An on-orbit continuous welding and forming device for composite material truss structures

Abstract

This application relates to the field of spacecraft manufacturing technology and discloses an on-orbit continuous welding and forming device for composite material truss structures. It includes a longitudinal rod storage module for winding and storing longitudinal pod rods, a longitudinal rod feeding module for outputting longitudinal pod rods, a side unit storage module for winding and storing side unit modules, a side unit feeding module for outputting transverse pod rods, a truss welding module for welding the longitudinal pod rods and side unit modules into a truss structure, and a truss pushing module for pushing the truss structure. By setting up the longitudinal rod storage module and the side unit storage module, the longitudinal and transverse pod rods can be flattened and wound for storage, greatly improving space utilization. Furthermore, by using the longitudinal rod feeding module and the side unit feeding module to output the longitudinal and transverse pod rods to the welding area for assembly, the complex operation of unfolding and folding the truss structure is avoided, increasing the upper limit of the length of ultra-long truss structures for a single launch.

Description

Technical Field

[0001] This application relates to the field of spacecraft manufacturing technology, and in particular to an on-orbit continuous welding and forming apparatus for composite material truss structures. Background Technology

[0002] Currently, large-scale space facilities, such as large-scale space solar power station systems, antenna systems, and large space stations, generally adopt ultra-long truss support structures in order to meet launch payload limitations while achieving extreme span support in orbit.

[0003] In existing technologies, most ultra-long truss structures involve folding and compressing the ground-built support structure before launching it into orbit, and then unfolding it. However, to reduce weight, these folded truss structures have numerous hollow sections between the beams, and most of these hollow sections cannot be eliminated after folding, resulting in low space utilization. Furthermore, rockets have fixed payload bay diameters, making it difficult to accommodate a sufficient number of folded truss structures in a single launch, hindering the unfolding of ultra-long trusses. Moreover, the larger the span of the ultra-long truss structure, the more complex its mechanical properties become during unfolding, making it prone to jamming, vibration, and even structural instability, significantly increasing the probability of mission failure.

[0004] Therefore, existing folding truss structure technology is limited by folding length and launch cost, making it difficult to meet the requirements of large space support structures for ultra-long dimensions. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention, by setting up a longitudinal bar storage module and a side unit storage module, can flatten and wind up the longitudinal and transverse pod bars for storage, greatly improving space utilization. Furthermore, by using a longitudinal bar feeding module and a side unit feeding module to output the longitudinal and transverse pod bars to the welding area for assembly, the complex operation of unfolding and folding truss structures is avoided, and the upper limit of the length of ultra-long truss structures for a single launch is increased.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: an on-rail continuous welding and forming device for composite material truss structures, the on-rail continuous welding and forming device comprising: a mounting base, which is separately disposed from the composite material truss structure; Several longitudinal bar storage modules are respectively disposed on the mounting base and are used to wind and store the longitudinal pod bars in a flattened state; Several longitudinal bar feeding modules are respectively installed on the mounting base and are used to unfold the longitudinal pod rods located on the longitudinal bar storage module and output them to the welding area; Several side unit storage modules are respectively disposed on the mounting base and are used to wind and store the side unit modules in the flattened state of the horizontal pod rod; Several side unit feeding modules are respectively set on the mounting base and are used to unfold the horizontal pod rod located on the side unit storage module and output it to the welding area; Several truss welding modules are respectively set on the mounting base and are used to weld the longitudinal pod rods and the side unit modules located in the welding area into the composite material truss structure; A truss pushing module is mounted on the mounting base. The composite material truss structure is driven by the truss pushing module to move in the pushing direction, and drives the longitudinal pod rod and the side unit module to move towards the welding area.

[0007] Furthermore, the longitudinal bar storage module includes: a longitudinal bar frame, which is disposed on the mounting base; A spool assembly is disposed on the longitudinal strut frame and is used to wind the longitudinal pod stalks in a flattened state; Several pressing components are respectively arranged at intervals along the circumference of the roll assembly on the roll assembly, and are used to flatten the longitudinal pod rods on the roll assembly; A flat material feeding assembly is disposed on the longitudinal rod frame and located between the drum assembly and the welding area, for maintaining the flattened state of the passing longitudinal pod rod; The roll assembly includes: a roll, which is rotatably mounted on the longitudinal rod frame and used to wind the longitudinal pod stalk in a flattened state; Two baffles are respectively disposed at both ends of the drum in the axial direction, for limiting the longitudinal pod rods located on the drum; The clamping assembly includes a clamping shaft, which is rotatably mounted on the baffle and parallel to the rotation axis of the drum. A pressure roller, which is parallel to the rotation axis of the drum; A clamping arm, one end of which is connected to the clamping shaft and the other end of which is connected to the pressure roller, and the pressure roller is rotatably mounted on the clamping arm; A clamping elastic element is disposed on the clamping arm, and the clamping arm is driven by the clamping elastic element to rotate, thereby driving the pressure roller to move toward the drum; The flat material feeding assembly includes two guide rollers, which are parallel to each other and rotate at intervals on the longitudinal rod frame. A guide zone is formed between the two guide rollers. The longitudinal pod rod located on the drum passes through the guide zone to reach the welding zone. The two guide rollers are used to maintain the flattened state of the longitudinal pod rod passing through the guide zone.

[0008] Furthermore, the longitudinal bar storage module also includes: a unidirectional feeding assembly, disposed on the longitudinal bar frame, and used to restrict the longitudinal pod bar on the drum assembly to move unidirectionally toward the welding area; The unidirectional feeding assembly includes a pawl, one end of which is rotatably mounted on the longitudinal rod frame, and the other end forms a pushing end that engages with the pushing hole. A stop block is provided on the longitudinal rod frame and contacts the push end. The longitudinal pod rod located on the drum reaches the welding area through the space between the push end and the stop block. A feeding elastic element is disposed on the longitudinal rod frame and is used to drive the pushing end to move toward the stop block.

[0009] Furthermore, the longitudinal bar feeding module includes: two push rollers, which are parallel to each other and rotate at intervals on the longitudinal bar frame, forming a push area between the two push rollers, and the longitudinal pod bar located on the drum reaches the welding area through the push area; A first drive motor is mounted on the longitudinal rod frame. The push roller is driven by the first drive motor to rotate, thereby moving the longitudinal pod rod toward the welding area.

[0010] Furthermore, the longitudinal pod stalk includes: an upper strip; The lower strip is provided, wherein the two edges of the upper strip in the width direction are respectively connected to the two edges of the lower strip in the width direction; The longitudinal bar storage module includes two roller assemblies, which are respectively used to wind the upper strip and the lower strip, and the upper strip and the lower strip are in contact with the pushing area. The on-orbit continuous welding forming device further includes: a longitudinal bar welding module, which is used to weld the upper strip and the lower strip; The longitudinal bar welding module includes: two clamping plates, which are disposed on the longitudinal bar frame and form a clamping area between the two clamping plates. The longitudinal pod bar located on the drum passes through the clamping area to reach the welding area. A welding hole is provided through the clamping plate to expose the upper strip and the lower strip located in the clamping area; A longitudinal bar welding device is disposed toward the welding hole and is used to weld the upper strip and the lower strip located in the clamping zone; A drive cylinder, one end of which is connected to the longitudinal rod frame and the other end of which is connected to the longitudinal rod welding device, is used to drive the longitudinal rod welding device to move toward or away from the welding hole.

[0011] Furthermore, the side unit feeding module includes: a crossbar frame, which is mounted on the mounting base; Several guide modules are arranged on the crossbar frame and used to guide the side unit modules; A recovery module is mounted on the crossbar and is used to extend the crossbar into an unfolded state.

[0012] Furthermore, the recovery module includes a second drive motor, which is mounted on the crossbar frame; The recovery push plate is driven by the second drive motor to move, so as to cause the recovery push plate to hit the horizontal pod rod and form the horizontal pod rod into an unfolded state.

[0013] Furthermore, the recovery module also includes a recovery frame, which is mounted on the crossbar frame; Guide rod, the guide rod being mounted on the recovery frame; A reciprocating lead screw is rotatably mounted on the recovery frame, and the reciprocating lead screw is parallel to the guide rod. The reciprocating lead screw is driven to rotate by the second drive motor. A lead screw slider is slidably disposed on the guide rod and meshes with the reciprocating lead screw. The lead screw slider is driven by the reciprocating lead screw to reciprocate on the guide rod. An active wedge block, which is connected to the lead screw slider; A wedge slide rail is mounted on the recovery frame; A passive wedge is slidably disposed on the wedge slide rail. The recovery push plate is connected to the passive wedge. The passive wedge is driven by the active wedge to move, so as to drive the recovery push plate to hit the horizontal pod rod and form the horizontal pod rod into an unfolded state. A restoring elastic element is disposed on the restoring frame and is used to drive the passive wedge away from the cross pod stem.

[0014] Furthermore, the truss pushing module includes: a pushing frame, which is disposed on the mounting base; A plurality of push sprockets are rotatably mounted on the push frame; A push chain is sleeved on a plurality of push sprockets and meshes with each other. A portion of the push chain is parallel to the push direction and forms a push section, which contacts the longitudinal pod stalk. A plurality of push pins are respectively disposed on the push chain, and the push pins are used to engage with the push holes; A synchronization component is disposed on the pusher frame and is driven and connected to the second drive motor. The pusher chain is driven by the synchronization component to rotate, so as to drive the longitudinal pod rod to move in the pushing direction through the pusher pin.

[0015] Furthermore, the truss pushing module also includes a tensioning module, which is used to tension the pushing chain; The tensioning module includes a slide bar, which is mounted on the pusher frame. The tensioning frame is slidably mounted on the slide rod; The tensioning shaft is parallel to the axial direction of the plurality of push sprockets and is rotatably mounted on the tensioning frame; The tension sprocket is sleeved on the tension shaft and meshes with the pusher. The tension sprocket is driven by the pusher to rotate around the tension shaft and move axially along the tension shaft. A tensioning elastic element is disposed on the slide bar, and the tensioning sprocket is driven by the tensioning elastic element to tighten the push chain.

[0016] Beneficial effects: By setting up a longitudinal bar storage module and a side unit storage module, the present invention can flatten and wind up the longitudinal and transverse pod bars for storage, which greatly improves the space utilization rate. The longitudinal bar feeding module and the side unit feeding module output the longitudinal and transverse pod bars to the welding area for assembly, avoiding the complicated operation of unfolding and folding truss structure, and increasing the upper limit of the length of ultra-long truss structure for a single launch. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the longitudinal bean pod stalk provided by the present invention, wherein... Figure 1 Figure (a) is a front view of the longitudinal bean pod stalk. Figure 1 Figure (b) is a schematic diagram of the structure of the longitudinal bean pod stalk; Figure 2 This is a schematic diagram of the structure of the side unit module provided by the present invention, wherein... Figure 2 Figure (c) is the front view of the side unit module. Figure 2 Figure (d) is a schematic diagram of the side unit module structure; Figure 3This is a schematic diagram of the structure of the on-orbit continuous welding forming device provided by the present invention; Figure 4 A schematic diagram of the structure of the longitudinal bar storage module and the longitudinal bar feeding module provided by the present invention; Figure 5 for Figure 4 A partial sectional view from another perspective; Figure 6 for Figure 5 A magnified view of a portion of point A; Figure 7 for Figure 5 A magnified view of a portion of point B; Figure 8 This is a schematic diagram of the structure of the longitudinal bean pod stem (partially flattened and partially unfolded) provided by the present invention; Figure 9 This is a schematic diagram of the structure of the side unit storage module provided by the present invention; Figure 10 A partial structural schematic diagram of the on-orbit continuous welding forming device provided by the present invention; Figure 11 This is a schematic diagram of the structure of the recovery module provided by the present invention; Figure 12 This is a schematic diagram of the truss pushing module provided by the present invention; Figure 13 This is a partial cross-sectional view of the truss pushing module provided by the present invention; Figure 14 This is a schematic diagram of the mounting base provided by the present invention.

[0018] The labels in the attached diagram are as follows: 100, composite material truss structure; 110, longitudinal pod-shaped rod; 111, upper strip; 112, lower strip; 123, push hole; 120, side unit module; 121, transverse pod-shaped rod; 122, reinforcing mesh; 130, push direction; 200, mounting base; 300, longitudinal rod storage module; 310, longitudinal rod frame; 320, drum assembly; 321, drum; 322, baffle; 33 0. Clamping assembly; 331. Clamping shaft; 332. Pressure roller; 333. Clamping arm; 334. Clamping elastic element; 340. Flat feeding assembly; 341. Guide roller; 350. Unidirectional feeding assembly; 351. Pawl; 3511. Pushing end; 352. Stop; 353. Feeding elastic element; 400. Longitudinal bar feeding module; 410. Pushing roller; 420. First drive motor; 430. Longitudinal bar welding module ; 431. Clamping plate; 432. Longitudinal rod welding device; 433. Drive cylinder; 500. Side unit feeding module; 510. Crossbar frame; 520. Guide module; 530. Recovery module; 531. Recovery frame; 532. Guide rod; 533. Reciprocating lead screw; 534. Second drive motor; 535. Lead screw slider; 5351. Active wedge; 536. Wedge slide rail; 537. Passive wedge; 5371. 538. Restoring the push plate; 600. Restoring the elastic element; 610. Truss pushing module; 620. Pushing frame; 630. Pushing sprocket; 631. Pushing part; 640. Pushing pin; 650. Synchronization component; 661. Slide bar; 662. Tensioning frame; 663. Tensioning shaft; 664. Tensioning sprocket; 665. Tensioning elastic element; 700. Truss welding module; 800. Side unit storage module. Detailed Implementation

[0019] This invention provides an on-orbit continuous welding and forming device for composite material truss structures. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0020] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0021] It should also be noted that the same or similar reference numerals in the accompanying drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] The invention will be further explained below with reference to the accompanying drawings and the description of the embodiments.

[0024] This embodiment provides an on-orbit continuous welding and forming device for composite material truss structures, such as... Figures 1 to 14 As shown, in order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: the on-orbit continuous welding forming device includes: a mounting base 200 (e.g., Figure 3 and Figure 14 As shown, it is separately set from the final composite material truss structure 100), truss pushing module 600 (as shown in the figure). Figure 12 and Figure 13 As shown, several longitudinal bar storage modules 300 (such as those for moving the final composite truss structure 100 toward the pushing direction 130, during which the longitudinal pod rods 110 and the side unit modules 120 move toward the welding area) are used to move the final composite truss structure 100 toward the pushing direction 130. Figure 4 and Figure 5 As shown, the longitudinal pod rod 110, which is used for winding and storing the flattened longitudinal pod rod, is detachably mounted to the mounting base 200 and can be easily replaced when the longitudinal pod rod 110 is used up; and several longitudinal rod feeding modules 400 (such as...) Figure 4 and Figure 5 As shown, this is used to deploy the longitudinal pod rod 110 located on the longitudinal rod storage module 300 to the welding area, and several side unit storage modules 800 (such as...). Figure 9As shown, its principle is the same as that of the longitudinal bar storage module 300, but the size can be changed for adaptability. It is used to wind and store the side unit module 120 when the horizontal pod bar 121 is in a flattened state, and it is detachably set with the mounting base 200 so that it can be easily replaced when the side unit module 120 is used up. Several side unit feeding modules 500 (such as Figure 10 and Figure 11 As shown, the side unit module 120 located on the side unit storage module 800, and the horizontal pod rod 121 can be deployed during this process, and several truss welding modules 700 (such as...) Figure 10 As shown, this is used to weld the longitudinal pod rod 110 and the side unit module 120 located in the welding zone into a composite truss structure 100.

[0025] Among them, reference Figure 3 and Figure 14 The mounting base 200 is hexagonal prism-shaped, with three spaced sides parallel to the three unfolded longitudinal pods 110, and the other three sides parallel to the three unfolded side unit modules 120. The three longitudinal pods 110 and the three side unit modules 120 are connected in pairs to form a hexagonal prism-shaped composite truss structure 100. Preferably, to enhance the overall strength of the composite truss structure 100, such as... Figure 1 As shown in Figure (b), the longitudinal pod 110 includes an upper strip 111 and a lower strip 112. The two edges of the upper strip 111 in the width direction are respectively connected to the two edges of the lower strip 112 in the width direction. The edges of the upper strip 111 at both ends are inclined downwards and curved, and flat sections are formed at both ends that connect to the side unit module 120, making the composite truss structure 100 as a whole triangular prism. The longitudinal pod 110 in this invention has higher torsional stiffness than conventional open section bars, which can provide sufficient torsional stiffness for the composite truss structure 100 in this invention. In addition, the side unit module 120 includes a plurality of transverse pods 121 and a plurality of reinforcing meshes 122 disposed between two adjacent transverse pods 121. The plurality of transverse pods 121 are parallel to each other and equidistantly spaced, and the reinforcing meshes 122 are interconnected with two adjacent transverse pods 121 to form a "cross" structure. Both the longitudinal pod 110 and the side unit module 120 are made of thermoplastic composite materials, which gives them the characteristics of lightweight structure and high specific stiffness, and can meet the requirements of support stiffness and torsional stiffness of composite truss structure 100.

[0026] like Figure 3As shown, there are three longitudinal bar storage modules 300, three longitudinal bar feeding modules 400, three side unit storage modules 800, and three side unit feeding modules 500. There are six truss welding modules 700 and six truss pushing modules 600, and they are all mounted on the mounting base 200. Three longitudinal bar storage modules 300 and three longitudinal bar feeding modules 400 are correspondingly arranged on three spaced sides of the mounting base 200, and are used to store and output three longitudinal pod bars 110; three side unit storage modules 800 and three side unit feeding modules 500 are correspondingly arranged on the other three sides of the mounting base 200, and are used to store and output three side unit modules 120; in order to connect the three longitudinal pod bars 110 and the three side unit modules 120, six welds are required on the composite truss structure 100, so six welding areas are required, and six truss welding modules 700 are set corresponding to the six welding areas to connect the three longitudinal pod bars 110 and the three side unit modules 120; two modules are provided on each of the three spaced sides of the mounting base 200 to weld the longitudinal pod bars 110 and the side unit modules 120 into the composite truss structure 100; Figure 1 As shown in Figure (a), several pushing holes 123 are spaced apart along the length of the longitudinal pod rods 110 at both ends, resulting in six rows of pushing holes 123 in the final composite truss structure 100. Six truss pushing modules 600 are mounted on the mounting base 200 corresponding to the six rows of pushing holes 123, driving the composite truss structure 100 through the six rows of pushing holes 123. The six truss pushing modules 600 synchronously control the composite truss structure 100, thereby achieving synchronous pushing of the entire composite truss structure 100. Furthermore, since the composite truss structure 100 is not separated from the three longitudinal pod rods 110 and the three side unit modules 120, it can drive the three longitudinal pod rods 110 and the three side unit modules 120 to move towards the welding area.

[0027] In one embodiment, such as Figures 3 to 5As shown, the longitudinal bar storage module 300 includes: a longitudinal bar frame 310, which is detachably mounted on the mounting base 200. The longitudinal bar frame 310 can be used to install other components, and its modular design facilitates replacement of the longitudinal bar storage module 300. The longitudinal bar storage module 300 also includes: a reel assembly 320, a flattening feed assembly 340, and several clamping assemblies 330. The reel assembly 320 is used to wind the longitudinal pod rods 110 in a flattened state. The several clamping assemblies 330 are all used to flatten the longitudinal pod rods 110 on the reel assembly 320. The flattening feed assembly 340 is used to maintain the flattened state of the longitudinal pod rods 110 passing between the reel assembly 320 and the welding area. Therefore, in actual operation, the longitudinal pod rod 110 can be flattened, wound and stored on the roll assembly 320 to improve space utilization. Several pressing components 330 can apply pressure to the longitudinal pod rod 110 on the roll assembly 320 to keep it in a flattened state. The flattened longitudinal pod rod 110 can be output through the straightening feeding component 340.

[0028] Specifically, such as Figure 4 As shown, the drum assembly 320 includes a drum 321 and two baffles 322 disposed at both ends of the drum 321 in the axial direction. The drum 321 is rotatably mounted on the longitudinal rod frame 310 and is used to wind the longitudinal pod rod 110 in a flattened state. The two baffles 322 are used to limit the longitudinal pod rod 110 located on the drum 321, thereby restricting the degree of freedom of the longitudinal pod rod 110 in the axial direction of the drum 321.

[0029] Specifically, such as Figure 6 As shown, the clamping assembly 330 includes: a clamping element, a pressure roller 332, a clamping arm 333, and a clamping elastic element 334. The clamping shaft 331 is rotatably mounted on the baffle 322. The rotation shafts of the clamping shaft 331, the pressure roller 332, and the drum 321 are all parallel to each other. One end of the clamping arm 333 is connected to the clamping shaft 331, and the other end is connected to the pressure roller 332. This allows the pressure roller 332 to be rotatably mounted on the baffle 322 via the clamping arm 333 and the clamping shaft 331. In actual operation, the pressure roller 332 can be driven to approach or move away from the longitudinal pod rod 110 on the drum 321. The clamping elastic element 334 can apply a force to the pressure roller 332 in the direction of the drum 321. Therefore, after the longitudinal pod rod 110 is wound and stored on the drum 321, the pressure roller 332 can press and compress the outermost longitudinal pod rod 110 on the drum 321 to maintain the flattened state of the longitudinal pod rod 110 and restrict the degree of freedom of the longitudinal pod rod 110 in the radial direction of the drum 321.

[0030] Specifically, such as Figure 5As shown, the flat material feeding assembly 340 includes two guide rollers 341. The two guide rollers 341 are parallel to each other and rotate at intervals on the longitudinal rod frame 310, forming a guide zone between the two guide rollers 341. The longitudinal pod rods 110 located on the drum 321 pass through the guide zone to reach the welding zone. The two guide rollers 341 are used to maintain the flattened state of the longitudinal pod rods 110 passing through the guide zone, thereby enabling the output of the flattened longitudinal pod rods 110.

[0031] In one embodiment, such as Figure 5 , Figure 7 As shown, the longitudinal bar storage module 300 further includes a one-way feeding assembly 350, which includes a pawl 351, a stop 352, and a feeding elastic element 353 (preferably a constant force spring). The longitudinal pod bar 110 with a push hole 123 forms a rack structure, and one end of the pawl 351 is rotatably mounted on the longitudinal bar frame 310, while the other end forms a push end 3511 that engages with the push hole 123. The push end 3511 and the stop 352 apply force through the feeding elastic element 353 to clamp the longitudinal pod bar 110, preventing the longitudinal pod bar 110 from retracting due to loss of thrust or prestress. In actual use, the pawl 351 is in the initial position due to the action of the feeding elastic element 353. When the longitudinal pod rod 110 moves, the push hole 123 engages with the push end 3511 on the pawl 351, and can only swing forward. As the longitudinal pod rod 110 moves a distance, the push end 3511 on the pawl 351 will disengage from the push hole 123 and return to the initial position by relying on the feeding elastic element, thereby achieving stable conveying of the strip.

[0032] In one embodiment, such as Figure 5 As shown, the longitudinal bar feeding module 400 includes: a first drive motor 420 and two push rollers 410. The first drive motor 420 is mounted on the longitudinal bar frame 310. The two push rollers 410 are parallel to each other and rotate at intervals on the longitudinal bar frame 310, forming a push area between the two push rollers 410. The longitudinal pod rod 110 located on the drum 321 reaches the welding area through the push area. The push rollers 410 are driven by the first drive motor 420 to rotate, so as to drive the longitudinal pod rod 110 to move toward the welding area.

[0033] In one embodiment, such as Figure 3 , Figure 4 As shown, the longitudinal bar storage module 300 includes two spool assemblies 320, which are respectively used to wind the upper strip 111 and the lower strip 112, the upper strip 111 and the lower strip 112 being in contact at the push area. Figure 4 , Figure 5As shown, the on-orbit continuous welding forming device also includes a longitudinal bar welding module 430. In actual operation, the upper strip 111 and lower strip 112 in a flattened state are output through the corresponding straight feeding component 340. The flattened upper strip 111 and lower strip 112 are in close contact with each other in the pushing area. At this time, the longitudinal bar welding module 430 can weld the upper strip 111 and lower strip 112 together to form the longitudinal pod bar 110.

[0034] like Figure 4 , Figure 5 As shown, the longitudinal bar welding module 430 includes: two clamping plates 431, welding holes penetrating the clamping plates 431, a longitudinal bar welding device 432, and a drive electric cylinder 433. Preferably, as... Figure 5 As shown, two longitudinal bar storage modules 300 are provided, forming two pushing areas. Two clamping plates 431 are disposed between the two pushing areas, forming a clamping area between the two clamping plates 431. The upper strip 111 and the lower strip 112 are in close contact within the clamping area. The welding holes on the clamping plates 431 expose the edges of the upper strip 111 and the lower strip 112. The longitudinal bar welding device 432 can weld the upper strip 111 and the lower strip 112 within the welding holes, so that the upper strip 111 and the lower strip 112 are welded together to form the longitudinal pod rod 110. In addition, one end of the drive cylinder 433 is connected to the longitudinal bar frame 310, and the other end is connected to the longitudinal bar welding device 432. The drive cylinder 433 can drive the longitudinal bar welding device 432 to move toward or away from the welding hole, thereby adjusting the distance between the longitudinal bar welding device 432 and the upper strip 111 and the lower strip 112 as needed, improving the welding effect.

[0035] In one embodiment, such as Figure 9 , Figure 10 As shown, the side unit feeding module 500 includes: a crossbar frame 510 mounted on the mounting base 200, a recovery module 530 mounted on the crossbar frame 510, and several guide modules 520 mounted on the crossbar frame 510. The recovery module 530 is used to form the crossbeam pod 121 into an unfolded state. The guide modules 520 are used to guide the side unit module 120. Each guide module 520 includes: a rotating member, a limiting member, and a pulley. The rotating member is mounted on the crossbar frame 510, and the limiting member is rotatably mounted on the rotating member. The limiting member has a limiting groove, and the edge of the side unit module 120 is located within the limiting groove. The pulley is mounted on the limiting member to reduce the friction between the side unit module 120 and the limiting groove. Figure 9 As shown, there are two guide modules 520, which are respectively located at the left and right ends of the side unit module 120 to guide the side unit module 120.

[0036] In one embodiment, such as Figure 10 , Figure 11As shown, the recovery module 530 includes a second drive motor 534 and a recovery push plate 5371. The second drive motor 534 is mounted on the crossbar frame 510. The recovery push plate 5371 is driven by the second drive motor 534 to move, so as to drive the recovery push plate 5371 to strike the cross pod bar 121 and form the cross pod bar 121 into an unfolded state.

[0037] The recovery module 530 also includes: a recovery frame 531, a guide rod 532, a reciprocating lead screw 533, a lead screw slider 535, an active wedge 5351, a wedge slide rail 536, a passive wedge 537, and a recovery elastic element 538.

[0038] Among them, such as Figure 11 As shown, both the reciprocating lead screw 533 and the guide rod 532 are horizontally arranged. The lead screw slider 535 meshes with the reciprocating lead screw 533. The reciprocating lead screw 533 is driven by the second drive motor 534 to rotate, thereby driving the lead screw slider 535 to move back and forth on the guide rod 532, which in turn drives the active wedge block 5351 to move back and forth. The wedge block slide rail 536 is vertically arranged, and the passive wedge block 537 can slide up and down through the wedge block slide rail 536. One end of the restoring elastic member 538 is connected to the restoring frame 531, and the other end is connected to the passive wedge block 537, thereby driving the passive wedge block 537 to move upward. In actual operation, the passive wedge 537 is located to the right of the active wedge 5351. When the active wedge 5351 moves to the right, it first contacts the passive wedge 537. As the active wedge 5351 continues to move to the right, it can push the passive wedge 537 downward. The restoring push plate 5371 is connected to the passive wedge 537 and therefore moves downward as well. When the horizontal pod rod 121 is below the restoring push plate 5371, the restoring push plate 5371 can strike the horizontal pod rod 121, causing the horizontal pod rod 121 to unfold. When the lead screw slider 535 is driven to move to the left, it can drive the active wedge 5351 to move to the left. At this time, the force exerted on the passive wedge 537 by the active wedge 5351 is reduced, and the restoring elastic element 538 can drive the passive wedge 537 to move upward until the active wedge 5351 and the passive wedge 537 separate, thus preparing for the next strike of the restoring push plate 5371 against the horizontal pod rod 121.

[0039] In one embodiment, such as Figure 10 , Figure 12 , Figure 13 As shown, the truss pushing module 600 includes: a pushing frame 610, a pushing chain 630, a synchronization component 650, a plurality of pushing sprockets 620, and a plurality of pushing pins 640. The pushing frame 610 is mounted on the mounting base 200. Figure 13As shown, a push chain 630 is sleeved on and meshes with several push sprockets 620, and is rotatably mounted on a push frame 610 via the push sprockets 620. Several push pins 640 are provided on the outer surface of the push chain 630. The lower end of the push chain 630 is parallel to the push direction 130 and forms a push section 631. The push pins 640 of the push section 631 can mesh with the push holes 123 on the longitudinal pods 110 of the composite truss structure 100. The rigid push chain 630 reduces relative deflection between chain links during the push of the composite truss structure 100, thereby achieving continuous and precise push of the composite truss structure 100. Therefore, in actual operation, when the push sprockets 620 rotate, they can drive the push chain 630 to rotate, thereby pushing the composite truss structure 100 in the push direction 130. Specifically, as... Figure 10 As shown, the pusher 610 has a window near the longitudinal pod stem 110, through which the push hole 123 is exposed, and the pusher part 631 is positioned toward the window.

[0040] like Figure 10 As shown, the synchronization component 650 is mounted on the pusher frame 610 and connected to the second drive motor 534 and the pusher sprocket 620, respectively. Preferably, a plurality of push holes 123 are equidistantly arranged on the longitudinal pod rod 110, and a plurality of transverse pod rods 121 are equidistantly arranged. Therefore, the moving distance of the composite truss structure 100 corresponds to the position of the transverse pod rods 121. The second drive motor 534 simultaneously drives the recovery push plate 5371 and the push chain 630. Therefore, by adjusting the output speed ratio of the synchronization component 650, the recovery push plate 5371 can hit the transverse pod rod 121 exactly each time.

[0041] In one embodiment, the truss pushing module 600 further includes a tensioning module for tensioning the pushing chain 630. Wherein, as... Figure 13As shown, the tensioning module includes: a slide bar 661, a tensioning frame 662, a tensioning shaft 663, a tensioning sprocket 664, and a tensioning elastic element 665. The tensioning frame 662 is vertically slidably mounted on the pusher frame 610 via the slide bar 661. The tensioning shaft 663 is horizontally mounted on the tensioning frame 662, and the tensioning sprocket 664 is sleeved on the tensioning shaft 663 and meshes with the pusher part 631. The tensioning elastic element 665 can store elastic potential energy, so the tensioning elastic element 665 can change its compression amount according to the tension of the chain, thereby automatically adjusting the tension of the pusher chain 630. The pusher part 631 is located below the pusher chain 630, while the tensioning part is located above the pusher chain 630. In addition, since the tension sprocket 664 is only sleeved on the tension shaft 663, the tension sprocket 664 can rotate on the tension frame 662 and can also move toward or away from the tension frame 662. Therefore, it can assist the push pin 640 in engaging and disengaging from the push hole 123, thereby reducing the interference of the push pin 640 on the push hole 123.

[0042] In one embodiment, since the length of the side unit module 120 is shortened after the horizontal pod rod 121 on the side unit module 120 returns to the unfolded state, resulting in different feeding lengths for the vertical rod storage module 300 and the side unit storage module 800, the side unit feeding module 500 also includes the same push roller 410 as the vertical rod feeding module 400 to push the side unit module 120, so that the vertical pod rod 110 and the side unit module 120 of appropriate length can be provided by the side unit feeding module 500 and the vertical rod feeding module 400.

[0043] In summary, this application relates to the field of spacecraft manufacturing technology and discloses an on-orbit continuous welding and forming device for composite material truss structures. It includes a longitudinal rod storage module for winding and storing longitudinal pod rods, a longitudinal rod feeding module for outputting longitudinal pod rods, a side unit storage module for winding and storing side unit modules, a side unit feeding module for outputting transverse pod rods, a truss welding module for welding the longitudinal pod rods and side unit modules into a truss structure, and a truss pushing module for pushing the truss structure. By setting up the longitudinal rod storage module and the side unit storage module, the longitudinal and transverse pod rods can be flattened and wound for storage, greatly improving space utilization. Furthermore, by using the longitudinal rod feeding module and the side unit feeding module to output the longitudinal and transverse pod rods to the welding area for assembly, the complex operation of unfolding and folding the truss structure is avoided, increasing the upper limit of the length of ultra-long truss structures for a single launch.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An on-orbit continuous welding and forming device for a composite material truss structure, the composite material truss structure comprising a plurality of longitudinal pods and a plurality of side unit modules respectively disposed between two adjacent longitudinal pods, wherein a plurality of pushing holes are spaced apart along the length direction of the longitudinal pods, and the side unit modules comprising a plurality of transverse pods and a plurality of reinforcing mesh disposed between two adjacent transverse pods, wherein the longitudinal pods and transverse pods are respectively in a flattened state and an unfolded state, characterized in that... The on-orbit continuous welding forming device includes: a mounting base, which is separately disposed from the composite material truss structure; Several longitudinal bar storage modules are respectively disposed on the mounting base and are used to wind and store the longitudinal pod bars in a flattened state; Several longitudinal bar feeding modules are respectively installed on the mounting base and are used to unfold the longitudinal pod rods located on the longitudinal bar storage module and output them to the welding area; Several side unit storage modules are respectively disposed on the mounting base and are used to wind and store the side unit modules in the flattened state of the horizontal pod rod; Several side unit feeding modules are respectively set on the mounting base and are used to unfold the horizontal pod rod located on the side unit storage module and output it to the welding area; Several truss welding modules are respectively set on the mounting base and are used to weld the longitudinal pod rods and the side unit modules located in the welding area into the composite material truss structure; A truss pushing module is mounted on the mounting base. The composite material truss structure is driven by the truss pushing module to move in the pushing direction, and drives the longitudinal pod rod and the side unit module to move towards the welding area. The longitudinal bar storage module includes: a longitudinal bar frame, which is mounted on the mounting base; A spool assembly is disposed on the longitudinal strut frame and is used to wind the longitudinal pod stalks in a flattened state; Several pressing components are respectively arranged at intervals along the circumference of the roll assembly on the roll assembly, and are used to flatten the longitudinal pod rods on the roll assembly; A flat material feeding assembly is disposed on the longitudinal rod frame and located between the drum assembly and the welding area, for maintaining the flattened state of the passing longitudinal pod rod; The roll assembly includes: a roll, which is rotatably mounted on the longitudinal rod frame and used to wind the longitudinal pod stalk in a flattened state; Two baffles are respectively disposed at both ends of the drum in the axial direction, for limiting the longitudinal pod rods located on the drum.

2. The on-orbit continuous welding and forming apparatus of a composite truss structure according to claim 1, characterized by, The clamping assembly includes a clamping shaft, which is rotatably mounted on the baffle and parallel to the rotation axis of the drum. A pressure roller, which is parallel to the rotation axis of the drum; A clamping arm, one end of which is connected to the clamping shaft and the other end of which is connected to the pressure roller, and the pressure roller is rotatably mounted on the clamping arm; A clamping elastic element is disposed on the clamping arm, and the clamping arm is driven by the clamping elastic element to rotate, thereby driving the pressure roller to move toward the drum; The flat material feeding assembly includes two guide rollers, which are parallel to each other and rotate at intervals on the longitudinal rod frame. A guide zone is formed between the two guide rollers. The longitudinal pod rod located on the drum passes through the guide zone to reach the welding zone. The two guide rollers are used to maintain the flattened state of the longitudinal pod rod passing through the guide zone.

3. The on-orbit continuous welding and forming apparatus of composite truss structures of claim 2, wherein, The longitudinal bar storage module further includes: a unidirectional feeding assembly, disposed on the longitudinal bar frame, and used to restrict the longitudinal pod bar on the drum assembly to move unidirectionally toward the welding area; The unidirectional feeding assembly includes a pawl, one end of which is rotatably mounted on the longitudinal rod frame, and the other end forms a pushing end that engages with the pushing hole. A stop block is provided on the longitudinal rod frame and contacts the push end. The longitudinal pod rod located on the drum reaches the welding area through the space between the push end and the stop block. A feeding elastic element is disposed on the longitudinal rod frame and is used to drive the pushing end to move toward the stop block.

4. The on-orbit continuous welding and forming device for composite material truss structures according to claim 3, characterized in that, The longitudinal bar feeding module includes two push rollers, which are parallel to each other and rotate at intervals on the longitudinal bar frame. A push area is formed between the two push rollers, and the longitudinal pod bar located on the drum reaches the welding area through the push area. A first drive motor is mounted on the longitudinal rod frame. The push roller is driven by the first drive motor to rotate, thereby moving the longitudinal pod rod toward the welding area.

5. The on-orbit continuous welding and forming device for composite material truss structures according to claim 4, characterized in that, The longitudinal pod stalk includes: an upper strip; The lower strip is provided, wherein the two edges of the upper strip in the width direction are respectively connected to the two edges of the lower strip in the width direction; The longitudinal bar storage module includes two roller assemblies, which are respectively used to wind the upper strip and the lower strip, and the upper strip and the lower strip are in contact with the pushing area; The on-orbit continuous welding forming device further includes: a longitudinal bar welding module, which is used to weld the upper strip and the lower strip; The longitudinal bar welding module includes: two clamping plates, which are disposed on the longitudinal bar frame and form a clamping area between the two clamping plates. The longitudinal pod bar located on the drum passes through the clamping area to reach the welding area. A welding hole is provided through the clamping plate to expose the upper strip and the lower strip located in the clamping area; A longitudinal bar welding device is disposed toward the welding hole and is used to weld the upper strip and the lower strip located in the clamping zone; A drive cylinder, one end of which is connected to the longitudinal rod frame and the other end of which is connected to the longitudinal rod welding device, is used to drive the longitudinal rod welding device to move toward or away from the welding hole.

6. The on-orbit continuous welding and forming apparatus for composite material truss structures according to any one of claims 1 to 5, characterized in that, The side unit feeding module includes: a crossbar frame, which is mounted on the mounting base; Several guide modules are arranged on the crossbar frame and used to guide the side unit modules; A recovery module is mounted on the crossbar and is used to extend the crossbar into an unfolded state.

7. The on-orbit continuous welding and forming device for composite material truss structures according to claim 6, characterized in that, The recovery module includes: a second drive motor, which is mounted on the crossbar frame; The recovery push plate is driven by the second drive motor to move, so as to cause the recovery push plate to hit the horizontal pod rod and form the horizontal pod rod into an unfolded state.

8. The on-orbit continuous welding and forming device for composite material truss structures according to claim 7, characterized in that, The recovery module further includes a recovery frame, which is mounted on the crossbar frame; Guide rod, the guide rod being mounted on the recovery frame; A reciprocating lead screw is rotatably mounted on the recovery frame, and the reciprocating lead screw is parallel to the guide rod. The reciprocating lead screw is driven to rotate by the second drive motor. A lead screw slider is slidably disposed on the guide rod and meshes with the reciprocating lead screw. The lead screw slider is driven by the reciprocating lead screw to reciprocate on the guide rod. An active wedge block, which is connected to the lead screw slider; A wedge slide rail is mounted on the recovery frame; A passive wedge is slidably disposed on the wedge slide rail. The recovery push plate is connected to the passive wedge. The passive wedge is driven by the active wedge to move, so as to drive the recovery push plate to hit the horizontal pod rod and form the horizontal pod rod into an unfolded state. A restoring elastic element is disposed on the restoring frame and is used to drive the passive wedge away from the cross pod stem.

9. The on-orbit continuous welding and forming device for composite material truss structures according to claim 7, characterized in that, The truss pushing module includes: a pushing frame, which is disposed on the mounting base; A plurality of push sprockets are rotatably mounted on the push frame; A push chain is sleeved on a plurality of push sprockets and meshes with each other. A portion of the push chain is parallel to the push direction and forms a push section, which contacts the longitudinal pod stalk. A plurality of push pins are respectively disposed on the push chain, and the push pins are used to engage with the push holes; A synchronization component is disposed on the pusher frame and is driven and connected to the second drive motor. The pusher chain is driven by the synchronization component to rotate, so as to drive the longitudinal pod rod to move in the pushing direction through the pusher pin.

10. The on-orbit continuous welding and forming device for composite material truss structures according to claim 9, characterized in that, The truss pushing module further includes a tensioning module, which is used to tension the pushing chain; The tensioning module includes a slide bar, which is mounted on the pusher frame; The tensioning frame is slidably mounted on the slide rod; The tensioning shaft is parallel to the axial direction of the plurality of push sprockets and is rotatably mounted on the tensioning frame; The tension sprocket is sleeved on the tension shaft and meshes with the pusher. The tension sprocket is driven by the pusher to rotate around the tension shaft and move axially along the tension shaft. A tensioning elastic element is disposed on the slide bar, and the tensioning sprocket is driven by the tensioning elastic element to tighten the push chain.

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