CN114952647A - Docking device for spacecraft assembly integration and test and use method - Google Patents
Docking device for spacecraft assembly integration and test and use method Download PDFInfo
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- CN114952647A CN114952647A CN202210353385.4A CN202210353385A CN114952647A CN 114952647 A CN114952647 A CN 114952647A CN 202210353385 A CN202210353385 A CN 202210353385A CN 114952647 A CN114952647 A CN 114952647A
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- 238000012360 testing method Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003032 molecular docking Methods 0.000 title claims abstract description 34
- 230000010354 integration Effects 0.000 title claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 75
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 30
- 230000008569 process Effects 0.000 abstract description 25
- 238000012546 transfer Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 238000000576 coating method Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005253 cladding Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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Abstract
The embodiment of the application discloses a docking device for spacecraft assembly integration and testing, which comprises two transition tools arranged at two ends of a spacecraft along the X direction; the two clamping tools are respectively positioned on one sides of the two transition tools, which are far away from the spacecraft; a centering assembly for centering the spacecraft; the fixing component is used for supporting and fixing the transition tool; the straightening assembly comprises a connecting beam formed on one side of the transition tool close to the clamping tool; the carrying block and the guide wheel are positioned on the clamping tool; the guide wheel is positioned above the carrying block; a connecting beam can be inserted between the carrying block and the guide wheel; the carrying block comprises a bottom wall and two side walls formed by upwards extending two opposite edges of the bottom wall; a groove cavity capable of containing the connecting beam is formed between the bottom wall and the two side walls, and the connecting beam can be limited in the groove cavity through the guide wheel. The device can effectively reduce the working intensity of operators; the automation degree and the butt joint efficiency are improved; and the safety of operators, spacecrafts and equipment in the butt joint process can be enhanced.
Description
Technical Field
The application relates to the technical field of docking, in particular to a docking device for spacecraft assembly integration and testing and a using method.
Background
In the general assembly integration and test process of spacecrafts such as satellites, links such as thermal control multilayer coating and whole satellite communication test are generally required, and in the links, operations such as transportation, transfer, posture change and the like are usually required to be carried out on the spacecrafts, so that effective and accurate butt joint between the spacecrafts and related production test equipment is inevitably required.
For example, in the thermal control multilayer cladding process, a thermal control multilayer thermal insulation assembly with excellent thermal insulation performance is required to be covered on the surface of a satellite and a load, and the satellite posture is required to be rotated in the cladding process so as to carry out cladding on different parts of the satellite. At present, the method generally adopted at home and abroad is to firstly transfer the satellite from the coating equipment of the coating operation station to the turnover equipment for turnover in a hoisting mode in the coating process, and then hoist the turned satellite back to the coating equipment for coating operation of other operation surfaces. In the process of satellite hoisting and butt joint with turnover equipment and cladding equipment, manual butt joint modes such as visual inspection, hand-held adjustment and the like of operators are mainly used for realizing the butt joint.
In the whole satellite communication test link, communication load performance index test, communication load fault positioning in the test stage and solution test need to be carried out on the satellite. At present, two test modes are mainly adopted at home and abroad aiming at the whole satellite communication test: one is to directly place the satellite in a large-scale microwave dark room for testing, and the method has higher requirements on site space; the other method is to use a small-sized microwave camera bellows for testing, the satellite is often required to be placed on special testing equipment under the testing mode, the tested communication load of the satellite is aligned to the detection equipment in the microwave camera bellows, the satellite is required to be effectively butted with the corresponding testing equipment in the process, and the manual butting modes of hoisting, matching with visual inspection, hand-held adjustment and the like are also commonly adopted in the industry at present.
The existing manual modes of hoisting, visual measurement of operators, hand regulation and the like are adopted for butt joint, and the following defects mainly exist:
(1) the labor intensity of the operators is high, the manual butt joint efficiency is low: at present, most of spacecraft products such as satellites are large in size, weight, rotational inertia and the like, so that the operation is inconvenient in the hoisting and manual butt joint processes, meanwhile, operators often need to hold the products to adjust repeatedly in the butt joint process, the labor intensity is high, the butt joint efficiency is affected, and particularly, the capacity is severely limited under the spacecraft batch production mode.
(2) The safety of operators, spacecraft and related test equipment is not guaranteed: during hoisting and manual butt joint, the spacecraft often shakes, and particularly when the size, weight or rotational inertia of the spacecraft product is large, the personal safety, product safety and equipment safety are all hidden dangers.
(3) The effect of butt joint and consistency in work are low: the dependence on a plurality of human factors such as experience, technology and working state of operators in a manual docking mode is high, the docking effect and operation time consumption are uncontrollable, and the consistency is difficult to guarantee. Especially in the mass production mode, the method is not beneficial to the beat control and the formulation and implementation of the scheduling plan.
Therefore, in order to overcome the defects in the prior art, a docking device and a docking method for spacecraft assembly integration and testing are needed to be provided.
Disclosure of Invention
The present invention is directed to a docking device for spacecraft assembly integration and testing and a method for using the same, so as to solve at least one of the above technical problems.
In order to achieve at least one of the above purposes, the following technical scheme is adopted in the application:
the application provides a interfacing apparatus for spacecraft assembly integration and test in a first aspect, includes:
two transition tools arranged at two ends of the spacecraft along the X direction;
the two clamping tools are arranged along the X direction and are respectively positioned on one side, away from the spacecraft, of the two transition tools;
at least one set of centering assemblies for centering the position of the spacecraft; and
the fixing component is used for supporting and fixing the transition tool;
the setting assembly comprises:
the connecting beam is formed on one side, close to the clamping tool, of the transition tool; and
the carrying block and the guide wheel are positioned on the clamping tool; the guide wheel is positioned above the carrying block; the connecting beam can be inserted between the carrying block and the guide wheel;
the carrying block comprises a bottom wall and two side walls formed by upward extending of two opposite side sides of the bottom wall; a groove cavity capable of containing the connecting beam is formed between the bottom wall and the two side walls, and the connecting beam can be limited in the groove cavity through the guide wheel.
Optionally, the bottom wall of the carrying block comprises a plurality of universal balls arranged in an array.
Optionally, the setting assembly has two sets arranged side by side.
Optionally, the clamping tool includes: the first bearing beam and the second bearing beam are arranged in parallel from top to bottom in the Z direction;
the guide wheel is arranged on the first bearing beam;
the carrying block is fixedly arranged on the second bearing beam.
Optionally, a central axis of the guide wheel in the Z direction is the same as a central axis of the carrying block.
Optionally, the guide wheel is reciprocally movable in the Z-direction;
the connecting beam comprises a groove, and at least the bottom of the guide wheel can move into the groove;
the groove is formed by the downward depression of the top surface of the connecting beam, and the longitudinal section of the groove is V-shaped.
Optionally, the fixation assembly has at least two sets;
the fixing assembly includes: the fixing pin is positioned on the clamping tool and can reciprocate in the X direction; and
and the guide sleeve is positioned on the transition tool and used for inserting the fixing pin.
Optionally, the fixing pin is located at a corner of the clamping tool.
Optionally, the width of the slot cavity is greater than the width of the connecting beam.
A second aspect of the present application provides a method for using the docking device as described in the first aspect, including:
respectively installing two transition tools at two ends of the spacecraft in the X direction;
moving the spacecraft with the transition tool between the two clamping tools, wherein the height of the spacecraft is consistent with that of the two clamping tools;
respectively driving the two clamping tools to move towards the direction close to the transition tool until a connecting beam fixed on the transition tool is inserted between a guide wheel and a carrying block on the clamping tool;
respectively driving the two clamping tools to move upwards until the connecting beam is contacted with the bottom wall of the carrying block;
the guide wheel is driven to move towards the direction of the carrying block until the guide wheel tightly presses the connecting beam, so that the connecting beam is limited in the groove cavity through the guide wheel;
the clamping tool and the transition tool are connected and fixed through the driving fixing assembly.
The beneficial effect of this application is as follows:
to the problem that exists among the prior art at present, this application provides a interfacing apparatus for spacecraft assembly is integrated and test, inserts through the tie-beam that will form on the transition frock and carries on between piece and the guide pulley, and the rethread guide pulley is spacing in the cavity with the tie-beam to accomplish the butt joint of transition frock and centre gripping frock. The transition tool is arranged between the clamping tool and the spacecraft, and can also play a certain role in protecting the spacecraft in the butt joint and subsequent testing processes. The docking device for spacecraft assembly integration and testing can effectively reduce the working strength of operators; the automation degree, the butt joint efficiency and the consistency of the butt joint accuracy and the operation time consumption are improved; and the safety of operators, spacecrafts and equipment in the butt joint process can be enhanced.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 shows an overall structural schematic diagram of a docking device for spacecraft assembly integration and testing in one embodiment of the present application.
Fig. 2 shows an enlarged view of a portion a of fig. 1.
Fig. 3 shows a process diagram of mounting transition tooling of a docking device for spacecraft final assembly integration at both ends of a spacecraft in an embodiment of the application.
Fig. 4 shows a process diagram of two clamping tools of a docking device integrated with spacecraft final assembly according to an embodiment of the present application moving back and forth.
Fig. 5 is a process diagram illustrating a process of retracting the guide wheel to a position away from the carrying block and retracting the fixing pin to a position away from the transition tool in the clamping tool of the spacecraft final assembly integrated docking device according to an embodiment of the present application.
Fig. 6 shows a first process diagram of moving the clamping tool of the docking device for spacecraft final assembly integration in a direction close to the transition tool to a position where the connecting beam fixed on the transition tool is inserted between the guide wheel and the carrying block on the clamping tool in one embodiment of the present application.
Fig. 7 shows a second process diagram of the process that the clamping tool of the docking device for spacecraft final assembly integration moves to a direction close to the transition tool until the connecting beam fixed on the transition tool is inserted between the guide wheel and the carrying block on the clamping tool in one embodiment of the application.
Fig. 8 shows a process diagram of moving guide wheels on two clamping tools of a docking device for spacecraft final assembly integration towards a carrying block until a connecting beam is limited between the guide wheels and the carrying block in an embodiment of the application.
Fig. 9 shows a process diagram of insertion of a retaining pin into a guide sleeve in a retaining assembly of a spacecraft assembly integrated docking assembly in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is further noted that, in the description of the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
To solve the problems in the prior art, an embodiment of the present application provides a docking device for spacecraft assembly integration and testing, as shown in fig. 1 to 9, including: two transition tools 2 arranged at two ends of the spacecraft 1 along the X direction; the transition tool 2 can be fixedly connected with corresponding mechanical interfaces at two ends of the spacecraft 1 through fasteners such as bolts and the like; the two clamping tools 3 are arranged along the X direction and are respectively positioned on one side, away from the spacecraft 1, of the two transition tools 2; at least one set of centering assemblies for centering the position of the spacecraft 1; the fixing component is used for supporting and fixing the transition tool 2; the setting-up assembly comprises: the connecting beam 41 is formed on one side, close to the clamping tool 3, of the transition tool 2; the carrying block 42 and the guide wheel 43 are positioned on the clamping tool 3; the guide wheel 43 is positioned above the carrying block 42; the guide wheel 43 is movable back and forth in the Z direction; the connecting beam 41 can be inserted between the carrying block 42 and the guide wheel 43; the carrying block 42 comprises a bottom wall and two side walls 422 formed by extending upwards from two opposite sides of the bottom wall; a groove cavity capable of accommodating the connecting beam 41 is formed between the bottom wall and the two side walls 422, and the connecting beam 41 can be limited in the groove cavity through the guide wheel 43. The X direction, Y direction and Z direction are directions as shown in fig. 1.
In the above embodiment of the application, the connecting beam 41 formed on the transition tool 2 is inserted between the carrying block 42 and the guide wheel 43, and then the connecting beam 41 is limited in the groove cavity by the guide wheel 43, so that the butt joint of the transition tool 2 and the clamping tool 3 is completed. The transition tool 2 is placed between the clamping tool 3 and the spacecraft 1, and can also play a certain role in protecting the spacecraft 1 in the butt joint and subsequent testing processes. The docking device for spacecraft assembly integration and testing can effectively reduce the working strength of operators; the automation degree, the butt joint efficiency and the butt joint accuracy are improved, and the consistency of the butt joint accuracy and the operation is improved; and the safety of operators, spacecrafts and equipment in the butt joint process can be enhanced.
In practical application, the specific structure and the mechanical interface position of the transition tool 2 can be designed according to the structural layout of the spacecraft 1 and the clamping tool 3; relevant test equipment (such as turnover equipment) in links of carrying out thermal control multilayer coating, communication test and the like of the spacecraft 1 is connected with one side of the clamping tool 3, which is far away from the spacecraft 1; the clamping tool 3 moves horizontally and vertically through transmission structures such as guide rails and ball screws on the testing equipment, and then the lifting of the clamping tool 3 and the butt joint with the transition tool 2 are achieved.
In a specific embodiment, the bottom wall of the carrying block 42 includes a plurality of ball transfer units 421 arranged in an array. The connecting beam 41 is mounted on the plurality of ball transfer units 421, and can be understood as follows: the connecting beam 41 can be limited on the plurality of ball bearings 421 through the guide wheel 43. When the guide wheel 43 moves in the direction of the carrying block 42 and limits the connecting beam 41 in the slot, the connecting beam 41 can move on the ball 421, so as to reduce the friction between the connecting beam 41 and the bottom wall of the carrying block 42.
In a specific embodiment, a central axis of the guide wheel 43 in the Z direction is the same as a central axis of the carrying block 42. In this way, when the guide wheels move in the direction of the carrying block 42, the connecting beam 41 can be limited at the middle position of the slot cavity, and the position of the spacecraft 1 can be adjusted.
Specifically, the connecting beam 41 includes a groove 411, and at least the bottom of the guide wheel 43 can move into the groove 411; the groove 411 is formed by recessing the top surface of the connecting beam 41 downward, and the longitudinal section of the groove 411 is V-shaped. Specifically, the thickness of the guide wheel 43 in the Y direction gradually decreases from the center position of the guide wheel 43 toward the edge of the guide wheel 43; the radius of the guide wheel 43 is larger than or equal to the depth of the groove 411, so that the guide wheel 43 can be matched with the groove 411; when the connecting beam 41 moves between the carrying block 42 and the guide wheel 43 and deviates from the central axis of the carrying block 42, the guide wheel 43 moves downwards along an inner side wall of the groove 411 to move the connecting beam 41 to the central position of the carrying block 42.
In practical applications, the width of the bottom surface of the groove 411 in the Y direction is equal to the width of the peripheral side wall of the guide wheel 43 in the Y direction, and when the guide wheel 43 is located in the groove 411 and presses the connecting beam 41, two opposite side walls of the guide wheel 43 are attached to two opposite side walls of the groove 411; thus, when the guide wheel 43 is positioned in the groove 411 and presses the connecting beam 41, the contact area between the guide wheel 43 and the groove 411 is increased, the side wall of the groove 411 can bear part of the pressing force of the guide wheel 43, and the whole pressing force cannot be borne by the bottom of the groove 411; in a similar way, the reaction force of the groove 411 to the guide wheel 43 is not concentrated on the peripheral side wall of the guide wheel 43, which is helpful to protect the guide wheel 43 and the groove 411 from being damaged and prolong the service life of the guide wheel 43 and the groove 411.
In a specific embodiment, the width of the slot cavity is greater than the width of the connecting beam 41. In other words, the length of the slot cavity in the Y direction is greater than the length of the connection beam 41 in the Y direction, so that the connection beam 41 in the Y direction can have an adjustment space in the slot cavity that can be straightened. Specifically, the width of the slot cavity minus the width of the connecting beam 41 is defined as the active width; the distance between the tops of the two inner opposing side walls of the groove 411 is greater than the movable width plus the width of the outer peripheral side wall of the guide wheel 43 in the Y direction. Thus, when the connecting beam 41 is located in the cavity of the carrying block 42, the central axes of the carrying block 42 and the guide wheel 43 in the Z direction can always pass through the V-shaped groove, and the connecting beam 41 can only be aligned when the guide wheel 43 moves downward.
In one embodiment, the leveling assembly has two sets disposed side by side. The setting up of two sets of components of ajusting makes transition frock 2 more accurate with 3 butt joints of centre gripping frock, has reduced the butt joint error.
In one embodiment, the fixing components have at least two groups; preferably four groups; the fixing assembly comprises: a fixing pin 51 located on the clamping tool 3 and capable of reciprocating in the X direction; the head of the fixing pin 51, namely one end close to the transition tool 2, is conical; and a guide sleeve 52 which is positioned on the transition tool 2 and is used for inserting the fixing pin 51. The inner side wall of the sleeve is provided with a chamfer or a guide inclined plane matched with the head taper of the fixing pin 51; the guide sleeve 52 is matched with the fixing pin 51, so that the transition tool 2 plays a role in guiding and positioning in the butt joint process with the clamping tool 3; the fixing pin 51 is inserted into the guide sleeve 52, so that the clamping tool 3 and the transition tool 2 are fixedly connected into a whole, and the spacecraft 1 with the transition tool 2 is supported and fixed.
In a specific embodiment, the clamping tool 3 includes: a frame 31 for mounting the fixing pins 51; a bearing frame connected and fixed with the top of the frame 31 and used for fixing a carrying block 42 and a guide wheel 43; the bearing frame is fixedly connected with the frame 31 through a connecting frame 32; specifically, the fixing pin 51 may be located at a corner of the clamping fixture 3; that is, at the corner positions of the frame 31, when the fixing assembly has four, four fixing pins 51 are respectively located at the four corner positions of the frame 31; like this centre gripping frock 3 provides great holding power for transition frock 2, and transition frock 2 is connected more stably with centre gripping frock 3. In practical applications, the fixing pin 51 may be set according to actual requirements without being placed at a corner of the clamping tool 3.
Specifically, centre gripping frock 3 includes: a first carrier beam 33 and a second carrier beam 34 arranged in parallel from top to bottom in the Z direction; namely, the bearing frame of the clamping tool 3 comprises a first bearing beam 33 and a second bearing beam 34; the guide wheel 43 is mounted on the first load-bearing beam 33; the carrying block 42 is fixedly mounted on the second carrying beam 34. Therefore, the guide wheel 43 is located above the carrying block 42, so that the connecting beam 41 can be conveniently inserted between the guide wheel 43 and the carrying block 42, and the guide wheel 43 moves downwards to press and fix the connecting beam 41 in the groove 411 of the carrying block 42.
In one embodiment, the guide wheel 43 is connected with a telescopic rod 45, the telescopic rod 45 is connected with a first driving device 44, and the first driving device 44 can drive the telescopic rod 45 to reciprocate in the Z direction, so as to drive the guide wheel 43 to reciprocate in the Z direction. Specifically, the first driving device 44 is located at the top of the first carrier beam 33, the telescopic rod 45 penetrates through one end of the first carrier beam 33 to be connected with the first driving device 44, and the other end of the telescopic rod is connected with the guide wheel 43; the first driving device 44 may be a pneumatic cylinder or an electric cylinder, without limitation.
In one embodiment, the fixing pin 51 is connected to a second driving device 53, and the second driving device 53 can drive the fixing pin 51 to reciprocate in the X direction, so as to drive the fixing pin 51 to reciprocate in the X direction. Specifically, the second driving device 53 is located on one side of the frame 31 away from the transition tool 2, and the fixing pin 51 penetrates through the frame 31 to be connected with the second driving device 53; the second driving device 53 may be a cylinder or an electric cylinder, without limitation.
Another embodiment of the present application provides a method for using the docking device, including:
step S1, as shown in fig. 3, respectively installing two transition fixtures 2 at two ends of the spacecraft 1 in the X direction; specifically, operators at stations can fixedly install the transition tools 2 at two ends of a spacecraft 1 product; in fig. 3, the left side of the arrow is a structural diagram of the transition tool 2 installed at two ends of the spacecraft 1 before the transition tool 2 is installed on the spacecraft 1, and the right side of the arrow is a structural diagram of the transition tool 2.
Step S2, moving the spacecraft 1 with the transition tool 2 to a position between the two clamping tools 3, wherein the height of the spacecraft is consistent with that of the two clamping tools 3; the spacecraft 1 with the transition tool 2 moves through the transfer device; in practical application, before step S2, the clamping tools 3 move to a specified height through transmission structures such as guide rails and ball screws on the testing equipment, and then the two clamping tools 3 move in the horizontal direction, that is, as shown in fig. 4, the two clamping tools 3 move back to back in the horizontal direction, so that a space for accommodating the spacecraft 1 and the transition tool 2 is reserved; at this time, as shown in fig. 5, the extendable rod 45 connected to the guide wheel 43 of the clamping tool 3 is retracted to a position away from the mounting block 42, and the fixing pin 51 is also retracted to a position away from the transition tool 2.
Step S3, as shown in fig. 6 and 7, the two clamping tools 3 are respectively driven to move toward the direction of the transition tool 2 until the connecting beam 41 fixed on the transition tool 2 is inserted between the guide wheel 43 and the carrying block 42 on the clamping tool 3, i.e. the positions of the connecting beam 41, the carrying block 42 and the guide wheel 43 on the right side of the arrow in fig. 6 and 7. The fact that the heights of the spacecraft with the transition tool and the two clamping tools are consistent in step S2 means that in step S3, when the two clamping tools 3 are driven to move in the direction approaching the transition tool 2, the connecting beam 41 fixed to the transition tool 2 can be inserted between the upper guide wheel 43 of the clamping tool 3 and the carrying block 42.
Step S4, respectively driving the two clamping tools 3 to move upwards until the connecting beam 41 contacts with the bottom wall of the carrying block 42; in practical application, the transfer device carrying the spacecraft 1 is disengaged from the spacecraft 1; specifically, the clamping tool 3 can continue to move upwards, and the universal ball 421 located on the bottom wall of the carrying block 42 can lift the spacecraft 1 with the transition tool 2 upwards through the lifting connecting beam 41 and separate from the transfer device, so that the transfer device can leave the current station to perform other transfer tasks.
Step S5, as shown in fig. 8, the guide wheel 43 is driven to move toward the mounting block 42 until the guide wheel 43 presses the connection beam 41, so that the connection beam 41 is limited in the groove cavity by the guide wheel 43; i.e., the position configuration shown to the right of the arrow in fig. 8; specifically, when the guide wheel 43 moves toward the mounting block 42, the guide wheel 43 needs to align the connecting beam 41 that is located away from the bottom wall of the mounting block 42, so that the connecting beam 41 slides on the ball bearings 421 on the bottom wall of the mounting block 42 while the guide wheel 43 moves downward and presses the connecting beam 41 until the guide wheel 43 presses and fixes the connecting beam 41 in the cavity, that is, between the guide wheel 43 and the bottom wall of the mounting block 42, and at this time, the connecting beam 41 is also located at the center of the bottom wall of the mounting block 42, and the whole spacecraft 1 is also in an aligned state.
Step S6, as shown in fig. 9, the driving fixing component connects and fixes the clamping tool 3 and the transition tool 2. Specifically, the fixing pin 51 is driven by the second driving device 53 to move in the direction of the guide bush 52 until the fixing pin 51 is inserted into the guide bush 52; at the moment, the spacecraft 1 with the transition tool 2 and the clamping tool 3 complete butt joint work; at this time, the spacecraft 1 may perform a test task of a relevant link.
The butt joint method can be suitable for the situation that the spacecraft 1 enters the corresponding station of the links such as the thermal control multilayer coating and the communication test under the transportation of the transfer device.
In practical application, after the relevant production test tasks are completed, the spacecraft 1, the transition tool 2 and the clamping tool 3 are separated.
The separation step comprises:
step S7, driving the fixing pin 51 to move away from the transition tool 2 by the second driving device 53, so that the fixing pin 51 is separated from the guide sleeve 52; moving the guide wheel 43 in a direction away from the mounting block 42 by the first driving device 44 so that the guide wheel 43 is separated from the connection beam 41; at this time, the spacecraft 1 with the transition tool 2 releases the fixation constraint and can slide on the universal ball 421 with slight low friction.
Step S8, the transfer device for carrying the spacecraft 1 enters a designated docking position; the clamping tool 3 is moved downwards through transmission structures such as guide rails and ball screws on the test equipment until the spacecraft 1 descends to the transfer equipment, and the connecting beam 41 is not in contact with the carrying block 42 and a certain gap is reserved.
Step S9, moving the two clamping tools 3 back to back in the horizontal direction through transmission structures such as guide rails and ball screws on the test equipment; at this time, the spacecraft 1 with the transition tool 2 is completely separated from the clamping tool 3.
Step S10, the transfer equipment moves the spacecraft 1 and the transition tool 2 to other specified positions; the clamping tool 3 is also restored to the initial state.
And step S11, removing the transition tools 2 at the two side ends of the spacecraft 1 by station operators.
And step S12, transferring the spacecraft 1 to the next production test link by the transferring equipment.
It should be understood that the above-described embodiments of the present invention are examples for clearly illustrating the invention, and are not to be construed as limiting the embodiments of the present invention, and it will be obvious to those skilled in the art that various changes and modifications can be made on the basis of the above description, and it is not intended to exhaust all embodiments, and obvious changes and modifications can be made on the basis of the technical solutions of the present invention.
Claims (10)
1. A docking device for spacecraft assembly integration and testing, comprising:
two transition tools arranged at two ends of the spacecraft along the X direction;
the two clamping tools are arranged along the X direction and are respectively positioned on one side, away from the spacecraft, of the two transition tools;
at least one set of centering assemblies for centering the position of the spacecraft; and
the fixing component is used for supporting and fixing the transition tool;
the setting assembly comprises:
the connecting beam is formed on one side, close to the clamping tool, of the transition tool; and
the carrying block and the guide wheel are positioned on the clamping tool; the guide wheel is positioned above the carrying block; the connecting beam can be inserted between the carrying block and the guide wheel;
the carrying block comprises a bottom wall and two side walls formed by upward extending of two opposite side sides of the bottom wall; a groove cavity capable of accommodating the connecting beam is formed between the bottom wall and the two side walls, and the connecting beam can be limited in the groove cavity through the guide wheel.
2. Docking device for spacecraft assembly integration and testing according to claim 1,
the bottom wall of the carrying block comprises a plurality of universal balls which are arranged in an array.
3. Docking device for spacecraft assembly integration and testing according to claim 1,
the straightening assembly is provided with two groups which are arranged side by side.
4. Docking device for spacecraft assembly integration and testing according to claim 1,
the centre gripping frock includes: the first bearing beam and the second bearing beam are arranged in parallel from top to bottom in the Z direction;
the guide wheel is arranged on the first bearing beam;
the carrying block is fixedly arranged on the second bearing beam.
5. Docking device for spacecraft assembly integration and testing according to claim 1,
the central axis of the guide wheel in the Z direction and the central axis of the carrying block are the same axis.
6. Docking device for spacecraft assembly integration and testing according to claim 5,
the guide wheel can reciprocate in the Z direction;
the connecting beam comprises a groove, and at least the bottom of the guide wheel can move into the groove;
the groove is formed by the downward depression of the top surface of the connecting beam, and the longitudinal section of the groove is V-shaped.
7. Docking device for spacecraft assembly integration and testing according to claim 1,
the fixing component is provided with at least two groups;
the fixing assembly includes: the fixing pin is positioned on the clamping tool and can reciprocate in the X direction; and
and the guide sleeve is positioned on the transition tool and used for inserting the fixing pin.
8. Docking device for spacecraft assembly integration and testing according to claim 7,
the fixing pin is located at the corner position of the clamping tool.
9. Docking device for spacecraft assembly integration and testing according to claim 1,
the width of the slot cavity is larger than that of the connecting beam.
10. A method of using the docking device as claimed in any one of claims 1 to 9, comprising:
respectively installing two transition tools at two ends of the spacecraft in the X direction;
moving the spacecraft with the transition tool to a position between the two clamping tools, wherein the height of the spacecraft is consistent with that of the two clamping tools;
respectively driving the two clamping tools to move towards the direction close to the transition tool until a connecting beam fixed on the transition tool is inserted between the upper guide wheel and the carrying block of the clamping tool;
respectively driving the two clamping tools to move upwards until the connecting beam is contacted with the bottom wall of the carrying block;
the guide wheel is driven to move towards the direction of the carrying block until the guide wheel tightly presses the connecting beam, so that the connecting beam is limited in the groove cavity through the guide wheel;
the clamping tool and the transition tool are connected and fixed through the driving fixing assembly.
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| CN202210353385.4A CN114952647B (en) | 2022-04-06 | 2022-04-06 | Docking device for spacecraft assembly integration and test and use method |
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| CN114952647B (en) | 2024-05-28 |
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