CN110697090B - Rapid assembly method suitable for assembling space truss structure - Google Patents
Rapid assembly method suitable for assembling space truss structure Download PDFInfo
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- CN110697090B CN110697090B CN201910850218.9A CN201910850218A CN110697090B CN 110697090 B CN110697090 B CN 110697090B CN 201910850218 A CN201910850218 A CN 201910850218A CN 110697090 B CN110697090 B CN 110697090B
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Abstract
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.
Description
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 to the interface axis of the node joint, approaches the node joint along the space truss rod in the radial direction and aligns the interface, and after 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;
(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 locking tongue, the elastic locking assembly is unlocked, the elastic locking assembly moves towards the node connecting piece, and the node connecting piece and the rod connecting piece are all connected in a surrounding and 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 invention, a clamping tool for holding the space truss rod piece is arranged at the tail end of the space assembling robot, and a pin matched with the central hole position of the space truss rod piece is arranged 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, which is 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 in 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 component, 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 ring sleeve, 310-locking baffle ring sleeve, 4-truss rod, 5-node joint component, 6-rod joint component, 2-node joint component, 1-rod joint component, 2-node joint component, 1-node joint component, 202-elastic locking ring component, 303-locking ring sleeve, 3031-rod connector, 304-locking spring, 305-locking spring, and 308-electric connection component, 7-space assembly robot, 701-gripping tool.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying 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 the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), 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, descriptions such as "first", "second", etc. in the present invention are used for descriptive purposes only 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 connector 2 is assembled and connected with the rod connector 3, the node connector 201 extrudes the rod locking tongue 302, the elastic locking assembly 30 is unlocked, the elastic locking assembly 30 moves axially towards the node connector 201, and the node connector 201 and the rod connector 301 are circumferentially and annularly connected with each other 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 rods 4, a dowel hole (not shown) is provided at the end of the rod connector 3 connected to the truss rods 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 retainer 305, the locking retainer 305 is sleeved in the locking retainer sleeve 310, the other end of the locking spring 304 abuts against the locking retainer 305, and the locking retainer 305, the locking retainer sleeve 310, the rod member connecting member 301 and the rod member lining member 306 are connected to a whole.
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.
Example 1
As shown in fig. 1, the present example provides a radial insertion self-locking quick coupling suitable for assembling a space truss structure, which mainly includes a node coupling 2 and a rod coupling 3. The node joint 2 and the truss node 1 are connected to form a node joint assembly 5, and the rod joint 3 and the truss rod 4 are connected to form a rod joint assembly 6. Node joint 2 in node connector 201 and rod connect in the pole piece connecting piece 301 have the same appearance structure, and have the concave-convex structure of complex and realize axial connection with one side direction, after node joint subassembly 5 and rod joint subassembly 6 are close to the contact along specific radial aspect, when node connecting piece 201 and rod connecting piece 301's axis, unsmooth, surface are complete coincide, the locking ring 303 of rod joint 3 pops out to embrace locking node connecting piece 201 and rod connecting piece 301, realize circumferential locking and connect.
As shown in fig. 2, the node joint 2 provided in this example mainly includes a node connecting member 201 and a node lining member 202. One end of the node connecting piece 201 is provided with a positioning pin shaft 205 and a connecting flange 206, the positioning pin shaft 205 is matched with the mounting shaft hole 11 of the truss node 1, and the connecting flange 206 is matched with the mounting surface of the truss node 1 and is fixedly connected by screws. Node inner liner 202 is embedded in node connector 201 with its axis coincident with the axis of node connector 201, and the outer surface of node inner liner 202 mates with the inner surface of rod connector 301 to guide and position the rod fitting 3 mating process.
As shown in fig. 3, the lever connector 3 provided in this example mainly includes a lever connector 301, a lever latch 302, a lock ring 303, a lock spring 304, a lock retainer 305, a lever liner 306, a contact circuit board 307, an electrical connection contact 308, a lock ring sleeve 309, and a lock retainer sleeve 310. One end of the rod link 301 has a positioning pin shaft hole, and the truss rod 4 is inserted into the rod link 301 to be closely fitted and locked with the rod link 301 by a positioning pin through the positioning pin shaft hole. The lever locking tongue 302 is installed in the lever inner liner 306 to be freely slidable in the radial direction of the joint insertion, and a compression spring (not labeled) is installed between the bottom of the lever locking tongue 302 and the lever link 301 so that the lever locking tongue 302 is pushed up to the limit position of the lever inner liner 306, and the main function of the lever locking tongue 302 is to block the locking ring 303 from moving outward along the axis of the lever link 301 by the pop-up state. When radially inserted, lever latch tongue 302 retracts under compression of node connection 201, lever latch tongue 302 is fully depressed when node connection 201 is fully coincident with the axis of lever connection 301, and locking ring 303 pops out along the axis of lever connection 301, and node connection 201 and lever connection 301 are simultaneously locked circumferentially around by locking ring 303. The locking spring 304 is mainly used to eject and hold the locking ring 303, and the locking stopper 305 is connected to the truss bar 4, the bar connecting member 301, and the bar lining member 306 using a positioning pin for fixing the locking spring 304. The rod inner liner 306 is embedded in the rod connection member 301 with its axis coincident with the axis of the rod connection member 301, and the outer surface of the rod inner liner 306 engages the inner surface of the node connection member 201 to guide and position the docking process of the node joint 2.
With reference to fig. 1 and 2, in the node joint 2 provided in this embodiment, the node connecting member 201 is hollow, so that cables and pipes can be conveniently arranged, the end surface of the node lining member 202 facing the truss member 4 is fixedly provided with the spring plate circuit board 203, the electric connecting spring plate 204 is welded on the spring plate circuit board 203, and the spring plate circuit board 203 is provided with a cable pad to lead out the cables to the truss node 1.
Referring to fig. 1 and 3, in the rod connector 3 provided in this embodiment, the rod connector 301 is hollow for cable and pipe arrangement, the end surface of the rod lining 306 facing the truss node 1 is fixedly installed with a contact circuit board 307, the electrical connection contact 308 is soldered to the contact circuit board 307, and the contact circuit board 307 has a cable pad for leading out a cable to the truss rod 4.
During the connection of the node connector 2 to the lever connector 3, the electrical connection dome 204 is pressed into contact by the electrical connection contacts 308, and the node lining member 202 and the lever lining member 306 are made of a non-conductive material in order to prevent short-circuits with the electrical connection dome 204 and the electrical connection contacts 308.
Example 2
The embodiment provides a case for realizing quick connection of a connector by using the connector.
As shown in fig. 4, this example reveals the state before the joint is assembled and connected. The truss node 1 and the node joint 2 are connected in advance to form a node joint assembly 5, and the truss node 1 is fixed; the rod joints 3 are pre-connected with the truss rods 4 as rod joint assemblies 6. Node joint assembly 5 is parallel to the axis of rod joint assembly 6, node connector 201 is in complementary alignment with the gullet of rod connector 301, at which point rod latch 302 springs out and its side blocks locking ring 303 from springing out.
As shown in fig. 5, this example reveals the state of the joint assembling and connecting process. The middle part of the truss rod 4 is gripped and pressed down by a human hand or a robot hand, and the rod joint assembly 6 is always kept parallel to the axis of the node joint assembly 5 and moves towards the node joint assembly 5. During the contact of the two components, the rod lining 306 in the rod joint 3 is guided to the node connecting member 201, and the rod latch 302 is in contact with the node connecting member 201 and is pressed. When the lever latch tongue 302 is squeezed to a certain position and separated from the locking ring 303, the nodal connection 201 and lever connection 301 are not yet fully aligned and the nodal connection 201 continues to block the locking ring 303 from popping out toward the lever end face.
As shown in fig. 6, this example reveals the state after the joint is assembled and connected. The middle part of the truss rod piece 4 of the holding frame is held by a human hand or a robot hand and is pressed downwards, the rod piece joint component 6 is always kept parallel to the axis of the node joint component 5, and the rod piece joint component moves continuously towards the direction of the node joint component 5. When the axes, the concave and the convex surfaces of the node connecting piece 201 and the rod connecting piece 301 are completely coincident, the side surface of the locking ring 303 is free from obstruction and can be ejected along the rod axis under the pushing of the locking spring 304, and the node connecting piece 201 and the rod connecting piece 301 are simultaneously locked by the locking ring 303 in a circumferential surrounding mode. When locking ring 303 is pushed out, the circumferential projection of node connector 201 restricts it from continuing to move while locking spring 304 remains resilient, at which point the locking state is stable. In the final state, the quick coupling realizes axial limit locking and mutual rotation limit locking by utilizing the tooth socket matching of the node connecting piece 201 and the rod connecting piece 301, realizes radial limit locking by utilizing the locking ring 303, and simultaneously, the locking ring 303 plays a role in improving the connection rigidity and precision by increasing the connection surface by matching with the node connecting piece 201 and the rod connecting piece 301.
Example 3
As shown in fig. 7, the present example provides a rapid assembly method suitable for assembling a space truss structure, where the method mainly involves objects including a node joint assembly 5, a rod joint assembly 6, and a space assembly robot 7, where the node joint assembly 5 is formed by connecting nodes (truss nodes 1) and node joints 2 on a space truss, and the rod joint assembly 6 is formed by connecting space truss rods (truss rods 4) and rod joints 3.
The space assembly robot 7 grasps the rod joint assembly 6, adjusts the posture so that the rod joint 3 is coplanar and parallel to the interface axis of the node joint 2, and approaches the node joint 2 along the radial direction of the truss rod 4 and aligns the interfaces, and when the node joint assembly 5 and the rod joint assembly 6 are coaxial, the rod joint 3 and the node joint 2 are automatically locked and connected;
after the connection is completed, the space assembly robot 7 is removed and grasps the next rod joint assembly 6, and the assembly is continued until the space truss structure assembly is completed.
The node joint assemblies 5 have different shapes according to the space truss structure, the node joint assemblies 5 have uniform node joints 2, and the assembling connection is realized through node connecting pieces 201 which have specific tooth sockets so as to facilitate radial butt joint and axial connection.
The rod joint assembly 6 is provided with truss rods 4 with different lengths according to a space truss structure, the same rod joints 3 are installed at two ends of each truss rod 4, the two rod joints 3 have the same orientation and are provided with rod connecting pieces 301 matched with the node connecting pieces 201, radial butt joint and axial connection are facilitated, meanwhile, locking rings 303 are arranged, the rod joint connecting pieces 201 and the rod connecting pieces 301 are contracted before butt joint, and after butt joint, the node connecting pieces 201 and the rod connecting pieces 301 are encircled under the triggering of the locking springs 304, so that automatic high-rigidity and high-precision connection is realized.
The space assembly robot 7 has a holding tool 701 at the end for holding the space truss member 4, the holding tool is well matched with the outer surface of the truss member 4 and can be freely opened and closed, and the inside of the holding tool has a pin (not marked in the figure) along the clamping direction and can be matched with the central hole of the truss member 4, so that the truss member 4 is prevented from shifting along the axis or rotating around the axis, and accurate butt joint is facilitated.
The space assembly robot 7 grasps the rod joint assembly 6, and abuts in the designated radial direction of the node joint assembly 5, and the node joint 2 and the rod joint 3 can be self-locking connected without additional mechanism and tool assistance. Meanwhile, due to the lateral assembly, the node joint assembly 5 is not limited after being fixed, and single-end or double-end assembly can be realized.
Example 4
As shown in fig. 8, this embodiment provides a robot manipulator suitable for the assembly method of the present invention, and the robot assembly object may be a single rod connector assembly 6, a combination of rod connector assemblies 6 with node connector assemblies 5 already pre-assembled at one end, or a combination of rod connector assemblies 6 with node connector assemblies 5 already pre-assembled at both ends, according to the requirements of different truss structure forms or assembly sequences.
Example 5
As shown in fig. 9, the present embodiment provides an assembling process for assembling a space truss by using the assembling method of the present invention, which includes the following specific steps:
step 1: the space assembly robot 7 is in an initial starting state, and the mechanical arm starts to move;
step 2: the gripping tool 701 at the end of the space assembly robot 7 moves to the rod joint assembly 6 storage area;
and 3, step 3: the clamping tool 701 at the tail end of the space assembly robot 7 acts to clamp the rod joint assembly 6;
and 4, step 4: the space assembly robot 7 carries the rod joint assembly 6 out of the storage area;
and 5, step 5: the space assembly robot 7 carries the rod joint assembly 6 to move towards the truss to be assembled;
and 6, step 6: the space assembly robot 7 carries the rod joint assembly 6 to adjust the posture so that the rod joint 3 is opposite to the node joint 2;
and 7, step 7: the space assembly robot 7 carries the rod joint assembly 6 to insert and move to the truss;
and 8, step 8: the space assembly robot 7 carries a rod joint assembly 6 to be connected with the truss to be assembled, and the rod joint 3 is aligned with the node joint 2;
step 9: the space assembly robot 7 carries the rod joint assembly 6 to be connected with the truss to be assembled, and the rod joint 3 is in collision contact with the node joint 2;
step 10: the space assembly robot 7 carries the rod joint assembly 6 to be completely connected with the truss to be assembled, and the rod joint 3 is overlapped with the axis of the node joint 2 and is locked by itself;
and 11, step 11: the end gripping tool 701 of the space assembly robot 7 releases the rod union assembly 6 and exits.
And (4) assembling the space truss structure, and repeating the steps 1-11.
Example 6
As shown in fig. 10, this embodiment exemplifies an example of implementing a planar space truss structure by using the assembly method of the present invention, and a robot movement method or an assembly truss movement method may be employed to implement efficient assembly of a large-range complex space topological structure.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
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, the next rod piece joint assembly is held, and the steps (1) to (2) are repeated 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 rapid assembly method according to claim 7, wherein the node lining member and the rod member lining member are made of an insulating material.
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, which is connected with the space truss rod piece, is provided with a positioning pin shaft hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910850218.9A CN110697090B (en) | 2019-09-04 | 2019-09-04 | Rapid assembly method suitable for assembling space truss structure |
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| CN110697090B true CN110697090B (en) | 2022-09-02 |
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| CN111959826A (en) * | 2020-08-12 | 2020-11-20 | 南京林业大学 | Space truss structure connecting piece with quick on-orbit assembling function |
| CN113188591B (en) * | 2021-04-09 | 2023-08-11 | 苏州大学 | Self-powered multi-mode sensing device and method for space on-orbit assembly robot |
| CN113788164B (en) * | 2021-09-14 | 2022-09-02 | 哈尔滨理工大学 | Space truss connecting device with bidirectional locking function |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3220757A (en) * | 1962-03-22 | 1965-11-30 | David M Potter | Quick-disconnect coupling |
| DE2705798A1 (en) * | 1977-02-11 | 1978-08-17 | Knorr Bremse Gmbh | Coupling for rods or cables - has divided cylindrical elements latched together and clipped inside tube |
| FR2580344A1 (en) * | 1985-04-11 | 1986-10-17 | Chaponet Jacques | Device for coupling two bars end to end |
| US4822199A (en) * | 1987-08-10 | 1989-04-18 | Unistrut International Corp. | Modular frame structure |
| US5439309A (en) * | 1993-04-20 | 1995-08-08 | Raz; Danny | Joint coupling |
| CN107128514B (en) * | 2017-04-28 | 2023-06-27 | 西北工业大学 | Space truss on-orbit assembly system and method using space robot |
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