A load device with a running track and a turning device

Abstract

The application discloses a load device with a running track and a steering device, which comprises a surface fixed track, wherein a horizontal track base and a vertical track base are perpendicular to each other, the surfaces are provided with groove type sliding tracks, the edges are inwardly extended and provided as I-shaped fixed tracks for track robot walking, and a cavity for accommodating the steering device is arranged at the intersection of the horizontal track base and the vertical track 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 interface piece, and the rotating interface piece is used for realizing the grabbing and releasing of the load device and the steering of the track robot in the walking process; the steering device can be selectively extended or retracted in the cavity; the two end portions of the surface fixed track are provided with plug-in grooves, the other two end portions are provided with telescopic plug-in heads, and any two load devices can be electrically connected through the plug-in grooves and the plug-in heads. The application improves the use efficiency of the whole load task.

Description

TECHNICAL FIELD

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

[0002] With the deepening of human space exploration and the progress of technology, the demand for large space structures is increasing, 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 to the predetermined orbit at one time, and the research on in-orbit construction technology of large space equipment has become an inevitable trend and effective way.

[0003] The in-orbit construction technology in the related art uses mechanical arms, robots or astronauts to complete device assembly with the help of space truss structures, without considering the design of the assembled device itself, and has high construction cost and complex process; the in-orbit construction usually relies on mechanical arms, and for building large-scale and super-large spacecraft, a large number of mechanical arm movement paths (i.e. "footprints") are needed, which limits the movement speed and prolongs the entire construction period, reducing the practicability. SUMMARY

[0004] The present application provides a load device with a running track and a steering device, which solves the problems of high construction cost and complex process of large space loads in the related art.

[0005] To achieve the above-mentioned purpose, the following technical solutions are adopted in the present application:

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

[0007] a surface fixed track comprising a horizontal track seat and a vertical track seat perpendicular to each other,

[0008] the horizontal track seat and the vertical track seat are each provided with a groove type sliding rail, the length direction edge of the groove type sliding rail is inwardly extended and provided as an I-shaped fixed track for track robot walking;

[0009] the groove type sliding rails adjacent to the horizontal track seat and the vertical track seat are intersected and connected as a whole;

[0010] a cavity for accommodating a steering device is arranged at the intersection of the horizontal track seat and the vertical track seat; the steering device comprises an extension mechanism, the output end of the extension mechanism is fixedly connected with a rotating mechanism, the output end of the rotating mechanism is fixedly connected with a rotating interface piece, the rotating interface piece is used to realize the grabbing and releasing of the load device and the steering of the track robot during walking; the steering device as a whole can be selectively extended or retracted into the cavity;

[0011] The transverse rail seat and the longitudinal rail seat are provided with plug-in grooves at two adjacent ends and plug-in joints at the other two ends, and any two of the load devices can be electrically connected through the plug-in grooves and the plug-in joints.

[0012] In a first possible implementation, the rotating interface includes a disc-shaped body, wherein a grabbing connection interface is arranged in the middle for matching the grabbing end of the track robot, and optionally cooperating with the grabbing end of the track robot to realize grabbing and releasing of the load device; a steering connection interface is arranged on the side for matching and selectively locking with the main body of the track robot, and optionally cooperating with the main body of the track robot to realize steering of the track robot during walking.

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

[0014] In a third possible implementation, the grabbing connection interface is a circular groove and is used to form electrical connection with the grabbing end of the track robot.

[0015] Based on the first possible implementation, in a fourth possible implementation, the steering connection interface is provided with four, spaced 90 degrees from each other, corresponding to four groove-type slide rails in different directions.

[0016] Based on any possible implementation, in a fifth possible implementation, the track robot is a wheeled track robot, including at least two groups of wheel pairs, each wheel is provided with a flange on the inner side for contact matching with the inner side of the I-shaped fixed track; the track robot is protrudingly provided with a brake mechanism at the bottom, and when the track robot is in contact 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, the main body of the track robot is provided with a telescopic plug-in joint for matching with the steering connection interface, and the steering connection interface is a groove corresponding to the plug-in joint.

[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 grooves and the plug-in joints, it is verified through power-on detection whether the two load devices are normally connected.

[0019] The load device with the running track and the steering device has the following advantages:

[0020] The load device can realize rapid inspection and steering movement of multiple load device surfaces through the track and the steering device, ensuring full-range coverage inspection of the assembled load. The on-orbit construction can realize continuous expansion of system capacity, realize interconnection of power supply, information, etc. of the whole system, conveniently realize replacement of any load device, support on-orbit steering operation of multiple running devices, improve system work efficiency and system availability, support system continuous updating, and ensure long-life use of the system. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A perspective view of a load device with a running track and a steering device according to an embodiment of the present application is provided.

[0022] Figure 2 A perspective view of another load device with a running track and a steering device according to an embodiment of the present application is provided.

[0023] Figure 3 A perspective view of still another load device with a running track and a steering device according to an embodiment of the present application is provided.

[0024] Figure 4 A perspective view of a steering device according to an embodiment of the present application is provided.

[0025] Figure 5 A schematic diagram of a load on-orbit assembly process according to an embodiment of the present application is provided.

[0026] Figure 6 A schematic diagram of a steering process of a track moving device according to an embodiment of the present application is provided.

[0027] Figure 7 A schematic diagram of a straight-ahead process of a track moving device according to an embodiment of the present application is provided.

[0028] REFERENCE NUMERALS

[0029] Horizontal rail seat 1; vertical rail seat 2; groove type sliding rail 3; I-shaped fixed track 4; track robot 5; steering device 6; rotating interface 7; grabbing connection interface 8; steering connection interface 9; plug-in groove 10; plug-in head 11; electric telescopic rod 12; bearing plate 13; motor 14. DETAILED DESCRIPTION

[0030] In order to further clarify the technical means and effects taken by the present application to achieve the intended purpose, the technical solutions in the embodiments of the present application are described clearly. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0031] The terms "first", "second", and the like 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 can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in a "or" relationship.

[0032] The self-running track and steering device of the load equipment provided by the embodiments of the present application will be described in detail as follows in combination with the drawings and preferred embodiments.

[0033] The embodiments of the present application provide a load equipment with a running track and a steering device, which is a sub-load unit. The load surface is arranged with a fixed track and a steering device. The sub-load unit can be carried by a cargo spaceship to go up. When the on-orbit construction is carried out, the wheel type track robot can move quickly on the load surface fixed track, and the 90° steering can be completed by using the steering device, so as to realize two-dimensional construction of the load and complete the on-orbit construction. The embodiments of the present application can solve the problems of more constraints, power supply and information link expansion, liquid cooling loop interconnection and interworking of space large load during on-orbit construction and maintenance, improve the task compatibility and usability of the entire load, prolong the service life, and improve the use efficiency.

[0034] Please refer to Figures 1-3 The embodiments of the present application provide a load equipment with a running track and a steering device 6, as shown in Figures 1-3 The load equipment of the embodiments of the present application, as a sub-load unit, comprises:

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

[0036] The transverse track seat 1 and the longitudinal track seat 2 are both provided with groove type sliding rails 3, the edge of the groove type sliding rails 3 along the length direction is extended inward and arranged as an I-shaped fixed track 4, which is used for the walking of the track robot 5;

[0037] The transverse rail seat 1 and the longitudinal rail seat 2 are adjacent to the groove-shaped sliding rails 3, which are intersected and connected as a whole;

[0038] The transverse rail seat 1 and the longitudinal rail seat 2 are provided with cavities for accommodating the steering device 6 at the intersection; the steering device 6 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 interface 7, the rotating interface 7 is used to realize the grabbing and releasing of the load equipment and the steering of the track robot 5 in the walking process; the steering device 6 as a whole can be selectively extended or retracted from the cavity;

[0039] The transverse rail seat 1 and the longitudinal rail seat 2 are provided with plug-in grooves 10 at two adjacent ends, and are provided with telescopic plug-in heads 11 at the other two ends; any two load equipment can be electrically connected through the plug-in grooves 10 and the plug-in heads 11, and whether the two load equipment are normally connected can be verified through power-on detection.

[0040] In some possible embodiments, the rotating interface 7 comprises a disc-shaped body, a grabbing connection interface 8 is arranged in the middle of the disc-shaped body for adapting to the grabbing end of the track robot 5, the grabbing end of the track robot 5 is selectively matched to realize the grabbing and releasing of the load equipment, and a steering connection interface 9 is arranged on the side of the disc-shaped body for selectively locking with the main body of the track robot 5 and selectively matched with the main body of the track robot 5 to realize the steering of the track robot 5 in the walking process.

[0041] In some possible embodiments, referring to Figure 4 The telescopic mechanism comprises a plurality of electric telescopic rods 12 uniformly distributed, the fixed end of the electric telescopic rod 12 is fixedly connected with the inner wall of the cavity, the telescopic end is fixedly connected with a bearing plate 13, the bearing plate 13 is fixedly connected with a motor 14, the output shaft of the motor 14 is parallel to the telescopic direction, and the output shaft end of the motor 14 is fixedly connected with the middle part of the rotating interface 7.

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

[0043] Further, the steering connection interface 9 is provided with four, which are spaced 90 degrees apart, and correspond to four groove-shaped sliding rails 3 in different directions respectively.

[0044] Further, the track robot 5 is a wheeled track robot 5, which comprises at least two groups of wheel pairs, and each wheel is provided with a flange on the inner side for contact and cooperation with the inner side of the I-shaped fixed track 4 (which can refer to the principle of train wheels); the track robot 5 is provided with a brake mechanism protruding at the bottom, and when the track robot 5 is in contact and cooperation with the I-shaped fixed track 4, the brake mechanism is partially located in the groove of the groove-shaped sliding rail 3.

[0045] Further, the main body of the track robot 5 is provided with a telescopic plug for cooperating with the turning connection interface 9, which is a groove (not shown in the drawings) corresponding to the plug.

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

[0047] By controlling the telescopic mechanism to extend the rotating interface 7 out of the cavity by a certain distance, the load device can be grabbed by aligning and further cooperating the grabbing end of the track robot 5 with the robot grabbing connection interface 8 provided by the rotating interface 7.

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

[0049] By controlling the telescopic mechanism to retract the rotating interface 7 into the cavity, when the track robot 5 is straight at the track intersection, it will not change direction and can straight pass through because the brake mechanism is partially located in the groove of the groove-type slide rail 3, which has a guiding effect. Figure 7 .

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

[0051] By controlling the telescopic mechanism to extend the rotating interface 7 out of the cavity by a certain distance, the load device can be grabbed by aligning and further cooperating the grabbing end of the track robot 5 with the robot grabbing connection interface 8 provided by the rotating interface 7.

[0052] In the specific implementation process, see Figure 5, multiple load devices are assembled by using the track robot 5, the load device a first extends the left-right direction telescopic interface, the track robot 5 grabs the load device b close to and aligns the left-right direction opposite slot with the interface of the load device a which extends out, then the load device a and the load device b are docked and locked, after power-on detection, it is determined that the connection of the two load devices is normal, the track robot 5 releases the load device b; the load device a extends the front-back direction telescopic interface, then the track robot 5 grabs the load device c close to and aligns the front-back direction opposite slot with the interface of the load device a which extends out, then the load device a and the load device c are docked and locked, after power-on detection, it is determined that the connection of the two load devices is normal, the track robot 5 releases the load device b; the load device b extends the front-back direction telescopic interface, the track robot 5 grabs the load device d and aligns the front-back direction opposite slot with the interface of the load device b which extends out, then the load device d and the load device b are docked and locked, after power-on detection, it is determined that the connection of the two load devices is normal, the track robot 5 releases the load device d; the load device c extends the left-right direction telescopic interface, the connection with the left-right direction opposite slot of the load device d is completed, power-on detection is carried out to check the connection, and the operation process is as shown in Figure 5 . The subsequent load device assembly process is carried out according to the previous steps until the assembly of all load devices is completed.

[0053] On this basis, further steering operation can be carried out, as shown in Figure 6 : the track robot 5 moving along the fixed track stops in front of the steering device 6 to wait, the steering device 6 is half-lifted, the track robot 5 moves forward to be attached to and locked with the steering device 6, the lifting platform of the steering device 6 behind the track robot 5 continues to lift to the highest point and stops, then the inner rotating shaft of the steering device 6 rotates to the direction to be rotated, stops rotating after rotating 90°, then the lifting platform of the steering device 6 is lowered to the half-lifted position, the track robot 5 is unlocked with the steering device 6, finally the steering device 6 is lowered to the initial state, the whole steering process is completed, and the specific process is as shown in Figure 6 .

[0054] It should be noted that the purpose of the steering device 6 includes two parts: 1, as an interface when the mechanical arm grabs, when the load device is in the transportation process before construction, the device is provided with heat preservation power supply and state information monitoring by the mechanical arm through the interface, at this time the steering device 6 is not lifted and is in the initial state (as shown in Figure 1 ); 2, after the assembly of multiple load devices, if the robot needs to be rotated by 90° when moving to a load device, the steering device 6 is in the half-lifted state (as shown in Figure 2 ), the robot main body establishes power supply and information connection with the steering device 6, then the steering device 6 is lifted to the highest point together with the robot (as shown in Figure 3After the 90° steering is completed, the steering device 6 is restored to the initial state. One steering device 6 can provide 90° steering operation for up to 4 robots at the same time.

[0055] The side telescopic interface can realize mechanical, power supply, information and liquid cooling connection of adjacent two load devices, each load device comprises two side telescopic interfaces (the other two sides are connection slots). The interface is extended when connection is needed, and is in the retracted state when not working.

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

[0057] 1. The load device with a running track and a steering device provided by the embodiments of the present application can realize rapid patrol and steering movement of the surfaces of multiple load devices through the track and the steering device, and ensure full-range coverage patrol of the assembled load;

[0058] 2. The load device provided by the embodiments of the present application can realize continuous expansion of system capacity, and realize interconnection and intercommunication of full-system power supply, information and liquid cooling in orbit construction;

[0059] 3. The load device provided by the embodiments of the present application can realize replacement of any load device, and can support on-orbit steering operation of multiple running devices, thereby improving system work efficiency and system availability;

[0060] 4. The design support system provided by the embodiments of the present application can be continuously updated, thereby ensuring long-life use of the system.

[0061] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional 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 the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0062] It can be understood that the embodiments of the present application are described above in conjunction with the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive, and various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application, which are known to those skilled in the art. In addition, under the inspiration or teaching of the present application, those skilled in the art can modify the features and embodiments to adapt to specific conditions and materials without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of protection of the present application.

Claims

1. A load-bearing device with its own running track and steering device, characterized in that, As a sub-load unit, comprising: Surface fixed track, including mutually perpendicular horizontal rail seat and vertical rail seat, The horizontal rail seat and the vertical rail seat surface are provided with groove type sliding rail, the length direction edge of the groove type sliding rail is extended inward and is provided as I-shaped fixed track, which is used for track robot walking; The horizontal rail seat and the vertical rail seat adjacent groove type sliding rail intersection and connect as a whole; The horizontal rail seat and the vertical rail seat intersection is provided with a cavity for accommodating the steering device;The steering device includes 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 interface, the rotating interface is used to realize the grabbing and releasing of the load equipment and the steering of the track robot in the walking process;The steering device as a whole can selectively extend or retract into the cavity; The horizontal rail seat and the vertical rail seat wherein two adjacent ends are provided with a plug-in groove, and the other two ends are provided with a telescopic plug, and any two load equipment can realize electrical connection through the plug-in groove and the plug; The rotating interface includes a disc-shaped body, a grabbing connection interface is arranged in the middle of the disc-shaped body for adapting to the grabbing end of the track robot, and the grabbing end of the track robot is selectively matched to realize the grabbing and releasing of the load equipment, and a steering connection interface is arranged on the side of the disc-shaped body for selectively locking with the main body of the track robot, and the main body of the track robot is selectively matched to realize the steering of the track robot in the walking process.

2. The load equipment with running track and steering device according to claim 1, wherein The telescopic mechanism includes a plurality of electric telescopic rods uniformly distributed, the fixed end of the electric telescopic rod is fixedly connected with the inner wall of the cavity, the telescopic end is fixedly connected with a bearing plate, the bearing plate is fixedly connected with a motor, the output shaft of the motor is parallel to the telescopic direction, and the end of the output shaft of the motor is fixedly connected with the middle part of the rotating interface.

3. The load equipment with running track and steering device according to claim 1, wherein The grabbing connection interface is a circular groove, and is used for forming electrical connection with the grabbing end of the track robot.

4. The load equipment with running track and steering device according to claim 1, wherein The steering connection interface is provided with four, which are spaced apart by 90 degrees, and correspond to four groove type sliding rails in different directions respectively.

5. The load equipment with running track and steering device according to any one of claims 1-4, wherein The track robot is a wheeled track robot, including at least two groups of wheel pairs, and each wheel is provided with a flange inside for contacting and matching with the inside of the I-shaped fixed track;The track robot is provided with a brake mechanism protruding at the bottom, and when the track robot contacts and matches with the I-shaped fixed track, the brake mechanism is partially located in the groove of the groove type sliding rail.

6. The load device with a running track and a steering device according to claim 5, characterized in that, a telescopic plug is arranged on the main body of the track robot for cooperating with a steering connecting interface, which is a groove corresponding to the plug.

7. The load device with a running track and a steering device according to any one of claims 1-4, characterized in that, any two load devices can be electrically connected through the plug groove and the plug, and then whether the two load devices are normally connected is verified through power-on detection.

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