Pose auxiliary supporting device for automatic assembly of multi-configuration unfolding arm

Abstract

According to the pose auxiliary supporting device for automatic assembly of the multi-configuration unfolding arm, a rotating shaft is in clearance fit with a rotating arm, and the rotating shaft sequentially penetrates through the rotating arm and a supporting disc and then is pressed through a connecting piece; the flexible supporting assembly comprises a supporting rod, a locking sleeve, a sleeve, a sliding rod, a retainer, a spring and a limiting nut. The supporting rod is of a ball head long screw structure, and the overall supporting height is adjustable after the supporting rod is connected with the locking sleeve; the locking sleeve is sleeved with the sleeve, the lower end of the locking sleeve is connected with the limiting nut, the spring is assembled between the sleeve and the locking sleeve and limited, and the sleeve and the locking sleeve can freely move in the axial direction; the flexible supporting assembly is connected with the rotary arm through two sets of sliding rods and a retainer, two symmetrical sliding grooves are formed in the rotary arm, and the flexible supporting assembly can slide in the symmetrical sliding grooves in the length direction of the rotary arm through the sliding rods. The supporting limiting assembly is installed on the supporting arm and can slide in the length direction of the supporting arm. The supporting arm is installed on the supporting disc in a sliding mode in the circumferential direction.

Description

Technical Field

[0001] The present invention relates to a pose auxiliary support device for automatic assembly of multi-configuration deployment arms, which can be applied to the automatic assembly of deployment arms with a variety of different configurations. Background Art

[0002] The deployment arm is a pointing and positioning mechanism for space payloads, featuring high pointing accuracy and high reliable locking. With the continuous development and iterative upgrade of space earth observation, communication and navigation missions, the tasks of deployment arms that can adapt to different payload requirements and accuracy requirements have increased sharply, and there are differences in configurations. To meet the research and development tasks of high-precision deployment arms, improve the assembly quality, and ensure the consistency of the ground and on-orbit accuracy of the deployment arms, it is urgent to carry out research on efficient automatic assembly process technologies for deployment arms. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: overcoming the deficiencies of the prior art, solving the problem of flexible support for joint poses in the automatic assembly process of multi-configuration deployment arms, involving flexible support, low-stress constraint and reliable positioning of multi-configuration space-shaped joints, so as to ensure the precise positioning, reliable pose adjustment and low-stress assembly of the deployment arm joints during the automatic assembly process of the deployment arms.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A pose auxiliary support device for automatic assembly of multi-configuration deployment arms, located between the pose automatic adjustment device of the deployment arm and the deployment arm joint, includes a rotating shaft, a rotating arm, a flexible support assembly, a support limiting assembly, a support arm and a support disk.

[0006] The rotating shaft is of the configuration of a dowel screw. The optical axis part and the rotating arm have a small clearance fit. The rotating shaft is the rotating support component of the rotating arm. The rotating shaft passes through the rotating arm and the support disk in sequence and is pressed and limited by a thin hexagon nut as shown in the figure. The flexible support assembly, as the flexible support component of the deployment arm joint, mainly includes a support rod, a locking sleeve, a sleeve, a slide rod, a cage, a spring and a limit nut as shown in the figure. The support rod is of the configuration of a ball-headed long screw. The ball head can adaptively realize the free-state support of the deployment arm joint. The support rod is threadedly connected to the locking sleeve, and the support height is adjusted by adjusting the screwing length of the thread to adapt to the assembly and adjustment of the deployment arm joint with different configuration height dimensions. The locking sleeve is an internal threaded rod part with a stepped shaft. The lower end is threadedly connected to the limit nut. The sleeve is sleeved on the locking sleeve. A spring is assembled between the sleeve and the locking sleeve. The spring is limited by the middle stepped shaft of the locking sleeve and the inner step of the sleeve. The sleeve and the locking sleeve can move freely along the axial direction. The compression amount of the spring can be pre-adjusted by the limit nut to change the supporting force of the flexible support assembly so as to match the weight of the deployment arm joint. The flexible support assembly is connected to the rotating arm through two groups of slide rods and cages. There are two symmetrical sliding grooves on the rotating arm. The flexible support assembly can slide along the length direction of the rotating arm through the slide rods in the symmetrical sliding grooves, and can adapt to the assembly and adjustment of the deployment arm joint with different configuration length dimensions. The support limit assembly is installed on the support arm by threaded connection and can slide along the length direction of the support arm, and can adapt to the assembly and adjustment of the deployment arm joint with different configuration dimensions. The support arm is freely installed on the support disk through an annular groove and can slide along the circumferential direction of the support disk to adapt to the circumferential support point of the deployment arm joint. The support limit assembly includes an L-shaped pressing block, a pressing rod and a support block. The upper end of the pressing rod is threadedly connected to the pressing block, and the lower end passes through the support block and is fixed to the support block by two upper and lower hexagon nuts. The deployment arm joint is reliably limited by adjusting the length of the pressing rod.

[0007] The present invention has the following beneficial effects compared with the prior art:

[0008] (1) By means of the limit nut of the flexible support assembly of the present invention, the supporting force of the flexible support assembly can be adaptively adjusted to meet the ground gravity unloading of the deployment arm joints with different weights and improve the gravity unloading efficiency;

[0009] (2) Through the rotating shaft, the rotating arm, the flexible support assembly, the support limit assembly, the support arm and the support disk of the present invention, the pose adjustment of the deployment arm joints with different configurations and different dimensions is realized, and at the same time, the pose adjustment accuracy of the deployment arm joints, the stress control and safety during the adjustment process are ensured;

[0010] (3) The present invention can realize the batch production and automatic assembly of the deployment arm products with different configurations, and can greatly improve the assembly efficiency and assembly accuracy of the deployment arm;

[0011] (4) As an important auxiliary device for the automatic assembly of the deployment arm, it is located between the automatic assembly and adjustment system and the deployment arm joint. Using the principle of cylindrical coordinates, components such as a rotary extension arm and a support screw are designed to achieve multi-point support for the spatial position of the deployment arm joint, and the joint is limited by a slider pressing head. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a diagram showing the usage state of the pose auxiliary support device of the present invention;

[0013] Figure 2 FIG. is the front view of the pose auxiliary support device of the present invention;

[0014] Figure 3 FIG. is the top view of the pose auxiliary support device of the present invention;

[0015] Figure 4 FIG. is the structural diagram of the flexible support component in the pose auxiliary support device of the present invention;

[0016] Figure 5 FIG. is the composition diagram of the support and limit component in the pose auxiliary support device of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings.

[0018] A pose auxiliary support device 2 for the automatic assembly of a multi-configuration deployment arm is located between the deployment arm pose automatic adjustment device 3 and the deployment arm joint 1 (see Figure 1 ), and includes a rotating shaft 4, a rotating arm 5, a flexible support component 6, a support and limit component 7, a support arm 8, and a support disk 9.

[0019] The rotating shaft 4 is of a pin screw configuration, and the optical axis part has a small clearance fit with the rotating arm 5. The rotating shaft 4 is the rotary support component of the rotating arm 5. The rotating shaft 4 passes through the rotating arm 5 and the support disk 9 in sequence and is pressed and limited by a thin hexagon nut, as Figure 2 shown; the flexible support component 6, as the flexible support component of the deployment arm joint 1, mainly includes a support rod 10, a locking sleeve 11, a sleeve 12, a sliding rod 13, a cage 14, a spring 15, and a limit nut 16, as Figure 4As shown in the figure; the support rod 10 is configured as a ball-headed long screw. The ball head can adaptively achieve the free-state support of the deployment arm joint 1. The support rod 10 is threadedly connected to the locking sleeve 11, and the support height is adjusted by adjusting the threaded insertion length to adapt to the assembly and adjustment of the deployment arm joint 1 with different configuration height dimensions; the locking sleeve 11 is an internal threaded rod member with a stepped shaft, and the lower end is threadedly connected to the limit nut 16. The sleeve 12 is sleeved on the locking sleeve 11, and a spring 15 is assembled between the sleeve 12 and the locking sleeve 11. The spring 15 is limited by the middle stepped shaft of the locking sleeve 11 and the inner step of the sleeve 12, and the sleeve 12 and the locking sleeve 11 can move freely along the axial direction; the compression amount of the spring 15 can be pre-adjusted by the limit nut 16 to change the supporting force of the flexible support assembly 6 so as to match the weight of the deployment arm joint 1; the flexible support assembly 6 is connected to the rotary arm 5 through two groups of slide rods 13 and a cage 14. There are two symmetrical sliding grooves on the rotary arm 5. The flexible support assembly 6 can slide along the length direction of the rotary arm 5 through the slide rods 13 in the symmetrical sliding grooves, which can adapt to the assembly and adjustment of the deployment arm joint 1 with different configuration length dimensions; the support and limit assembly 7 is installed on the support arm 8 by threaded connection and can slide along the length direction of the support arm 8, which can adapt to the assembly and adjustment of the deployment arm joint 1 with different configuration dimensions; the support arm 8 is freely installed on the support disk 9 through an annular groove and can slide circumferentially along the support disk 9 to adapt to the circumferential support points of the deployment arm joint 1 (such as Figure 3 ).; The support and limit assembly 7 includes an L-shaped pressing block 17, a pressing rod 18 and a support block 19. The upper end of the pressing rod 18 is threadedly connected to the pressing block 17, and the lower end passes through the support block 19 and is fixed to the support block 19 by two upper and lower hex nuts. The deployment arm joint 1 is reliably limited by adjusting the length of the pressing rod 18, as shown in Figure 5 shown.

[0020] The usage process is as follows:

[0021] (1) Place the deployment arm joint 1 on the support block 19 of the support and limit assembly 7, and ensure the support matching of the flexible support assembly 6 and the deployment arm joint 1 by adjusting the angle of the rotary arm 5 on the rotating shaft 4;

[0022] (2) Adjust the height of the flexible support assembly 6 and the displacement in the length direction of the rotary arm 5 to meet the reliable support of the deployment arm. By adjusting the limit nut of the flexible support assembly 6, adjust the elastic force of the spring 15 to meet the gravity unloading efficiency of the deployment arm joint 1;

[0023] (3) Adjust the length of the pressing rod 18 to adapt to the height of the deployment arm joint 1, and use the pressing block 17 to reliably press the deployment arm joint 1.

[0024] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

[0025] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A posture auxiliary support device for automatic assembly of multi-configuration deployment arms, characterized in that: It comprises a rotating shaft (4), a rotating arm (5), a flexible support component (6), a support limit component (7), a support arm (8), and a support plate (9); The rotating shaft (4) and the rotating arm (5) are clearance-matched. The rotating shaft (4) serves as a rotating support component of the rotating arm (5). The rotating shaft (4) passes through the rotating arm (5) and the supporting plate (9) in sequence and is then compressed by a connecting piece. The flexible support assembly (6) serves as a flexible support component of the deployment arm joint (1), and comprises a support rod (10), a locking sleeve (11), a sleeve (12), a sliding rod (13), a retaining frame (14), a spring (15), and a limit nut (16). The support rod (10) is a ball-head long screw configuration. The ball head can adaptively realize the free state support of the deployment arm joint (1). After the support rod (10) and the locking sleeve (11) are connected, the overall support height can be adjusted to adapt to the installation and adjustment of deployment arm joints (1) of different configuration heights and sizes. The sleeve (12) is sleeved on the locking sleeve (11). The lower end of the locking sleeve (11) is in contact with the limit nut (16). 16), the spring (15) is assembled between the sleeve (12) and the locking sleeve (11) and limits the position, and the sleeve (12) and the locking sleeve (11) can move freely along the axial direction; the flexible support component (6) is connected to the swivel arm (5) through two groups of slide bars (13) and a retaining frame (14), and the swivel arm (5) is provided with two symmetrical slide grooves. The flexible support component (6) can slide in the symmetrical slide grooves along the length direction of the swivel arm (5) through the slide bars (13) to adapt to the installation and adjustment of the expansion arm joint (1) with different configuration lengths; the support limit component (7) is installed on the support arm (8) and can slide along the length direction of the support arm (8) to adapt to the installation and adjustment of the expansion arm joint (1) with different configuration sizes; the support arm (8) can be installed on the support plate (9) in a circumferentially slidable manner to adapt to the circumferential support points of the expansion arm joint (1).

2. The posture auxiliary support device according to claim 1, characterized in that: The rotating shaft (4) is of a pin screw configuration, wherein the optical axis portion is clearance-matched with the rotating arm (5).

3. The posture auxiliary support device according to claim 1, characterized in that: The support rod (10) is threadedly connected to the locking sleeve (11), and the support height can be adjusted by adjusting the screw-in length of the thread.

4. The posture auxiliary support device according to claim 1, characterized in that: The locking sleeve (11) is an internal thread rod, provided with a stepped shaft, and the lower end is connected to a limiting nut (16). The spring (15) is limited by the middle stepped shaft of the locking sleeve (11) and the inner step of the sleeve (12).

5. The posture auxiliary support device according to claim 1, characterized in that: The support and limiting assembly (7) is mounted on the support arm (8) through a threaded connection.

6. The posture auxiliary support device according to claim 1, characterized in that: The support arm (8) is freely mounted on the support plate (9) through an annular groove and can slide along the circumference of the support plate (9).

7. The posture auxiliary support device according to claim 1, characterized in that: The support and limiting assembly (7) comprises an L-shaped clamping block (17), a clamping rod (18), and a supporting block (19). The upper end of the clamping rod (18) is threadedly connected to the clamping block (17), and the lower end passes through the supporting block (19) and is fixed to the supporting block (19) by two upper and lower nuts. The unfolding arm joint (1) can be reliably limited by adjusting the length of the clamping rod (18).

8. The posture auxiliary support device according to claim 1, characterized in that: The compression amount of the spring (15) can be pre-adjusted by the limiting nut (16) to change the supporting force of the flexible supporting component (6) so as to match the weight of the unfolding arm joint (1).

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