CN110697090B - Rapid assembly method suitable for assembling space truss structure - Google Patents

Abstract

The invention discloses a rapid assembly method suitable for the assembly of a space truss structure. First, a node joint assembly and a rod joint assembly are connected to form a joint, the space assembly robot grasps the truss rod, and adjusts the posture so that the interface axes of the rod joint and the node joint are the same. and parallel to each other, and approach the nodal joint along the radial direction of the truss member and align the interface. When the nodal joint assembly and the rod joint assembly are coaxial, the two are automatically locked and connected; repeat the above steps until the assembly of the space truss structure is completed. . The invention is a truss connection mode with convenient operation, high rigidity, high precision and multi-function, which is suitable for the future space on-orbit assembly needs.

Description

A rapid assembly method suitable for the assembly of space truss structures

technical field

The invention relates to a construction method of a large-scale aerospace structure, in particular to a rapid assembly method suitable for the assembly of a space truss structure. The assembly method is simple, suitable for low-consumption and high-efficiency operation of robots and astronauts, and is suitable for the assembly and construction of various types of space truss structures, such as future space stations, large-scale antennas, space solar arrays, star table bases and other aerospace fields. rail construction.

Background technique

With the needs of future space exploration, the need for the application of large-scale space structures is becoming more and more urgent, and the scale and requirements of space construction are constantly increasing. At present, large-scale space structures are mainly deployed structures. However, the carrying capacity of spacecraft is limited, the scale of deployment is limited, and the secondary expansion capacity is low. Therefore, on-orbit assembly has become the main way to construct large-scale space structures at home and abroad.

Through the analysis of domestic and foreign literature and data, the current development of space on-orbit assembly is mainly carried out by astronauts for experimental verification. Also more complicated.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a rapid assembly method suitable for the assembly of space truss structures, which greatly simplifies the performance requirements of space work robots through a special connection mechanism, and has the advantages of high self-locking rigidity, repeated disassembly and assembly, With the advantages of good scalability, it is very suitable for various application fields such as large-scale antennas in space, large-scale power stations in space, and planetary surface bases.

The technical scheme of the present invention is as follows:

A rapid assembly method applicable to the assembly of a space truss structure, comprising the following steps:

(1) First connect the nodes on the space truss and the node joints to form the node joint assembly; the space truss member and the member joint are connected to form the member joint assembly;

(2) The space assembly robot grasps the rod joint assembly, and adjusts the posture so that the rod joint and the joint axis of the node joint are coplanar and parallel, and are arranged along the radial direction of the space truss rod Approaching the node joint and aligning the interface, when the node joint assembly and the rod joint assembly are coaxial, the two are automatically locked and connected;

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

Wherein, the node joint includes a node connector, the rod joint includes a rod inner lining, a rod connector matched and connected with the node connector, an elastic locking assembly and a locking stop ring sleeve, in,

The rod inner lining piece, the rod connecting piece and the locking stop ring sleeve are connected into one body; the rod inner lining piece is sleeved in the rod connecting piece, so the The rod connecting piece is sleeved in the elastic locking assembly, the elastic locking assembly is sleeved in the locking baffle ring sleeve, and the rod is set in the rod inner lining. The locking tongue is locked in the locking retaining ring sleeve, the rod locking tongue can freely slide along the radial direction of the joint insertion, and the elastic locking assembly can move axially along the rod connecting piece;

When assembling and connecting, the node connector presses the rod lock tongue until the elastic locking component is unlocked, and the elastic locking component moves toward the node connector, and the node connector Both the connecting piece and the connecting piece are connected by the elastic locking assembly in the circumferential direction and locking connection.

In an embodiment of the present invention, the elastic locking assembly includes a locking ring and a locking spring sleeved on the outside of the locking ring, and along the outer circumference of the locking ring near the node joint side is provided In the boss structure, one end of the locking spring bears against the boss structure, and the other end bears against the locking retaining ring sleeve, and is in a compressed state.

In an embodiment of the present invention, the elastic locking assembly further includes a locking baffle ring, the locking baffle ring is sleeved in the locking baffle ring sleeve, and the other end of the locking spring is against the locking baffle ring. The locking baffle ring, the locking baffle ring, the locking baffle ring sleeve, the rod connecting piece and the rod inner lining are connected into one body.

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

In an embodiment of the present invention, a circumferential boss for restricting the continued movement of the elastic locking assembly is provided along the circumferential direction of the node connecting piece.

In an embodiment of the present invention, the node joint is a hollow structure, which is embedded with a node lining member, and a spring circuit board is provided on the end face of the node lining member facing the rod joint, so The shrapnel circuit board is provided with an electrical connection shrapnel.

In an embodiment of the present invention, the rod joint is a hollow structure, and a contact circuit board is provided on the end face of the rod lining member facing the node joint, and the contact circuit Electrical connection contacts are provided on the board.

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

In an embodiment of the present invention, a clamping tool for grasping the space truss rod is provided at the end of the space assembly robot, and along the clamping direction of the clamping tool is provided with the space truss Pins that fit in the center hole of the rod.

In an embodiment of the present invention, a positioning pin and a connecting flange are provided on one end of the node joint connected to the space truss node; between the rod joint and the space truss rod One end of the connection is provided with a positioning pin shaft hole.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The invention provides a rapid assembly method suitable for the assembly of space truss structures. The method is suitable for the rapid assembly of various types of space truss structures by space robots. When inserted in the direction, the truss member joint assembly and the truss node joint assembly can realize axial quick connection. When fully inserted, the locking ring is triggered to achieve high-rigidity radial locking. The locking ring maintains a stable self-locking state under the action of the locking spring. . The method has high construction efficiency, good structural connection rigidity, and single-arm operation of the robot, without the assistance of additional robotic arms or tools;

The invention simplifies the assembly steps of the large-scale space truss, so that it is suitable for realizing reliable and efficient on-orbit assembly under the existing development level of space robots, and is convenient for short-term and rapid space application. The robot grasps the space truss member and connects along the specified radial direction of the space truss node, and the truss node joint assembly and the truss member joint assembly can be self-locking and connected without additional mechanism and tool assistance. At the same time, due to the lateral assembly, there is no restriction when the space truss nodes are fixed, and single-end or double-end assembly can be realized.

This method is suitable for the rapid construction of various types of truss structural units. The robot or astronaut only needs to grasp the middle position of the truss member and push it in along the specified radial direction of the truss member. The member joint components at both ends of the truss member can be It realizes automatic docking and locking, which greatly simplifies the operation process of robots or astronauts. The space truss constructed by the invention has higher assembly rigidity and connection accuracy, and is also convenient to disassemble the assembled space truss, and is suitable for the reuse of space materials. The invention is suitable for the needs of future space exploration tasks, and the on-orbit construction of complex space topology structures can be realized by using space robots with few degrees of freedom, and is suitable for future space stations, large-scale antennas, space solar arrays, star table bases and other aerospace fields. rail construction needs.

To sum up, the present invention is a truss connection method with convenient operation, high rigidity, high precision and multi-functionality, which is suitable for future space on-orbit assembly requirements.

Description of drawings

1 is a schematic structural diagram of a radially inserted self-locking quick connector 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;

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

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

5 is a schematic state diagram of a radially inserted self-locking quick connector assembly and connection process according to an embodiment of the present invention;

6 is a schematic diagram of the state of a radially inserted self-locking quick connector after being assembled and connected according to an embodiment of the present invention;

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

8 is a schematic structural diagram of a quick assembly rod according to an embodiment of the present invention;

FIG. 9 is a schematic flowchart of a rapid assembly method applicable to the assembly of a space truss structure according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of large-scale space construction obtained by a rapid assembly method suitable for space truss structure assembly of the present invention.

Marked in the figure: 1-truss node, 11-installation shaft hole, 12-bolt hole, 2-node joint, 201-node connector, 2011-circumferential boss, 202-node lining, 203-shrapnel circuit board , 204-electric connection spring, 205-positioning pin, 206-connecting flange, 3-rod joint, 301-rod connector, 302-rod lock tongue, 30-elastic locking assembly, 303-locking ring, 3031-Boss structure, 304-Locking spring, 305-Locking stopper, 306-Rod lining, 307-Contact circuit board, 308-Electrical connection contact, 309-Locking ring sleeve, 310-Locking stopper Ring casing, 4-truss member, 5-joint joint assembly, 6-rod joint assembly, 7-space assembly robot, 701-clamping tool.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar promotions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation disclosed below.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or a welded connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present invention.

Referring to FIGS. 1 to 7 , an embodiment of the present invention discloses a radially inserted self-locking quick joint suitable for assembly of a space truss structure, including a node joint 2 and a rod joint 3 ;

The node joint 2 is connected with the truss node 1 to form a node joint assembly 5, the rod joint 3 is connected with the truss member 4 to form a rod joint assembly 6, and the node joint 2 and the rod joint 3 are connected to assemble and assemble. The space truss structure can be applied to various environments; the truss space topology is determined by the geometric shape of the truss node 1 and the length of the truss member 4. The node joint 2 and the member joint 3 can be used as general connection modules to meet the requirements of different space truss structures. need;

The node joint 2 includes a node connector 201;

The rod joint 3 includes a rod inner lining 306, a rod connector 301 that is matched and connected with the node connector 201, an elastic locking assembly 30 and a locking retaining ring sleeve 310,

Wherein, the rod inner lining member 306, the rod connecting member 301 and the locking stop ring sleeve 310 are connected into one body; the rod inner lining member 306 is sleeved on the rod The rod connector 301 is sleeved in the elastic locking assembly 30, and the elastic locking assembly 30 is sleeved in the locking retaining ring sleeve 310, and is set by the device When the rod lock tongue 302 of the rod lining member 306 is locked in the locking retaining ring sleeve 310, the rod lock tongue 302 can slide freely along the radial direction of joint insertion. The elastic locking assembly 30 can move axially along the rod connecting piece 301;

When the node joint 2 is assembled and connected with the rod joint 3, the node connector 201 presses the rod lock tongue 302 until the elastic locking assembly 30 is unlocked, and the elastic The locking assembly 30 moves axially toward the node connecting member 201 , and both the node connecting member 201 and the rod connecting member 301 are circumferentially locked and connected by the elastic locking assembly 30 .

Referring to Figures 1-3, in another embodiment of the present invention, in order to facilitate the connection of the node joint 2 to the truss node 1, a positioning device is provided on one end of the node joint 2 connected to the truss node 1 The pin shaft 205 and the connecting flange 206 are correspondingly provided with the installation shaft hole 11 and the bolt hole 12 on the truss node 1 .

Also in order to facilitate the connection of the rod joint 3 to the truss rod 4, a positioning pin hole (not marked in the figure) is provided on the end of the rod joint 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, near the node joint 2 A boss structure 3031 is provided along the outer circumference of the locking ring 303 on the side. One end of the locking spring 304 bears against the boss structure 3031, and the other end bears against the locking retaining ring sleeve 310 in a compressed state. . Therefore, the locking ring 303 is locked in the locking ring sleeve 310 by the lever locking tongue 302 , when the node connecting piece 201 is assembled and connected with the lever element connecting piece 301 , the lever locking tongue 302 is retracted under the pressing of the node connecting piece 201 . , when the axes of the node connector 201 and the rod connector 301 are completely coincident, the bar lock tongue 302 is completely pressed down, and the locking ring 303 pops out at this time, moving along the axis of the bar connector 301 to the node connector 201 , the connecting piece 201 and the rod connecting piece 301 are simultaneously locked by the locking ring 303 in the circumferential direction.

Referring to FIG. 3 and FIG. 4 , in yet another embodiment of the present invention, preferably, the elastic locking assembly 30 further includes a locking stop ring 305 , and the locking stop ring 305 is sleeved on the locking stop ring In the sleeve 310, the other end of the locking spring 304 is against the locking retaining ring 305, and the locking retaining ring 305, the locking retaining ring sleeve 310, the rod connecting piece 301 and the rod inner lining member 306 are connected in one body.

In another embodiment of the present invention, it is further preferred that the elastic locking assembly 30 further includes a locking ring sleeve 309 which is sleeved outside the locking spring 304 and is parallel to the locking stop ring 305 The locking ring 303, the locking spring 304 and the locking ring sleeve 309 are integrated into one body.

In still another embodiment of the present invention, it is further preferable that a circumferential boss 2011 for restricting the continued movement of the elastic locking assembly 30 is provided along the circumferential direction of the node connecting member 201 .

In yet another embodiment of the present invention, it is further preferred that the node joint 2 is a hollow structure, which is embedded with a node lining member 202 , and the end face of the node lining member 202 facing the rod joint 3 is a hollow structure. An elastic sheet circuit board 203 is provided on the elastic sheet circuit board 203 , and an electrical connection elastic sheet 204 is provided on the elastic sheet circuit board 203 .

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

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

Example 1

As shown in FIG. 1 , this example provides a radially inserted self-locking quick joint suitable for assembly of a space truss structure, which mainly includes a node joint 2 and a rod joint 3 . The node joint 2 is connected with the truss node 1 to form a node joint assembly 5 , and the rod joint 3 is connected with the truss member 4 to form a rod joint assembly 6 . The node connector 201 in the node joint 2 and the rod connector 301 in the rod joint have the same shape and structure, and have matching concave-convex structures in the same lateral direction to achieve axial connection. When the node joint assembly 5 and the rod joint are connected. After the assembly 6 is in close contact along a specific radial direction, when the axes, concavities and convexities, and surfaces of the node connector 201 and the rod connector 301 are completely coincident, the locking ring 303 of the rod joint 3 pops out and surrounds the locking node connector 201 and the rod connection. Component 301 to achieve circumferential locking connection.

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 connector 201 has a positioning pin 205 and a connecting flange 206. The positioning pin 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 fastened with screws. . The node lining member 202 is embedded in the node connecting member 201, and its axis coincides with the axis of the node connecting member 201. The outer surface of the node lining member 202 is matched with the inner surface of the rod connecting member 301, so as to start the butting process of the rod joint 3. to orientation and positioning.

As shown in FIG. 3 , the rod joint 3 provided in this example mainly includes a rod connecting piece 301 , a rod locking tongue 302 , a locking ring 303 , a locking spring 304 , a locking stop ring 305 , a rod lining 306 , a contact Circuit board 307 , electrical connection contacts 308 , locking ring sleeve 309 , locking retaining ring sleeve 310 . One end of the rod connecting member 301 has a positioning pin hole, the truss rod 4 is inserted into the rod connecting member 301 to be tightly fitted, and the positioning pin is used to lock the position with the rod connecting member 301 through the positioning pin hole. The rod lock tongue 302 is installed in the rod lining member 306 and can slide freely along the radial direction of the joint insertion. A compression spring (not marked in the figure) is installed between the bottom of the rod lock tongue 302 and the rod connecting piece 301 , The rod lock tongue 302 is pushed up to the limit position of the rod lining member 306 , and the main function of the rod lock tongue 302 is to block the outward movement of the locking ring 303 along the axis of the rod connection member 301 by using the pop-up state. When radially inserted, the rod lock tongue 302 is retracted under the extrusion of the node connector 201. When the axis of the node connector 201 and the rod connector 301 are completely coincident, the rod lock tongue 302 is completely pressed down, and the lock is locked at this time. The ring 303 pops out along the axis of the rod connecting member 301 , and the node connecting member 201 and the rod connecting member 301 are simultaneously locked by the locking ring 303 in the circumferential direction. The locking spring 304 is mainly used to eject and hold the locking ring 303 , and the locking stop ring 305 is connected with the truss rod 4 , the rod connecting member 301 , and the rod lining member 306 by means of positioning pins to fix the locking spring 304 . The rod lining member 306 is embedded in the rod connecting member 301, and its axis coincides with the axis of the rod connecting member 301. The docking process plays a guiding and positioning role.

1 and 2, in the node connector 2 provided in this example, the node connector 201 adopts a hollow structure inside, which is convenient for the arrangement of cables and pipelines, and the node lining member 202 faces the end face of the truss member 4. The shrapnel circuit board 203 is fixedly installed , the electrical connection spring 204 is welded on the spring circuit board 203 , and the spring circuit board 203 has cable pads that can lead out cables to the truss node 1 .

1 and 3, in the rod joint 3 provided in this example, the rod joint 301 adopts a hollow structure inside, which is convenient for the arrangement of cables and pipelines, and the rod lining member 306 is facing the end face of the truss node 1. Fixed installation contacts On the circuit board 307 , the electrical connection contacts 308 are soldered to the contact circuit board 307 , and the contact circuit board 307 has cable pads that can lead out cables to the truss member 4 .

During the connection between the node joint 2 and the rod joint 3, the electrical connection spring piece 204 is pressed into contact with the electrical connection contact 308. Point 308 contacts the short using a non-conductive material.

Example 2

This embodiment provides a case of using the connector of the present invention to realize the quick connection of the connector.

As shown in FIG. 4, this example discloses the state before the connector is assembled and connected. The truss node 1 and the node joint 2 are pre-connected to form the node joint assembly 5, and the truss node 1 is fixed; the rod joint 3 and the truss member 4 are pre-connected to form the rod joint assembly 6. The node joint assembly 5 and the rod joint assembly 6 are parallel to the axis, and the node connector 201 is complementary to the tooth slot of the rod connector 301. At this time, the rod lock tongue 302 is ejected, and its side blocks the ejection of the locking ring 303.

As shown in FIG. 5, this example discloses the state of the joint assembly connection process. A human hand or a robot hand grasps the middle of the truss member 4 and presses it down, and the member joint assembly 6 is always kept parallel to the axis of the node joint assembly 5 and moves toward the node joint assembly 5 . During the contact process of the two components, the rod inner lining member 306 in the rod joint 3 guides the node connecting member 201, and at the same time, the rod locking tongue 302 contacts with the node connecting member 201 and is pressed. When the lever lock tongue 302 is squeezed to a specific position to separate from the locking ring 303, the node connector 201 and the lever connector 301 are not fully aligned at this time, and the node connector 201 will continue to block the ejection of the locking ring 303 toward the end face of the lever .

As shown in FIG. 6, this example shows the state after the joint is assembled and connected. A human hand or a robot hand grasps the middle of the truss member 4 and presses it down, and the member joint assembly 6 is always kept parallel to the axis of the node joint assembly 5 and continues to move toward the node joint assembly 5 . When the axis, concavo-convex, and surface of the node connector 201 and the rod connector 301 are completely coincident, the side of the locking ring 303 is unobstructed at this time, and can be ejected along the axis of the rod under the push of the locking spring 304, and the node connector 201 and the rod The connector 301 is simultaneously locked circumferentially around the locking ring 303 . After the locking ring 303 is pushed out, the circumferential boss of the node connecting piece 201 restricts its continuous movement, while the locking spring 304 still maintains the elastic force, and the locking state is stable at this time. In the final state, the quick connector utilizes the tooth groove cooperation of the node connector 201 and the rod connector 301 to achieve axial limit locking and mutual rotation limit locking, and uses the locking ring 303 to realize radial limit locking. Cooperating with the node connector 201 and the rod connector 301 increases the connection surface so as to improve the connection rigidity and accuracy.

Example 3

As shown in FIG. 7 , this example provides a rapid assembly method suitable for the assembly of a space truss structure. The method mainly involves objects including a node joint assembly 5 , a rod joint assembly 6 and a space assembly robot 7 . The node joint assembly 5 consists of The node (truss node 1) on the space truss is connected with the node joint 2, and the rod joint assembly 6 is composed of the space truss rod (truss rod 4) and the rod joint 3 connected.

The spatial assembly robot 7 grasps the rod joint assembly 6, adjusts the posture so that the interface axes of the rod joint 3 and the joint joint 2 are coplanar and parallel, and approach the joint joint 2 along the radial direction of the truss rod 4 to align the joints, 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 moves away and grasps the next rod joint assembly 6, and the above steps continue to assemble until the assembly of the space truss structure is completed.

The node joint assembly 5 has different shapes according to different space truss structures. The node joint assembly 5 has a unified node joint 2, which is assembled and connected through the node connector 201, which has specific tooth grooves for radial butt and axial connection.

The rod joint assembly 6 has truss rods 4 of different lengths according to the space truss structure, the same rod joints 3 are installed at both ends of the truss rods 4, the two rod joints 3 have the same orientation, and have the same node connection The rod connector 301 matched with the member 201 is convenient for radial butt and axial connection, and has a locking ring 303, which shrinks before the butt is not butted, and is triggered by the locking spring 304. Part 301 to realize automatic high-rigidity and high-precision connection.

The end of the space assembly robot 7 has a clamping tool 701 that can grasp the space truss rod 4, its clamp has a good fit with the outer surface of the truss rod 4 and can be freely opened and closed, and the inner side of the clamp has a pin ( (not marked in the figure), it can be matched with the central hole of the truss member 4 to prevent the truss member 4 from moving along the axis or rotating around the axis so as to facilitate precise butt joint.

The spatial assembly robot 7 grasps the rod joint assembly 6 and docks in the designated radial direction of the node joint assembly 5. The node joint 2 and the rod joint 3 can be locked and connected by themselves without the assistance of additional mechanisms and tools. At the same time, due to the lateral assembly, there is no restriction when the node joint assembly 5 is fixed, and single-ended or double-ended assembly can be realized.

Example 4

As shown in FIG. 8 , this embodiment provides a robot operation object form suitable for the assembly method of the present invention. According to the needs of different truss structure forms or assembly sequences, the robot assembly object can be a single rod joint assembly 6 , or a The rod joint assembly 6 assembly in which the node joint assembly 5 has been pre-installed, or the rod joint assembly 6 assembly in which the node joint assembly 5 has been pre-installed at both ends.

Example 5

As shown in Figure 9, this example provides an assembly process for assembling a space truss using the assembly method of this method, and the specific steps are as follows:

Step 1: The space assembly robot 7 is in the initial state of startup, and the robotic arm starts to move;

Step 2: The clamping tool 701 at the end of the spatial assembly robot 7 moves to the storage area of the rod joint assembly 6;

Step 3: The clamping tool 701 at the end of the space assembly robot 7 moves to clamp the rod joint assembly 6;

Step 4: The space assembly robot 7 leaves the storage area with the rod joint assembly 6;

Step 5: The space assembly robot 7 carries the rod joint assembly 6 and moves toward the truss to be installed;

Step 6: The space assembly robot 7 carries the rod joint assembly 6 to adjust the posture so that the rod joint 3 is directly opposite to the node joint 2;

Step 7: The space assembly robot 7 carries the rod joint assembly 6 and inserts it into the truss;

Step 8: The space assembly robot 7 carries the rod joint assembly 6 to connect with the truss to be installed, 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 connect with the truss to be installed, and the rod joint 3 collides with the node joint 2;

Step 10: The space assembly robot 7 carries the rod joint assembly 6 and is completely connected to the truss to be installed, and the axes of the rod joint 3 and the node joint 2 coincide and lock themselves;

Step 11: The end gripping tool 701 of the spatial assembly robot 7 releases the rod joint assembly 6 and exits.

Repeat steps 1-11 above for space truss structure assembly.

Example 6

As shown in FIG. 10 , this embodiment lists an example of using the assembly method of the present invention to realize a plane space truss structure. Robot movement or assembly truss movement methods can be used to achieve efficient assembly of large-scale and complex spatial topology structures.

The above-disclosed preferred embodiments of the present invention are provided only to help illustrate the present invention. The preferred embodiments do not exhaust all the details, nor do they limit the invention to only the described embodiments. Obviously, many modifications and variations are possible in light of the contents of this specification. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is to be limited only by the claims and their full scope and equivalents.

Claims (10)

1. a kind of quick assembly method suitable for space truss structure assembly, is characterized in that, comprises the following steps: (1) First connect the nodes on the space truss and the node joints to form the node joint assembly; the space truss member and the member joint are connected to form the member joint assembly; (2) The space assembly robot grasps the rod joint assembly, and adjusts the posture so that the rod joint and the joint axis of the node joint are coplanar and parallel, and are arranged along the radial direction of the space truss rod Approaching the node joint and aligning the interface, when the node joint assembly and the rod joint assembly are coaxial, the two are automatically locked and connected; (3) The space assembly robot moves away, grabs the next rod joint assembly, and repeats steps (1) to (2) to continue the assembly until the assembly of the space truss structure is completed; Wherein, the node joint includes a node connector, the rod joint includes a rod inner lining, a rod connector matched and connected with the node connector, an elastic locking assembly and a locking stop ring sleeve, in, The rod inner lining piece, the rod connecting piece and the locking stop ring sleeve are connected into one body; the rod inner lining piece is sleeved in the rod connecting piece, so the The rod connecting piece is sleeved in the elastic locking assembly, the elastic locking assembly is sleeved in the locking baffle ring sleeve, and the rod is set in the rod inner lining. The locking tongue is locked in the locking retaining ring sleeve, the rod locking tongue can freely slide along the radial direction of the joint insertion, and the elastic locking assembly can move axially along the rod connecting piece; When assembling and connecting, the node connector presses the rod lock tongue until the elastic locking component is unlocked, and the elastic locking component moves toward the node connector, and the node connector Both the connecting piece and the connecting piece are connected by the elastic locking assembly in the circumferential direction and locking connection. 2 . The quick assembly method according to claim 1 , wherein the elastic locking assembly comprises a locking ring and a locking spring sleeved outside the locking ring, and along the edge near the node joint side. 3 . The outer periphery of the locking ring is provided with a boss structure, one end of the locking spring bears against the boss structure, and the other end bears against the locking retaining ring sleeve and is in a compressed state. 3 . The quick assembly method according to claim 2 , wherein the elastic locking assembly further comprises a locking baffle ring, the locking baffle ring is sleeved in the locking baffle ring sleeve, and the The other end of the locking spring is against the locking snap ring, and the locking snap ring, the locking snap ring sleeve, the rod connecting piece and the rod lining are connected into one body . 4 . The quick assembly method according to claim 3 , wherein the elastic locking assembly further comprises a locking ring sleeve, which is sleeved outside the locking spring and is juxtaposed with the locking retaining ring. 5 . The ground is sleeved in the locking retaining ring sleeve, and the locking ring, the locking spring and the locking ring sleeve are connected into one body. 5 . The quick assembly method according to claim 1 , wherein a circumferential boss for restricting the continued movement of the elastic locking assembly is provided along the circumferential direction of the node connecting piece. 6 . 6 . The rapid assembly method according to claim 1 , wherein the node joint is a hollow structure, and a node lining member is embedded in it, and the node lining member facing the rod joint is in a hollow structure. 7 . The end face is provided with an elastic sheet circuit board, and the elastic sheet circuit board is provided with an electrically connected elastic sheet. 7 . The quick assembly method according to claim 6 , wherein the rod joint is a hollow structure, and a contact is provided on the end face of the rod lining member facing the node joint. 8 . The circuit board is provided with electrical connection contacts on the contact circuit board. 8 . The rapid assembly method according to claim 7 , wherein the node lining member and the rod member lining member are both insulating materials. 9 . 9 . The rapid assembly method according to claim 1 , wherein a clamping tool for grasping the space truss rod is provided at the end of the space assembly robot, along the clamping direction of the clamping tool. 10 . A pin is arranged on the center hole of the space truss member. 10. The quick assembly method according to claim 1, characterized in that, a positioning pin and a connecting flange are provided on one end of the node joint connected to the space truss node; A positioning pin shaft hole is provided on one end of the joint connected with the space truss member.

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