rail seat and the longitudinal rail seat are both provided with grooved slide rails, and the edges of the grooved slide rails along the length direction are both extended inwards and are provided as I-shaped fixed rails for the rail robot to walk;

[0009] The groove-type slide rails adjacent to the transverse rail seat and the longitudinal rail seat intersect and are connected as one;

[0010] A cavity for accommodating a steering device is provided at the intersection of the transverse rail seat and the longitudinal rail seat; the steering device comprises a telescopic mechanism, the output end of the telescopic mechanism is fixedly connected to a rotating mechanism, the output end of the rotating mechanism is fixedly connected to a rotating interface member, and the rotating interface member is used to realize the grasping and releasing of the load device and the steering of the rail robot during the walking process; the steering device as a whole can selectively extend or retract into the cavity;

[0011] Two adjacent ends of the transverse rail seat and the longitudinal rail seat are provided with plug-in grooves, and the other two ends are provided with retractable plug-in connectors. Any two load devices can be electrically connected through the plug-in grooves and the plug-in connectors.

[0012] In a first possible implementation, the rotating interface component includes a disc-shaped main body, a gripping connection interface for adapting to the gripping end of the rail robot is provided in the middle, and can selectively cooperate with the gripping end of the rail robot to realize the gripping and release of the load device, and a steering connection interface for cooperating with and selectively locking the main body of the rail robot is provided on the side thereof, and can selectively cooperate with the main body of the rail robot to realize the steering of the rail robot during walking.

[0013] In a second possible implementation, the telescopic mechanism includes a plurality of evenly distributed electric telescopic rods, the fixed ends of the electric telescopic rods are fixedly connected to the inner wall of the cavity, the telescopic ends are fixedly connected to a supporting plate, a motor is fixedly connected to the supporting plate, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle of the rotating interface member.

[0014] In a third possible implementation, the gripping connection interface is a circular groove and is used to form an electrical connection with a gripping end corresponding to the rail robot.

[0015] Based on the first possible implementation, in a fourth possible implementation, four steering connection interfaces are provided, which are 90 degrees apart from each other and correspond to four groove-type slide rails in different directions respectively.

[0016] Based on any possible implementation, in a fifth possible implementation, the track robot is a wheeled track robot including at least two sets of wheel pairs, and a wheel rim is provided on the inner side of each wheel for contacting and cooperating with the inner side of an I-shaped fixed track; a brake mechanism is protrudingly provided at the bottom of the track robot, and when the track robot contacts and cooperates with the I-shaped fixed track, the brake mechanism is partially located in the groove of the groove-type slide rail.

[0017] Based on the fifth possible implementation, in a sixth possible implementation, a retractable plug connector for use with a steering connection interface is provided on the main body of the rail robot, and the steering connection interface is a groove corresponding to the plug connector.

[0018] Based on any possible implementation, in a seventh possible implementation, after any two of the load devices are electrically connected through the plug-in groove and the plug-in connector, power-on detection is performed to verify whether the two load devices are normally connected.

[0019] The load device with its own running track and steering device of the present invention has the following advantages:

[0020] The payload equipment can realize rapid inspection and steering movement on the surface of multiple payload equipment through tracks and steering devices, ensuring full coverage inspection of the assembled payload; the on-orbit construction of payload equipment can realize continuous expansion of system capabilities, and can achieve interconnection of power supply, information, etc. of the whole system; on-orbit maintenance can conveniently realize the replacement of any payload equipment, and can support on-orbit change of direction operation of multiple running equipment, improving system work efficiency and system availability; it supports continuous system updates to ensure the long life of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional diagram of a load device with a running track and a steering device provided in an embodiment of the present application;

[0022] Figure 2 A three-dimensional diagram of another load device with a running track and a steering device provided in an embodiment of the present application;

[0023] Figure 3 A three-dimensional diagram of another load device with a running track and a steering device provided in an embodiment of the present application;

[0024] Figure 4 A three-dimensional diagram of a steering device provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of an on-orbit assembly process of a payload provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of a turning process of a mobile device along a track provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of a process of moving a mobile device straight along a track provided in an embodiment of the present application.

[0028] Reference numerals:

[0029] Transverse rail seat 1; longitudinal rail seat 2; grooved slide rail 3; I-shaped fixed rail 4; rail robot 5; steering device 6; rotating interface 7; grabbing connection interface 8; steering connection interface 9; plug-in groove 10; plug connector 11; electric telescopic rod 12; bearing plate 13; motor 14. DETAILED DESCRIPTION

[0030] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the technical solutions in the embodiments of the present application are clearly described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0032] The following is a detailed description of a load device with a running track and a steering device provided in an embodiment of the present application in combination with the accompanying drawings and preferred embodiments.

[0033] The embodiment of the present application provides a load device with a self-contained running track and steering device. As a sub-load unit, a fixed track and a steering device are arranged on the load surface. The sub-load unit can be carried up by a cargo spacecraft. During on-orbit construction, a wheeled track robot can quickly move on the fixed track on the load surface, and a 90° turn can be completed using the steering device to achieve two-dimensional construction of the load and complete on-orbit construction. The embodiment of the present application can solve the problems of many constraints, power supply and information link expansion, liquid cooling circuit and other interconnection problems during on-orbit construction and maintenance of large space loads, improve the mission compatibility and availability of the entire load, and at the same time extend the service life and improve the use efficiency.

[0034] See also Figure 1-3 , the embodiment of the present application provides a load device with a running track and a steering device 6, such as Figure 1-3 As shown, the load device of the embodiment of the present application, as a sub-load unit, includes:

[0035] The surface fixed rail comprises a transverse rail seat 1 and a longitudinal rail seat 2 which are perpendicular to each other.

[0036] The surfaces of the transverse rail seat 1 and the longitudinal rail seat 2 are both provided with grooved slide rails 3, and the edges of the grooved slide rails 3 along the length direction are both extended inwards and provided as I-shaped fixed rails 4 for the rail robot 5 to walk;

[0037] The grooved slide rails 3 adjacent to the transverse rail seat 1 and the longitudinal rail seat 2 intersect and are connected as one;

[0038] A cavity for accommodating a steering device 6 is provided at the intersection of the transverse rail seat 1 and the longitudinal rail seat 2; the steering device 6 comprises a telescopic mechanism, the output end of which is fixedly connected to a rotating mechanism, the output end of which is fixedly connected to a rotating interface member 7, the rotating interface member 7 is used to realize the grabbing and releasing of the load equipment and the steering of the track robot 5 during the walking process; the steering device 6 as a whole can be selectively extended or retracted into the cavity;

[0039] The two adjacent ends of the transverse rail seat 1 and the longitudinal rail seat 2 are provided with plug-in grooves 10, and the other two ends are provided with retractable plug connectors 11. Any two load devices can be electrically connected through the plug-in grooves 10 and the plug connectors 11, and the power-on test is used to verify whether the two load devices are normally connected.

[0040] In some possible embodiments, the rotating interface member 7 includes a disc-shaped main body, a gripping connection interface 8 for adapting to the gripping end of the rail robot 5 is provided in the middle, and can selectively cooperate with the gripping end of the rail robot 5 to realize the gripping and release of the load equipment, and a steering connection interface 9 for cooperating with and selectively locking the main body of the rail robot 5 is provided on the side thereof, and can selectively cooperate with the main body of the rail robot 5 to realize the steering of the rail robot 5 during the walking process.

[0041] In some possible implementations, see Figure 4 The telescopic mechanism includes a plurality of evenly distributed electric telescopic rods 12, the fixed ends of which are fixedly connected to the inner wall of the cavity, and the telescopic ends thereof are fixedly connected to a supporting plate 13, to which a motor 14 is fixedly connected, and the output shaft of the motor 14 is parallel to the telescopic direction, and the end of the output shaft of the motor 14 is fixedly connected to the middle of the rotating interface member 7.

[0042] Furthermore, the gripping connection interface 8 is a circular groove and is used to form an electrical connection with the gripping end of the corresponding track robot 5 .

[0043] Furthermore, four steering connection interfaces 9 are provided, which are 90 degrees apart from each other and correspond to four groove-shaped slide rails 3 in different directions respectively.

[0044] Furthermore, the track robot 5 is a wheeled track robot 5, including at least two sets of wheel pairs, and the inner side of each wheel is provided with a rim for contacting and cooperating with the inner side of the I-shaped fixed track 4 (refer to the principle of train wheels); a brake mechanism is protrudingly provided at the bottom of the track robot 5, and when the track robot 5 contacts and cooperates with the I-shaped fixed track 4, the brake mechanism is partially located in the groove of the grooved slide rail 3.

[0045] Furthermore, a retractable plug connector for use with the steering connection interface 9 is provided on the main body of the rail robot 5, and the steering connection interface 9 is a groove corresponding to the plug connector (not shown in the drawings).

[0046] The grasping principle of the track robot 5 is as follows:

[0047] By controlling the rotating interface part 7 to extend out of the cavity to a set distance through the telescopic mechanism, the load device can be grasped by controlling the grasping end of the track robot 5 to align with the robot grasping connection interface 8 set with the rotating interface part 7 and further cooperate and lock it.

[0048] The straight-moving principle of the track robot 5 is as follows:

[0049] The rotating interface member 7 is controlled to retract into the cavity by the telescopic mechanism. When the track robot 5 moves straight at the intersection of the tracks, the brake mechanism is partially located in the groove of the grooved slide rail 3 and has a guiding effect. Therefore, the direction will not be changed and the robot can move straight through. Figure 7 .

[0050] The steering principle of the track robot 5 is as follows:

[0051] The rotating interface part 7 is controlled by the telescopic mechanism to extend out of the cavity and be higher than the I-shaped fixed track 4 by a set distance. At this time, it can be matched with and locked with the corresponding interface set on the main body of the track robot 5, and then continue to rise to separate the track robot 5 from the I-shaped fixed track 4. At this time, the rotating interface part is controlled by the motor 14 to rotate 790 degrees, and then the height is lowered to make the track robot 5 cooperate with the I-shaped fixed track 4 currently below, release the main body of the track robot 5 and retract the steering device 6 into the cavity as a whole, so as to realize the steering of the track robot 5.

[0052] In the specific implementation process, see Figure 5, the assembly of multiple load devices is completed by using the track robot 5. The load device a first extends the retractable interface to the left and right. The track robot 5 grabs the load device b and brings it close to align its left and right slots with the interface extended by the load device a. Then, the load device a is docked and locked with the load device b. After power-on detection, it is determined that the connection between the two load devices is normal. The track robot 5 releases the load device b; the load device a is extended forward and backward to the retractable interface. Then, the track robot 5 grabs the load device c and brings it close to align its front and back slots with the interface extended by the load device a. Then, the load device a is docked with the load device b. The track robot 5 releases the load device b; extends the load device b forward and backward to the retractable interface, uses the track robot 5 to grab the load device d and aligns its forward and backward slots with the interface extended from the load device b, then docks and locks the load device d with the load device b, and then performs a power-on test to determine that the two load devices are connected normally. The track robot 5 releases the load device d; extends the load device c left and right to the retractable interface, completes the connection with the left and right slots of the load device d, and powers on to detect the connection. The operation process is shown in the figure below Figure 5 The subsequent payload equipment assembly process is carried out in accordance with the previous steps until all payload equipment is assembled.

[0053] On this basis, further steering operations can be carried out, see Figure 6 :The track robot 5 moving along the fixed track stops in front of the steering device 6 and waits. The steering device 6 is half-lifted. The track robot 5 moves forward until it is in contact with the steering device 6 and connected and locked. The steering device 6 lifting platform carrying the track robot 5 continues to lift to the highest point and stops. Then the inner shaft of the steering device 6 rotates in the direction to be rotated, stops rotating after rotating 90°, and then the steering device 6 lifting platform is lowered to the semi-lifted position. The track robot 5 and the steering device 6 are unlocked, and finally the steering device 6 is lowered to return to the initial state. The entire steering process is completed. The specific process is as follows Figure 6 shown.

[0054] It should be noted that the purpose of the steering device 6 includes two parts: 1. As an interface for the robot arm to grab, when the load equipment is in the transportation process before construction, the robot arm provides equipment insulation power supply and status information monitoring through this interface. At this time, the steering device 6 is not lifted and is in the initial state (such as Figure 1 2. After multiple load devices are assembled, when the robot moves to a load device and needs to turn 90°, the steering device 6 is in a semi-lifted state (such as Figure 2 As shown), the robot body establishes power supply and information connection with the steering device 6, and then the steering device 6 is lifted to the highest point together with the robot (as shown in FIG. Figure 3After the 90° turn is completed, the steering device 6 is restored to the initial state. One steering device 6 can provide 90° turn operations for up to four robots at the same time.

[0055] The side expansion interface can realize the mechanical, power supply, information and liquid cooling connection between two adjacent payload devices. Each payload device contains two side expansion interfaces (the other two sides are connection slots). The interface is extended when connection is required and is in a retracted state when not working.

[0056] Based on the above technical solution, the embodiments of the present application have the following effects and advantages:

[0057] 1. The embodiment of the present application provides a load device with a running track and a steering device, which can realize rapid inspection and steering movement of the surfaces of multiple load devices through the track and the steering device, ensuring full coverage inspection of the assembled load;

[0058] 2. The on-orbit construction of the payload equipment provided in the embodiment of the present application can realize the continuous expansion of system capabilities and realize the interconnection of power supply, information and liquid cooling of the whole system;

[0059] 3. The on-orbit maintenance of the payload equipment provided in the embodiment of the present application can realize the replacement of any payload equipment, and can support the on-orbit direction-changing operation of multiple running equipment, thereby improving the system working efficiency and system availability;

[0060] 4. The design support system provided in the embodiment of the present application is continuously updated to ensure the long life of the system.

[0061] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0062] It can be understood that the embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive, and those skilled in the art are aware that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, those of ordinary skill in the art can modify these features and embodiments to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention under the inspiration or teaching of the present application. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the present invention.

Claims

1. A load-carrying device with its own running track and steering device, characterized in that: As sub-load units, including: The surface fixed rail includes a transverse rail seat and a longitudinal rail seat which are perpendicular to each other. The surfaces of the transverse rail seat and the longitudinal rail seat are both provided with grooved slide rails, and the edges of the grooved slide rails along the length direction are both extended inwards and are provided as I-shaped fixed rails for the rail robot to walk; The groove-type slide rails adjacent to the transverse rail seat and the longitudinal rail seat intersect and are connected as one; A cavity for accommodating a steering device is provided at the intersection of the transverse rail seat and the longitudinal rail seat; the steering device comprises a telescopic mechanism, the output end of the telescopic mechanism is fixedly connected to a rotating mechanism, the output end of the rotating mechanism is fixedly connected to a rotating interface member, and the rotating interface member is used to realize the grasping and releasing of the load device and the steering of the rail robot during the walking process; the steering device as a whole can selectively extend or retract into the cavity; Two adjacent ends of the transverse rail seat and the longitudinal rail seat are provided with plug-in grooves, and the other two ends are provided with retractable plug-in connectors. Any two load devices can be electrically connected through the plug-in grooves and the plug-in connectors.

2. A load device with a running track and a steering device according to claim 1, characterized in that: The rotating interface component includes a disc-shaped main body, a grasping connection interface for adapting to the grasping end of the rail robot is provided in the middle, and can selectively cooperate with the grasping end of the rail robot to realize the grasping and releasing of the load equipment. A steering connection interface for cooperating with and selectively locking the main body of the rail robot is provided on the side thereof, and can selectively cooperate with the main body of the rail robot to realize the steering of the rail robot during walking.

3. The load device with its own running track and steering device according to claim 1, characterized in that: The telescopic mechanism includes a plurality of evenly distributed electric telescopic rods, the fixed ends of the electric telescopic rods are fixedly connected to the inner wall of the cavity, the telescopic ends are fixedly connected to a bearing plate, a motor is fixedly connected to the bearing plate, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle of the rotating interface component.

4. The load device with its own running track and steering device according to claim 1, characterized in that: The grabbing connection interface is a circular groove and is used to form an electrical connection with the grabbing end of the corresponding rail robot.

5. The load device with its own running track and steering device according to claim 2, characterized in that: The steering connection interfaces are provided with four, which are 90 degrees apart from each other and correspond to four groove-type slide rails in different directions respectively.

6. A load carrying device with a running track and a steering device according to any one of claims 1 to 5, characterized in that: The track robot is a wheeled track robot, including at least two sets of wheel pairs, and the inner side of each wheel is provided with a rim for contacting and cooperating with the inner side of an I-shaped fixed track; a brake mechanism is protrudingly provided at the bottom of the track robot, and when the track robot contacts and cooperates with the I-shaped fixed track, the brake mechanism is partially located in the groove of the groove-type slide rail.

7. A load device with a running track and a steering device according to claim 6, characterized in that: The main body of the rail robot is provided with a retractable plug connector for use with a steering connection interface, and the steering connection interface is a groove corresponding to the plug connector.

8. A load carrying device with a running track and a steering device according to any one of claims 1 to 5, characterized in that: After any two of the load devices are electrically connected through the plug-in groove and the plug-in connector, power-on detection is performed to verify whether the two load devices are normally connected.

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