Device and method for horizontal assembly in sealed cabin of large spacecraft

Abstract

The invention provides a device and a method for horizontal assembly in a sealed cabin of a large spacecraft. The device is characterized in that the device comprises a front-end support (1), a rear-end support (2), a longitudinal beam (3), a suspended trolley (4) and a rotating platform (5), a cabin body of a sealed cabin (8) is horizontally parked on the rotating platform (5), and the rotating platform (5) drives the cabin body to rotate along a longitudinal axis and is used for enabling the position of equipment to be installed on the cabin body to be aligned with the ground; the front-end support (1) and the rear-end support (2) are of a gantry type, the longitudinal beam (3) enters a cabin body from a front hatch (6) and penetrates out of a rear hatch (7), and the two ends of the longitudinal beam (3) are erected on the front-end support (1) and the rear-end support (2) respectively. The hanging trolley (4) is installed on the longitudinal beam (3), and equipment (9) to be installed in the cabin is hoisted through a lifting rope and transversely moves along the cabin body. The device can work continuously and is high in working efficiency; the device has the advantages of low degree of freedom, simple function and structure, low capital investment and low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a large equipment assembly method, in particular to a device and method for horizontal assembly in a large spacecraft sealed cabin. BACKGROUND

[0002] The space station is a large orbiting spacecraft, typically, such as the International Space Station, and China's "Tiangong" space station, is generally composed of multiple cabin sections and large structures. There are long-term astronauts living and working on the space station, and there are numerous platform instruments and devices and payload operations, playing an important and irreplaceable role in other spacecraft in many scientific and technological frontiers such as space life sciences, manned deep space exploration, and new material processing. The numerous devices installed in the space station have the characteristics of large volume and large mass, such as five-hundred-kilogram scientific experiment cabinets, hundred-kilogram exercise equipment, and sixty-kilogram lithium-ion batteries. Due to the launch envelope constraints of the launch vehicle, the space station has a small cabin entrance and a small cabin space, making it difficult to install equipment and inefficient.

[0003] To break through the technical difficulties of ground assembly of large volume and large mass equipment in the space station, the related experts of the International Space Station proposed a mechanical arm cabin entry scheme to realize the cabin assembly of large scientific experiment cabinets. This scheme uses a multi-degree-of-freedom and multi-functional end effector to adapt to multi-directional installation requirements. However, when dealing with the small-diameter and large-length cabin of the domestic space station, the arm needs to be stretched horizontally to a large cantilever structure. To avoid the risk of structural overturning, a large mass counterweight needs to be added outside the cabin, making the equipment heavy. Moreover, the large cantilever structure has a poor bearing condition, and the arm mechanism has the risk of jamming. At the same time, this scheme requires a large amount of investment, and the equipment utilization rate is low. A domestic spacecraft sealed cabin once used a civilian forklift for large mass equipment. When dealing with the small-diameter and large-length cabin of the space station, the forklift also has the risk of easy overturning of the large cantilever structure, and the fork of the forklift lacks a large travel function, which is not suitable for use in the space station cabin. When a scientific experiment cabinet is installed in a large spacecraft cabin, the assembly plant installs a lifting tool on the cabin structure. This scheme requires the cabin structure to bear the concentrated force of the lifting tool, and the structure needs to be strengthened to handle this, wasting valuable launch weight. Moreover, when installing large mass equipment at different positions in the cabin, the position of the lifting tool needs to be changed frequently, resulting in a large workload and low efficiency during implementation.

[0004] Therefore, the industry needs a device and method for horizontal assembly in a large spacecraft sealed cabin to effectively solve the problem of high safety, high efficiency, and low cost of installing large mass and large volume equipment such as scientific experiment cabinets in a large spacecraft sealed cabin. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a device and method for horizontal assembly in a large spacecraft sealed cabin, which can effectively solve the problem of high safety, high efficiency and low cost of large mass and large volume equipment in the large spacecraft sealed cabin. By erecting two longitudinal beams 3 in the cabin, the trolley 4 is suspended along the longitudinal beam 3 to move into the cabin, and the cabin body is rotated on the rotating platform 5 to switch positions, thereby solving the rapid assembly of large mass equipment.

[0006] Specifically, the present application provides a device for horizontal assembly in a large spacecraft sealed cabin, characterized in that it comprises a front end support 1, a rear end support 2, a longitudinal beam 3, a suspended trolley 4, a rotating platform 5, and the cabin body of the sealed cabin 8 is horizontally parked on the rotating platform 5, the large caliber hatch is used as the front hatch 6, and the small caliber hatch is used as the rear hatch 7. The rotating platform 5 drives the cabin body to rotate along the longitudinal axis to align the position of the equipment to be installed on the cabin body with the ground; the front end support 1 and the rear end support 2 adopt a gantry type, wherein the front end support 1 is placed at the front hatch 6, and the rear end support 2 is placed at the rear hatch 7; the longitudinal beam 3 enters the cabin body from the front hatch 6 and exits from the rear hatch 7, and the two ends are erected on the front end support 1 and the rear end support 2 respectively; the suspended trolley 4 is installed on the longitudinal beam 3, and the suspended trolley 4 is provided with a lifting device, the equipment 9 to be installed into the cabin is lifted by the lifting rope, and the lifting device moves along the cabin body in the transverse direction on the suspended trolley 4.

[0007] Further, the longitudinal beam 3 adopts a "Z" shape to adapt to the different caliber sizes of the front hatch 6 and the rear hatch 7.

[0008] Further, it further comprises a moving support 10, which is used to support the longitudinal beam 3 together with the front end support 1 before the longitudinal beam 3 enters the cabin, and at this time the rear end support 2 is not installed.

[0009] Further, the moving support 10 also adopts a gantry type and is placed between the suspended trolley 4 and the cabin body, and is connected with the longitudinal beam 3 by means of the connecting piece 10 and the first bolt 11, and after the installation of the rear end support 2 is completed, the connection between the moving support 10 and the longitudinal beam 3 is removed.

[0010] Further, the longitudinal beam 3 is close to the upper edge of the hatch.

[0011] Further, a ring of driven gears is installed at the end of the column segment of the cabin body, a driving gear is installed on the rotating platform 5, and the cabin body is driven to rotate on the rotating platform 5 by a gear transmission device.

[0012] Further, the suspended trolley 4 moves along the longitudinal beam 3 towards the cabin.

[0013] The application also provides a method for horizontal assembly in a large spacecraft sealed cabin, characterized in that the method uses the device for horizontal assembly in a large spacecraft sealed cabin, and comprises the following steps: placing the equipment 9 to be installed in the cabin below the suspension trolley 4; lowering the lifting rope of the lifting device of the suspension trolley 4 and connecting the lifting rope with the equipment 9 to be installed in the cabin; operating the lifting device to lift the equipment 9 to be installed in the cabin; operating the suspension trolley 4 to move towards the front hatch 6, and stopping when the equipment approaches the front hatch 6; adjusting the position of the lifting device along the transverse direction of the cabin body and the height of the lifting rope, so that the equipment to be installed is completely located within the caliber envelope of the front hatch 6; continuing to operate the suspension trolley 4 to move into the cabin, and moving the equipment 9 to be installed in the cabin to the installation position in the cabin; adjusting the position of the lifting device along the transverse direction of the cabin body, so that the equipment 9 to be installed is aligned with the installation position; operating the lifting device to lower the lifting rope, so that the equipment to be installed is placed on the installation surface in the cabin, and the equipment 9 to be installed in the cabin is fastened to the installation surface; disconnecting the lifting rope from the equipment, and raising and storing the lifting rope; operating the suspension trolley 4 to move towards the front hatch 6 until the suspension trolley 4 moves out of the front hatch 6; operating the rotating platform 5 to drive the cabin body to rotate along the longitudinal axis, so that the position of the next equipment to be installed is aligned with the ground, and the above steps are repeated.

[0014] Further, the dismounting step of the equipment already installed in the cabin is the reverse process of the above steps.

[0015] Further, before placing the equipment 9 to be installed in the cabin below the suspension trolley 4, the method further comprises the following steps: erecting one end of the longitudinal beam 3 towards the front hatch 6 above the front end support 1 and the moving support 10, and erecting the front suspension trolley 4 between the front end support 1 and the moving support 10; horizontally parking the cabin body on the rotating platform 5; pushing the front end support 1 and the moving support 10, and aligning the longitudinal beam 3 with the front hatch 6, so that the longitudinal beam 3 enters the cabin from the front hatch 6 and exits from the rear hatch 7; adjusting the positions of the front end support 1 and the moving support 10, so that the cross-sectional center of the longitudinal beam 3 is basically located on the vertical symmetry plane of the cabin body and the ground; placing the rear end support 2 below the longitudinal beam 3 at one end of the rear hatch 7, and preliminarily connecting the rear end support 2 with the longitudinal beam 3; disconnecting the moving support 10 from the longitudinal beam 3, and moving away the moving support 10; fastening the rear end support 2 with the longitudinal beam 3 in place; finely adjusting the positions of the front end support 1 and the rear end support 2, so that the cross-sectional center of the longitudinal beam 3 is basically located on the vertical symmetry plane of the cabin body and the ground; operating the rotating platform 5 to drive the cabin body to rotate along the longitudinal axis, and setting the position of the equipment to be installed on the cabin body to be aligned with the ground.

[0016] Advantages of the application

[0017] The device described in this invention has a stable structure, eliminates the risk of tipping over, and ensures safety during installation. The lifting device is not connected to the cabin, so the cabin structure does not need to bear the lifting load, eliminating the need for additional launch weight. Once the device is installed, it can be operated continuously without disassembly when rotating the cabin, resulting in high work efficiency. This device has few degrees of freedom, simple function and structure, low investment, and low cost. Attached Figure Description

[0018] Figure 1 This is a diagram illustrating the assembly of a device for horizontal assembly within a sealed cabin of a large spacecraft, according to the present invention.

[0019] Figure 2 This is a diagram showing the cabin in its parked position on rotating platform 5.

[0020] Figure 3 Diagram showing the position of longitudinal beam 3 inside the cabin;

[0021] Figure 4 This is a cross-sectional view of longitudinal beam 3 within the cabin.

[0022] Figure 5 Schematic diagram of the longitudinal beam passing through the three compartments;

[0023] Figure 6 This is a schematic diagram showing the connection between the longitudinal beam 3 and the movable support 10;

[0024] Figure 7 This is a schematic diagram showing the longitudinal beam 3 after it has passed into the cabin.

[0025] Figure 8 This is a schematic diagram showing the rear bracket 2 after installation.

[0026] Figure 9 This is a schematic diagram of the equipment's entry section into the cabin;

[0027] Figure 10 This is a three-dimensional schematic diagram of the equipment entering the cabin. Detailed Implementation

[0028] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0029] Figure 1 This is a diagram illustrating the assembly of a device for horizontal assembly within a sealed cabin of a large spacecraft, according to the present invention. Figure 1 As shown, the device for horizontal assembly inside the sealed cabin of a large spacecraft according to the present invention includes a front support 1, a rear support 2, a longitudinal beam 3, a suspension trolley 4, and a rotating platform 5.

[0030] The rotating platform 5 drives the cabin to rotate along the longitudinal axis, used to align the position of the equipment to be installed on the cabin with the ground. A driven gear is installed at the end of the column section on the cabin, and a driving gear is installed on the rotating platform 5, which drives the cabin to rotate on the rotating platform 5 through a gear transmission device.

[0031] Figure 2 This is a diagram showing the cabin in its parked position on rotating platform 5. (See diagram below.) Figure 2 As shown, the sealed compartment 8 is horizontally placed on the rotating platform 5, with the larger-diameter hatch serving as the front hatch 6 and the smaller-diameter hatch serving as the rear hatch 7.

[0032] The front support 1 and the rear support 2 are gantry-type, with the front support 1 located at the front hatch 6 and the rear support 2 located at the rear hatch 7. The longitudinal beam 3 enters the cabin from the front hatch 6 and exits from the rear hatch 7, with both ends mounted on the front support 1 and the rear support 2 respectively, and connected by bolts.

[0033] Figure 3 This is a diagram showing the location of longitudinal beam 3 inside the cabin. (See diagram for example.) Figure 3 As shown, the longitudinal beam 3 adopts a "Z" shape to accommodate the different diameters of the front hatch 6 and the rear hatch 7.

[0034] Figure 4 This is a cross-sectional view of longitudinal beam 3 within the cabin. (See diagram below.) Figure 4 As shown, to make full use of the hatch space, the longitudinal beam 3 is placed as close as possible to the upper edge of the hatch. The suspension trolley 4 is mounted on the longitudinal beam 3.

[0035] Figure 5 This is a schematic diagram of the longitudinal beam 3 passing through the cabin. The device for horizontal assembly within a large spacecraft sealed cabin, as described in this invention, further includes a movable support 10. (As shown...) Figure 5 As shown, the movable support 10 is used to support the longitudinal beam 3 together with the front support 1 before the longitudinal beam 3 enters the cabin, at which time the rear support 2 is not installed.

[0036] Figure 6 This is a schematic diagram showing the connection between the longitudinal beam 3 and the movable support 10. (See diagram below.) Figure 6 As shown, the movable support 10 is also gantry-type, placed between the suspension trolley 4 and the cabin, and connected to the longitudinal beam 3 by means of the connecting piece 10 using the first bolt 11.

[0037] Figure 7 This is a schematic diagram showing the longitudinal beam 3 after it has passed into the cabin. Figure 7 As shown, the front support 1 and the movable support 10 together support the longitudinal beam 3 to enter the cabin from the front hatch 6 and exit from the rear hatch 7.

[0038] Figure 8 This is a schematic diagram showing the rear bracket 2 after installation. Figure 8As shown, the rear support 2 is placed below the longitudinal beam 3 at one end of the rear hatch 7 and connected with the second bolt. After completion, the connection between the movable support 10 and the longitudinal beam 3 is removed.

[0039] Figure 10 This is a three-dimensional schematic diagram of the equipment entering the cabin. (For example...) Figure 10 As shown, the suspended trolley 4 can move along the longitudinal beam 3 towards the interior of the cabin. The suspended trolley 4 is equipped with a lifting device, which lifts the equipment 9 to be installed in the cabin via a hoisting rope. Figure 9 This is a schematic diagram of the equipment's entry section into the cabin. (For example...) Figure 9 As shown, the lifting device moves laterally along the cabin on the suspension trolley 4.

[0040] The method for horizontal assembly inside a large spacecraft cabin using the above-mentioned device includes the following steps:

[0041] Step 1: Erect the end of the longitudinal beam 3 facing the front hatch 6 above the front support 1 and the movable support 10, and connect them with the first bolt 11. The front suspension trolley 4 is positioned between the front support 1 and the movable support 10.

[0042] Step 2: Place the cabin horizontally on the rotating platform 5;

[0043] Step 3: Push the front support 1 and the movable support 10 to align the longitudinal beam 3 with the front hatch 6, so that the longitudinal beam 3 enters the cabin from the front hatch 6 and exits from the rear hatch 7.

[0044] Step 4: Adjust the positions of the front support 1 and the movable support 10 so that the center of the longitudinal beam 3 section is basically located on the symmetrical plane perpendicular to the ground.

[0045] Step 5: Place the rear support 2 under the longitudinal beam 3 at one end of the rear hatch 7, and use the second bolt to initially connect the rear support 2 to the longitudinal beam 3.

[0046] Step 6: Remove the second bolt 11 connecting the movable support 10 and the longitudinal beam 3, and move the movable support 10 away;

[0047] Step 7: Tighten the second bolt between the rear support 2 and the longitudinal beam 3 into place;

[0048] Step 8: Fine-tune the positions of the front support 1 and the rear support 2 so that the center of the longitudinal beam 3 section is basically located on the symmetrical plane perpendicular to the ground.

[0049] Step 9: Manipulate the rotating platform 5 to drive the cabin to rotate along the longitudinal axis, and set the position of the equipment to be installed on the cabin to be aligned with the ground;

[0050] Step 10: Place the equipment 9 to be installed in the cabin under the suspended trolley 4;

[0051] Step 11: Lower the hoisting rope of the suspension trolley 4 and connect it to the equipment 9 to be installed in the cabin;

[0052] Step 12: Operate the lifting device to lift the equipment 9 to be installed in the cabin;

[0053] Step 13: Maneuver the suspension trolley 4 to move towards the front hatch 6, and stop when the equipment is close to the front hatch 6;

[0054] Step 14: By adjusting the position of the lifting device along the lateral side of the cabin and the height of the lifting rope, the equipment to be installed is completely within the 6-gauge envelope of the forward hatch.

[0055] Step 15: Continue to manipulate the suspension trolley 4 to move into the cabin, and move the equipment 9 to be installed into the cabin to the installation position inside the cabin;

[0056] Step 16: Adjust the position of the lifting device along the lateral side of the cabin so that the equipment 9 to be installed in the cabin is aligned with the installation position;

[0057] Step 17: Operate the lifting device to lower the lifting rope, so that the equipment to be installed is placed on the installation surface inside the cabin, and fasten the equipment 9 to be installed in the cabin to the installation surface.

[0058] Step 18: Disconnect the hoisting rope from the equipment and raise and retract the hoisting rope;

[0059] Step 19: Maneuver the suspension trolley 4 to move towards the front hatch 6 until it moves out of the front hatch 6.

[0060] Step 20: Manipulate the rotating platform 5 to drive the cabin to rotate along the longitudinal axis, so that the position of the next equipment to be installed is aligned with the ground, and repeat the above steps.

[0061] The disassembly and assembly steps for the equipment already installed inside the cabin are the reverse of the steps described above.

[0062] It should be noted that the above description is merely illustrative and explanatory of the present invention. Those skilled in the art should understand that any modifications and substitutions to the present invention fall within the scope of protection of the present invention.

Claims

1. A device for horizontal assembly within a sealed cabin of a large spacecraft, characterized in that, It includes a front support (1), a rear support (2), a longitudinal beam (3), a suspension trolley (4), and a rotating platform (5). The sealed cabin (8) is placed horizontally on the rotating platform (5). The hatch with a larger diameter is used as the front hatch (6), and the hatch with a smaller diameter is used as the rear hatch (7). The rotating platform (5) drives the cabin to rotate along the longitudinal axis to set the position of the equipment to be installed on the cabin to be aligned with the ground. The front support (1) and the rear support (2) are gantry type, with the front support (1) placed at the front hatch (6) and the rear support (2) placed at the rear hatch (7). The longitudinal beam (3) enters the cabin from the front hatch (6) and exits from the rear hatch (7), with both ends mounted on the front support (1) and the rear support (2) respectively. The suspension trolley (4) is installed on the longitudinal beam (3). The suspension trolley (4) is equipped with a lifting device, which lifts the equipment (9) to be installed in the cabin by means of a lifting rope. The lifting device moves laterally along the cabin on the suspension trolley (4).

2. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 1, characterized in that, The longitudinal beam (3) adopts a "Z" shape to accommodate the different diameters of the front hatch (6) and the rear hatch (7).

3. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 3, characterized in that, It further includes a movable support (10) for supporting the longitudinal beam (3) together with the front support (1) before the longitudinal beam (3) enters the cabin, at which time the rear support (2) is not installed.

4. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 3, characterized in that, The mobile support (10) is also gantry-type, placed between the suspension trolley (4) and the cabin, and connected to the longitudinal beam (3) by the first bolt (11) with the help of the connector (10). After the rear support (2) is installed, the connection between the mobile support (10) and the longitudinal beam (3) is removed.

5. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 1, characterized in that, The longitudinal beam (3) is close to the upper edge of the hatch.

6. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 1, characterized in that, A driven gear is installed at the end of the column section of the cabin, and a driving gear is installed on the rotating platform (5). The cabin is driven to rotate on the rotating platform (5) through the gear transmission device.

7. The apparatus for horizontal assembly within a sealed cabin of a large spacecraft according to claim 1, characterized in that, The suspended trolley (4) moves along the longitudinal beam (3) toward the cabin.

8. A method for horizontal assembly within a sealed cabin of a large spacecraft, characterized in that, The device used for horizontal assembly inside a sealed cabin of a large spacecraft, as described in any one of claims 1 to 7, comprises the following steps: placing the equipment (9) to be installed in the cabin below the suspension trolley (4); lowering the hoisting rope of the hoisting device of the suspension trolley (4) and connecting it to the equipment (9) to be installed in the cabin; manipulating the hoisting device to lift the equipment (9) to be installed in the cabin; manipulating the suspension trolley (4) to move towards the front hatch (6) and stopping when the equipment is close to the front hatch (6); adjusting the position of the hoisting device along the lateral side of the cabin and the height of the hoisting rope to ensure that the equipment to be installed is completely within the aperture of the front hatch (6); continuing to manipulate the suspension trolley. (4) Move the equipment (9) to be installed in the cabin to the installation position in the cabin; adjust the position of the lifting device along the transverse direction of the cabin so that the equipment (9) to be installed in the cabin is aligned with the installation position; operate the lifting device to lower the hoisting rope so that the equipment to be installed is placed on the installation surface in the cabin and fasten the equipment (9) to the installation surface; disconnect the hoisting rope from the equipment and raise and retract the hoisting rope; operate the suspension trolley (4) to move towards the front hatch (6) until it moves out of the front hatch (6); operate the rotating platform (5) to drive the cabin to rotate along the longitudinal axis so that the position of the next equipment to be installed is aligned with the ground, and repeat the above steps.

9. The method for horizontal assembly within a sealed cabin of a large spacecraft according to claim 8, characterized in that, The disassembly and assembly steps for the equipment already installed inside the cabin are the reverse of the steps described above.

10. The method for horizontal assembly within a sealed cabin of a large spacecraft according to claim 8, characterized in that, The step before placing the equipment (9) to be installed in the cabin below the suspension trolley (4) includes the following steps: placing one end of the longitudinal beam (3) facing the front hatch (6) above the front support (1) and the movable support (10), and placing the front suspension trolley (4) between the front support (1) and the movable support (10); placing the cabin horizontally on the rotating platform (5); pushing the front support (1) and the movable support (10) to align the longitudinal beam (3) with the front hatch (6), so that the longitudinal beam (3) enters the cabin from the front hatch (6) and exits from the rear hatch (7); adjusting the position of the front support (1) and the movable support (10) so that the longitudinal beam (3) enters the cabin from the front hatch (6) and exits from the rear hatch (7). The center of the cross section of beam (3) is basically located on the symmetrical plane perpendicular to the ground; place the rear support (2) under the longitudinal beam (3) at one end of the rear hatch (7) and initially connect the rear support (2) with the longitudinal beam (3); remove the connection between the movable support (10) and the longitudinal beam (3) and move the movable support (10) away; tighten the rear support (2) and the longitudinal beam (3) in place; finely adjust the position of the front support (1) and the rear support (2) so that the center of the cross section of the longitudinal beam (3) is basically located on the symmetrical plane perpendicular to the ground; manipulate the rotating platform (5) to drive the cabin to rotate along the longitudinal axis and set the position of the equipment to be installed on the cabin to be aligned with the ground.

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