Variable-caliber spiral pipe coiling mechanism based on in-orbit manufacturing

Abstract

The invention discloses a variable-caliber spiral pipe coiling mechanism based on in-orbit manufacturing, and relates to the technical field of in-orbit manufacturing, the variable-caliber spiral pipe coiling mechanism comprises a forming angle adjusting device, a bottom plate, a strip storage device and a strip positioning device; synchronous and independent adjustment of the forming angle and the caliber is achieved through meshing of the motor driving gears, parts do not need to be disassembled, the rapid response requirement of the space environment is met, continuous strip feeding and non-slippage are ensured through concentric design of the sliding rails and the pulleys and pre-tightening force compensation of the tensioning springs, the weight is reduced through the hollow structure, and the production cost is reduced. A gear transmission and thread adjusting mechanism is high in transmission efficiency and long in service life, variable-caliber spiral pipe coiling of metal pipe fittings in on-orbit manufacturing is achieved, the limitation of single caliber of traditional equipment is solved, and an efficient and flexible solution is provided for building of space ultra-large structures.

Description

Technical Field

[0001] The invention relates to the technical field of on-track manufacturing, and in particular to a variable-caliber spiral pipe winding mechanism based on on-track manufacturing. Background Art

[0002] On-orbit manufacturing refers to the use of raw materials or local materials to manufacture parts and components by manufacturing equipment in the target orbit or extraterrestrial body. In the past half century, due to various factors, the development of on-orbit manufacturing has been slow, and most of them are still in the laboratory research and testing stage. However, with the rapid development of information, materials, automation and rapid prototyping technologies, space manufacturing technology has made breakthrough progress. For example, on-orbit manufacturing of super-large space structures and multifunctional system components, on-orbit 3D printing, etc. Space manufacturing technology has a far-reaching impact on the deployment ideas of future manned spaceflight, on-orbit services and deep space exploration missions.

[0003] On-orbit manufacturing and assembly technology can realize the construction of space structures at the kilometer level or even larger, and is a disruptive technology that changes the development model of spacecraft. Metal pipes are the basic units for building super-large structures in space. Deploying miniaturized metal pipe manufacturing equipment in space to wind metal strips is a highly feasible technical route. However, the current on-orbit metal pipe manufacturing equipment can generally only produce metal pipes of a single caliber, so it is necessary to develop the design of variable-caliber metal pipe manufacturing equipment. Summary of the invention

[0004] The present invention provides a variable-caliber spiral pipe winding mechanism based on on-orbit manufacturing, which solves the technical problems that the traditional storage device is prone to strip slippage in a microgravity environment and can only produce metal pipes with a single caliber.

[0005] In order to solve the above technical problems, the present invention provides a variable-caliber spiral tube winding mechanism based on on-orbit manufacturing, including a forming angle adjustment device, a bottom plate, a strip storage device and a strip positioning device. A magnetorheological fluid locking mechanism is used at the connection of each mechanism. During maintenance, the magnetorheological fluid is liquefied by applying a magnetic field, so that manual disassembly during maintenance is achieved; a deep learning module is added to the control system of the mechanism, a correlation model is generated through historical data training, and a satellite-borne edge computing chip is installed to achieve implementation parameter prediction under offline conditions;

[0006] The forming angle adjustment device comprises a sector gear, a pulley, a rectangular frame and a bearing sleeve; the sector gear and the bearing sleeve are respectively fixedly mounted on both sides of the rectangular frame, the sector gear is transmission-connected to the bottom plate, and the bearing sleeve is rotationally connected to the bottom plate;

[0007] The strip storage device comprises a mounting frame, a top block, a rotating rod mechanism and a tensioning mechanism; the mounting frame is fixedly mounted on the bottom plate, the rotating rod mechanism is arranged on the mounting frame, and the tensioning mechanism is arranged on the rotating rod mechanism, and the strip clamping and fixing and the change of the caliber of the tensioning mechanism are achieved by adjusting the position of the top block;

[0008] The strip positioning device includes a pair of parallelly arranged mounting plates, a first driving device, left and right limiting wheels and upper and lower limiting rollers; the upper and lower limiting rollers are transmission-connected to the first driving device, the left and right limiting wheels and the upper and lower limiting rollers are all arranged on the mounting plate, and the mounting plate and the first driving device are arranged on the bottom plate.

[0009] In some embodiments, the base plate includes a platform and a second driving device, the second driving device is arranged on one side of the platform, a boss is arranged on the other side of the platform, a rotating shaft is fixedly installed above the boss, and the rotating shaft is rotatably connected to the bearing sleeve through a bearing;

[0010] The second driving device includes a second mounting platform, a forming angle adjustment motor and a second driving gear. The second mounting platform is fixedly mounted on the top of the platform, the forming angle adjustment motor is fixedly mounted on the top of the second mounting platform, the second driving gear is fixedly sleeved on the output end of the forming angle adjustment motor, and the second driving gear is meshed with the fan gear for transmission.

[0011] In some embodiments, a slide rail is fixedly installed on the top of the platform, a pulley is rotatably installed on the bottom of the rectangular frame, the pulley is movably connected to the slide rail, and the center of the slide rail coincides with the rotation center of the sector gear.

[0012] In some embodiments, the mounting frame includes a pair of symmetrically mounted storage racks, the storage racks are fixedly mounted on the bottom plate, and a storage shaft is mounted in the middle of the storage racks through a bearing;

[0013] The rotating rod mechanism includes a fixed sleeve, which is fixedly sleeved on the surface of the storage shaft, and a movable sleeve is connected to the side of the fixed sleeve through a spring telescopic rod. The surface of the fixed sleeve is rotatably connected to fixed rotating rods that are parallel to each other and of equal length, and the surface of the movable sleeve is rotatably connected to a movable rotating rod, and the movable rotating rod is of the same length as the fixed rotating rod. One end of the fixed rotating rod and the movable rotating rod are both movably connected to the tensioning mechanism, and the side of the movable sleeve is in contact with the side of the top block.

[0014] In some embodiments, the tensioning mechanism includes an upper tensioning block, a lower tensioning block and a tensioning spring, the lower tensioning block is connected to one end of the fixed rotating rod and the movable rotating rod, the storage shaft is fixedly installed with a circular baffle, the tensioning spring is arranged on the circular baffle, the upper tensioning block is arranged at one end of the tensioning spring, and the lower tensioning block is fitted with the upper tensioning block through the tensioning spring.

[0015] In some embodiments, the top block is connected to the storage shaft via bolts or threads, and the axial movement of the top block along the storage shaft is converted into radial movement of the lower tensioning block via a rotating rod mechanism.

[0016] In some embodiments, the upper and lower limiting rollers include a first limiting roller, a second limiting roller, a driven shaft and a driving shaft, the first limiting roller is fixedly sleeved on the surface of the driven shaft, the second limiting roller is fixedly sleeved on the surface of the driving shaft, one end of the driving shaft is fixedly sleeved with a motor driving gear, and the motor driving gear is drivingly connected to the first driving device;

[0017] The left and right limiting wheels include a first limiting wheel, a second limiting wheel and a mounting seat, wherein the mounting seat is fixedly mounted on a mounting plate, a long slot is provided on the mounting seat, and the first limiting wheel and the second limiting wheel are detachably mounted in the long slot of the mounting seat by bolts.

[0018] In some embodiments, the first driving device includes a first mounting platform, a feeding motor and a first driving gear, the first mounting platform is fixedly mounted on a rectangular frame, the feeding motor is fixedly mounted on the first mounting platform, and the first driving gear is fixedly sleeved on the output end of the feeding motor.

[0019] In some embodiments, the forming angle adjustment device, the bottom plate, the strip storage device and the strip positioning device all adopt a hollow weight-reducing structure.

[0020] The present invention also provides a method for using a variable-caliber spiral pipe winding mechanism based on on-track manufacturing, comprising the following steps:

[0021] S1, steps for adjusting the forming angle:

[0022] The second driving gear is driven by the forming angle adjustment motor to mesh with the fan gear, driving the rectangular frame to rotate around the rotating shaft, so that the pulley slides along the slide rail to adjust the forming angle of the spiral coil;

[0023] S2, tension adjustment steps:

[0024] The top block is moved axially along the storage shaft, and the movable sleeve is pushed through the spring telescopic rod, so that the movable rotating rod is linked with the fixed rotating rod, and the lower tensioning block is driven to move radially to adjust the caliber of the tensioning mechanism and clamp the strip;

[0025] S3, strip guiding step:

[0026] Start the feeding motor to drive the first driving gear, so that the upper and lower limiting rollers rotate synchronously to convey the strip, and adjust the spacing between the left and right limiting wheels in the long groove of the mounting seat to limit the strip laterally;

[0027] S4, spiral winding step:

[0028] Under the coordinated action of the forming angle adjustment device and the tensioning mechanism, the strip is spirally wound into a tube in a continuously variable diameter manner, and lightweight manufacturing is achieved through a hollow weight-reducing structure.

[0029] Compared with the related art, the variable-caliber spiral pipe winding mechanism based on on-orbit manufacturing provided by the present invention has the following advantages:

[0030] Beneficial effects:

[0031] The present invention provides a variable-caliber spiral tube winding mechanism based on on-orbit manufacturing, which realizes synchronous and independent adjustment of the forming angle and the caliber by driving the gear meshing by an electric motor, does not require disassembly of components, and is adaptable to the rapid response requirements of the space environment.

[0032] The invention provides a variable-caliber spiral tube winding mechanism based on on-track manufacturing, which ensures continuous and slip-free feeding of strip materials through the concentric design of a slide rail and a pulley and preload compensation of a tensioning spring.

[0033] The present invention provides a variable-caliber spiral tube winding mechanism based on on-track manufacturing, which reduces weight through a hollow structure, and has high transmission efficiency and long service life of a gear transmission and a thread adjustment mechanism.

[0034] The present invention provides a variable-caliber spiral pipe winding mechanism based on on-orbit manufacturing, which realizes the variable-caliber spiral pipe winding of metal pipes in on-orbit manufacturing, solves the limitation of single caliber of traditional equipment, and provides an efficient and flexible solution for the construction of super-large structures in space. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the strip storage device of the present invention;

[0037] Figure 3 It is a schematic cross-sectional structure diagram of the strip storage device of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the strip positioning device of the present invention;

[0039] Figure 5 The structure of the forming angle adjustment device of the present invention is shown in FIG. Figure 1 ;

[0040] Figure 6 The structure of the forming angle adjustment device of the present invention is shown in FIG. Figure 2 ;

[0041] Figure 7 It is a schematic diagram of the bottom plate structure of the present invention.

[0042] Numbers in the figure: 1, strip positioning device; 2, strip storage device; 3, bottom plate; 4, forming angle adjustment device; 101, upper and lower limit rollers; 102, left and right limit wheels; 103, motor drive gear; 104, mounting seat; 105, mounting plate; 106, first mounting platform; 107, feeding motor; 108, first driving gear; 201, storage rack; 202, top block; 203, movable rotating rod; 204, fixed Fixed rotating rod; 205, upper tensioning block; 206, lower tensioning block; 207, tensioning spring; 208, storage shaft; 209, spring telescopic rod; 2010, circular baffle; 301, second driving gear; 302, platform; 303, slide rail; 304, rotating shaft; 305, second mounting platform; 306, forming angle adjustment motor; 401, fan gear; 402, pulley; 403, rectangular frame; 404, bearing sleeve. DETAILED DESCRIPTION

[0043] Embodiment 1

[0044] This embodiment provides a variable-caliber spiral pipe winding mechanism manufactured on-track, and the specific implementation method is as follows:

[0045] 1. Overall structure

[0046] like Figure 1 As shown, the mechanism includes four core modules: strip positioning device 1, strip storage device 2, bottom plate 3 and forming angle adjustment device 4. Each module works together through mechanical transmission and electronic control system to achieve continuous feeding of metal strip, variable diameter coiling and dynamic adjustment of forming angle. All components adopt aluminum alloy or carbon fiber hollow structure to reduce weight and adapt to space environment. A deep learning module is added to the control system to generate an association model through historical data training:

[0047] θ=f(v,D,T)+ε

[0048] Where: θ: forming angle, v: feed speed, D: tube diameter, T: ambient temperature, ε: error compensation term.

[0049] It is also equipped with a satellite-borne edge computing chip to realize parameter prediction under offline conditions.

[0050] 2. Cooperation between the forming angle adjustment device 4 and the base plate 3

[0051] (1) Transmission structure of the forming angle adjustment device 4

[0052] like Figure 1 , Figure 5 and Figure 6As shown, the sector gear 401 and the bearing sleeve 404 are respectively fixed on both sides of the rectangular frame 403. A second driving device is provided on one side of the platform 302 of the bottom plate 3, including a forming angle adjustment motor 306 and a second driving gear 301. After the motor is started, the second driving gear 301 meshes with the sector gear 401, driving the rectangular frame 403 to rotate around the rotating shaft 304, thereby adjusting the tube rolling forming angle.

[0053] The rotation center of the sector gear 401 coincides with the center of the slide rail 303 , and the pulley 402 at the bottom of the rectangular frame rolls along the slide rail 303 to ensure smooth rotation and accurate angle.

[0054] (2) Support and drive of base plate 3

[0055] The rotating shaft 304 is fixed on the boss of the platform 302, and is connected to the bearing sleeve 404 through a bearing, providing a rotation fulcrum for the rectangular frame 403. The slide rail 303 is arc-shaped, which limits the movement track of the pulley 402 to avoid deviation during the adjustment process.

[0056] 3. Caliber adjustment of strip storage device 2

[0057] (1) The lever mechanism and the tensioning mechanism are linked

[0058] like Figure 2-3 As shown, the storage shaft 208 is installed on the storage frame 201 through a bearing, and the surface fixed sleeve is provided with a fixed rotating rod 204 and a movable rotating rod 203. The movable rotating rod 203 is connected to the movable sleeve through a spring telescopic rod 209, and the top block 202 moves axially along the storage shaft 208 through a thread to push the movable sleeve to move.

[0059] Action logic: top block 202 moves → movable sleeve translates → movable rotating rod 203 drives lower tension block 206 to move radially → tension spring 207 is compressed / released → distance between upper tension block 205 and lower tension block 206 changes, thus realizing stepless adjustment of coiling tube diameter.

[0060] (2) Adaptive tensioning function

[0061] The pre-tightening force of the tension spring 207 ensures that the strip is always close to the tension block during the feeding process to avoid slipping. The circular baffle 2010 limits the position of the strip to prevent it from falling off, and is also used to provide an installation position for the tension spring 207 and the upper tension block 205.

[0062] 4. Precise guidance of strip positioning device 1

[0063] (1) The upper and lower limit rollers 101 drive the feed

[0064] like Figure 4As shown, the feeding motor 107 of the first driving device drives the driving shaft to rotate through the first driving gear 108, driving the second limiting roller to rotate. The first limiting roller on the driven shaft rotates in the opposite direction synchronously through gear meshing, clamping the strip to achieve continuous feeding.

[0065] (2) Adjustable design of left and right limit wheels 102

[0066] like Figure 4 As shown, the first limiting wheel and the second limiting wheel are fixed in the long groove of the mounting seat 104 by bolts, and the spacing can be adjusted according to the width of the strip to ensure that the strip is fed in the center to avoid deflection.

[0067] Among them, a silicon carbide-graphene composite coating is coated on the surface of the upper and lower rollers 101 to reduce the electrostatic adsorption effect of the strip in a microgravity environment, and the left and right limit wheels 102 can be integrated with a laser displacement sensor + a micro servo motor to detect the strip offset in real time and automatically adjust the spacing between the limit wheels.

[0068] Through the above embodiments, the present mechanism realizes variable-diameter spiral winding of metal pipes in on-orbit manufacturing, solves the limitation of single-diameter of traditional equipment, and provides an efficient and flexible solution for the construction of super-large structures in space.

[0069] 5. Coordination between strip positioning device 1 and base plate 3

[0070] A magnetorheological fluid locking mechanism is used at the connection between the strip positioning device 1 and the bottom plate 3. During maintenance, a magnetic field is applied to liquefy the magnetorheological fluid, so that manual disassembly is achieved during maintenance.

[0071] Implementation steps:

[0072] 1. Initial settings:

[0073] Adjust the distance between a pair of parallel left and right limiting wheels 102 to match the width of the strip;

[0074] Rotate the top block 202 to adjust the spacing between the tension blocks 206 to the target coil diameter;

[0075] The forming angle adjustment motor 306 drives the sector gear 401 to set the initial forming angle of the spiral tube.

[0076] 2. Operation phase

[0077] Start the feeding motor 107 to drive the upper and lower limit rollers 101 to rotate synchronously, pushing the strip to feed to the coiling area;

[0078] The strip is wound into shape by the tensioning mechanism, and the forming angle adjustment device 4 dynamically adjusts the rotation angle of the sector gear 401 according to the preset program, and changes the inclination angle of the strip feeding path by rotating the rectangular frame 403 around the rotating axis 304, thereby realizing the continuous forming of the variable diameter spiral coil.

[0079] 3. Dynamic Adjustment

[0080] Diameter changing operation: the rotating top block 202 moves axially along the storage shaft 208, pushing the movable sleeve to move, driving the movable rotating rod 203 and the fixed rotating rod 204 to move in a radial direction, thereby changing the diameter of the reel.

[0081] Forming angle adjustment: The forming angle adjustment motor 306 drives the second driving gear 301 to mesh with the sector gear 401, driving the rectangular frame 403 to rotate around the rotating shaft 304, so that the pulley 402 slides along the slide rail 303, and dynamically changes the forming angle of the strip feeding path.

[0082] Working principle:

[0083] This mechanism coordinates the actions of multiple motors through the electronic control system. The feeding motor controls the strip feeding speed, the forming angle adjustment motor adjusts the forming angle through gear meshing, and the top block thread adjustment is converted into radial displacement to change the diameter of the coiled tube. The three are independently controlled and can adapt to different tube diameters and helix angles in real time, which is suitable for complex working conditions in space environments.

Claims

1. A variable-caliber spiral pipe winding mechanism based on on-orbit manufacturing, characterized in that: It includes a forming angle adjustment device, a bottom plate, a strip receiving device and a strip positioning device; The forming angle adjustment device comprises a sector gear, a pulley, a rectangular frame and a bearing sleeve; the sector gear and the bearing sleeve are respectively fixedly mounted on both sides of the rectangular frame, the sector gear is transmission-connected to the bottom plate, and the bearing sleeve is rotationally connected to the bottom plate; The strip storage device comprises a mounting frame, a top block, a rotating rod mechanism and a tensioning mechanism; the mounting frame is fixedly mounted on the bottom plate, the rotating rod mechanism is arranged on the mounting frame, and the tensioning mechanism is arranged on the rotating rod mechanism, and the strip clamping and fixing and the change of the caliber of the tensioning mechanism are achieved by adjusting the position of the top block; The strip positioning device includes a pair of parallelly arranged mounting plates, a first driving device, left and right limiting wheels and upper and lower limiting rollers; the upper and lower limiting rollers are transmission-connected to the first driving device, the left and right limiting wheels and the upper and lower limiting rollers are all arranged on the mounting plate, and the mounting plate and the first driving device are arranged on the bottom plate.

2. According to claim 1, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The bottom plate includes a platform and a second driving device, the second driving device is arranged on one side of the platform, a boss is arranged on the other side of the platform, a rotating shaft is fixedly installed above the boss, and the rotating shaft is rotatably connected to the bearing sleeve through a bearing; The second driving device includes a second mounting platform, a forming angle adjustment motor and a second driving gear. The second mounting platform is fixedly mounted on the top of the platform, the forming angle adjustment motor is fixedly mounted on the top of the second mounting platform, the second driving gear is fixedly sleeved on the output end of the forming angle adjustment motor, and the second driving gear is meshed with the fan gear for transmission.

3. According to claim 2, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: A slide rail is fixedly installed on the top of the platform, a pulley is rotatably installed on the bottom of the rectangular frame, the pulley is movably connected to the slide rail, and the center of the slide rail coincides with the rotation center of the sector gear.

4. According to claim 1, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The mounting frame comprises a pair of symmetrically mounted storage racks, the storage racks are fixedly mounted on the bottom plate, and a storage shaft is mounted in the middle of the storage racks via a bearing; The rotating rod mechanism includes a fixed sleeve, which is fixedly sleeved on the surface of the storage shaft, and a movable sleeve is connected to the side of the fixed sleeve through a spring telescopic rod. The surface of the fixed sleeve is rotatably connected to fixed rotating rods that are parallel to each other and of equal length, and the surface of the movable sleeve is rotatably connected to a movable rotating rod, and the movable rotating rod is of the same length as the fixed rotating rod. One end of the fixed rotating rod and the movable rotating rod are both movably connected to the tensioning mechanism, and the side of the movable sleeve is in contact with the side of the top block.

5. According to claim 4, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The tensioning mechanism includes an upper tensioning block, a lower tensioning block and a tensioning spring, the lower tensioning block is connected to one end of the fixed rotating rod and the movable rotating rod, the storage shaft is fixedly installed with a circular baffle, the tensioning spring is arranged on the circular baffle, the upper tensioning block is arranged at one end of the tensioning spring, and the lower tensioning block is fitted with the upper tensioning block through the tensioning spring.

6. According to claim 5, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The top block is connected to the receiving shaft through bolts or threads, and the axial movement of the top block along the receiving shaft is converted into radial movement of the lower tensioning block through a rotating rod mechanism.

7. According to claim 1, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The upper and lower limiting rollers include a first limiting roller, a second limiting roller, a driven shaft and a driving shaft, wherein the first limiting roller is fixedly sleeved on the surface of the driven shaft, the second limiting roller is fixedly sleeved on the surface of the driving shaft, one end of the driving shaft is fixedly sleeved with a motor driving gear, and the motor driving gear is drivingly connected to the first driving device; The left and right limiting wheels include a first limiting wheel, a second limiting wheel and a mounting seat, wherein the mounting seat is fixedly mounted on a mounting plate, a long slot is provided on the mounting seat, and the first limiting wheel and the second limiting wheel are detachably mounted in the long slot of the mounting seat by bolts.

8. According to claim 1, the variable-caliber spiral pipe winding mechanism based on on-track manufacturing is characterized in that: The first driving device includes a first mounting platform, a feeding motor and a first driving gear. The first mounting platform is fixedly mounted on the rectangular frame, the feeding motor is fixedly mounted on the first mounting platform, and the first driving gear is fixedly sleeved on the output end of the feeding motor.

9. The variable-caliber spiral pipe winding mechanism based on on-track manufacturing according to claim 1 is characterized in that: The forming angle adjustment device, the bottom plate, the strip storage device and the strip positioning device all adopt a hollow weight-reducing structure.

10. A method for using the variable-caliber spiral tube winding mechanism manufactured on-track as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, steps for adjusting the forming angle: The second driving gear is driven by the forming angle adjustment motor to mesh with the fan gear, driving the rectangular frame to rotate around the rotating shaft, so that the pulley slides along the slide rail to adjust the forming angle of the spiral coil; S2, tension adjustment steps: The top block is moved axially along the storage shaft, and the movable sleeve is pushed through the spring telescopic rod, so that the movable rotating rod is linked with the fixed rotating rod, and the lower tensioning block is driven to move radially to adjust the caliber of the tensioning mechanism and clamp the strip; S3, strip guiding step: Start the feeding motor to drive the first driving gear, so that the upper and lower limiting rollers rotate synchronously to convey the strip, and adjust the spacing between the left and right limiting wheels in the long groove of the mounting seat to limit the strip laterally; S4, spiral winding step: Under the coordinated action of the forming angle adjustment device and the tensioning mechanism, the strip is spirally wound into a tube in a continuously variable diameter manner, and lightweight manufacturing is achieved through a hollow weight-reducing structure.

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