阅读说明：本技术 一种适用空间桁架结构组装的快速装配方法 (Rapid assembly method suitable for assembling space truss structure ) 是由 高鹏 陈萌 郭为忠 赵常捷 于 2019-09-04 设计创作，主要内容包括：本发明公开了一种适用空间桁架结构组装的快速装配方法,先连接组成节点接头组件和杆件接头组件,空间装配机器人抓持桁架杆件,调整姿态使得杆件接头与节点接头的接口轴线共面且平行,并沿桁架杆件径向朝向节点接头靠近并使得接口对准,当节点接头组件与杆件接头组件共轴后,两者自动锁定连接；重复上述步骤,至完成空间桁架结构装配。本发明是一项操作便捷、高刚度、高精度、多功能桁架连接方式,适用于未来空间在轨装配需要。(The invention discloses a rapid assembly method applicable to space truss structure assembly, which comprises the steps of firstly connecting and forming a node joint assembly and a rod joint assembly, wherein a space assembly robot grabs a truss rod, adjusts the posture to enable the rod joint to be coplanar and parallel with the joint axis of the node joint, and enables the joint to be close to and aligned with the node joint along the radial direction of the truss rod, and when the node joint assembly and the rod joint assembly are coaxial, the node joint assembly and the rod joint assembly are automatically locked and connected; and repeating the steps until the space truss structure is assembled. The invention is a multifunctional truss connection mode with convenient operation, high rigidity and high precision, and is suitable for the on-orbit assembly requirement of the future space.)

1. A quick assembly method suitable for assembling a space truss structure is characterized by comprising the following steps:

(1) firstly, connecting the nodes on the space truss with the node joints to form a node joint assembly; the space truss rod piece and the rod piece joint are connected to form a rod piece joint assembly;

(2) the space assembly robot grasps the rod joint assembly, adjusts the posture so that the rod joint is coplanar and parallel with the interface axis of the node joint, approaches the node joint along the space truss rod in the radial direction and aligns the interfaces, and after the node joint assembly and the rod joint assembly are coaxial, the two are automatically locked and connected;

(3) the space assembling robot is moved away, grabs the next rod joint assembly, and repeats the steps (1) - (2) to continue assembling until the space truss structure assembling is completed;

wherein the node joint comprises a node connecting piece, the rod piece joint comprises a rod piece lining piece, a rod piece connecting piece matched and connected with the node connecting piece, an elastic locking assembly and a locking retaining ring sleeve, wherein,

the rod piece lining piece, the rod piece connecting piece and the locking baffle ring sleeve are connected into a whole; the rod piece lining piece is sleeved in the rod piece connecting piece, the rod piece connecting piece is sleeved in the elastic locking assembly, the elastic locking assembly is sleeved in the locking baffle ring sleeve, a rod piece lock tongue arranged in the rod piece lining piece is locked in the locking baffle ring sleeve, the rod piece lock tongue can freely slide along the radial direction of the insertion of the joint, and the elastic locking assembly can axially move along the rod piece connecting piece;

during the assembly and connection, the node connecting piece extrudes the rod bolt, the elastic locking assembly is unlocked, the elastic locking assembly moves to the node connecting piece, and the node connecting piece and the rod connecting piece are all connected in a surrounding locking manner by the elastic locking assembly in the circumferential direction.

2. The quick assembly method of claim 1, wherein the resilient locking assembly comprises a locking ring and a locking spring disposed around the locking ring, wherein a boss structure is disposed along the periphery of the locking ring near the node joint, and one end of the locking spring abuts against the boss structure and the other end abuts against the locking collar sleeve in a compressed state.

3. The method of claim 2, wherein the resilient locking assembly further comprises a locking collar, the locking collar is disposed within the locking collar sleeve, the other end of the locking spring abuts against the locking collar, and the locking collar, the locking collar sleeve, the rod connector and the rod liner are integrally connected.

4. The quick assembly method of claim 3 wherein said resilient locking assembly further comprises a locking collar sleeve disposed about said locking spring and disposed within said locking collar sleeve in juxtaposition with said locking collar, said locking ring, said locking spring and said locking ring sleeve being integrally connected.

5. The quick-assembly method of claim 1, wherein a circumferential projection is provided along a circumference of the node connector for limiting further movement of the resilient locking assembly.

6. The rapid assembly method according to claim 1, wherein the joint connector is a hollow structure embedded with a joint lining member, a spring circuit board is disposed on an end surface of the joint lining member facing the rod connector, and an electrically connecting spring is disposed on the spring circuit board.

7. The quick-assembly method according to claim 6, wherein the rod joint is a hollow structure, and a contact circuit board is provided on an end surface of the rod lining member facing the node joint, the contact circuit board being provided with an electrical connection contact.

8. The method of rapid assembly of claim 7, wherein the node lining member and the rod lining member are both insulating materials.

9. The rapid assembly method according to claim 1, wherein a clamping tool for holding the space truss member is provided at the end of the space assembly robot, and a pin for engaging with the central hole of the space truss member is provided along the clamping direction of the clamping tool.

10. The rapid assembly method according to claim 1, wherein a positioning pin and a connecting flange are provided on one end of the joint connected with the space truss joint; and one end of the rod piece joint connected with the space truss rod piece is provided with a positioning pin shaft hole.

Technical Field

The invention relates to a construction method of a large aerospace structure, in particular to a rapid assembly method suitable for assembling a space truss structure, which can realize flexible assembly of a complex space structure only by utilizing single radial insertion of a space robot. The assembly mode is simple in action, is suitable for low-consumption and high-efficiency operation of robots and astronauts, and is suitable for assembly and construction of various space truss structures, such as on-orbit construction in the aerospace fields of future space stations, large-scale antennas, space solar cell arrays, star bases and the like.

Background

With the demand of space exploration in the future, the demand of large space structure application is more and more urgent, and the scale and the requirement of space construction are continuously increased. At present, a large space structure is mainly an expansion structure, however, the carrying capacity of a spacecraft is limited, the expansion scale is limited, and the secondary expansion capacity is low, so that in-orbit assembly becomes a main mode for building large space structures at home and abroad.

Through analyzing domestic and foreign documents and data, the current space on-orbit assembly development is mainly verified experimentally through astronauts, mainly because the operation precision and the intelligent level of the current space operation robot are limited, and the dynamic state is more complex under the space floating state.

Disclosure of Invention

In order to solve the problems, the invention provides a rapid assembly method suitable for assembling a space truss structure, which greatly simplifies the performance requirements of space operation robots through a special connecting mechanism, has the advantages of high self-locking rigidity, repeated disassembly and assembly, good expansibility and the like, and is very suitable for various application fields of space large-scale antennas, space large-scale power stations, celestial surface bases and the like.

The technical scheme of the invention is as follows:

a quick assembly method suitable for assembling a space truss structure comprises the following steps:

(1) firstly, connecting the nodes on the space truss with the node joints to form a node joint assembly; the space truss rod piece and the rod piece joint are connected to form a rod piece joint assembly;

(2) the space assembly robot grasps the rod joint assembly, adjusts the posture so that the rod joint is coplanar and parallel with the interface axis of the node joint, approaches the node joint along the space truss rod in the radial direction and aligns the interfaces, and after the node joint assembly and the rod joint assembly are coaxial, the two are automatically locked and connected;

(3) the space assembling robot is moved away, grabs the next rod joint assembly, and repeats the steps (1) - (2) to continue assembling until the space truss structure assembling is completed;

wherein the node joint comprises a node connecting piece, the rod piece joint comprises a rod piece lining piece, a rod piece connecting piece matched and connected with the node connecting piece, an elastic locking assembly and a locking retaining ring sleeve, wherein,

the rod piece lining piece, the rod piece connecting piece and the locking baffle ring sleeve are connected into a whole; the rod piece lining piece is sleeved in the rod piece connecting piece, the rod piece connecting piece is sleeved in the elastic locking assembly, the elastic locking assembly is sleeved in the locking baffle ring sleeve, a rod piece lock tongue arranged in the rod piece lining piece is locked in the locking baffle ring sleeve, the rod piece lock tongue can freely slide along the radial direction of the insertion of the joint, and the elastic locking assembly can axially move along the rod piece connecting piece;

during the assembly and connection, the node connecting piece extrudes the rod bolt, the elastic locking assembly is unlocked, the elastic locking assembly moves to the node connecting piece, and the node connecting piece and the rod connecting piece are all connected in a surrounding locking manner by the elastic locking assembly in the circumferential direction.

In an embodiment of the present invention, the elastic locking assembly includes a locking ring and a locking spring sleeved outside the locking ring, a boss structure is disposed along the periphery of the locking ring near the node joint side, one end of the locking spring abuts against the boss structure, and the other end of the locking spring abuts against the locking baffle ring sleeve, and is in a compressed state.

In an embodiment of the present invention, the elastic locking assembly further includes a locking stop ring, the locking stop ring is sleeved in the locking stop ring sleeve, the other end of the locking spring abuts against the locking stop ring, and the locking stop ring, the locking stop ring sleeve, the rod connecting member and the rod lining member are connected into a whole.

In an embodiment of the present invention, the elastic locking assembly further includes a locking ring sleeve, which is sleeved outside the locking spring and is sleeved inside the locking ring sleeve in parallel with the locking stop ring, and the locking ring, the locking spring and the locking ring sleeve are connected to one body.

In an embodiment of the present invention, a circumferential boss for limiting the continuous movement of the elastic locking assembly is provided along the circumference of the node connecting member.

In an embodiment of the present invention, the joint connector is a hollow structure, and is embedded with a joint lining member, and an elastic sheet circuit board is disposed on an end surface of the joint lining member facing the rod member connector, and the elastic sheet circuit board is disposed with an electrically connecting elastic sheet.

In an embodiment of the present invention, the rod joint has a hollow structure, and a contact circuit board is disposed on an end surface of the rod lining facing the node joint, and the contact circuit board is provided with an electrical connection contact.

In an embodiment of the present invention, the node lining member and the rod member lining member are both made of an insulating material.

In an embodiment of the present invention, a clamping tool for gripping the space truss rod is disposed at the end of the space assembling robot, and a pin matched with the central hole of the space truss rod is disposed along the clamping direction of the clamping tool.

In one embodiment of the invention, a positioning pin shaft and a connecting flange are arranged at one end of the joint connected with the space truss joint; and one end of the rod piece joint connected with the space truss rod piece is provided with a positioning pin shaft hole.

Compared with the prior art, the invention has the following beneficial effects:

the invention discloses a rapid assembly method suitable for assembling a space truss structure, which is suitable for rapid assembly of various space truss structures by a space robot. The method has high construction efficiency and good structural connection rigidity, and the robot operates in a single arm without the assistance of an additional mechanical arm or a tool;

the invention simplifies the assembly steps of the large-scale space truss, thereby being suitable for realizing reliable and efficient on-orbit assembly under the existing development level of the space robot and being convenient for short-term and rapid space application. The robot grips the space truss members and joints along the designated radial direction of the space truss nodes, and the truss node joint assemblies and the truss rod member joint assemblies can be connected in a self-locking manner without additional mechanism and tool assistance. Meanwhile, due to the lateral assembly, the space truss node is not limited after being fixed, and single-end or double-end assembly can be realized.

The method is suitable for quickly constructing various structural units of the truss, and the robot or the astronaut only needs to grasp the middle position of the truss rod piece and push the truss rod piece in the appointed radial direction, so that the rod piece joint assemblies at two ends of the truss rod piece can be automatically butted and locked, and the operation flow of the robot or the astronaut is greatly simplified. The space truss built by the invention has higher assembly rigidity and connection precision, is more convenient to disassemble the assembled space truss, and is suitable for recycling space materials. The invention is suitable for the requirement of future space exploration tasks, can realize the on-orbit construction of a complex space topological structure by utilizing the space robot with less degrees of freedom, and is suitable for the on-orbit construction requirement of the aerospace fields such as future space stations, large-scale antennas, space solar cell arrays, star table bases and the like.

In conclusion, the truss connection mode is convenient to operate, high in rigidity, high in precision and multifunctional, and is suitable for the on-orbit assembly requirement of the future space.

Drawings

FIG. 1 is a schematic structural view of a radial insertion self-locking quick coupling suitable for assembly of a space truss structure according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a node joint 2 according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a rod joint 3 according to an embodiment of the present invention;

FIG. 4 is a schematic view of a radially inserted self-locking quick connector according to an embodiment of the present invention before assembly and connection;

FIG. 5 is a schematic view illustrating a state of a radial insertion self-locking quick coupling assembling and connecting process according to an embodiment of the present invention;

FIG. 6 is a schematic view of a radially inserted self-locking quick connector according to an embodiment of the present invention after assembly;

FIG. 7 is a schematic view of a rapid assembly method for assembling a space truss structure according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a quick-fit rod assembly according to an embodiment of the present invention;

fig. 9 is a schematic flow chart illustrating a rapid assembly method for assembling a space truss structure according to an embodiment of the present invention;

fig. 10 is a schematic view of a large-scale space construction using a rapid assembly method for assembling a space truss structure according to the present invention.

The labels in the figure are: 1-truss node, 11-mounting shaft hole, 12-bolt hole, 2-node joint, 201-node connector, 2011-circumferential boss, 202-node lining member, 203-shrapnel circuit board, 204-electric connection shrapnel, 205-positioning pin shaft, 206-connection flange, 3-rod joint, 301-rod connector, 302-rod bolt, 30-elastic locking assembly, 303-locking ring, 3031-boss structure, 304-locking spring, 305-locking baffle ring, 306-rod lining member, 307-contact circuit board, 308-electric connection contact point, 309-locking sleeve, 310-locking baffle ring sleeve, 4-truss rod, 5-node joint assembly, 6-rod joint assembly, 2-node joint connector, 1-node connector, 2-rod connector, 1-elastic locking spring, 303-locking baffle ring sleeve, 7-space assembly robot, 701-gripping tool.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection or welding connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 7, an embodiment of the present invention discloses a radial insertion self-locking quick connector suitable for assembling a space truss structure, which includes a node connector 2 and a rod connector 3;

the node joint 2 and the truss node 1 are connected to form a node joint assembly 5, the rod joint 3 and the truss rod 4 are connected to form a rod joint assembly 6, the node joint 2 and the rod joint 3 are connected and assembled, and a space truss structure applicable to various environments is assembled; the truss space topological structure is determined by the geometric shape of the truss node 1 and the length of the truss rod 4, and the node joint 2 and the rod joint 3 serving as a universal connecting module can meet the requirements of truss structures in different spaces;

the node joint 2 comprises a node connecting piece 201;

the rod joint 3 comprises a rod inner lining member 306, a rod connecting member 301 connected with the node connecting member 201 in a matching way, an elastic locking assembly 30 and a locking retainer sleeve 310,

wherein the rod inner liner 306, the rod connector 301 and the locking collar sleeve 310 are integrally connected; the rod piece lining member 306 is sleeved in the rod piece connecting member 301, the rod piece connecting member 301 is sleeved in the elastic locking assembly 30, the elastic locking assembly 30 is sleeved in the locking stop ring sleeve 310 and is locked in the locking stop ring sleeve 310 by the rod piece locking tongue 302 arranged in the rod piece lining member 306, the rod piece locking tongue 302 can freely slide along the radial direction of joint insertion, and the elastic locking assembly 30 can axially move along the rod piece connecting member 301;

when the node joint 2 is assembled and connected with the rod joint 3, the node connecting piece 201 extrudes the rod locking tongue 302 until the elastic locking assembly 30 is unlocked, the elastic locking assembly 30 axially moves towards the node connecting piece 201, and the node connecting piece 201 and the rod connecting piece 301 are circumferentially and annularly locked and connected by the elastic locking assembly 30.

Referring to fig. 1 to 3, in another embodiment of the present invention, in order to facilitate connection of a node joint 2 with a truss node 1, a positioning pin 205 and a connecting flange 206 are disposed at one end of the node joint 2 connected with the truss node 1, and correspondingly, a mounting shaft hole 11 and a bolt hole 12 are disposed on the truss node 1.

Also in order to facilitate the connection of the rod connector 3 to the truss rod 4, a dowel hole (not shown) is provided at the end of the rod connector 3 connected to the truss rod 4.

Referring to fig. 2, in another embodiment of the present invention, the elastic locking assembly 30 includes a locking ring 303 and a locking spring 304 sleeved outside the locking ring 303, a boss structure 3031 is provided along the outer circumference of the locking ring 303 near the node joint 2, one end of the locking spring 304 abuts against the boss structure 3031, and the other end abuts against the locking baffle ring sleeve 310, and is in a compressed state. Thus, locking ring 303 is locked within locking collar sleeve 310 by lever locking tongues 302, and when nodal connection 201 is assembled with lever connection 301, lever locking tongues 302 are retracted under compression of nodal connection 201, and when nodal connection 201 is fully coincident with the axis of lever connection 301, lever locking tongues 302 are fully depressed, and locking ring 303 is ejected, moving axially of lever connection 301 towards nodal connection 201, and connection 201 and lever connection 301 are simultaneously locked circumferentially around by locking ring 303.

Referring to fig. 3 and 4, in another embodiment of the present invention, it is further preferable that the elastic locking assembly 30 further includes a locking ring retainer 305, the locking ring retainer 305 is sleeved in the locking ring retainer sleeve 310, the other end of the locking spring 304 abuts against the locking ring retainer 305, and the locking ring retainer 305, the locking ring retainer sleeve 310, the rod connecting member 301 and the rod lining member 306 are connected to one body.

In yet another embodiment of the present invention, it is further preferred that the elastic locking assembly 30 further comprises a locking ring sleeve 309, which is sleeved outside the locking spring 304 and is sleeved inside the locking ring sleeve 310 in parallel with the locking ring 305, and the locking ring 303, the locking spring 304 and the locking ring sleeve 309 are connected to one body.

In yet another embodiment of the present invention, it is further preferred that a circumferential boss 2011 for limiting the further movement of the elastic locking assembly 30 is provided along the circumference of the node connecting member 201.

In yet another embodiment of the present invention, it is further preferable that the node connector 2 is a hollow structure, and a node lining member 202 is embedded therein, and an elastic sheet circuit board 203 is disposed on an end surface of the node lining member 202 facing the rod connector 3, and an electrical connection elastic sheet 204 is disposed on the elastic sheet circuit board 203.

In yet another embodiment of the present invention, it is further preferable that the rod connector 3 is a hollow structure, a contact circuit board 307 is provided on an end surface of the rod lining member 306 facing the node connector 2, and an electrical connection contact 308 is provided on the contact circuit board 307.

In yet another embodiment of the present invention, it is further preferred that the node lining member 202 and the rod lining member 306 are both made of insulating material.