Auxiliary assembly butt joint device for solar cell wing on-orbit construction, solar cell wing on-orbit construction equipment and use method of solar cell wing on-orbit construction equipment

Abstract

The invention relates to the technical field of solar cell wing on-orbit construction and assembly, in particular to an auxiliary assembly butt joint device for solar cell wing on-orbit construction, solar cell wing on-orbit construction equipment and a use method of the solar cell wing on-orbit construction equipment. The butt joint device comprises two butt joint assemblies which are symmetrically arranged, and each butt joint assembly comprises a clamping holding claw, a vertical lifting mechanism and a horizontal moving mechanism. The horizontal moving mechanism is in driving connection with the vertical lifting mechanism, and the clamping holding claw is in driving connection with the horizontal moving mechanism. The clamping holding claws are provided with clamping structures conformal with the solar cell wing assembly part, and the two sets of holding claws are oppositely arranged. The solar cell wing on-orbit construction equipment comprises an on-orbit manufacturing platform, an auxiliary assembly butt joint device and two fixed connecting pieces. The use method of the solar cell wing on-orbit construction equipment comprises the steps that firstly, the mechanical arm and the clamping holding claw are used for clamping and fixing the front flange and the rear flange, assemblies are assembled to form a single wing, and then the single wing is moved out and inserted into the butt joint structure through the vertical lifting mechanism and the horizontal moving mechanism. Therefore, according to the auxiliary assembly butt joint device, the assembly process can be converted into mechanism fixing position operation, dependence on the operation precision of the mechanical arm can be reduced, the assembly failure risk can be reduced, and the assembly load capacity, the operation stability and the assembly efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of solar cell wing on-orbit construction assembly, in particular to an auxiliary assembly docking device for solar cell wing on-orbit construction, a solar cell wing on-orbit construction equipment and a use method thereof. BACKGROUND

[0002] With the continuous development of space technology, the demand of spacecraft for space energy has climbed to the megawatt level, which requires the area of solar wings to reach the scale of thousands of square meters. However, due to factors such as rocket carrying capacity, fairing envelope size and structural complexity, it is difficult for super-large space structures such as solar cell arrays to be implemented by means of ground one-time construction and single launch. Under this background, the construction of large-area solar cell arrays through on-orbit manufacturing and assembly of solar cell wings has gradually become a feasible solution. Compared with the traditional ground manufacturing and single launch assembly mode, this on-orbit construction method not only breaks through the limitations of carrying and envelope, but also has more significant economic advantages and stronger mission flexibility.

[0003] In the related art, a flexible thin-film solar cell array surface, a front-end support truss, a front flange and a rear flange carried on-orbit or manufactured on-orbit are first assembled on-orbit by a mechanical arm; during the assembly process, the cell roll, the front-end support truss, the front flange and the rear flange are connected, and the center support truss is passed through the center of the rear flange and fixed with the front flange; then, the on-orbit manufacturing technology is used to continuously extend the cell wing center support truss, thereby gradually extending the cell roll, and finally forming a large-size solar cell single wing; finally, through assembly operation, the assembled solar cell single wing is precisely docked with the solar wing drive device (SADA) of the solar cell array main truss. However, unlike the ground assembly scenario, in the space microgravity environment, if the object is not clamped and limited, it will drift at a constant speed, causing the components to be separated from the preset operation space, and may also pose a collision threat to the on-orbit spacecraft, thereby seriously affecting the operation accuracy and efficiency of the mechanical arm, and posing a risk to the space operation safety of the spacecraft. SUMMARY

[0004] The present application is proposed in view of the above problems. The present application provides an auxiliary assembly docking device for solar cell wing on-orbit construction, comprising: two groups of auxiliary assembly docking assemblies arranged oppositely; each group of auxiliary assembly docking assemblies comprises a clamping claw, a vertical direction lifting mechanism and a horizontal direction moving mechanism; The vertical direction lifting mechanism is slidably connected to the motion output side of the horizontal direction moving mechanism, the clamping gripper is slidably connected to the motion output side of the horizontal direction moving mechanism, and the clamping configuration of the clamping gripper is in a conformal configuration with the assembly component of the solar cell wing.

[0005] Compared with the prior art, the auxiliary assembly docking device for in-orbit construction of a solar cell wing provided by the application comprises two groups of auxiliary assembly docking assemblies arranged oppositely; each group of auxiliary assembly docking assemblies comprises a clamping gripper, a vertical direction lifting mechanism and a horizontal direction moving mechanism; the vertical direction lifting mechanism is slidably connected to the motion output side of the horizontal direction moving mechanism, and the clamping gripper is slidably connected to the motion output side of the horizontal direction moving mechanism, so that the vertical direction lifting mechanism and the horizontal direction moving mechanism can drive the assembly component of the solar cell wing to move along a preset trajectory accurately, without the need for a mechanical arm to maintain high-precision positioning continuously. The clamping configuration of the clamping gripper is in a conformal configuration with the assembly component of the solar cell wing, so as to ensure that the gripper is tightly attached to the component and avoid shaking of the component due to a gap under microgravity. At the same time, the stable clamping of the gripper directly limits the drift freedom of the component, realizes the clamping and fixing of the assembly component of the solar cell wing, and converts the in-orbit construction and assembly process of the solar cell wing into a structured assembly at a fixed position, thereby improving the stability, reliability and assembly efficiency of in-orbit operation and reducing the requirement for assembly operation precision, so as to eliminate the risk of operation space deviation and collision caused by drift of the assembly component of the solar cell wing under microgravity.

[0006] Therefore, compared with the space in-orbit assembly mode based on a mechanical arm, the auxiliary assembly docking device for in-orbit construction of a solar cell wing provided by the application can convert the assembly process into a mechanism fixed position operation, which not only can reduce the dependence on the operation precision of the mechanical arm and reduce the risk of assembly failure caused by positioning errors of the mechanical arm, but also can improve the assembly load capacity, operation stability and assembly efficiency to meet the in-orbit assembly requirements of large-scale solar cell wing assembly components, and avoid the collision safety hazard caused by drift of the components under microgravity from the root.

[0007] According to still another aspect of the application, a solar cell wing in-orbit construction device is also provided, comprising: an in-orbit manufacturing platform, the auxiliary assembly docking device for in-orbit construction of a solar cell wing described above and two fixed connecting members; The in-orbit manufacturing platform is provided with a mechanical arm on the top thereof, has an operation end adjacent to the top, and the two groups of auxiliary assembly docking assemblies comprised by the auxiliary assembly docking device for in-orbit construction of a solar cell wing are fixed on the operation end through the corresponding fixed connecting members.

[0008] According to another aspect of the present application, a method for using the solar cell wing on-orbit manufacturing device is also provided, the solar cell wing assembly component further comprises a wing body assembly, the on-orbit manufacturing platform further has a docking structure below the operation end, and the method comprises: After the front flange and the rear flange are placed at the clamping gripper of the auxiliary assembly docking device by the mechanical arm, the clamping gripper is operated to fix the front flange and the rear flange, and the wing body assembly is assembled on the front flange and the rear flange by the mechanical arm to obtain a solar cell single wing; After the solar cell single wing is moved below the operation end by the vertical direction lifting mechanism of the auxiliary assembly docking device, the solar cell single wing is inserted into the docking structure by the horizontal direction moving mechanism of the auxiliary assembly docking device.

[0009] Compared with the prior art, the solar cell wing on-orbit manufacturing device and the method for using the same provided by the present application have the same beneficial effects as the auxiliary assembly docking device for the on-orbit manufacturing of the solar cell wing, which will not be described here.

[0010] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the subject technology claimed. BRIEF DESCRIPTION OF DRAWINGS

[0011] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0012] Figure 1 An assembly structure schematic diagram of the solar cell wing of the embodiment of the present application is shown; Figure 2 A structure schematic diagram of the auxiliary assembly docking device for the on-orbit manufacturing of the solar cell wing of the embodiment of the present application is shown; Figure 3 A structure schematic diagram of the clamping gripper of the embodiment of the present application is shown; Figure 4 A structure schematic diagram of the solar cell wing on-orbit manufacturing device of the embodiment of the present application is shown; Figure 5 A flow chart of the method for using the solar cell wing on-orbit manufacturing device of the embodiment of the present application is shown; Figures 6a to 6d A state diagram of the method for using the solar cell wing on-orbit manufacturing device of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0013] In order to make the purposes, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein.

[0014] With the continuous development of space technology, the demand of spacecraft for space energy has climbed to the megawatt level, which requires the area of solar wings to reach the scale of thousands of square meters. However, due to the factors such as the rocket carrying capacity, fairing envelope size and structural complexity, it is difficult for such super-large space structures such as solar cell arrays to be implemented by the way of once building on the ground and single launching into space. Under this background, the way of constructing large-area solar cell arrays by on-orbit manufacturing and assembling of solar cell wings gradually becomes a feasible solution. Compared with the traditional ground manufacturing and single launching assembling mode, this on-orbit manufacturing mode not only breaks through the limitations of carrying and envelope, but also has more significant economic advantages and stronger mission flexibility.

[0015] Figure 1 The assembly structure schematic diagram of the solar cell wing of the embodiment of the present application is shown. As shown in FIG. 1, the solar cell wing is composed of a plurality of solar cell wing segments 1, a plurality of connecting rods 2 and a plurality of connecting joints 3. Figure 1As shown, the assembly structure of the solar cell wing 100 is generally in the shape of an "I", including an on-orbit deployable flexible thin-film solar cell array 101, a front support truss 102, a rear support truss 103 that can be shared with the on-orbit deployable flexible thin-film solar cell array 101, a central support truss 104 for the solar cell wing, a front flange 105, and a rear flange 106; the solar cell wing is connected to the SADA structure 108 of the main frame 107 of the solar cell array. Among them, the center of the solar cell wing is the main wing truss (i.e., the central support truss 104 for the solar cell wing), the front end is supported by the front support trusses 102 on both sides to support the on-orbit deployable flexible thin-film solar cell array 101, and the rear end is supported by the spool of the thin-film solar cell roll as the rear support truss 103. The front flange 105 and the rear flange 106 serve to connect the front support truss 102, the roll of the thin-film solar cell at the rear end (i.e., the rear support truss 103), and the single-wing main truss. After on-orbit construction and assembly, they are moved to the SADA structure 108 of the single wing and the main frame of the battery array 107 to achieve orientation and energy transmission. In the relevant technology, a robotic arm is first used to assemble the on-orbit deployable flexible thin-film solar cell array 101, front support truss 102, front flange 105, and rear flange 106, which are carried or manufactured on-orbit. During the assembly process, the battery roll and the front support truss 102 are connected to the front flange 105 and the rear flange 106, respectively. At the same time, the central support truss 104 of the battery wing passes through the center of the rear flange 106 and is fixed to the front flange 105. Subsequently, the central support truss 104 of the battery wing is continuously extended using on-orbit manufacturing technology, which in turn drives the battery roll to gradually extend, eventually forming a large-size solar cell wing. Finally, through the assembly operation, the assembled solar cell wing is precisely docked with the SADA structure 108 of the main truss of the solar cell array. However, unlike the assembly scenario on the ground, in the microgravity environment of space, if the object is not clamped and restrained, it will drift at a constant speed, causing the parts to leave the preset operating space and potentially posing a collision threat to the on-orbit spacecraft. This would seriously affect the operating accuracy and efficiency of the robotic arm and also pose a risk to the spacecraft's operational safety.

[0016] To address the aforementioned issues, this application provides an auxiliary assembly and docking device for on-orbit construction of solar cell wings. This device transforms the assembly process into a fixed-position operation, which not only reduces reliance on the precision of the robotic arm operation and minimizes the risk of assembly failure due to robotic arm positioning errors, but also improves assembly load capacity, operational stability, and assembly efficiency to meet the on-orbit assembly requirements of large-scale solar cell wing assembly components. At the same time, it fundamentally avoids the collision safety hazards caused by component drift in a microgravity environment. Figure 2 A schematic diagram of the auxiliary assembly and docking device for on-orbit construction of solar cell wings according to an embodiment of this application is shown. Figure 2 As shown, the auxiliary assembly and docking device for the on-orbit construction of the solar cell fin includes: Two groups of auxiliary assembly docking assemblies 201 are oppositely arranged. Each group of auxiliary assembly docking assemblies 201 includes a clamping gripper 2011, a vertical direction lifting mechanism 2012, and a horizontal direction moving mechanism 2013.

[0017] The vertical direction lifting mechanism 2012 is slidingly connected to the motion output side of the horizontal direction moving mechanism 2013, and the clamping gripper 2011 is slidingly connected to the motion output side of the horizontal direction moving mechanism 2013. The clamping configuration of the clamping gripper 2011 is conformal to the assembly component of the solar cell wing. The clamping grippers 2011 included in the two groups of auxiliary assembly docking assemblies 201 are oppositely arranged. It should be understood that, in order to better show the working process of the auxiliary assembly docking device for the on-orbit construction of the solar cell wing, the front flange 105 and the rear flange 106 that need to be fixed by the clamping gripper 2011 are added in Figure 2 The front flange 105 and the rear flange 106 refer to the mounting flange installed at the front end position of the single wing and the mounting flange installed at the rear end position of the single wing. Moreover, the conformal configuration refers to the shape of the clamping contact surface of the clamping gripper, which is completely matched and fitted with the outer surface shape of the solar cell wing assembly component (such as the front flange and the rear flange).

[0018] In specific implementation, the two groups of clamping grippers 2011 use their conformal configurations to place the assembly components (such as the front flange 105 and the rear flange 106) in a specified position with a specified attitude, accurately clamp the solar cell wing assembly component, provide a fixed reference for the assembly of the remaining solar cell wing assembly components, and convert the assembly process into a fixed-position structured assembly by the assembly limiting and fixing capability. The assembly components of the solar cell wing are prevented from shaking or deviating. The vertical direction lifting mechanism 2012 and the horizontal direction moving mechanism 2013 can drive the solar cell wing assembly component to accurately move along a preset trajectory to a preset docking position without the need for a mechanical arm to continuously maintain high-precision positioning.

[0019] It should be understood that the preset docking position refers to the fixed spatial position that the solar cell single wing needs to finally reach after the vertical direction lifting mechanism 2012 and the horizontal direction moving mechanism 2013 of the auxiliary assembly docking device adjust the moving trajectory of the assembly.

[0020] In an optional manner, as Figure 2As shown, the vertical lifting mechanism 2012 in this embodiment includes a guide groove 20121, a guide rail 20122, a first screw 20123, a slider 20124, and a first drive motor 20125. The guide rail 20122 and the first screw 20123 are both disposed in the guide groove 20121 and extend along the height direction of the guide groove 20121. The first screw 20123 is parallel to the guide rail 20122 and is threadedly connected to the slider 20124. The slider 20124 is slidably connected to the guide rail 20122. The first drive motor 20125 is disposed at the end of the guide groove 20121 and is connected to the end of the first screw 20123 to drive the first screw 20123 to rotate, thereby causing the slider 20124 to move up and down along the guide rail 20122.

[0021] In this embodiment, the guide groove 20121 provides a fixed installation space for the guide rail 20122 and the first screw 20123, ensuring that they can be arranged parallel to each other along the height direction of the guide groove 20121, avoiding transmission jamming or accuracy deviation due to component misalignment. In this embodiment, the guide rail 20122, through a sliding connection with the sliding member 20124, ensures that the sliding member 20124 can only move along the height direction of the guide groove 20121, i.e., the vertical direction, preventing horizontal deviation, rotation, or wobbling of the sliding member 20124 during lifting and lowering, and ensuring the straightness of the movement trajectory. In this embodiment, the first screw 20123 and the sliding member 20124 form a threaded pair. When the first screw 20123 rotates under the drive of the first drive motor 20125, the meshing force between the threads pushes the sliding member 20124 to move along the axial direction (i.e., the vertical direction) of the first screw 20123, providing a power transmission path for the lifting and lowering of the assembled solar cell single wing.

[0022] For example, such as Figure 2 As shown, the guide rail 20122 in this embodiment has two tracks, and the first screw 20123 is located between the two tracks to provide a balanced constraint force from both sides of the slider 20124. This prevents the slider 20124 from tilting, rotating, or shaking due to unilateral force during lifting and lowering, ensuring that the slider 20124 always moves in a straight line along the height direction of the guide groove 20121. This significantly improves the accuracy of the lifting position and avoids the deformation of a single track or screw due to concentrated load. It also significantly improves the load-bearing capacity of the entire vertical lifting mechanism 2012, meeting the weight requirements of large-scale solar cell wing assembly components. This ensures that the lifting motion remains stable and controllable in a microgravity environment, providing a stable position reference for subsequent component assembly or single-wing docking.

[0023] In one alternative approach, such as Figure 2As shown, the horizontal direction moving mechanism 2013 in the embodiment of the present application includes a horizontal guide rail 20131, a support frame 20132, a second screw 20133, a sliding block 20134 and a second driving motor 20135; the horizontal guide rail 20131 and the second screw 20133 are both arranged in the support frame 20132 and extend along the length direction of the support frame 20132, the sliding block 20134 is sleeved on the horizontal guide rail 20131, the second screw 20133 is threadedly connected with the sliding block 20134, and the second driving motor 20135 is arranged at the end of the support frame 20132 away from the vertical direction lifting mechanism 2012 and connected with the end of the second screw 20133 to drive the sliding block 20134 to move along the horizontal guide rail 20131; the auxiliary assembly docking device further includes a connecting piece 2014 arranged at the part of the support frame 20132 close to the vertical direction lifting mechanism 2012, and the side of the connecting piece 2014 facing the vertical direction lifting mechanism 2012 is fixedly connected with the sliding piece 20124; the clamping claw 2011 is fixedly connected with the sliding block 20134.

[0024] In the embodiment of the present application, the support frame 20132 can provide a fixed installation space for the horizontal guide rail 20131 and the second screw 20133, ensure that the two are arranged in parallel along the length direction of the support frame 20132, and avoid transmission jamming caused by component deviation. The horizontal guide rail 20131 in the embodiment of the present application can force the sliding block 20134 to move only along the length direction of the support frame 20132 (i.e., the horizontal direction), avoid the sliding block 20134 from deviating upward and downward or rotating during movement, ensure the straightness of the movement track of the sliding block 20134 and the subsequently connected clamping claw 2011, and provide precision guarantee for horizontal direction position adjustment. The second driving motor 20135 in the embodiment of the present application can drive the second screw 20133 to rotate after being started, the second screw 20133 is threadedly connected with the sliding block 20134, can convert the rotary motion of the second driving motor 20135 into the horizontal straight line motion of the sliding block 20134, and accurately control the moving direction and moving distance of the sliding block 20134 by controlling the rotation direction and rotation angle of the second driving motor 20135. The sliding block 20134 in the embodiment of the present application can transmit the horizontal movement to the clamping claw 2011, and finally realize the assembly of the solar cell single-wing to the preset docking position.

[0025] Figure 3 The structure of the clamping claw in the embodiment of the present application is shown. As shown in FIG. 6, the clamping claw 2011 includes a clamping frame 20111 and a clamping piece 20112 arranged on the clamping frame 20111. The clamping frame 20111 is fixedly connected with the sliding block 20134, and the clamping piece 20112 is arranged on the clamping frame 20111 and can be driven by the clamping frame 20111 to move along the length direction of the clamping frame 20111. Figure 2 and Figure 3As shown, the clamping gripper 2011 in the embodiment of the present application includes a power transmission part 20111 and a clamping execution part 20112; the power transmission part 20111 is arranged on the sliding block 20134, and the output end of the power transmission part 20111 is connected with the clamping execution part 20112, and the clamping execution part 20112 has a conformal clamping configuration matched with the solar cell wing assembly component.

[0026] Among them, the power transmission part 20111 in the embodiment of the present application is fixed on the sliding block 20134, and forms a stable connection with the horizontal direction moving mechanism 2013, which ensures that the clamping gripper 2011 can realize horizontal position adjustment synchronously with the sliding block 20134; at the same time, the power transmission part 20111 can convert power into the opening and closing force required by the clamping execution part 20112, and then accurately transmit it to the clamping execution part 20112 through the output end.

[0027] Specifically, as shown in Figure 2 and Figure 3 The power transmission part 20111 in the embodiment of the present application includes a third driving motor 201111, a speed reducer 201112, a transmission shaft 201113 and a support connection frame 201114, the output end of the third driving motor 201111 is connected with the input end of the speed reducer 201112, the speed reducer 201112 is arranged in the support connection frame 201114, one end of the support connection frame 201114 facing the third driving motor 201111 is provided with a through hole accommodating the output shaft of the third driving motor 201111, the output end of the speed reducer 201112 is connected with one end of the transmission shaft 201113, the other end of the transmission shaft 201113 is connected with the clamping execution part 20112, and the support connection frame 201114 is connected with the sliding block 20134.

[0028] Among them, the support connection frame 201114 serves as a mounting reference, which is a semi-closed shell structure, and provides stable support for the entire power transmission part 20111 by being fixed with the sliding block 20134, and the through hole provided therein provides accommodation space for the output shaft of the third driving motor 201111, ensuring accurate butt joint of the motor and the speed reducer 201112.

[0029] In specific implementation, the third driving motor 201111 outputs rotating power after starting, which is transmitted to the input end of the speed reducer 201112 through the output shaft. The speed reducer 201112 reduces the rotating speed and increases the output torque of the third driving motor 201111 through the internal gear structure, so as to avoid the out-of-control clamping action caused by excessive rotating speed and insufficient torque. Subsequently, the output end of the speed reducer 201112 transmits the processed stable rotating power to the transmission shaft 201113. The transmission shaft 201113, as a power transmission carrier, accurately transmits power to the clamping execution part 20112, and finally drives the clamping execution part 20112 to complete the opening and closing clamping action adapted to the solar cell wing assembly component.

[0030] Further, as shown in Figure 2 the clamping execution part 20112 in the embodiment of the application includes a sliding groove 201121 and two oppositely arranged clamping arms 201122. Both of the clamping arms 201122 are in sliding connection with the sliding groove 201121. The other end of the transmission shaft 201113 is in transmission connection with the two clamping arms 201122, so as to drive the two clamping arms 201122 to move linearly along the sliding groove 201121 in the opposite or opposite direction. Each clamping arm 201122 has a conformal clamping configuration adapted to the solar cell wing assembly component.

[0031] The sliding groove 201121 provides a mounting basis and sliding constraint for the two oppositely arranged clamping arms 201122, so as to ensure that the clamping arms 201122 can only move linearly along the sliding groove 201121, avoiding deviation or shaking. In order to ensure the stability of the installation of the sliding groove 201121, a connecting rod 201115 connected with the sliding groove 201121 can be arranged at the end of the speed reducer 201112 or the support connection frame 201114 facing the sliding groove 201121, and the installation position of the connecting rod 201115 does not interfere with the transmission shaft 201113 and the clamping arm 201122. Figure 3 Only the case of arranging the connecting rod 201115 on the speed reducer 201112 is shown.

[0032] It can be understood that the other end of the transmission shaft in the embodiment of the application has a bidirectional thread, and the two clamping arms are respectively screwed with the other end of the transmission shaft through nuts. When the transmission shaft rotates, the two nuts will drive the corresponding clamping arms to move linearly in the opposite direction along the transmission shaft, realizing the opposite or opposite sliding. It should be understood that, due to the limited angle, Figure 3 The connection structure in which the two clamping arms are respectively screwed with the other end of the transmission shaft through nuts is not shown.

[0033] In specific implementation, as shown in Figure 2 and Figure 3As shown, when the solar cell wing assembly component needs to be clamped, the transmission shaft 201113 drives the two clamping arms 201122 to slide along the sliding groove 201121 in opposite directions until the conformal clamping configuration of the two clamping arms 201122 closely fits the surface of the solar cell wing assembly component, forming a stable clamping; when the solar cell wing assembly component needs to be released, the transmission shaft 201113 drives the two clamping arms 201122 to slide along the sliding groove 201121 in opposite directions, releasing the clamping constraint on the solar cell wing assembly component.

[0034] The application also provides a solar cell wing on-orbit construction device. Figure 4 The structural schematic diagram of the solar cell wing on-orbit construction device is shown. As shown in the figure, Figures 1 to 4 The solar cell wing on-orbit construction device includes an on-orbit manufacturing platform 301, an auxiliary assembly docking device 200 for on-orbit construction of the solar cell wing, and two fixed connecting members 302; the on-orbit manufacturing platform 301 is provided with a mechanical arm 3011 on the top thereof, and the on-orbit manufacturing platform 301 has an operation end adjacent to the top, and the auxiliary assembly docking device 200 for on-orbit construction of the solar cell wing includes two groups of auxiliary assembly docking assemblies 201 which are respectively fixed on the operation end through the corresponding fixed connecting members 302.

[0035] In an alternative mode, as shown in the figure, Figures 1 to 4 The solar cell wing on-orbit construction device further includes a solar cell wing assembly component, and the solar cell wing assembly component includes a front flange 105 and a rear flange 106 which are adapted to the clamping configuration of the clamping gripper 2011.

[0036] Exemplarily, the operation end of the on-orbit manufacturing platform 301 has an outlet a, and when the on-orbit manufacturing platform 301 prepares the solar cell wing assembly component, the prepared cell wing central support truss 104 can be extended out of the on-orbit manufacturing platform 301 along the outlet a. It should be understood that the on-orbit manufacturing platform 301 is a prior art and is not the point of the application, and only serves as a component of the solar cell wing on-orbit construction device. The solar cell wing on-orbit construction device further includes a component warehouse 303 located on one side of the on-orbit manufacturing platform 301, and the solar cell wing assembly components other than the cell wing central support truss 104 are located on the component warehouse 303, for example, the front end support truss 102 and the rear end film solar cell roll shaft (i.e., the rear end support truss 103). It should be understood that the component warehouse 303 is only a storage device for the solar cell wing assembly components.

[0037] In an alternative mode, as shown in the figure, Figures 1 to 4 The solar cell wing on-orbit construction device further includes a general control system 304 which is arranged on the other side of the on-orbit manufacturing platform 301, and the general control system 304 is electrically connected with the on-orbit manufacturing platform 301.

[0038] The application also provides a method for using the solar cell wing on-orbit construction equipment. The solar cell wing assembly component also includes a wing body assembly, such as Figure 4 As shown in the figure, the on-orbit manufacturing platform 301 also has a docking structure 3012, which is located below the operation end. Figure 5 A flow chart of the method for using the solar cell wing on-orbit construction equipment of the embodiment of the application is shown. As shown in the figure, Figure 5 The method includes the following steps: S501: After placing the front flange and the rear flange at the clamping gripper of the auxiliary assembly docking device by using the mechanical arm, the clamping gripper is operated to fix the front flange and the rear flange, and the wing body assembly is assembled on the front flange and the rear flange by using the mechanical arm, to obtain a solar cell single wing.

[0039] Exemplarily, the wing body assembly includes an on-orbit deployable flexible thin-film solar cell array, a front-end support truss, a rear-end support truss that can be shared with the cell array, and a cell wing central support truss.

[0040] Exemplarily, the step includes the following: the mechanical arm first takes out the front flange and the rear flange from the component warehouse, and places them below the clamping gripper of the on-orbit construction auxiliary assembly docking mechanism, so that the clamping gripper completes clamping, limiting and positioning, to form an on-orbit manufacturing reference. Based on the on-orbit construction reference, the mechanical arm assembles the flexible thin-film solar cell (roll) with the clamped and fixed rear flange, and assembles the front-end support truss with the clamped and fixed front flange, to simultaneously realize the connection between the cell roll front end and the front support truss; then, the cell wing central support truss is extended on the on-orbit manufacturing platform, passes through the center of the rear flange and is fixed with the front flange, to finally complete the assembly of the solar cell single wing structure.

[0041] S502: After moving the solar cell single wing below the operation end by using the vertical lifting mechanism of the auxiliary assembly docking device, the solar cell single wing is inserted into the docking structure by using the horizontal moving mechanism of the auxiliary assembly docking device.

[0042] Exemplarily, after completing the single wing assembly, the solar wing central truss is extended on the on-orbit manufacturing platform to drive the flexible thin-film solar cell roll to extend, until a solar cell single wing with a specified length is formed. After completing the single wing manufacturing, the displacement installation of the single wing needs to be completed, the vertical lifting mechanism of the on-orbit construction auxiliary assembly docking mechanism is used to realize the overall downward movement of the single wing, and the horizontal moving mechanism is used to gradually move the single wing close to the SADA structure, i.e., the docking structure, to integrate the solar cell single wing with the cell array system and have working capability.

[0043] Figures 6a to 6d A state diagram of the method for using the solar cell wing on-orbit construction equipment of the embodiment of the application is shown.

[0044] As shown in Figures 1 to 6a , two sets of clamping jaws 2011 clamp the front flange 105 and the rear flange 106 to positionally limit the front flange 105 and the rear flange 106, forming a manufacturing reference on the track.

[0045] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 6b , the on-track deployable flexible thin-film solar cell array 101, the front-end support truss 102, and the rear-end thin-film solar cell roll spool (i.e., the rear-end support truss 103) are sequentially assembled on the front flange 105 and the rear flange 106 in the connection relationship as shown in Figure 1 .

[0046] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 6c , the cell wing center support truss 104 prepared by the on-track manufacturing platform 301 passes through the center of the rear flange 106 along the outlet a, is automatically locked and connected with the front flange 105, and then the cell wing center support truss 104 is extended along with the on-track manufacturing platform 301 until the length of the on-track deployable flexible thin-film solar cell array 101 reaches the expected length, after which the rear flange 106 is fixedly connected with the single-wing center truss, completing the single-wing construction.

[0047] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 6d , the present application realizes the overall downward movement of the single wing through the vertical direction lifting mechanism 2012, and then inserts the SADA structure 108 of the cell array main skeleton 107 of the single wing into the butt joint structure 3012 through the horizontal direction moving mechanism 2013.

[0048] The above description is only a specific implementation of the present application, obviously, various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense, as encompassing any and all modifications, variations, combinations or equivalents that are within the scope of the present application. Obviously, person skilled in the art can make various modifications and changes to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and changes of the present application fall within the scope of the claims and their equivalents, the present application is intended to include these modifications and changes. Any person skilled in the art can easily think of changes or replacements within the scope of the technology disclosed in the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims. It should be pointed out that in the device and method of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application. The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein. The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, variations, changes, additions and sub-combinations.

Claims

1. An auxiliary assembly and docking device for on-orbit construction of solar cell wings, characterized in that, include: Two sets of auxiliary assembly docking components positioned opposite each other; Each set of auxiliary assembly docking components includes a clamping gripper, a vertical lifting mechanism, and a horizontal moving mechanism; The vertical lifting mechanism is slidably connected to the motion output side of the horizontal moving mechanism, the clamping claw is slidably connected to the motion output side of the horizontal moving mechanism, and the clamping configuration of the clamping claw is conformal to the solar cell wing assembly component; the clamping claws of the two sets of auxiliary assembly docking components are arranged facing each other.

2. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 1, characterized in that, The vertical lifting mechanism includes a guide groove, a guide rail, a first screw, a sliding member, and a first drive motor; The guide rail and the first screw are both disposed in the guide groove and extend along the height direction of the guide groove. The first screw is parallel to the guide rail and is threadedly connected to the sliding member. The sliding member is slidably connected to the guide rail. The first drive motor is disposed at the end of the guide groove and connected to the end of the first screw to drive the first screw to rotate, thereby causing the sliding member to move up and down along the guide rail.

3. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 2, characterized in that, The guide rail has two tracks, and the first screw is located between the two tracks.

4. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 2, characterized in that, The horizontal moving mechanism includes a horizontal guide rail, a support frame, a second screw, a sliding block, and a second drive motor. The horizontal guide rail and the second screw are both disposed within the support frame and extend along the length of the support frame. The sliding block is sleeved on the horizontal guide rail. The second screw is threadedly connected to the sliding block. The second drive motor is disposed at the end of the support frame away from the vertical lifting mechanism and is connected to the end of the second screw to drive the sliding block to move along the horizontal guide rail. The auxiliary assembly docking device also includes a connector, which is disposed on the support frame near the vertical lifting mechanism. The side of the connector facing the vertical lifting mechanism is fixedly connected to the sliding member; the clamping claw is fixedly connected to the sliding block.

5. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 4, characterized in that, The clamping gripper includes a power transmission unit and a clamping execution unit; The power transmission unit is disposed on the sliding block, and the output end of the power transmission unit is connected to the clamping execution unit. The clamping execution unit has a conformal clamping configuration adapted to the solar cell wing assembly component.

6. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 5, characterized in that, The power transmission unit includes a third drive motor, a reducer, a transmission shaft, and a support connecting frame. The output end of the third drive motor is connected to the input end of the reducer. The reducer is disposed within the support connecting frame. The support connecting frame has a through hole at one end facing the third drive motor to accommodate the output shaft of the third drive motor. The output end of the reducer is connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the clamping actuator. The support connecting frame is connected to the sliding block.

7. The auxiliary assembly and docking device for on-orbit construction of solar cell wings according to claim 6, characterized in that, The clamping actuator includes a slide and two clamping arms arranged opposite to each other; Both clamping arms are slidably connected to the slide groove; the other end of the drive shaft is driven to the two clamping arms to drive the two clamping arms to move in opposite or opposite directions in a straight line along the slide groove, and each clamping arm has a conformal clamping configuration adapted to the solar cell wing assembly component.

8. An on-orbit construction device for solar cell wings, characterized in that, include: An on-orbit manufacturing platform, an auxiliary assembly and docking device for on-orbit construction of solar cell wings as described in any one of claims 1 to 7, and two fixed connectors; The on-orbit manufacturing platform is equipped with a robotic arm on its top and has an operating end adjacent to the top. The auxiliary assembly and docking device for the on-orbit construction of the solar cell fin includes two sets of auxiliary assembly and docking components, which are respectively fixed to the operating end by corresponding fixed connectors.

9. The on-orbit construction equipment for solar cell wings according to claim 8, characterized in that, The on-orbit construction equipment for solar arrays also includes a solar array assembly component, which includes a front flange and a rear flange adapted to the clamping configuration of the clamping claw.

10. A method of using the on-orbit construction equipment for solar cell wings as described in claim 9, characterized in that, The solar cell wing assembly also includes a wing body component, and the on-orbit manufacturing platform further has a docking structure located below the operating end. The method of use includes: After placing the front flange and rear flange at the clamping claw of the auxiliary assembly docking device using a robotic arm, the clamping claw is operated to fix the front flange and rear flange, and the robotic arm is used to assemble the wing body component onto the front flange and rear flange to obtain a single solar cell wing. After the solar cell wing is moved to below the operating end using the vertical lifting mechanism of the auxiliary assembly docking device, the solar cell wing is inserted into the docking structure using the horizontal moving mechanism of the auxiliary assembly docking device.

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