阅读说明：本技术 一种柔性薄膜在轨拼接装置及拼接方法 (Flexible film on-orbit splicing device and splicing method ) 是由 李伟杰 王耀兵 杨飞 张伟伟 马超 唐钧跃 苏小波 于 2020-05-11 设计创作，主要内容包括：本发明提供了一种柔性薄膜在轨拼接装置及拼接方法,装置包括空间机械臂和拼接机构,柔性薄膜为正六边形薄膜单元,空间机械臂包括大臂和两个小臂,两个小臂对称布置在大臂的顶端,在每个小臂的末端均设有一正六边形执行器,在正六边形执行器的边角处设有电磁铁,相应在正六边形薄膜单元的边角处设有铁片,且正六边形薄膜单元尺寸与正六边形执行器尺寸相同,正六边形执行器上的电磁铁与正六边形薄膜单元上的铁片一一对应布置；空间机械臂的两个小臂分别抓取一正六边形薄膜单元并将两个正六边形薄膜单元对接后,拼接机构对两个正六边形薄膜单元拼接。本发明实现正六边形片状薄膜的快速抓取、定位、拼接与展开,连接可靠性高,灵活性高,占用空间小。(The invention provides an on-orbit splicing device and a splicing method for a flexible film, wherein the device comprises a space manipulator and a splicing mechanism, the flexible film is a regular hexagon film unit, the space manipulator comprises a big arm and two small arms, the two small arms are symmetrically arranged at the top end of the big arm, a regular hexagon actuator is arranged at the tail end of each small arm, electromagnets are arranged at the corners of the regular hexagon actuators, iron sheets are correspondingly arranged at the corners of the regular hexagon film units, the size of each regular hexagon film unit is the same as that of each regular hexagon actuator, and the electromagnets on the regular hexagon actuators and the iron sheets on the regular hexagon film units are arranged in a one-to-one correspondence manner; two small arms of the space manipulator respectively grab a regular hexagon film unit and butt joint the two regular hexagon film units, and then the splicing mechanism splices the two regular hexagon film units. The invention realizes the quick grabbing, positioning, splicing and unfolding of the regular hexagon sheet-shaped film, and has high connection reliability, high flexibility and small occupied space.)

1. The utility model provides a flexible film splicing apparatus on orbit which characterized in that: the space manipulator comprises a space manipulator (1) and a splicing mechanism (2), wherein a flexible film is a regular hexagonal film unit (3), the space manipulator (1) comprises a large arm (4) and two small arms (5), the two small arms (5) are symmetrically arranged at the top end of the large arm (4), a regular hexagonal actuator (6) is arranged at the tail end of each small arm (5), an electromagnet (7) is arranged at the corner of the regular hexagonal actuator (6), correspondingly, an iron sheet (8) is arranged at the corner of the regular hexagonal film unit (3), the size of the regular hexagonal film unit (3) is the same as that of the regular hexagonal actuator (6), and the electromagnets (7) on the regular hexagonal actuator (6) and the iron sheets (8) on the regular hexagonal film unit (3) are arranged in a one-to-one correspondence manner;

two small arms (5) of the space manipulator (1) respectively grab a regular hexagon film unit (3) and butt joint the two regular hexagon film units (3), and the splicing mechanism (2) splices the two regular hexagon film units (3).

2. The on-orbit splicing device for the flexible films as claimed in claim 1, wherein: all be equipped with an electro-magnet (7) in six edges of regular hexagon executor (6), it is corresponding, also all be equipped with an iron sheet (8) in six edges of regular hexagon film unit (3), when electro-magnet (7) circular telegram, electro-magnet (7) attract iron sheet (8), and regular hexagon executor (6) snatch regular hexagon film unit (3).

3. The on-orbit splicing device for the flexible films as claimed in claim 1, wherein: the regular hexagon actuator (6) is of a frame type structure.

4. The on-orbit splicing device for the flexible films as claimed in claim 1, wherein: the splicing structure (2) is a sealing machine.

5. The on-orbit splicing device for the flexible films as claimed in claim 3, wherein: the electromagnets (7) are fixedly arranged inside corners of the regular hexagon frame type structure.

6. The on-orbit splicing device for the flexible films as claimed in claim 1, wherein: the iron sheet (8) is round, triangular or square.

7. A method of splicing flexible films using the flexible film on-track splicing apparatus according to any one of claims 1 to 6, wherein: the method comprises the following steps:

step one, early preparation: packing the materials of the regular hexagonal film unit (3) on the ground, and launching the packed materials to the outer space by a carrier rocket;

step two, a space manipulator gets the membrane: the small arms (5) of the space manipulator (1) are controlled to move, so that the regular hexagon actuators (6) on the two small arms (5) respectively grab a regular hexagon film unit (3), and the two regular hexagon film units (3) are positioned at the same height of the same plane;

step three, butting the film by a space manipulator: the small arms (5) of the space manipulator (1) are controlled to rotate, so that the two regular hexagonal film units (3) are opposite, and the space manipulator (1) is controlled again to enable the two small arms (5) to move, so that the surfaces of the two regular hexagonal film units (3) are attached to each other;

step four: splicing the films: splicing one edge of the two regular hexagonal thin film units (3) in the step three by using the splicing mechanism (2);

step five, unfolding the spliced film by a space manipulator: after splicing is finished, the space manipulator (1) is controlled to unfold the two spliced regular hexagonal film units (3) for 180 degrees to form a regular hexagonal film unit group, and then the two regular hexagonal actuators are controlled to release the regular hexagonal film unit group; preparing for splicing the next regular hexagonal film unit (3);

sixthly, controlling the small arms (5) of the space manipulator (1) to move, so that the regular hexagon actuator (6) of one small arm (5) grabs the regular hexagon film unit group in the fifth step, and the regular hexagon actuator (6) of the other small arm (5) grabs the other regular hexagon film unit (3);

and seventhly, repeating the third step to the sixth step, and sequentially completing the splicing of the regular hexagonal film units (3).

8. The method for splicing flexible films by using an on-track splicing device according to claim 7, wherein: in the second step, before the space manipulator (1) takes the film, the positions of the regular hexagon actuators (6) on the two small arms (5) of the space manipulator (1) are adjusted, so that the two regular hexagon actuators (6) are positioned at the same height of the same plane.

Technical Field

The invention belongs to the technical field of aerospace on-orbit assembly, and particularly relates to an on-orbit splicing device and method for a flexible film.

Background

The flexible film unit consists of a functional area, a supporting area and a splicing area. The functional area meets the on-track function requirement of the film; the supporting area adopts an inflation mode to realize the support of the film, so that the stability of each direction is ensured; the splicing region is a connection region. The flexible film units are stored in a hexagonal sheet form, and the flexible film has uniform unit specification; a large storage ratio; the advantage that the flexibility is strong is assembled in the orbit, consequently the flexible film of the present aerospace field multi-choice carries out the on-orbit construction, also transfers, fixes a position and splices hexagon slice film according to the task demand, and current film location is inaccurate, brings the trouble for follow-up concatenation, and nevertheless does not have the reliability of guaranteeing the concatenation of suitable positioning mechanism now, consequently it is necessary to design one kind and snatchs the convenience, fixes a position the accuracy, and flexible film on-orbit splicing apparatus that the concatenation reliability is high.

Disclosure of Invention

In view of the above, the invention aims to provide an on-orbit splicing device and a splicing method for a flexible film, which are used for realizing quick grabbing, positioning, splicing and unfolding of a regular hexagonal flaky film, and are high in connection reliability, high in flexibility and small in occupied space.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

an on-orbit splicing device for a flexible film comprises a space mechanical arm and a splicing mechanism, wherein the flexible film is a regular hexagon film unit, the space mechanical arm comprises a big arm and two small arms, the two small arms are symmetrically arranged at the top end of the big arm, a regular hexagon actuator is arranged at the tail end of each small arm, electromagnets are arranged at the corners of the regular hexagon actuators, correspondingly, iron sheets are arranged at the corners of the regular hexagon film unit, the size of the regular hexagon film unit is the same as that of the regular hexagon actuators, and the electromagnets on the regular hexagon actuators and the iron sheets on the regular hexagon film unit are arranged in a one-to-one correspondence manner;

after the two small arms of the space manipulator respectively grab a regular hexagonal film unit and butt the two regular hexagonal film units, the splicing mechanism splices the two regular hexagonal film units.

Furthermore, all be equipped with an electro-magnet in six edges of regular hexagon executor, it is corresponding, also all be equipped with an iron sheet in six edges of regular hexagon film unit, when the electro-magnet circular telegram, the electro-magnet attracts the iron sheet, and regular hexagon executor snatchs regular hexagon film unit.

Furthermore, the regular hexagon actuator is of a frame type structure.

Further, the splicing structure is a sealing machine.

Furthermore, the electromagnet is fixedly arranged inside the corner of the regular hexagon frame type structure.

Further, the iron sheet is round, triangular or square.

A method for splicing flexible films by using a flexible film on-track splicing device comprises the following steps:

step one, early preparation: packing the regular hexagon film unit material on the ground, and launching the packed regular hexagon film unit material to the outer space by a carrier rocket;

step two, a space manipulator gets the membrane: controlling the small arms of the space manipulator to move, so that the regular hexagonal actuators of the two small arms respectively grab a regular hexagonal film unit, and the two regular hexagonal film units are positioned on the same plane and at the same height;

step three, butting the film by a space manipulator: the small arms of the space manipulator are controlled to rotate, so that the two regular hexagonal film units are opposite, and the space manipulator is controlled again to enable the two small arms to move, so that the surfaces of the two regular hexagonal film units are attached to each other;

step four: splicing the films: splicing one edge of the two regular hexagonal film units in the third step by using a splicing mechanism;

step five, unfolding the spliced film by a space manipulator: after splicing is finished, the space control mechanical arm unfolds the spliced two regular hexagonal film units for 180 degrees to form a regular hexagonal film unit group, and then the two regular hexagonal actuators are controlled to release the regular hexagonal film unit group; preparing for splicing the next regular hexagonal film unit;

step six, controlling the small arms of the space manipulator to move, so that the regular hexagon actuator of one small arm grabs the regular hexagon film unit group in the step five, and the regular hexagon actuator of the other small arm grabs the other regular hexagon film unit;

and seventhly, repeating the third step to the sixth step, and sequentially completing the splicing of the regular hexagonal film units.

Furthermore, in the second step, before the space manipulator takes the film, the positions of the regular hexagon actuators on the two small arms of the space manipulator are adjusted, so that the two regular hexagon actuators are positioned on the same plane and at the same height

Compared with the prior art, the flexible film on-track splicing device has the following advantages:

1. the hexagonal film unit materials are assembled in an on-orbit mode, and the film gas circuit pipelines can be supported by injecting gas. A hexagonal film substrate. Utilize space arm, the action is nimble, snatchs, and the butt joint expandes the action rapidly, and adopts electro-magnet and iron sheet cooperation, snatchs the reliability height, and positioning accuracy is high, the fast assembly of the hexagonal film unit of being convenient for.

2. The hexagonal thin film unit material of this application adopts the equipment of in orbit, realizes the quick concatenation between the film and expandes, and the connection reliability is high.

3. The splicing device and the regular hexagonal film unit materials can be conveyed into the outer space in batches, and after the splicing device is conveyed into the outer space, the subsequent construction task only needs to convey the regular hexagonal film unit materials.

4. The flexible film unit group has higher duty ratio and is suitable for the field of aerospace.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a regular hexagonal thin film unit according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a space manipulator according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a regular hexagon actuator;

FIG. 4 is a schematic diagram of a mold picking motion of a space manipulator;

FIG. 5 is a schematic diagram of the mold-picking, butt-jointing and splicing actions of the space manipulator;

FIG. 6 is a schematic view of the space manipulator deployment.

Description of reference numerals:

the method comprises the following steps of 1-a space mechanical arm, 2-a splicing mechanism, 3-a regular hexagonal thin film unit, 4-a big arm, 5-a small arm, 6-a regular hexagonal actuator, 7-an electromagnet and 8-an iron sheet.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-6, an on-orbit splicing device for a flexible film comprises a space manipulator 1 and a splicing mechanism 2, wherein the flexible film is a regular hexagonal film unit 3, the space manipulator 1 comprises a large arm 4 and two small arms 5, the two small arms 5 are symmetrically arranged at the top end of the large arm 4, a regular hexagonal actuator 6 is arranged at the tail end of each small arm 5, an electromagnet 7 is arranged at the corner of the regular hexagonal actuator 6, correspondingly, an iron sheet 8 is arranged at the corner of the regular hexagonal film unit 3, the size of the regular hexagonal film unit 3 is the same as that of the regular hexagonal actuator 6, and the electromagnets 7 on the regular hexagonal actuator 6 are arranged in one-to-one correspondence with the iron sheets 8 on the regular hexagonal film unit 3;

after two small arms 5 of the space manipulator 1 respectively grab a regular hexagonal film unit 3 and butt joint the two regular hexagonal film units 3, the splicing mechanism 2 splices the two regular hexagonal film units 3.

All be equipped with an electro-magnet 7 in six edges and corners of regular hexagon executor 6, it is corresponding, also all be equipped with an iron sheet 8 in six edges and corners of regular hexagon film unit 3, when electro-magnet 7 circular telegram, electro-magnet 7 attracts iron sheet 8, and regular hexagon executor 6 snatchs regular hexagon film unit 3.

The regular hexagon actuator 6 is in a frame structure and has a weight reduction effect. The splicing structure 2 is a sealing machine, belongs to the existing structure, and is not described herein again, and one of the edges of the two butted regular hexagonal film units 3 is sealed by the sealing machine.

The electromagnet 7 is fixedly arranged inside the corner of the regular hexagon frame type structure and hidden in the regular hexagon frame type structure, so that the electromagnet 7 is protected in the space, and the regular hexagon film unit 3 is prevented from being damaged. The iron sheet 8 is round, triangular or square, is convenient to be matched with the electromagnet 7 and is reliably connected.

The space manipulator 1 can complete grabbing, facing, butting, splicing and unfolding of the regular hexagonal film units 3, the automation degree is high, and quick splicing of the regular hexagonal film units can be realized.

A method for splicing flexible films by using a flexible film on-track splicing device comprises the following steps:

step one, early preparation: packing the materials of the regular hexagonal film unit 3 on the ground, and launching the materials to the outer space by a carrier rocket;

step two, a space manipulator gets the membrane: controlling the small arms 5 of the space manipulator 1 to move, so that the regular hexagon actuators 6 on the two small arms 5 respectively grab a regular hexagon film unit 3, and the two regular hexagon film units 3 are positioned at the same height on the same plane;

step three, butting the film by a space manipulator: the small arm 5 of the space manipulator 1 is controlled to rotate, so that the two regular hexagonal film units 3 are opposite, and the space manipulator 1 is controlled again to enable the two small arms 5 to move, so that the surfaces of the two regular hexagonal film units 3 are attached to each other;

step four: splicing the films: splicing one edge of the two regular hexagonal thin film units 3 in the third step by using the splicing mechanism 2;

step five, unfolding the spliced film by a space manipulator: after splicing is finished, the space manipulator 1 is controlled to unfold the two spliced regular hexagonal film units 3 by 180 degrees to form a regular hexagonal film unit group, and then the two regular hexagonal actuators are controlled to release the regular hexagonal film unit group; preparing for splicing the next regular hexagonal thin film unit 3;

sixthly, controlling the small arms 5 of the space manipulator 1 to move, so that the regular hexagon actuator 6 of one small arm 5 grabs the regular hexagon film unit group in the step five, and the regular hexagon actuator 6 of the other small arm 5 grabs the other regular hexagon film unit 3;

and seventhly, repeating the third step to the sixth step, and sequentially completing the splicing of the regular hexagonal film units 3.

In the second step, before the space manipulator 1 takes the film, the positions of the regular hexagon actuators 6 on the two small arms 5 of the space manipulator 1 are adjusted, so that the two regular hexagon actuators 6 are positioned at the same height of the same plane.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.