CN112078819B - High-precision posture adjusting equipment for large spacecraft thin-wall cabin - Google Patents

High-precision posture adjusting equipment for large spacecraft thin-wall cabin Download PDF

Info

Publication number
CN112078819B
CN112078819B CN202010808270.0A CN202010808270A CN112078819B CN 112078819 B CN112078819 B CN 112078819B CN 202010808270 A CN202010808270 A CN 202010808270A CN 112078819 B CN112078819 B CN 112078819B
Authority
CN
China
Prior art keywords
cabin
vertical plate
cabin body
supporting vertical
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010808270.0A
Other languages
Chinese (zh)
Other versions
CN112078819A (en
Inventor
王国欣
王荣
谭旭
董礼港
李永亮
李海月
陈泽健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Satellite Manufacturing Factory Co Ltd
Original Assignee
Beijing Satellite Manufacturing Factory Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Satellite Manufacturing Factory Co Ltd filed Critical Beijing Satellite Manufacturing Factory Co Ltd
Priority to CN202010808270.0A priority Critical patent/CN112078819B/en
Publication of CN112078819A publication Critical patent/CN112078819A/en
Application granted granted Critical
Publication of CN112078819B publication Critical patent/CN112078819B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/50—Handling or transporting aircraft components

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses high-precision posture adjusting equipment for a thin-wall cabin of a large spacecraft, which comprises a first cabin platform, a second cabin platform, a first fixed bracket assembly, a second movable bracket assembly, a guide rail sliding block assembly, a third movable bracket assembly, a fourth fixed bracket assembly, universal casters, adjusting support legs, an active actuating mechanism, a follow-up actuating mechanism, an axial limiting mechanism, an auxiliary supporting device, a position feedback assembly, a first control system, a second control system, a transferring structure and a hoisting structure, wherein the first cabin platform is arranged on the first cabin platform; the invention adopts three-point synchronous active cooperative driving and online two-stage compensation technology, thereby avoiding the risk of cabin deformation caused by differential rotation; by designing the self-adaptive follow-up axial displacement device to carry out axial pre-compression in real time, good adaptation in narrow space and limited area is realized, the rigidity of the whole structure of the equipment is ensured, and the influence of deformation on the precision measurement of the cabin body is reduced.

Description

High-precision posture adjusting equipment for large spacecraft thin-wall cabin
Technical Field
The invention relates to the field of ground mechanical support equipment for spacecraft final assembly, which is used for carrying out high-precision attitude adjustment, long-term parking and rapid transportation on a large-scale spacecraft thin-wall cabin body, in particular to high-precision attitude adjustment equipment for the large-scale spacecraft thin-wall cabin body.
Background
In the general assembly and test process of a large-scale spacecraft, the size and the weight of a cabin body are continuously increased, the assembly complexity is increasingly improved, in order to reliably fix load equipment of each subsystem to a preset position and effectively connect the load equipment by cables, pipes and the like, the posture of each segmented cabin body in an assembly hall needs to be adjusted with high precision, and the cabin body can be parked and quickly transported in different experimental areas and designated stations for a long time.
In the prior art, the traditional cabin posture adjusting equipment has the following problems:
firstly, the size and the weight of the cabin body change in the final assembly process, the traditional single equipment has insufficient expansibility and low universality, and cannot adapt to the working condition variability of the parallel final assembly process of the multiple cabin bodies of the spacecraft.
And the second thin-wall cabin body is a weak rigid structure, and the traditional head-tail two-end supporting and rolling modes have the risk of causing the large cabin body to be twisted and deformed.
Thirdly, the types of internal and external load equipment of the cabin are various, the occupied space is large in specific gravity, the cabin body in a narrow space and a limited area is limited and fixed, the collision is easy to cause, and the risks of damaging the load equipment and influencing the precision of the cabin body exist.
Disclosure of Invention
The technical problem solved by the invention is as follows: the invention overcomes the defects of the prior art, provides high-precision attitude adjusting equipment for a large-scale spacecraft thin-wall cabin body, can simultaneously meet the requirements of safe, efficient and high-precision general assembly and test work of a plurality of models of large-weight and large-size thin-wall cabin bodies, realizes high-precision rolling attitude adjustment of cabin bodies with different models, different diameters and different heights in an assembly hall, can be parked for a long time and transported quickly, improves the operation efficiency in the general assembly and test processes of the spacecraft, and ensures the quality of the general assembly of the spacecraft.
The invention aims to provide the following technical scheme: a high-precision posture adjusting device for a thin-wall cabin of a large spacecraft comprises a first cabin platform, a second cabin platform, a first fixed bracket assembly, a second movable bracket assembly, a guide rail sliding block assembly, a third movable bracket assembly, a fourth fixed bracket assembly, universal casters, adjusting support legs, an active actuating mechanism, a follow-up actuating mechanism, an axial limiting mechanism, an auxiliary supporting device, a position feedback assembly, a first control system, a second control system, a transferring structure and a hoisting structure; the first cabin platform is respectively provided with a first fixed bracket assembly for supporting a first front-end annular unit of the thin-wall cabin, a second movable bracket assembly for supporting a first rear-end annular unit of the thin-wall cabin, a guide rail sliding block assembly for adjusting the position of the second movable bracket assembly along the axial direction of the cabin, universal casters for quickly transferring the cabin in an assembly hall, adjusting support legs for adjusting the height and pitch of the cabin, a transferring structure for air-float transferring or electric transferring of the cabin, a hoisting structure for hoisting and transferring the cabin by the first cabin platform and a first control system for adjusting the posture of the cabin;
a third movable bracket assembly used for supporting a second front-end annular unit of the thin-wall cabin, a fourth fixed bracket assembly used for supporting a second rear-end annular unit of the thin-wall cabin, a guide rail sliding block assembly used for adjusting the position of the third movable bracket assembly along the axial direction of the cabin, universal casters used for rapidly transferring the cabin in an assembly hall, adjusting support legs used for adjusting the height and pitch of the cabin, a transferring structure used for air floatation transferring or electric transferring of the cabin, a hoisting structure used for hoisting and transferring the cabin and a second control system are respectively arranged on a platform of the second cabin; the first fixed bracket assembly, the second movable bracket assembly, the third movable bracket assembly and the fourth fixed bracket assembly are respectively provided with one set of driving actuating mechanism for rolling driving of the thin-wall cabin, one set of follow-up actuating mechanism for rolling follow-up of the thin-wall cabin, two sets of axial limiting mechanisms for limiting the end surface of the cabin in the rolling process, two sets of auxiliary supporting devices for preventing the cabin from rolling in the rolling process and one set of position feedback assembly for collecting the rolling linear speed of the cabin in real time.
The first cabin platform is of a rectangular steel pipe welding structure, and is reinforced by locally welding rib plates to form an integral structural member with a closed structure; the first cabin platform is integrally combined and machined after being welded and serves as an interface mounting reference surface; the lower surface of the first cabin body platform is welded with universal casters, adjusting support legs and interfaces of a transfer structure, the upper surface of the first cabin body platform is welded with the interfaces of the first fixed bracket assembly and the guide rail sliding block assembly, and one end of the first cabin body platform in the width direction is welded with a butt joint interface of the second cabin body platform; the first cabin platform is provided with a hoisting structure at a symmetrical position of the interval 5390mm relative to the center of mass, and is used for hoisting and transferring equipment per se.
The second cabin platform adopts a rectangular steel pipe welding structure, and is reinforced by locally welding rib plates to form an integral structural member with a closed structure; the second cabin platform is integrally combined and machined after being welded and serves as an interface mounting reference surface; the lower surface of the second cabin body platform is welded with universal casters, adjusting support legs and interfaces of a transfer structure, the upper surface of the second cabin body platform is welded with a fourth fixed bracket assembly and interfaces of guide rail sliding block assemblies, and one end in the width direction is welded with a butt joint interface of the first cabin body platform; and the second cabin platform is provided with a hoisting structure at a distance of 6570mm relative to the mass center symmetrical position, and is used for hoisting and transferring the equipment.
The first fixed bracket assembly comprises a first base bottom plate, a first front supporting vertical plate, a first rear supporting vertical plate, a first top plate and a plurality of first rib plates; the first fixed bracket component is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall accuracy is ensured by adopting a combined machining method after all welding work is finished; the first front supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism, and the first rear supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism; the connecting hole of the active actuating mechanism on the first front supporting vertical plate is coaxial with the connecting hole of the active actuating mechanism on the first rear supporting vertical plate, and the coaxial axis is parallel to the first base bottom plate; the servo actuator connecting hole on the first front supporting vertical plate is coaxial with the servo actuator connecting hole on the first rear supporting vertical plate, and the coaxial axis is parallel to the axis of the first base bottom plate and the active actuator connecting holes on the first front supporting vertical plate and the first rear supporting vertical plate; the first base bottom plate is a fixed connection interface of the first fixed bracket assembly and the first cabin platform; the first top plate is provided with a fixed connection interface of the axial limiting mechanism and a fixed connection interface of the auxiliary supporting device; the middle of the first fixed bracket component is provided with a fixed connection interface of the position feedback component.
The second movable bracket assembly comprises a second slider mounting seat, a second base bottom plate, a second front supporting vertical plate, a second rear supporting vertical plate, a second top plate and a plurality of second rib plates; the second movable bracket component is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the second front supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism, and the second rear supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism; the connecting hole of the active actuating mechanism on the second front supporting vertical plate is coaxial with the connecting hole of the active actuating mechanism on the second rear supporting vertical plate, and is coaxial with the connecting hole of the active actuating mechanism of the first fixing bracket component, and the coaxial axis is parallel to the second base bottom plate; the connecting hole of the servo actuator on the second front supporting vertical plate is coaxial with the connecting hole of the servo actuator on the second rear supporting vertical plate), and is coaxial with the connecting hole of the servo actuator of the first fixing bracket component, and the coaxial axis is parallel to the axis of the connecting holes of the active actuators on the base bottom plate, the second front supporting vertical plate and the second rear supporting vertical plate; the second sliding block mounting seat is connected with the first cabin body platform through the guide rail sliding block assembly, so that the position of the second movable bracket assembly on the first cabin body platform is adjusted along the axial direction of the cabin body, and the second movable bracket assembly is fixed on the first cabin body platform along the axial direction of the cabin body through the guide rail limiting block, so that the general assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the second top plate is provided with a fixed connection interface of the axial limiting mechanism and a fixed connection interface of the auxiliary supporting device; the middle of the second movable bracket component is provided with a fixed connection interface of a position feedback component; the second movable bracket component is provided with an axial limiting mechanism connecting interface along the axial directions of the cabin body, and the second movable bracket component is respectively suitable for the first cabin body platform to be used alone or the first cabin body platform and the second cabin body platform are used under the working condition of the double-platform butt joint interface.
The third movable bracket assembly comprises a third slider mounting seat, a third base bottom plate, a third front supporting vertical plate, a third rear supporting vertical plate, a third top plate and a plurality of third rib plates; the third movable bracket component is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the third front supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism, and the third rear supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and a connecting hole of the follow-up actuating mechanism; the connecting hole of the active actuating mechanism on the third front supporting vertical plate is coaxial with the connecting hole of the active actuating mechanism on the third rear supporting vertical plate, and the coaxial axis is parallel to the third base bottom plate; the connecting hole of the servo actuator on the third front supporting vertical plate is coaxial with the connecting hole of the servo actuator on the third rear supporting vertical plate, and the coaxial axis is parallel to the axis of the connecting holes of the active actuators on the third base bottom plate, the third front supporting vertical plate and the third rear supporting vertical plate; after the first cabin body platform and the second cabin body platform are positioned and combined through the double-platform butt joint interface, the active actuating mechanism connecting hole of the third movable bracket component is coaxial with the active actuating mechanism connecting hole of the first fixed bracket component and the active actuating mechanism connecting hole of the second movable bracket component, and the coaxial axis is parallel to the third base bottom plate; after the first cabin body platform and the second cabin body platform are positioned and combined through the double-platform butt joint interface, the servo actuator connecting hole of the third movable bracket component is coaxial with the servo actuator connecting hole of the first fixed bracket component and the servo actuator connecting hole of the second movable bracket component, and the coaxial axis is parallel to the third base bottom plate; the third sliding block mounting seat is connected with the second cabin body platform through the guide rail sliding block assembly, so that the position of the third movable bracket assembly on the second cabin body platform along the axial direction of the cabin body is adjusted, and the third movable bracket assembly is fixed on the second cabin body platform along the axial direction of the cabin body through the guide rail limiting block, so that the assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the third top plate is provided with a fixed connection interface of the axial limiting mechanism and a fixed connection interface of the auxiliary supporting device; the middle of the third movable bracket component is provided with a fixed connection interface of the position feedback component.
The fourth fixed bracket assembly comprises a fourth base bottom plate, a fourth front supporting vertical plate, a fourth rear supporting vertical plate, a fourth top plate and a plurality of fourth rib plates; the fourth fixed bracket component is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the fourth front supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and the servo actuating mechanism, and the fourth rear supporting vertical plate is provided with a connecting hole of the driving actuating mechanism and the servo actuating mechanism; the connecting hole of the active actuating mechanism on the fourth front supporting vertical plate is coaxial with the connecting hole of the active actuating mechanism on the fourth rear supporting vertical plate, and the coaxial axis is parallel to the connecting holes of the active actuating mechanism of the fourth base bottom plate and the third movable bracket component; the servo actuator connecting hole on the fourth front supporting vertical plate is coaxial with the servo actuator connecting hole on the fourth rear supporting vertical plate, and the coaxial axis is parallel to the base bottom plate, the active actuator on the fourth front supporting vertical plate and the active actuator on the fourth rear supporting vertical plate) connecting hole axis and is parallel to the servo actuator connecting hole of the third movable bracket component; the fourth base bottom plate is a fixed connection interface of the fourth fixed bracket assembly and the second cabin platform; the fourth top plate is provided with an axial limiting mechanism and a fixed connecting interface of the auxiliary supporting device; and a fixed connection interface of the position feedback assembly is arranged in the middle of the fourth fixed bracket assembly.
The universal caster comprises a caster seat, an upright post, a direction lock, a surface brake, a wheel shaft and a rubber-coated wheel body; the caster seat is an installation interface of a universal caster and is used for being in threaded connection with the first cabin platform or the second cabin platform; the direction lock realizes the locking that turns to of universal castor, and the face is stopped for double round simultaneous brake equipment, still is furnished with spring assembly simultaneously for universal castor can take precautions against earthquakes and the unevenness on automatic balance ground.
The adjusting support leg comprises a support flange, a spherical hinge, a screw rod mechanism, a shell, a tail cover bracket and a driving assembly; the adjusting support legs adopt a screw rod moving type, the working principle is that a worm gear drives a screw rod to do linear motion, and the screw rod does not rotate in the operation process; the supporting flange is connected with the lead screw through a spherical hinge, and a 5mm thick silicone rubber pad and 0.1mm Teflon adhesive tape are adhered to one side of the supporting flange, which is in contact with the ground, so that the influence of indentations and pits caused on the ground of a factory area is reduced; the height of the supporting legs is adjusted to adjust the pitching of the equipment, so that the posture of the cabin body is adjusted.
The driving executing mechanism comprises a first friction wheel, a driving wheel shaft, a first angular contact ball bearing, a first bearing seat, a first bearing end cover, a diaphragm coupling, a planetary gear reducer and a servo motor; two ends of each first friction wheel are supported by first angular contact ball bearings, and the first angular contact ball bearings bear large radial loads; the driving wheel shaft and the planetary gear reducer are coaxially mounted through the diaphragm coupling, and the servo motor is directly mounted at the input end of the planetary gear reducer; the first bearing seat is fixedly arranged in the active actuating mechanism connecting hole of the front supporting vertical plate and the rear supporting vertical plate of each bracket assembly.
The follow-up executing mechanism comprises a second friction wheel, a follow-up wheel shaft, a second angular contact ball bearing, a second bearing seat and a second bearing end cover; the second bearing seat is fixedly arranged in the servo actuating mechanism connecting holes of the front supporting vertical plate and the rear supporting vertical plate of each bracket assembly; the second friction wheel is coincident with the first friction wheel of the driving actuating mechanism.
The axial limiting mechanism comprises a directional wheel and an oblique angle mounting base; the directional wheel is arranged perpendicular to the axis of the cabin body, an anti-impact fixed type follow-up flat wheel is adopted, the surface of the wheel is coated with polyurethane, and the width and the installation height of the wheel surface of the directional wheel are matched with the annular unit at the front end and the rear end of the cabin body; two sets of axial limiting mechanisms are arranged on each bracket component, and the two axial limiting mechanisms are symmetrically arranged on the left side and the right side of each bracket component in the width direction.
The auxiliary supporting device comprises a lower sliding seat assembly, a middle sliding seat assembly, an upper auxiliary assembly and an auxiliary wheel; the auxiliary supporting devices are positioned at the left side and the right side of the upper part of the top plate of the bracket component, and form a wrap angle of 112 degrees for the ring surface of the front ring-shaped unit or the rear ring-shaped unit of the cabin body, so that the thin-wall cabin body is prevented from rolling when falling, rolling or transferring; the auxiliary supporting device is a two-degree-of-freedom adjustable structure, and can adjust the position of the auxiliary wheel along the axial direction of the cabin or in the horizontal plane and perpendicular to the axial direction of the cabin; when the cabin is stably placed on the equipment, the auxiliary supporting device is adjusted to be closely attached to the small gap of the ring surface of the front-end annular unit or the rear-end annular unit of the cabin, so that auxiliary supporting and reliable parking of the cabin are achieved.
The position feedback assembly comprises a small friction wheel, an angle sensor, a coupler, a support, a spring and a base; the small friction wheel is made of nylon materials, the small friction wheel is ensured to be tightly attached to the outer ring surface of the front-end annular unit or the rear-end annular unit of the cabin body through the spring, the small friction wheel moves along with the rotation of the cabin body annular unit in real time, and the data acquisition and comparison of the rolling linear speed of the cabin body are realized; the angle sensor and the small friction wheel are coaxially arranged, and the rotating speed and the rolling state of the cabin body are measured in real time for monitoring; the position feedback assemblies are respectively provided with a set in the middle position of each bracket assembly.
Compared with the prior art, the invention has the beneficial effects that:
【1】 On the basis of realizing high-precision posture adjustment, long-term parking and rapid transportation of the large-size thin-wall cabin body, the invention greatly expands the universality of the equipment on the cabin bodies with different sizes and weights, can be rapidly converted and is suitable for the working conditions of five cabin bodies and three combined cabin bodies, and improves the universality of the equipment on the final assembly process of the large-size thin-wall cabin body.
【2】 The invention effectively improves the stress state of the thin-wall cabin body during posture adjustment, parking and transportation, reduces the risk of distortion and deformation of the cabin body, avoids the risk of deformation of the cabin body caused by differential rotation, and improves the safety and reliability of the spacecraft in the final assembly process.
【3】 The invention has compact integral structure and high-precision rolling positioning function, is beneficial to efficient butt joint installation of the effective load of the spacecraft, and can better adapt to the requirements of manned spaceflight and rapid development of deep space exploration on ground mechanical support equipment.
Drawings
FIG. 1 shows a schematic structural diagram of a high-precision attitude adjusting device for a thin-wall cabin of a large spacecraft, which is disclosed by the invention;
FIG. 2 is a schematic view of the first deck platform of the preferred embodiment of the present invention;
FIG. 3 is a schematic view of the second deck platform according to a preferred embodiment of the present invention;
FIG. 4 is a schematic structural view of a first stationary bracket assembly in accordance with a preferred embodiment of the present invention;
FIG. 5 shows a schematic structural view of a second moving carriage assembly in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic structural view of a fourth fixed bracket assembly in accordance with a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of the active actuator in accordance with a preferred embodiment of the present invention;
FIG. 8 is a schematic view showing the structure of an auxiliary supporting means in a preferred embodiment of the present invention;
fig. 9 is a schematic structural diagram of a position feedback assembly according to a preferred embodiment of the present invention.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
As shown in fig. 1, the invention provides a high-precision posture adjusting device for a thin-walled cabin of a large spacecraft, which comprises a first cabin platform 1, a second cabin platform 2, a first fixed bracket assembly 3, a second movable bracket assembly 4, a guide rail slider assembly 5, a third movable bracket assembly 6, a fourth fixed bracket assembly 7, universal casters 8, adjusting legs 9, a driving executing mechanism 10, a follow-up executing mechanism 11, an axial limiting mechanism 12, an auxiliary supporting device 13, a position feedback assembly 14, a first control system 15, a second control system 16, a transferring structure 17 and a hoisting structure 18; wherein the content of the first and second substances,
a first fixed bracket assembly 3 for supporting a first front-end annular unit of the thin-wall cabin, a second movable bracket assembly 4 for supporting a first rear-end annular unit of the thin-wall cabin, a guide rail sliding block assembly 5 for adjusting the position of the second movable bracket assembly 4 along the axial direction of the cabin, a universal caster 8 for quickly transferring the cabin in an assembly hall, an adjusting support leg 9 for adjusting the height and pitching of the cabin, a transferring structure 17 for air-floating transferring or electric transferring of the cabin, a hoisting structure 18 for hoisting and transferring by itself and a first control system 15 for adjusting the posture of the cabin are respectively arranged on the first cabin platform 1;
a third movable bracket assembly 6 for supporting a second front-end annular unit of the thin-wall cabin, a fourth fixed bracket assembly 7 for supporting a second rear-end annular unit of the thin-wall cabin, a guide rail sliding block assembly 5 for adjusting the position of the third movable bracket assembly 6 along the axial direction of the cabin, a universal caster 8 for quickly transferring the cabin in an assembly hall, an adjusting support leg 9 for adjusting the height and pitching of the cabin, a transferring structure 17 for air-floating transferring or electric transferring of the cabin, a hoisting structure 18 for self-hoisting and transferring, and a second control system 16 are respectively arranged on the second cabin platform 2; the first fixed bracket assembly 3, the second movable bracket assembly 4, the third movable bracket assembly 6 and the fourth fixed bracket assembly 7 are respectively provided with one set of active actuating mechanism 10 for rolling driving of the thin-wall cabin, one set of follow-up actuating mechanism 11 for rolling follow-up of the thin-wall cabin, two sets of axial limiting mechanisms 12 for limiting the end surface of the cabin in the rolling process, two sets of auxiliary supporting devices 13 for preventing the cabin from rolling in the rolling process and one set of position feedback assembly 14 for collecting the rolling linear speed of the cabin in real time.
As shown in fig. 2, the first cabin platform 1 adopts a rectangular steel pipe welding structure, and is reinforced by locally welding a rib plate to form an integral structural member with a closed structure; the first cabin platform 1 is integrally combined and machined after being welded and serves as an interface mounting reference surface; the lower surface of the first cabin platform 1 is welded with the interfaces of a universal caster 8, an adjusting leg 9 and a transfer structure 17, the upper surface is welded with the interfaces of the first fixed bracket assembly 3 and the guide rail sliding block assembly 5, and one end in the width direction is welded with the butt joint interface of the second cabin platform 2; the first cabin platform 1 is preferably quantitatively provided with a hoisting structure 18 at a symmetrical position of the distance 5390mm relative to the center of mass, and the hoisting structure is used for hoisting and transferring equipment per se.
As shown in fig. 3, the second cabin platform 2 adopts a rectangular steel pipe welding structure, and is reinforced by locally welding a rib plate to form an integral structural member with a closed structure; the second cabin platform 2 is integrally combined and machined after being welded to serve as an interface mounting reference surface; the lower surface of the second cabin platform 2 is welded with the interfaces of a universal caster 8, an adjusting leg 9 and a transfer structure 17, the upper surface is welded with the interfaces of a fourth fixed bracket assembly 7 and a guide rail sliding block assembly 5, and one end in the width direction is welded with the butt joint interface of the first cabin platform 1; the second cabin platform 2 is provided with hoisting structures 18 at a distance 6570 in symmetrical positions relative to the center of mass for the hoisting and transfer of the equipment itself.
As shown in fig. 4, the first fixed bracket assembly 3 includes a first base bottom plate 31, a first front supporting vertical plate 32, a first rear supporting vertical plate 33, a first top plate 34 and a plurality of first rib plates 35; the first fixing bracket assembly 3 is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall accuracy is ensured by adopting a combined machining method after all welding work is finished; the first front supporting vertical plate 32 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11, and the first rear supporting vertical plate 33 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11; the connecting hole of the active actuator 10 on the first front supporting vertical plate 32 is coaxial with the connecting hole of the active actuator 10 on the first rear supporting vertical plate 33, and the coaxial axis is parallel to the first base bottom plate 31; the connecting hole of the servo actuator 11 on the first front supporting vertical plate 32 is coaxial with the connecting hole of the servo actuator 11 on the first rear supporting vertical plate 33, and the coaxial axis is parallel to the axis of the connecting holes of the first base bottom plate 31, the first front supporting vertical plate 32 and the active actuator 10 on the first rear supporting vertical plate 33; the first base bottom plate 31 is a fixed connection interface between the first fixed bracket assembly 3 and the first cabin platform 1; the first top plate 34 is provided with a fixed connection interface of the axial limiting mechanism 12 and a fixed connection interface of the auxiliary supporting device 13; the first stationary bracket assembly 3 is provided with a fixed connection interface of the position feedback assembly 14 in the middle.
As shown in fig. 5, the second moving carriage assembly 4 includes a second slider mounting seat 41, a second base bottom plate 42, a second front supporting vertical plate 43, a second rear supporting vertical plate 44, a second top plate 45 and a plurality of second rib plates 46; the second movable bracket assembly 4 is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall accuracy is ensured by adopting a combined machining method after all welding work is finished; the second front supporting vertical plate 43 is provided with connecting holes of the driving actuating mechanism 10 and the servo actuating mechanism 11, and the second rear supporting vertical plate 44 is provided with connecting holes of the driving actuating mechanism 10 and the servo actuating mechanism 11; the connecting hole of the active actuator 10 on the second front supporting vertical plate 43 is coaxial with the connecting hole of the active actuator 10 on the second rear supporting vertical plate 44, and is coaxial with the connecting hole of the active actuator 10 of the first fixing bracket assembly 3, and the coaxial axis is parallel to the second base bottom plate 42; the connecting hole of the servo actuator 11 on the second front supporting vertical plate 43 is coaxial with the connecting hole of the servo actuator 11 on the second rear supporting vertical plate 44, and is coaxial with the connecting hole of the servo actuator 11 of the first fixing bracket assembly 3, and the coaxial axis is parallel to the axis of the connecting holes of the base bottom plate 42 and the active actuators 10 on the second front supporting vertical plate 43 and the second rear supporting vertical plate 44; the second sliding block mounting seat 41 is connected with the first cabin body platform 1 through the guide rail sliding block assembly 5, so that the position of the second movable bracket assembly 4 on the first cabin body platform 1 along the axial direction of the cabin body is adjusted, and the second movable bracket assembly 4 is fixed on the first cabin body platform 1 along the axial direction of the cabin body through the guide rail limiting block, so that the general assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the second top plate 45 is provided with a fixed connection interface of the axial limiting mechanism 12 and a fixed connection interface of the auxiliary supporting device 13; the middle of the second moving bracket assembly 4 is provided with a fixed connection interface of a position feedback assembly 14; the second movable bracket assembly 4 is provided with an axial limiting mechanism 12 connecting interface along the axial direction of the cabin body, and the axial limiting mechanism is respectively suitable for the first cabin body platform 1 to be used alone, or the first cabin body platform 1 and the second cabin body platform 2 are used under the working condition of the double-platform butt joint interface.
The third moving bracket assembly 6 comprises a third slider mounting seat 61, a third base bottom plate 62, a third front supporting vertical plate 63, a third rear supporting vertical plate 64, a third top plate 65 and a plurality of third rib plates 66; the third movable bracket assembly 6 is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall accuracy is ensured by adopting a combined machining method after all welding work is finished; the third front supporting vertical plate 63 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11, and the third rear supporting vertical plate 64 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11; the connecting hole of the active actuator 10 on the third front supporting vertical plate 63 is coaxial with the connecting hole of the active actuator 10 on the third rear supporting vertical plate 64, and the coaxial axis is parallel to the third base bottom plate 62; the connecting hole of the servo actuator 11 on the third front supporting vertical plate 63 is coaxial with the connecting hole of the servo actuator 11 on the third rear supporting vertical plate 64, and the coaxial axis is parallel to the axis of the connecting holes of the active actuator 10 on the third base bottom plate 62, the third front supporting vertical plate 63 and the third rear supporting vertical plate 64; after the first cabin body platform 1 and the second cabin body platform 2 are positioned and combined through the double-platform butt joint interface, the connecting hole of the active actuating mechanism 10 of the third movable bracket assembly 6 is coaxial with the connecting hole of the active actuating mechanism 10 of the first fixed bracket assembly 3 and the connecting hole of the active actuating mechanism 10 of the second movable bracket assembly 4, and the coaxial axes are parallel to the third base bottom plate 62; after the first cabin body platform 1 and the second cabin body platform 2 are positioned and combined through the double-platform butt joint interface, the connecting hole of the follow-up actuating mechanism 11 of the third movable bracket assembly 6 is coaxial with the connecting hole of the follow-up actuating mechanism 11 of the first fixed bracket assembly 3 and the connecting hole of the follow-up actuating mechanism 11 of the second movable bracket assembly 4, and the coaxial axes are parallel to the third base bottom plate 62; the third slide block mounting seat 61 is connected with the second cabin body platform 2 through the guide rail slide block assembly 5, so that the position of the third movable bracket assembly 6 on the second cabin body platform 2 along the axial direction of the cabin body is adjusted, and the third movable bracket assembly 6 is fixed on the second cabin body platform 2 along the axial direction of the cabin body through the guide rail limiting block, so that the general assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the third top plate 65 is provided with a fixed connection interface of the axial limiting mechanism 12 and a fixed connection interface of the auxiliary supporting device 13; the middle of the third moving carriage assembly 6 is provided with a fixed connection interface of the position feedback assembly 14.
As shown in fig. 6, the fourth fixed bracket assembly 7 includes a fourth base bottom plate 71, a fourth front supporting upright plate 72, a fourth rear supporting upright plate 73, a fourth top plate 74 and a plurality of fourth rib plates 75; the fourth fixed bracket component 7 is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the fourth front supporting vertical plate 72 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11, and the fourth rear supporting vertical plate 73 is provided with connecting holes of the driving actuating mechanism 10 and the following actuating mechanism 11; the connecting hole of the active actuator 10 on the fourth front supporting vertical plate 72 is coaxial with the connecting hole of the active actuator 10 on the fourth rear supporting vertical plate 73, and the coaxial axis is parallel to the connecting holes of the active actuator 10 on the fourth base bottom plate 71 and the third movable bracket assembly 6; the connection hole of the servo actuator 11 on the fourth front supporting vertical plate 72 is coaxial with the connection hole of the servo actuator 11 on the fourth rear supporting vertical plate 73, the coaxial axis is parallel to the base bottom plate 71, the axis of the connection hole of the active actuator 10 on the fourth front supporting vertical plate 72 and the fourth rear supporting vertical plate 73, and is parallel to the connection hole of the servo actuator 11 of the third moving bracket assembly 6; the fourth base bottom plate 71 is a fixed connection interface between the fourth fixed bracket assembly 7 and the second cabin platform 2; the fourth top plate 74 is provided with a fixed connection interface of the axial limiting mechanism 12 and the auxiliary supporting device 13; the fourth stationary bracket assembly 7 is provided with a fixed connection interface of a position feedback assembly 14 in the middle.
The universal caster 8 comprises a caster seat 81, a vertical column 82, a direction lock 83, a surface brake 84, a wheel shaft 85 and a rubber-covered wheel body 86; the caster seats 81 are mounting interfaces of the universal casters 8, and can be conveniently screwed with the first cabin platform 1 or the second cabin platform 2. The direction lock 83 can quickly realize the steering locking of the universal caster 8, and the surface brake 84 is a double-wheel simultaneous brake device and is also provided with a spring device, so that the universal caster 8 can prevent vibration and automatically balance the unevenness of the ground.
The adjusting leg 9 comprises a supporting flange 91, a spherical hinge 92, a screw mechanism 93, a shell 94, a tail cover bracket 95 and a driving assembly 96; the adjusting supporting legs 9 adopt a screw rod moving type, the working principle of the adjusting supporting legs is that a worm wheel drives the screw rod to do linear motion, and the screw rod does not rotate in the operation process. The supporting flange 91 is connected with the lead screw through the spherical hinge 92, and a silicone rubber pad with the thickness of 5mm and teflon adhesive tape paper with the thickness of 0.1mm are pasted on one side of the supporting flange 91, which is in contact with the ground, so that the influence of indentation and pit caused on the ground of a factory area is effectively reduced. The height of the supporting legs 9 is adjusted to adjust the pitching of the equipment, so that the posture of the cabin body is adjusted.
As shown in fig. 7, the active actuator 10 includes a first friction wheel 101, an active wheel shaft 102, a first angular contact ball bearing 103, a first bearing seat 104, a first bearing end cover 105, a diaphragm coupling 106, a planetary gear reducer 107 and a servo motor 108; two ends of each first friction wheel 101 are supported by first angular contact ball bearings 103, and the first angular contact ball bearings 103 bear large radial loads; the driving wheel shaft 102 and the planetary gear reducer 107 are coaxially mounted through the diaphragm coupler 106, and the servo motor 108 is directly mounted at the input end of the planetary gear reducer 107; the first bearing seat 104 is fixedly installed in the connecting hole of the active actuator 10 of the front supporting vertical plate and the rear supporting vertical plate of each bracket assembly.
The follow-up actuator 11 comprises a second friction wheel 111, a follow-up wheel shaft 112, a second angular contact ball bearing 113, a second bearing seat 114 and a second bearing end cover 115; the second bearing seat 114 is fixedly installed in the connecting holes of the front supporting vertical plate and the following actuating mechanism 11 of the rear supporting vertical plate of each bracket assembly; the second friction wheel 111 substantially coincides with the first friction wheel 101 of the active actuator 10.
The axial limiting mechanism 12 comprises an orientation wheel 121 and an oblique angle mounting base 122. The directional wheel 121 is installed perpendicular to the axis of the cabin body, an impact-resistant fixed follow-up flat wheel is adopted, the surface of the wheel is coated with polyurethane, and the wheel face width and the installation height of the directional wheel 121 are matched with the annular units at the front end and the rear end of the cabin body. Two sets of axial limiting mechanisms 12 are arranged on each bracket component and are symmetrically arranged on the left side and the right side of each bracket component in the width direction.
As shown in fig. 8, the auxiliary supporting device 13 includes a lower slider assembly 131, a middle slider assembly 132, an upper auxiliary assembly 133, and an auxiliary wheel 134; the auxiliary supporting devices 13 are positioned at the left side and the right side of the upper part of the top plate 34/45/65/74 of the bracket assembly, and form a wrap angle of 112 degrees for the ring surface of the front ring-shaped unit or the rear ring-shaped unit of the thin-wall cabin body, so that the thin-wall cabin body is prevented from rolling when falling, rolling or transferring. The auxiliary supporting device 13 is a two-degree-of-freedom adjustable structure, and can adjust the position of the auxiliary wheel 134 along the axial direction of the cabin or in the horizontal plane perpendicular to the axial direction of the cabin. When the cabin is stably placed on the equipment, the auxiliary supporting device 13 can be adjusted to fit with the small gap of the ring surface of the front-end annular unit or the rear-end annular unit of the cabin, so that the auxiliary support and the reliable parking of the cabin are realized.
As shown in fig. 9, the position feedback assembly 14 includes a small friction wheel 141, an angle sensor 142, a coupling 143, a bracket 144, a spring 145, and a base 146. The small friction wheel 141 is made of nylon materials, the spring 145 ensures that the small friction wheel 141 is tightly attached to the outer ring surface of the front-end annular unit or the rear-end annular unit of the cabin body, and the small friction wheel 141 moves along with the rotation of the cabin body annular unit in real time, so that the data acquisition and comparison of the rolling linear speed of the cabin body are realized. The angle sensor 142 is coaxially installed with the small friction wheel 141, and measures the rotating speed and rolling state monitoring of the cabin body in real time. The position feedback assemblies 14 are each mounted in a set at an intermediate position on each bracket assembly 3/4/6/7.
The invention relates to a multi-cabin parallel self-adaptive method for accurately adjusting the attitude and parking for a long time of a large-scale spacecraft thin-wall cabin, which can be also applied to assembly processes of supporting, attitude adjusting, butt joint and the like of components such as cabins or stars in the aerospace field and guided missiles or rockets in the weapon equipment field in an expanded way, can adapt to deformation of the components by adjusting the equipment use state and changing the instructions of a control system, and can reduce internal stress hidden troubles in the assembly and butt joint processes.
The invention has been described and illustrated in detail with reference to preferred embodiments thereof, but it should be understood that these embodiments are by way of illustration only and are for purposes of illustration only. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims (1)

1. The utility model provides a high accuracy accent appearance is equipped towards large-scale spacecraft thin wall cabin body which characterized in that: the device comprises a first cabin body platform (1), a second cabin body platform (2), a first fixed bracket assembly (3), a second movable bracket assembly (4), a guide rail sliding block assembly (5), a third movable bracket assembly (6), a fourth fixed bracket assembly (7), universal casters (8), adjusting support legs (9), an active execution mechanism (10), a follow-up execution mechanism (11), an axial limiting mechanism (12), an auxiliary supporting device (13), a position feedback assembly (14), a first control system (15), a second control system (16), a transferring structure (17) and a hoisting structure (18); the first cabin body platform (1) is respectively provided with a first fixed bracket assembly (3) for supporting a first front-end annular unit of the thin-wall cabin body, a second movable bracket assembly (4) for supporting a first rear-end annular unit of the thin-wall cabin body, a guide rail sliding block assembly (5) for adjusting the position of the second movable bracket assembly (4) along the axial direction of the cabin body, universal casters (8) for quickly transferring the cabin body in an assembly hall, adjusting support legs (9) for adjusting the height and pitch of the cabin body, a transferring structure (17) for air floatation transferring or electric transferring of the cabin body, a hoisting structure (18) for hoisting and transferring per se and a first control system (15) for adjusting the posture of the cabin body;
a third movable bracket assembly (6) for supporting a second front-end annular unit of the thin-wall cabin, a fourth fixed bracket assembly (7) for supporting a second rear-end annular unit of the thin-wall cabin, a guide rail sliding block assembly (5) for adjusting the position of the third movable bracket assembly (6) along the axial direction of the cabin, universal casters (8) for quickly transferring the cabin in an assembly hall, adjusting support legs (9) for adjusting the height and pitch of the cabin, a transferring structure (17) for air-floating transferring or electric transferring of the cabin, a hoisting structure (18) for hoisting and transferring the cabin, and a second control system (16) are respectively arranged on the second cabin platform (2); the first fixed bracket assembly (3), the second movable bracket assembly (4), the third movable bracket assembly (6) and the fourth fixed bracket assembly (7) are respectively provided with one set of active actuating mechanism (10) for rolling driving of the thin-wall cabin, one set of follow-up actuating mechanism (11) for rolling follow-up of the thin-wall cabin, two sets of axial limiting mechanisms (12) for limiting the end surface of the cabin in the rolling process, two sets of auxiliary supporting devices (13) for preventing the cabin from rolling in the rolling process and one set of position feedback assembly (14) for collecting the rolling linear speed of the cabin in real time;
the first cabin platform (1) adopts a rectangular steel pipe welding structure, and is reinforced by locally welding rib plates to form an integral structural member with a closed structure; the first cabin platform (1) is integrally combined and machined after being welded and serves as an interface mounting reference surface; the lower surface of the first cabin body platform (1) is welded with universal casters (8), adjusting support legs (9) and interfaces of a transfer structure (17), the upper surface of the first cabin body platform is welded with interfaces of a first fixed bracket assembly (3) and a guide rail sliding block assembly (5), and one end of the first cabin body platform in the width direction is welded with a butt joint interface of the second cabin body platform (2); the first cabin body platform (1) is provided with hoisting structures (18) at symmetrical positions of the interval 5390mm relative to the center of mass, and the hoisting structures are used for hoisting and transferring equipment per se;
the second cabin platform (2) adopts a rectangular steel pipe welding structure, and is reinforced by locally welding rib plates to form an integral structural member with a closed structure; the second cabin platform (2) is integrally combined and machined after being welded and serves as an interface mounting reference surface; the lower surface of the second cabin body platform (2) is welded with the universal caster (8), the adjusting support leg (9) and the interface of the transfer structure (17), the upper surface is welded with the interface of the fourth fixed bracket assembly (7) and the guide rail sliding block assembly (5), and one end in the width direction is welded with the butt joint interface of the first cabin body platform (1); the second cabin platform (2) is provided with hoisting structures (18) at 6570mm intervals and at symmetrical positions relative to the center of mass, and the hoisting structures are used for hoisting and transferring the equipment;
the first fixed bracket assembly (3) comprises a first base bottom plate (31), a first front supporting vertical plate (32), a first rear supporting vertical plate (33), a first top plate (34) and a plurality of first rib plates (35); the first fixed bracket component (3) is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the first front supporting vertical plate (32) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11), and the first rear supporting vertical plate (33) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11); the connecting hole of the active actuating mechanism (10) on the first front supporting vertical plate (32) is coaxial with the connecting hole of the active actuating mechanism (10) on the first rear supporting vertical plate (33), and the coaxial axis is parallel to the first base bottom plate (31); the connecting hole of the servo actuator (11) on the first front supporting vertical plate (32) is coaxial with the connecting hole of the servo actuator (11) on the first rear supporting vertical plate (33), and the coaxial axis is parallel to the axis of the connecting holes of the first base bottom plate (31), the first front supporting vertical plate (32) and the active actuator (10) on the first rear supporting vertical plate (33); the first base bottom plate (31) is a fixed connection interface of the first fixed bracket assembly (3) and the first cabin platform (1); the first top plate (34) is provided with a fixed connection interface of the axial limiting mechanism (12) and a fixed connection interface of the auxiliary supporting device (13); a fixed connection interface of a position feedback assembly (14) is arranged in the middle of the first fixed bracket assembly (3);
the second movable bracket assembly (4) comprises a second slide block mounting seat (41), a second base bottom plate (42), a second front supporting vertical plate (43), a second rear supporting vertical plate (44), a second top plate (45) and a plurality of second rib plates (46); the second movable bracket component (4) is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the second front supporting vertical plate (43) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11), and the second rear supporting vertical plate (44) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11); the connecting hole of the active actuating mechanism (10) on the second front supporting vertical plate (43) is coaxial with the connecting hole of the active actuating mechanism (10) on the second rear supporting vertical plate (44), and is coaxial with the connecting hole of the active actuating mechanism (10) of the first fixed bracket component (3), and the coaxial axis is parallel to the second base bottom plate (42); the connecting hole of the servo actuator (11) on the second front supporting vertical plate (43) is coaxial with the connecting hole of the servo actuator (11) on the second rear supporting vertical plate (44), and is coaxial with the connecting hole of the servo actuator (11) of the first fixed bracket component (3), and the coaxial axis is parallel to the axis of the connecting holes of the active actuator (10) on the second base bottom plate (42), the second front supporting vertical plate (43) and the second rear supporting vertical plate (44); the second sliding block mounting seat (41) is connected with the first cabin body platform (1) through the guide rail sliding block assembly (5), so that the position of the second movable bracket assembly (4) on the first cabin body platform (1) along the axial direction of the cabin body is adjusted, and the second movable bracket assembly (4) is fixed on the first cabin body platform (1) along the axial direction of the cabin body through the guide rail limiting block, so that the general assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the second top plate (45) is provided with a fixed connection interface of the axial limiting mechanism (12) and a fixed connection interface of the auxiliary supporting device (13); a fixed connection interface of a position feedback assembly (14) is arranged in the middle of the second movable bracket assembly (4); the second movable bracket assembly (4) is provided with an axial limiting mechanism (12) connecting interface along the axial direction of the cabin body, and the connecting interface is respectively suitable for the first cabin body platform (1) to be used independently, or the first cabin body platform (1) and the second cabin body platform (2) are in the working condition of double-platform butt joint interface use;
the third movable bracket assembly (6) comprises a third slide block mounting seat (61), a third base bottom plate (62), a third front supporting vertical plate (63), a third rear supporting vertical plate (64), a third top plate (65) and a plurality of third rib plates (66); the third movable bracket assembly (6) is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the third front supporting vertical plate (63) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11), and the third rear supporting vertical plate (64) is provided with connecting holes of the driving actuating mechanism (10) and the follow-up actuating mechanism (11); the connecting hole of the active actuating mechanism (10) on the third front supporting vertical plate (63) is coaxial with the connecting hole of the active actuating mechanism (10) on the third rear supporting vertical plate (64), and the coaxial axis is parallel to the third base bottom plate (62); the connecting hole of the servo actuator (11) on the third front supporting vertical plate (63) is coaxial with the connecting hole of the servo actuator (11) on the third rear supporting vertical plate (64), and the coaxial axis is parallel to the axis of the connecting holes of the active actuator (10) on the third base bottom plate (62), the third front supporting vertical plate (63) and the third rear supporting vertical plate (64); after the first cabin body platform (1) and the second cabin body platform (2) are positioned and combined through the double-platform butt joint interface, a connecting hole of an active actuating mechanism (10) of the third movable bracket component (6) is coaxial with a connecting hole of the active actuating mechanism (10) of the first fixed bracket component (3) and a connecting hole of the active actuating mechanism (10) of the second movable bracket component (4), and the coaxial axis is parallel to a third base bottom plate (62); after the first cabin body platform (1) and the second cabin body platform (2) are positioned and combined through the double-platform butt joint interface, a connecting hole of a follow-up actuating mechanism (11) of the third movable bracket component (6) is coaxial with a connecting hole of a follow-up actuating mechanism (11) of the first fixed bracket component (3) and a connecting hole of a follow-up actuating mechanism (11) of the second movable bracket component (4), and the coaxial axis is parallel to a third base bottom plate (62); the third sliding block mounting seat (61) is connected with the second cabin body platform (2) through the guide rail sliding block assembly (5), so that the position of the third movable bracket assembly (6) on the second cabin body platform (2) along the axial direction of the cabin body is adjusted, and the third movable bracket assembly (6) is fixed on the second cabin body platform (2) along the axial direction of the cabin body through the guide rail limiting block, so that the general assembly requirements of thin-wall cabin bodies with different lengths or the whole cabin are met; the third top plate (65) is provided with a fixed connection interface of the axial limiting mechanism (12) and a fixed connection interface of the auxiliary supporting device (13); a fixed connection interface of a position feedback assembly (14) is arranged in the middle of the third movable bracket assembly (6);
the fourth fixed bracket assembly (7) comprises a fourth base bottom plate (71), a fourth front supporting vertical plate (72), a fourth rear supporting vertical plate (73), a fourth top plate (74) and a plurality of fourth rib plates (75); the fourth fixed bracket component (7) is formed by welding Q235 or Q345 steel plates with the thickness of 20mm, and the overall precision is ensured by adopting a combined machining method after all welding work is finished; the fourth front supporting vertical plate (72) is provided with a connecting hole of the driving actuating mechanism (10) and the servo actuating mechanism (11), and the fourth rear supporting vertical plate (73) is provided with a connecting hole of the driving actuating mechanism (10) and the servo actuating mechanism (11); the connecting hole of the active actuating mechanism (10) on the fourth front supporting vertical plate (72) is coaxial with the connecting hole of the active actuating mechanism (10) on the fourth rear supporting vertical plate (73), and the coaxial axis is parallel to the connecting holes of the active actuating mechanism (10) of the fourth base bottom plate (71) and the third movable bracket component (6); a connecting hole of the servo actuator (11) on the fourth front supporting vertical plate (72) is coaxial with a connecting hole of the servo actuator (11) on the fourth rear supporting vertical plate (73), the coaxial axis is parallel to the axis of the connecting holes of the fourth base bottom plate (71), the fourth front supporting vertical plate (72) and the active actuator (10) on the fourth rear supporting vertical plate (73), and is parallel to the connecting hole of the servo actuator (11) of the third movable bracket component (6); the fourth base bottom plate (71) is a fixed connection interface of the fourth fixed bracket assembly (7) and the second cabin body platform (2); the fourth top plate (74) is provided with an axial limiting mechanism (12) and a fixed connection interface of the auxiliary supporting device (13); a fixed connection interface of a position feedback assembly (14) is arranged in the middle of the fourth fixed bracket assembly (7);
the universal caster (8) comprises a caster seat (81), a stand column (82), a direction lock (83), a surface brake (84), a wheel shaft (85) and a rubber-coated wheel body (86); the caster seat (81) is an installation interface of a universal caster (8) and is used for being in threaded connection with the first cabin body platform (1) or the second cabin body platform (2); the direction lock (83) realizes the steering locking of the universal caster (8), the surface brake (84) is a double-wheel simultaneous brake device, and is also provided with a spring device, so that the universal caster (8) can resist shock and automatically balance the unevenness of the ground;
the adjusting supporting leg (9) comprises a supporting flange (91), a spherical hinge (92), a screw rod mechanism (93), a shell (94), a tail cover bracket (95) and a driving assembly (96); the adjusting supporting legs (9) adopt a screw rod moving type, the working principle is that a worm gear drives a screw rod to do linear motion, and the screw rod does not rotate in the operation process; the supporting flange (91) is connected with the lead screw through a spherical hinge (92), and a silicone rubber pad with the thickness of 5mm and Teflon adhesive tape paper with the thickness of 0.1mm are stuck on one side, which is contacted with the ground, of the supporting flange (91) so as to reduce the influence of indentations and pits caused on the ground of a factory area; the height of the supporting legs (9) is adjusted to perform pitching adjustment of the equipment, so that the posture of the cabin body is adjusted;
the driving execution mechanism (10) comprises a first friction wheel (101), a driving wheel shaft (102), a first angular contact ball bearing (103), a first bearing seat (104), a first bearing end cover (105), a diaphragm coupling (106), a planetary gear reducer (107) and a servo motor (108); two ends of each first friction wheel (101) are supported by first angular contact ball bearings (103), and the first angular contact ball bearings (103) bear large radial loads; the driving wheel shaft (102) and the planetary gear reducer (107) are coaxially mounted through the diaphragm coupling (106), and the servo motor (108) is directly mounted at the input end of the planetary gear reducer (107); the first bearing seat (104) is fixedly arranged in the connecting holes of the active actuating mechanisms (10) of the front supporting vertical plate and the rear supporting vertical plate of each bracket component;
the follow-up actuator (11) comprises a second friction wheel (111), a follow-up wheel shaft (112), a second angular contact ball bearing (113), a second bearing seat (114) and a second bearing end cover (115); the second bearing seat (114) is fixedly arranged in connecting holes of a front supporting vertical plate and a rear supporting vertical plate of each bracket assembly; the second friction wheel (111) is consistent with the first friction wheel (101) of the driving execution mechanism (10);
the axial limiting mechanism (12) comprises a directional wheel (121) and an oblique angle mounting base (122); the directional wheel (121) is arranged perpendicular to the axis of the cabin body, an anti-impact fixed follow-up flat wheel is adopted, the surface of the wheel is coated with polyurethane, and the wheel surface width and the installation height of the directional wheel (121) are matched with the annular unit at the front end and the rear end of the cabin body; two sets of axial limiting mechanisms (12) are arranged on each bracket component and are symmetrically arranged on the left side and the right side of each bracket component in the width direction;
the auxiliary supporting device (13) comprises a lower sliding seat assembly (131), a middle sliding seat assembly (132), an upper auxiliary assembly (133) and an auxiliary wheel (134); the auxiliary supporting devices (13) are positioned at the left side and the right side of the upper part of the top plate of the bracket component, and form a wrap angle of 112 degrees for the ring surface of the front-end ring-shaped unit or the rear-end ring-shaped unit of the thin-wall cabin body, so that the thin-wall cabin body is prevented from rolling when falling, rolling or transferring; the auxiliary supporting device (13) is a two-degree-of-freedom adjustable structure, and can adjust the position of the auxiliary wheel (134) along the axial direction of the cabin or in the horizontal plane and perpendicular to the axial direction of the cabin; when the cabin body is stably placed on the equipment, the auxiliary supporting device (13) is adjusted to be closely attached to the small gap of the ring surface of the front-end annular unit or the rear-end annular unit of the cabin body, so that the auxiliary support and the reliable parking of the cabin body are realized;
the position feedback assembly (14) comprises a small friction wheel (141), an angle sensor (142), a coupling (143), a bracket (144), a spring (145) and a base (146); the small friction wheel (141) is made of nylon materials, the small friction wheel (141) is ensured to be tightly attached to the outer ring surface of the front-end annular unit or the rear-end annular unit of the cabin body through the spring (145), and the small friction wheel (141) moves along with the rotation of the cabin body annular unit in real time, so that the data acquisition and comparison of the rolling linear speed of the cabin body are realized; the angle sensor (142) and the small friction wheel (141) are coaxially arranged, and the rotating speed and the rolling state of the cabin body are measured in real time for monitoring; the position feedback assemblies (14) are respectively provided with a set at the middle position of each bracket assembly.
CN202010808270.0A 2020-08-12 2020-08-12 High-precision posture adjusting equipment for large spacecraft thin-wall cabin Active CN112078819B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010808270.0A CN112078819B (en) 2020-08-12 2020-08-12 High-precision posture adjusting equipment for large spacecraft thin-wall cabin

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010808270.0A CN112078819B (en) 2020-08-12 2020-08-12 High-precision posture adjusting equipment for large spacecraft thin-wall cabin

Publications (2)

Publication Number Publication Date
CN112078819A CN112078819A (en) 2020-12-15
CN112078819B true CN112078819B (en) 2021-12-07

Family

ID=73727879

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010808270.0A Active CN112078819B (en) 2020-08-12 2020-08-12 High-precision posture adjusting equipment for large spacecraft thin-wall cabin

Country Status (1)

Country Link
CN (1) CN112078819B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112605627A (en) * 2020-12-17 2021-04-06 武昌船舶重工集团有限公司 Ship integrated vibration isolation and impact resistance device cabin-entering conveying system
CN112896545A (en) * 2021-02-22 2021-06-04 浙江大学 Airplane moving support platform with posture adjusting function
CN113247297B (en) * 2021-06-28 2021-12-10 成都飞机工业（集团）有限责任公司 Integrated system for machining and testing large part of machine body
CN114012403A (en) * 2021-11-10 2022-02-08 四川航天长征装备制造有限公司 Novel automatic horizontal assembly butt joint system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106134336B (en) * 2010-01-29 2014-05-28 北京卫星制造厂 A kind of macrotype platform and method of adjustment of adjusting for position
CN102059549B (en) * 2010-11-12 2012-11-21 浙江大学 Airplane engine attitude regulation installation system based on four numerical control positioners and use method thereof
CN104029824B (en) * 2014-06-05 2016-09-28 北京卫星环境工程研究所 Large thruster arranges the posture adjustment assembly method bottom spacecraft
CN104148914B (en) * 2014-08-07 2016-06-22 天津航天长征火箭制造有限公司 A kind of posture adjustment assembly system for rocket part docking and attitude-adjusting method
US9725190B2 (en) * 2015-02-13 2017-08-08 The Boeing Company Aircraft engine inlet assembly apparatus
CN110498059B (en) * 2019-08-15 2020-12-25 燕山大学 6-freedom parallel posture adjusting platform for horizontal butt joint assembly of large heavy-load components
CN111056486A (en) * 2019-11-29 2020-04-24 北京卫星制造厂有限公司 Six-degree-of-freedom high-precision transferring and flexible butt joint equipment for large cabin
CN111024310B (en) * 2019-12-24 2021-11-16 北京卫星制造厂有限公司 Multi-dimensional air flotation follow-up system for satellite high-precision quality measurement

Also Published As

Publication number Publication date
CN112078819A (en) 2020-12-15

Similar Documents

Publication Publication Date Title
CN112078819B (en) High-precision posture adjusting equipment for large spacecraft thin-wall cabin
US5379842A (en) Material-handling equipment
CN104787363B (en) A kind of satellite ground microgravity dynamic load simulation mechanism
CN110481673B (en) Active and passive differential series-parallel supporting leg and six-degree-of-freedom posture adjusting platform
US20060213306A1 (en) Apparatus for multi-axis rotation and translation
CN105479129A (en) Carrying and docking assembly for large-size heavy-load cylindrical workpieces
CN112917142A (en) Orthopedic posture-adjusting integrated butt-joint platform
CN111409056A (en) Omnidirectional mobile robot
JPS61203279A (en) Improvement in spherical surface structure type industrial robot
CN111844070B (en) Movable hybrid robot for deep hole in-situ machining operation
CN209506132U (en) A kind of air-flotation type space microgravity simulation flexible support mechanism
JP3435448B2 (en) Wind tunnel model support device and wind tunnel test device using the same
CN114408231A (en) Air-floating type full-angle multi-level zero-gravity unloading system
CN102645304A (en) Adjustable product-quality characteristic measuring device
CN113276939A (en) Independent steering independent driving modular wheel type movement unit system
CN116767519B (en) Magnetic gravity balance spaceflight simulator docking test device
CN107363821B (en) Unloading type series-parallel multi-degree-of-freedom posture adjusting platform
CN115256344A (en) Omnidirectional carrying attitude-adjusting platform for heavy equipment under condition of large depth in cabin
CN215281966U (en) Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies
US6089164A (en) Gantry system
CN114194311A (en) High-precision omnidirectional heavy-load mobile robot
CN212173558U (en) Multi-degree-of-freedom loading device
CN111300452A (en) Welding seam measuring-polishing robot in conical shell
CN211969621U (en) Split type AGV
CN115056885B (en) Butt-joint driving and centroid measuring device with same

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant