CN107775611B - Cantilever type multi-shaft rotary table for spacecraft attitude adjustment - Google Patents

Cantilever type multi-shaft rotary table for spacecraft attitude adjustment Download PDF

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Publication number
CN107775611B
CN107775611B CN201710933096.0A CN201710933096A CN107775611B CN 107775611 B CN107775611 B CN 107775611B CN 201710933096 A CN201710933096 A CN 201710933096A CN 107775611 B CN107775611 B CN 107775611B
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spacecraft
ring
lifting
turntable
platform
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CN107775611A (en
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冯伟
易旺民
杨旺
陈启威
郑圣余
王辰星
唐赖颖
王临政
彭国华
徐世峰
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Beijing Institute of Spacecraft Environment Engineering
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Beijing Institute of Spacecraft Environment Engineering
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25HWORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/10Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

The invention discloses a three-axis attitude-adjusting rotary table of a large-span cantilever type spacecraft, which comprises a supporting platform, an omnidirectional moving wheel train, a lifting system, a turning system and a slewing mechanism, wherein the inner side of a C-shaped ring of a turning frame is connected with the outer side of a slewing ring through a roller train combination, the inner side of the C-shaped ring surrounds the outer side of the slewing ring, the slewing ring is adjusted to be in a proper assembling, testing or testing state, the spacecraft is locked through a locking device of the slewing ring, and related work items are developed for the spacecraft. The invention realizes the open assembly requirements of embedded products such as a spacecraft high-thrust engine and the like and products such as narrow space pipelines and the like, achieves the accessibility and convenience of operation, and avoids the problem of structural deformation under the state of a large-span large-mass load cantilever.

Description

Cantilever type multi-shaft rotary table for spacecraft attitude adjustment
Technical Field
The invention belongs to the technical field of spacecraft assembly, and particularly relates to a large-span cantilever type three-axis attitude adjusting rotary table which can realize the openability of an embedded spacecraft product and meet the assembly and test requirements of the product.
Background
With the development trend of large-scale, compact layout and personalized appearance of spacecraft products, the attitude adjustment requirement of spacecraft assembly is more common, and a large turntable is required to realize the adjustment of the attitude of the spacecraft so as to meet the requirements of spacecraft assembly, test and experiment.
At present, in order to meet the requirements of spacecraft assembly, test and experiment, a bottom connecting flange of a spacecraft is fixedly connected with a two-axis rotary table conventionally, and the attitude adjusting requirement of the spacecraft is met through the rotation and pitching functions of the two-axis rotary table. For example, chinese patent CN201210477474.6 discloses a two-axis turntable for satellite attitude adjustment, which is implemented by using a slider-crank mechanism and a lead screw transmission, and is connected to a spacecraft through a flange on the two-axis turntable, as shown in fig. 1. Subsequently, a two-axis turntable adopting an electric push rod technology is developed, for example, see chinese patent CN201310144110.0, which discloses an attitude adjusting turntable, which realizes the pitching of a spacecraft by an electric push rod, as shown in fig. 2. The two schemes both meet the attitude adjusting requirement of spacecraft azimuth pitching.
The two-axis turntable scheme meets the requirements of the conventional flange connection-based spacecraft on the purposes of assembly, test, experiment and the like, but the spacecraft is more and more diversified in configuration, particularly the spacecraft configuration of the truss structure is changed according to the requirement of effective load, and a flange interface is not available; meanwhile, as the layout of the aerospace product is more and more compact, the requirement on the openness of the aerospace product is higher and higher in order to facilitate the convenience of assembly of the aerospace product. The traditional spacecraft attitude adjusting scheme cannot meet the spacecraft attitude adjusting requirement of an illegal flange connection mode, and the assembly requirement of a flange bottom product is difficult to realize.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a large-span cantilever type three-axis attitude adjusting rotary table for a spacecraft, which solves the problem of structural deformation of the large-span large-mass load cantilever, effectively improves the assembly openness of products, and meets different attitude requirements of embedded products such as a large thrust engine of the spacecraft in the final assembly and test processes.
The invention is realized by the following technical scheme:
the large-span cantilever type spacecraft three-axis attitude adjusting rotary table comprises a supporting platform, an omnidirectional moving wheel train, a lifting system, a turning system and a slewing mechanism, wherein the omnidirectional moving wheel train is arranged at the bottom of the supporting platform so as to support and move the supporting platform, and an auxiliary support is arranged at the same time and is used for long-term parking of a spacecraft; the lifting system comprises a lifting support, a screw guide rail pair, a lifting platform and a lifting electric control system, wherein the lifting support with a stiffening beam is arranged at the upper part of the supporting platform; the lifting support is provided with a screw guide rail pair and a lifting platform, and the lifting platform enables the lifting support to be adjusted to a proper height under the action of a lifting electric control system; the overturning system comprises an external tooth type turntable bearing, an overturning frame containing a C-shaped ring and an overturning motor system, the external tooth type turntable bearing is connected with the lifting platform, the overturning frame containing the C-shaped ring is arranged on the outer side of the external tooth type turntable bearing, and the overturning frame containing the C-shaped ring is adjusted to a proper overturning angle through the overturning motor system; the rotating system comprises a rotating ring and a roller wheel assembly, the inner side of a C-shaped ring of the roll-over stand is connected with the outer side of the rotating ring through the roller wheel assembly, the inner side of the C-shaped ring surrounds the outer side of the rotating ring, the rotating ring is adjusted to be in a proper assembling, testing or testing state, the spacecraft is locked through a locking device of the rotating ring, and related work items are developed for the spacecraft.
Wherein the support platform is a mechanical frame.
In the technical scheme, the supporting platform is a bearing body of the whole posture adjusting rotary table, the lead screw guide rail pair comprises a ball screw and a linear guide rail, and the auxiliary protection rotary table is supported by lifting the ground feet when the rotary table moves to a proper position.
In the technical scheme, the omnidirectional moving wheel system is arranged below the platform base and is a Mecanum wheel, so that the platform can freely move with the turning radius of 0 degree and omnidirectional motion.
In the technical scheme, the lifting system realizes the lifting function of the posture adjusting tool between 1200mm and 2600 mm.
Furthermore, the lifting is connected with a lifting bracket arranged on the supporting platform through a lead screw guide rail pair.
In the technical scheme, the lifting platform is provided with the external tooth type turntable bearing, the outer ring of the external tooth type turntable bearing is connected with the rotary ring through the roll-over stand, and the electric roll-over-180 plus 180 degrees of the roll-over stand containing the C-shaped ring is realized through the motor, so that the spacecraft can be turned over.
Among the above-mentioned technical scheme, set up axial gyro wheel assembly and radial rolling assembly between the C type ring of slewing ring and roll-over stand, remain the axis rotational degree of freedom, realize product gyration 360 through manual adjustment slewing ring, set up stop device simultaneously to guarantee the reliable fixed of spacecraft product and slewing ring.
Among the above-mentioned technical scheme, set up design fixed connection spare and movable connecting piece on the gyration ring.
Further, the fixed connecting piece is installed through the hole and fixed with the inner side wall of the rotary ring; one end of the movable connecting piece is connected with the spacecraft product, and the other end of the movable connecting piece is connected with the fixed connecting piece, so that the movable connecting piece can be used as a supporting rod and a suspender.
Furthermore, one group of the two connecting pieces is connected by round holes and used as a radial reference, and the other three groups of the two connecting pieces are connected by long round holes and radially adjusted. The movable connecting piece design is changed, and the movable connecting piece can be connected with different types of spacecrafts, so that the posture adjusting requirements of different spacecrafts are met.
Compared with the prior art, the invention realizes the openability of the embedded spacecraft product and meets the requirements of assembly and test of the product, and the large-span cantilever type three-axis attitude adjusting rotary table for the spacecraft provided by the invention achieves the following effects:
1) the rotary table is designed in a cantilever manner and has a three-axis posture adjusting function, so that the open assembly requirements of embedded products such as a spacecraft high-thrust engine and the like and products such as narrow space pipelines and the like can be met, and the accessibility and convenience of operation are achieved;
2) the turntable posture adjusting function can realize the realization of any posture of the spacecraft and can realize the test and test requirements of various postures of any mechanism on the spacecraft;
3) the overturning C-shaped ring and the rotary ring are flexibly connected through a sliding wheel assembly, so that the problem of structural deformation under the condition of a large-span large-mass load cantilever is solved;
4) the fixed connecting piece and the movable connecting piece between the rotary ring and the spacecraft are designed, so that the posture adjusting function requirements of other spacecrafts can be met by changing the movable connecting piece;
5) the spacecraft is effectively placed in the rotary circular ring mechanism, and the safety protection of the spacecraft body is effectively realized.
Drawings
Fig. 1 is a schematic structural diagram of a two-axis turntable for adjusting the attitude of a satellite in the prior art.
Fig. 2 is a schematic structural diagram of another posture adjustment turntable in the prior art.
Fig. 3a is a front view of a three-axis attitude adjusting platform of a large-span cantilevered spacecraft according to an embodiment of the present invention with the flipping ring mechanism in a vertical state.
Fig. 3b is a side view of the three-axis attitude adjusting platform of the large-span cantilevered spacecraft with the flipping ring mechanism in a vertical state according to an embodiment of the present invention.
Wherein, 1 is a supporting platform; 2 is a motion wheel train; 3, auxiliary ground foot support; 4 is a lifting bracket; 5 is a lead screw guide rail pair; 6 is a lifting platform; 7 is a lifting servo control motor system; 8 is a roll-over stand (containing a C-shaped ring); 9 is an external tooth type turntable bearing; 10 is a turnover motor system; 11 is a roller assembly connected between the revolving ring and the overturning C-shaped ring; 12 is a rotary ring; 13 is a spacecraft connecting adapter; 14 is a locking device of the rotary ring; and 15 is a hypothetical spacecraft.
Fig. 4 is a schematic diagram of a roller assembly connecting a slewing ring and an overturning C-shaped ring in a three-axis attitude adjusting platform of a large-span cantilevered spacecraft according to an embodiment of the present invention.
Detailed Description
The three-axis attitude adjusting platform of the large-span cantilevered spacecraft of the present invention is described in further detail below with reference to the accompanying drawings, which are merely exemplary and not intended to limit the scope of the present invention in any way.
Referring to fig. 3, fig. 3a is a front view of a three-axis attitude adjusting platform of a large-span cantilevered spacecraft according to an embodiment of the present invention, with a tilting ring mechanism in a vertical state; fig. 3b is a side view of a three-axis attitude adjusting platform of a large-span cantilever spacecraft according to a specific embodiment of the present invention, wherein a turning ring mechanism is in a vertical state, the three-axis attitude adjusting platform of the large-span cantilever spacecraft of the present invention comprises a supporting platform (mechanical frame) 1, an omnidirectional moving wheel train 2, a lifting system, a turning system and a swing mechanism, the bottom of the supporting platform 1 is provided with the omnidirectional moving wheel train 2 to support and move the supporting platform 1, and an auxiliary support 3 is provided for long-term parking of the spacecraft; the lifting system comprises a lifting support 4, a screw guide rail pair 5, a lifting platform 6 and a lifting electric control system 7, wherein the lifting support 4 with a reinforcing beam is arranged at the upper part of the supporting platform 1; a screw guide rail pair 5 and a lifting platform 6 are arranged on the lifting support 4, and the lifting support is adjusted to a proper height by the lifting platform 6 under the action of a lifting electric control system 7; the overturning system comprises an outer tooth type turntable bearing 9, an overturning frame 8 containing a C-shaped ring and an overturning motor system 10, the outer tooth type turntable bearing 9 is connected with the lifting platform 6, the overturning frame 8 containing the C-shaped ring is arranged on the outer side, and the overturning frame (containing the C-shaped ring) is turned to a proper overturning angle through the overturning motor system 10; the turning system comprises a turning ring 12 and a five-group roller assembly 11, the inner side of a C-shaped ring of the turning frame 8 is connected with the outer side of the turning ring 12 through the roller assembly 11, the inner side of the C-shaped ring surrounds the outer side of the turning ring 12, the turning ring 12 is adjusted to be in a proper assembling, testing or testing state, the spacecraft is locked through a locking device 14 of the turning ring, and related work items are developed for the spacecraft;
the structural diagram of a roller assembly 11 connecting a revolving ring and a roll-over stand (including a C-shaped ring) in the invention is shown in fig. 4, and fig. 4 shows a structural schematic diagram of the roller assembly, wherein the roller assembly comprises an axial roller assembly and a radial roller assembly, and the axial roller assembly and the radial roller assembly are respectively arranged on the inner side of the C-shaped ring of the roll-over stand; the slewing ring is arranged between the five groups of roller assemblies, wherein the upper axial roller assembly and the lower axial roller assembly limit the axial movement of the slewing ring, and the roller assemblies inside and outside the radial direction limit the radial movement of the slewing ring, so that the rotation of the slewing ring around the axis of the slewing ring is realized.
In a particular embodiment, after the slewing ring 12 has been adjusted in position, a spacecraft connection adapter 13 is arranged inside the slewing ring 12 for connecting a spacecraft.
The attitude of the spacecraft can be adjusted by controlling the lifting function, the overturning function and the manual rotation function of an electric control system of the rotary table subsequently. The turntable is transported to the final assembly, test or test site for the mecanum wheel 2 by the electronic control system.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and the related technical personnel can make modifications of the present embodiment without inventive contribution as required after reading the present specification, but all are protected by the patent law within the scope of the claims.

Claims (11)

1. The large-span cantilever type spacecraft three-axis attitude adjusting rotary table comprises a supporting platform, an omnidirectional moving wheel train, a lifting system, a turning system and a slewing mechanism, wherein the omnidirectional moving wheel train is arranged at the bottom of the supporting platform so as to support and move the supporting platform, and an auxiliary support is arranged at the same time and is used for long-term parking of a spacecraft; the lifting system comprises a lifting support, a screw guide rail pair, a lifting platform and a lifting electric control system, wherein the lifting support with a stiffening beam is arranged at the upper part of the supporting platform; the lifting support is provided with a screw guide rail pair and a lifting platform, and the lifting platform enables the lifting support to be adjusted to a proper height under the action of a lifting electric control system; the overturning system comprises an outer tooth type turntable bearing, an overturning frame containing a C-shaped ring and an overturning motor system, the outer tooth type turntable bearing is connected with the lifting platform, the overturning frame containing the C-shaped ring is arranged on the outer side of the outer tooth type turntable bearing, and the overturning frame containing the C-shaped ring is controlled to rotate through the overturning motor system, so that the overturning frame of the C-shaped ring is adjusted to a proper overturning angle; the rotating system comprises a rotating ring and a roller wheel assembly, the inner side of a C-shaped ring of the roll-over stand is connected with the outer side of the rotating ring through the roller wheel assembly, the inner side of the C-shaped ring surrounds the outer side of the rotating ring, the rotating ring is adjusted to be in a proper assembling, testing or testing state, the spacecraft is locked through a locking device of the rotating ring, and the operation is carried out on the spacecraft.
2. The large-span cantilevered spacecraft three-axis attitude adjustment turntable of claim 1, wherein the support platform is a bottom mechanical frame.
3. The three-axis attitude adjusting turntable of the large-span cantilever spacecraft of claim 1, wherein the support platform is a bearing body of the whole attitude adjusting turntable, the lead screw and guide rail pair is a ball screw and a linear guide rail, and the auxiliary protection turntable is supported by raising the ground feet when the turntable is moved to a proper position.
4. The large-span cantilevered spacecraft three-axis attitude adjusting turntable of any of claims 1 to 3, wherein the omnidirectional movement train is arranged below the base of the support platform and is a Mecanum wheel, which realizes 0 degree turning radius, omnidirectional movement and free movement of the support platform.
5. The three-axis attitude-adjusting rotary table of the large-span cantilevered spacecraft of any one of claims 1 to 3, wherein the lifting system realizes the lifting function between 1200mm and 2600mm of the attitude-adjusting tool.
6. The large-span cantilevered spacecraft three-axis attitude adjustment turntable of claim 1, wherein the lift table is connected to a lift bracket provided on the support platform by a lead screw guide rail pair.
7. The large-span cantilever spacecraft three-axis attitude adjusting turntable as claimed in claim 1, wherein the elevating platform is provided with an external gear type turntable bearing, an outer ring of the external gear type turntable bearing is connected with a rotary ring through a roll-over stand, and the roll-over stand with the C-shaped ring is electrically turned over by-180 to +180 degrees through driving the external gear type turntable bearing by a motor, so that the spacecraft can be turned over.
8. The large-span cantilever type spacecraft three-axis attitude adjusting rotary table of claim 1, wherein an axial roller assembly and a radial roller assembly are arranged between the slewing ring and the C-shaped ring of the roll-over stand, so that the axis can rotate freely, the slewing ring can be manually adjusted to rotate 360 degrees, and a limiting device is arranged at the same time, so that the spacecraft product and the slewing ring can be reliably fixed.
9. The large-span cantilevered spacecraft three-axis attitude adjustment turntable of claim 1, wherein the slewing ring is provided with fixed and movable connections.
10. The large-span cantilevered spacecraft three-axis attitude adjustment turntable of claim 9, wherein the fixed connection is fixed through a hole mount and a slewing ring inner sidewall; one end of the movable connecting piece is connected with the spacecraft product, and the other end of the movable connecting piece is connected with the fixed connecting piece, so that the movable connecting piece can be used as a supporting rod and a suspender.
11. The large-span cantilevered spacecraft three-axis attitude adjustment turret of claim 9, wherein one of the two connectors is a circular hole connection as a radial reference, and the other three connectors are oblong hole connections for radial adjustment.
CN201710933096.0A 2017-10-10 2017-10-10 Cantilever type multi-shaft rotary table for spacecraft attitude adjustment Active CN107775611B (en)

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Publication number Priority date Publication date Assignee Title
CN109483466B (en) * 2019-01-03 2020-12-08 武汉船用机械有限责任公司 Turnover tool for oval semi-pipe part and using method thereof
CN112025666A (en) * 2020-09-21 2020-12-04 成都市珑熙科技有限公司 Vehicle for assembling aviation turbine engine equipment
CN112720391A (en) * 2020-12-21 2021-04-30 中国航空工业集团公司北京航空精密机械研究所 Attitude adjustment three-axis turntable for large-scale space satellite product test
CN113146171A (en) * 2021-03-05 2021-07-23 南京晨光集团有限责任公司 Satellite attitude conversion device with rotation azimuth lifting function
CN117226693A (en) * 2023-11-16 2023-12-15 中国航发沈阳黎明航空发动机有限责任公司 Space posture adjusting device and method for polishing blisk parts

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KR20080093514A (en) * 2007-04-17 2008-10-22 현대중공업 주식회사 Variable elevation worktable
CN203636286U (en) * 2013-11-28 2014-06-11 山河智能装备股份有限公司 Welding positioner for excavator booms
CN203779096U (en) * 2014-04-08 2014-08-20 中国农业机械化科学研究院 Multi-degree-of-freedom aero-engine assembly platform
CN104015171A (en) * 2014-05-27 2014-09-03 北京卫星环境工程研究所 Multifunctional rotary table used for posture adjustment of spacecraft
CN204772435U (en) * 2015-06-11 2015-11-18 戴志达 A movable roll -over stand for assembly of engine
CN105619355A (en) * 2016-03-16 2016-06-01 梁山中集东岳车辆有限公司 Synchronous centering positioning device
CN206527687U (en) * 2017-03-10 2017-09-29 周口科技职业学院 The roll-over stand for dismounting engine of convenient use
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