Spacecraft general assembly operation platform

Abstract

The invention relates to the technical field of spacecraft general assembly, in particular to a spacecraft general assembly operation platform which comprises a basic frame, at least one supporting frame, a lifting mechanism and a flexible enveloping mechanism, the supporting frames are arranged on the basic frame, and the supporting frames are sequentially connected in the vertical direction; the lifting mechanisms are arranged in the supporting frames correspondingly and used for adjusting the height of the supporting frames. The flexible enveloping mechanisms are arranged between the basic frame and the adjacent supporting frames and between every two adjacent layers of supporting frames and comprise a plurality of enveloping units, and each enveloping unit can move in the preset direction to adjust the edge shape of an enveloping area formed by the corresponding flexible enveloping mechanism. The overall height of the operation platform and the edge shape of the enveloping area can be adjusted, so that multiple adjustment process equipment for outboard general assembly and test tests of spacecrafts with various shapes is met, and the requirements for universal design of various spacecrafts and test tests under different working conditions are met.

Description

Technical Field

[0001] The present application relates to the technical field of spacecraft assembly, and in particular to a spacecraft assembly operation platform. Background Art

[0002] Large spacecraft operating platforms are mainly used for operations at altitudes above five meters. They are indispensable ground mechanical support equipment (MGSE) in the process of spacecraft assembly. They are generally used for vertical assembly outside the cabin of large spacecraft and various tests and experiments. For example, the assembly and test of Shenzhou spacecraft use large assembly operating platforms. In the process of spacecraft assembly, the products to be installed are complex in structure and expensive. They must not only meet the operator's requirements for comfort and safety during the assembly process, but also ensure the positioning of the spacecraft in all directions and heights to avoid blind spots in operation. At the same time, product docking, lifting, and transportation must also be considered.

[0003] Due to the high vertical parking height of large spacecraft, the assembly operation platform has a multi-layer workbench, which is mainly composed of a fixed platform, platform bracket, stairs, guardrails, etc. Operators stand on the platform to perform spacecraft extravehicular assembly operations, but the operating platform has poor adaptability and can only meet the requirements of one working condition under one spacecraft. If the test conditions are to be changed, it is necessary to redesign and disassemble, and the application of multiple working conditions is cumbersome, and the labor cost is high. At the same time, it is impossible to achieve the universalization of more aerospace models, which increases the production cost of spacecraft. At the same time, the large operation platform is inconvenient to move and adjust. After assembly, it occupies a large space in the factory. With the development trend of functional integration, universality, and intelligence of large-scale tooling equipment for spacecraft, it is urgent to develop a multifunctional and size-adjustable large-scale spacecraft operation platform. Summary of the invention

[0004] The present application provides a spacecraft assembly operation platform to solve the problem that the operation platform in the prior art has poor adaptability and can only meet the requirements of one working condition under one spacecraft, and cannot achieve universalization for more aerospace models.

[0005] The present application provides a spacecraft assembly operation platform, including: Basic framework; A support frame is arranged on the base frame and includes at least one support frame, and the support frames are connected in sequence in the vertical direction; A lifting mechanism is respectively arranged in each supporting frame and is used to adjust the height of each supporting frame; The flexible enveloping mechanism is respectively arranged between the base frame and the adjacent supporting frame, and between two adjacent layers of supporting frames, and includes a plurality of enveloping units, each of which can be moved along a preset direction to adjust the edge shape of the enveloping area formed by the flexible enveloping mechanism.

[0006] In one possible design, the infrastructure includes: a first substrate; A second substrate is disposed above the first substrate; The base column is vertically arranged, with the lower end connected to the first base plate and the upper end connected to the second base plate. A cavity is arranged in the base column, and the cavity is filled with a counterweight.

[0007] In one possible design, the support frame includes: Base plate; A top plate, located above the bottom plate; The column is vertically arranged, the upper end of which is connected to the top plate, and the lower end of which is transmission-connected to the lifting mechanism. Driven by the lifting mechanism, the top plate can be pushed in the vertical direction to adjust the vertical distance between the bottom plate and the top plate.

[0008] In one possible design, the lifting mechanism includes a drive, a reversing reducer and a screw elevator. The output end of the drive is transmission-connected to the reversing reducer, the output end of the reversing reducer is transmission-connected to the screw elevator, and the output end of the screw elevator is connected to the lower end of the column.

[0009] In a possible design, the first substrate, the second substrate, the bottom plate, and the top plate are respectively annular plates, the circumferential direction of the annular plate is the first direction, the radial direction of the annular plate is the second direction, the envelope units are arranged on the second substrate and / or the top plate along the first direction, and each envelope unit can be moved along the second direction to adjust the edge shape of the formed envelope area.

[0010] In one possible design, the envelope unit includes: The guide rod is slidably disposed on the second base plate and / or the top plate, and its length direction is parallel to the second direction; An extension plate is arranged on the guide rod; The first support rod is arranged at intervals on one side of the guide rod along the length direction of the guide rod and is rotatably connected to the guide rod. The first support rod is provided with a long hole; The second support rod is arranged at intervals on the other side of the guide rod along the length direction of the guide rod and is rotatably connected to the guide rod. The second support rod is provided with a pin shaft, and the pin shaft slides with the inner wall of the corresponding long hole to movably connect the adjacent first support rod with the second support rod; The driving assembly is arranged on the second base plate and / or the top plate, connected to the guide rod, and used for driving the guide rod to move along its own length direction.

[0011] In a possible design, the heights of two adjacent extension plates are different so that an overlapping area is formed between the two adjacent extension plates.

[0012] In a possible design, along the first direction, the height of the extension plate gradually increases or decreases.

[0013] In a possible design, the first substrate, the second substrate, the bottom plate, and the top plate each include a plurality of sub-modules, and two adjacent sub-modules are connected by a lock. The platform also includes a transfer seat, which is arranged below the first substrate and is used to transfer the corresponding sub-modules.

[0014] In a possible design, a folding ladder is provided on the first base plate and the bottom plate respectively, and a manhole corresponding to the folding ladder is opened on the second base plate, the bottom plate and the top plate respectively.

[0015] The beneficial effects of this application are as follows: The spacecraft assembly operation platform of the present application can adjust the height of the entire operation platform by setting a lifting mechanism in the support frame to adjust the height of the support frame; by setting a flexible enveloping mechanism and adjusting the corresponding enveloping unit, the edge shape of the envelope area formed by the flexible enveloping mechanism can be adjusted, thereby meeting the multiple adjustment process equipment for extravehicular assembly and testing of spacecraft of various shapes, realizing universal design applicable to a variety of spacecraft and testing requirements under different working conditions, improving the flexibility, applicability and reliability of large-scale spacecraft equipment assembly, and greatly improving the assembly efficiency of spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the structure of a spacecraft assembly operation platform provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of the basic framework of the spacecraft assembly operation platform provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of the support frame of the spacecraft assembly operation platform provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of the lifting mechanism and the flexible envelope mechanism of the spacecraft assembly operation platform provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of the envelope unit of the spacecraft assembly operation platform provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of the spacecraft assembly operation platform after multiple submodules are decomposed according to an embodiment of the present application; Figure 7A schematic diagram of the rotation process of the transfer seat of the spacecraft assembly operation platform provided in an embodiment of the present application.

[0018] Reference numerals: 100, basic frame; 110, first base plate; 120, second base plate; 130, base column; 200, supporting frame; 210, bottom plate; 220, top plate; 230, column; 300, lifting mechanism; 310, driver; 320, reversing reducer; 330, spiral elevator; 400, flexible envelope mechanism; 410, envelope unit; 411, guide rod; 412, extension plate; 413, first support rod; 414, second support rod; 415, drive assembly; 4151, gear; 4152, rack; 500, submodule; 600, transfer seat; 700, AGV mobile lifting drive vehicle; 800, folding ladder; 900, manhole. DETAILED DESCRIPTION

[0019] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. 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 the field without creative work are within the scope of protection of the present application.

[0020] Combine the following Figure 1-Figure 7 , describing the spacecraft assembly operation platform provided in the embodiments of the present application.

[0021] Reference Figure 1 As shown, the spacecraft assembly operation platform provided in the embodiment of the present application includes a basic frame 100, a support frame 200, a lifting mechanism 300 and a flexible envelope mechanism 400. The basic frame 100 is located at the bottom and is the main load-bearing structure. The support frame 200 is arranged on the basic frame 100, including at least one, and the support frames 200 are connected in sequence in the vertical direction. The lifting mechanism 300 is respectively arranged in each support frame 200, and is used to adjust the height of each support frame 200, thereby adjusting the height of each layer of the operation platform. The flexible envelope mechanism 400 is arranged between the basic frame 100 and the adjacent support frame 200, and between the two adjacent support frames 200. The flexible envelope mechanism 400 includes a plurality of envelope units 410. Each envelope unit 410 can move along a preset direction to adjust the edge shape of the envelope area formed by the flexible envelope mechanism 400, thereby meeting the multiple adjustment process equipment for extravehicular assembly and testing of spacecraft of various shapes, realizing universal design applicable to a variety of spacecraft and testing requirements of different working conditions, improving the flexibility, applicability and reliability of large-scale spacecraft equipment assembly, and greatly improving the assembly efficiency of spacecraft.

[0022] Reference Figure 2As shown, in some specific embodiments, the base frame 100 includes a first substrate 110, a second substrate 120 and a base column 130, the second substrate 120 is located above the first substrate 110, the base column 130 is vertically arranged between the first substrate 110 and the second substrate 120, the lower end of the base column 130 is connected to the first substrate 110, and the upper end is connected to the second substrate 120. In order to ensure the stability of the overall platform, a cavity is provided in the base column 130, and the cavity is filled with a counterweight. Specifically, lead is poured into the cavity to increase the counterweight of the bottom base frame 100 to ensure the stability and reliability of the bottom base frame 100.

[0023] Reference Figure 3 , Figure 4 As shown, in some specific embodiments, there are two support frames 200, and the two support frames 200 are connected in sequence in the vertical direction. Each support frame 200 includes a bottom plate 210, a top plate 220 and a column 230, and guardrails are installed on the edges of the bottom plate 210. The top plate 220 is located above the bottom plate 210; the column 230 is vertically arranged, the upper end of the column 230 is connected to the top plate 220, and the lower end is connected to the lifting mechanism 300 in a transmission connection. Driven by the lifting mechanism 300, the top plate 220 can be pushed in the vertical direction to adjust the vertical distance between the bottom plate 210 and the top plate 220. Specifically, the lifting mechanism 300 includes a driver 310, a reversing reducer 320 and a screw elevator 330. The driver 310 uses a driving motor, the output end of the driving motor is connected to the reversing reducer 320, the output end of the reversing reducer 320 is connected to the screw elevator 330, and the output end of the screw elevator 330 is connected to the lower end of the column 230 through a coupling. In this way, the output end of the screw elevator 330 is driven by the driver 310 to move up and down, thereby driving the column 230 to move up and down, so that the column 230 drives the top plate 220 to move up and down, adjusts the position of the top plate 220, and thus adjusts the height of the top plate 220.

[0024] In some specific embodiments, the first substrate 110, the second substrate 120, the bottom plate 210, and the top plate 220 are respectively annular plates, the circumferential direction of the annular plates is the first direction, and the radial direction of the annular plates is the second direction. In this embodiment, a layer of envelope units 410 is respectively provided on the second substrate 120 and the top plate 220. Specifically, the envelope units 410 are arranged on the second substrate 120 and the top plate 220 along the first direction, and each envelope unit 410 can be moved along the second direction to adjust the edge shape of the formed envelope area.

[0025] Reference Figure 4 , Figure 5As shown, in some specific embodiments, each envelope unit 410 includes a guide rod 411, an extension plate 412, a first support rod 413, a second support rod 414 and a driving assembly 415. A plurality of limit seats are respectively arranged on the second base plate 120 and the top plate 220, and the outer wall of each guide rod 411 is respectively slidably matched with the inner wall of the corresponding limit seat, and the length direction of the guide rod 411 is consistent with the radial direction of the annular plate, and the inner end of the guide rod 411 extends out of the inner side of the annular plate and is fixedly mounted with the extension plate 412, and the guide rod 411 can slide on the inner wall of the limit seat to drive the corresponding extension plate 412 to move radially. In this way, by pushing the corresponding guide rod 411 to move along its length direction, the corresponding extension plate 412 is driven to move radially, and then the position of each extension plate 412 is adjusted, so that all the extension plates 412 can be combined to form envelope areas of different shapes, and the edges of all the extension plates 412 are the edges of the envelope areas. By adjusting the edge shape of the envelope area formed by the flexible envelope mechanism 400, the multiple adjustment process equipment for extravehicular assembly and testing of spacecraft with various shapes can be met, thereby realizing universal design for a variety of spacecraft and test requirements for different working conditions.

[0026] The first support rod 413 is arranged at intervals on one side of the guide rod 411 along the length direction of the guide rod 411. The first support rod 413 is rotatably connected to the guide rod 411 through a rotating shaft, and a long hole along the length direction of the first support rod 413 is provided. The second support rod 414 is arranged at intervals on the other side of the guide rod 411 along the length direction of the guide rod 411. One end of the second support rod 414 is rotatably connected to the guide rod 411 through a rotating shaft, and a pin is provided at the other end of the second support rod 414. The pin slides with the inner wall of the corresponding long hole to flexibly connect the adjacent first support rod 413 and the second support rod 414. In this way, all the guide rods 411 and the extension plates 412 form a whole together, strengthen the support strength of the overall forward platform, ensure the safety of personnel, and form a complete platform structure after the cabin inlet and outlet channels are closed, which is convenient and reliable to use. At the same time, it is ensured that each guide rod 411 and the corresponding extension plate 412 can be adjusted individually, with high safety and flexibility, so as to achieve the purpose of being able to flexibly adjust the edge of the envelope area to meet the requirements of different spacecraft assembly test conditions.

[0027] Reference Figure 4As shown, multiple groups of driving components 415 are respectively arranged on the second substrate 120 and the top plate 220, and each group of driving components 415 is respectively connected to the corresponding guide rod 411, and is used to drive the guide rod 411 to move along its own length direction. In some embodiments, the driving component 415 includes a gear 4151 and a rack 4152, the rack 4152 is welded to the side wall of the guide rod 411, the length direction of the rack 4152 is parallel to the guide rod 411, the gear 4151 is rotatably mounted on the second substrate 120 and the top plate 220 through a sliding bearing, the gear 4151 and the rack 4152 are meshed with each other, a through hole is opened on the top plate 220, the wheel shaft of the gear 4151 passes through the corresponding through hole and is sleeved with a hand wheel, and the corresponding rack 4152 can be driven to move by rotating the hand wheel, thereby driving the corresponding guide rod 411 and the extension plate 412 to move radially.

[0028] Reference Figure 4 As shown, the heights of two adjacent extension plates 412 are different so that an overlapping area is formed between the two adjacent extension plates 412. In this way, there is no empty area on the envelope area formed by all the extension plates 412, which is safer. In one embodiment, along the circumference of the second substrate 120 / top plate 220, the height of the extension plate 412 gradually increases or decreases, for example, along the clockwise direction, the height of the extension plate 412 gradually increases. In this way, the stress of the local extension plate 412 can be shared, so that the local stress is evenly dispersed along the circumference, and the stability and bearing capacity of the extension plate 412 are improved. In some embodiments, the extension plate 412 includes a first extension plate 412 and a second extension plate 412, and the first extension plate 412 and the second extension plate 412 are respectively welded or bolted to the upper and lower sides of the guide rod 411, and a reinforcing rib is provided between the first extension plate 412 and the second extension plate 412, which is conducive to increasing the overall load of the extension plate 412.

[0029] Reference Figure 6 As shown, in some specific embodiments, the first substrate 110, the second substrate 120, the bottom plate 210, and the top plate 220 respectively include a plurality of submodules 500, for example, six submodules 500, and two adjacent submodules 500 are connected by a lock. The platform also includes a transfer seat 600 and an AGV mobile lifting drive vehicle 700. There are also six rotating seats, which are arranged below the first substrate 110, and each submodule 500 is respectively arranged on the corresponding transfer seat 600. The transfer seat 600 and the corresponding submodule 500 are driven by the AGV mobile lifting drive vehicle 700 to move, which is convenient for transportation and temporary parking, while reducing the site occupation area.

[0030] Reference Figure 1As shown, in some embodiments, a folding ladder 800 is provided on the first base plate 110 and the bottom plate 210, respectively, and a manhole 900 corresponding to the folding ladder 800 is provided on the second base plate 120, the bottom plate 210, and the top plate 220, respectively. This facilitates the personnel on the platform to operate at different levels and in different areas.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0035] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A spacecraft assembly operation platform, characterized in that: include: Basic framework; A support frame, arranged on the base frame, including at least one, the support frames being connected in sequence in the vertical direction; A lifting mechanism is respectively arranged in each of the supporting frames and is used to adjust the height of each of the supporting frames; The flexible envelope mechanism is respectively arranged between the base frame and the adjacent support frame, and between two adjacent layers of the support frame, and includes a plurality of envelope units, each of which can be moved along a preset direction to adjust the edge shape of the envelope area formed by the flexible envelope mechanism.

2. The spacecraft assembly operation platform according to claim 1, characterized in that: The basic framework includes: a first substrate; a second substrate, disposed above the first substrate; The base column is vertically arranged, with the lower end connected to the first substrate and the upper end connected to the second substrate. A cavity is arranged in the base column, and the cavity is filled with a counterweight.

3. The spacecraft assembly operation platform according to claim 2, characterized in that: The supporting frames respectively include: Base plate; A top plate, located above the bottom plate; The column is vertically arranged, the upper end of which is connected to the top plate, and the lower end of which is transmission-connected to the lifting mechanism. Driven by the lifting mechanism, the top plate can be pushed in the vertical direction to adjust the vertical distance between the bottom plate and the top plate.

4. The spacecraft assembly operation platform according to claim 3, characterized in that: The lifting mechanism includes a driver, a reversing reducer and a screw elevator. The output end of the driver is transmission-connected to the reversing reducer, the output end of the reversing reducer is transmission-connected to the screw elevator, and the output end of the screw elevator is connected to the lower end of the column.

5. The spacecraft assembly operation platform according to claim 3, characterized in that: The first substrate, the second substrate, the bottom plate, and the top plate are respectively annular plates, the circumferential direction of the annular plate is the first direction, and the radial direction of the annular plate is the second direction. The envelope units are arranged on the second substrate and / or the top plate along the first direction, and each envelope unit can be moved along the second direction to adjust the edge shape of the formed envelope area.

6. The spacecraft assembly operation platform according to claim 5, characterized in that: The envelope unit comprises: A guide rod, slidably disposed on the second substrate and / or the top plate, with its length direction parallel to the second direction; An extension plate, disposed on the guide rod; A first support rod is arranged at intervals on one side of the guide rod along the length direction of the guide rod and is rotatably connected to the guide rod. A long hole is formed on the first support rod; A second support rod is arranged at intervals along the length direction of the guide rod at the other side of the guide rod and is rotatably connected to the guide rod. A pin is provided on the second support rod, and the pin is slidably matched with the inner wall of the corresponding long hole to movably connect the adjacent first support rod and the second support rod; A driving assembly is disposed on the second base plate and / or the top plate, connected to the guide rod, and used for driving the guide rod to move along its own length direction.

7. The spacecraft assembly operation platform according to claim 6, characterized in that: The heights of two adjacent extension plates are different so that an overlapping area is formed between the two adjacent extension plates.

8. The spacecraft assembly operation platform according to claim 7, characterized in that: Along the first direction, the height of the extension plate gradually increases or decreases.

9. The spacecraft assembly operation platform according to any one of claims 3 to 8, characterized in that: The first substrate, the second substrate, the bottom plate, and the top plate each include a plurality of sub-modules, and two adjacent sub-modules are connected by a lock. The platform also includes a transfer seat, which is arranged below the first substrate and is used to transfer the corresponding sub-modules.

10. The spacecraft assembly operation platform according to any one of claims 3 to 8, characterized in that: The first base plate and the bottom plate are respectively provided with a folding ladder, and the second base plate, the bottom plate and the top plate are respectively provided with a manhole corresponding to the folding ladder.

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