CN114952647B - 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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- CN114952647B CN114952647B CN202210353385.4A CN202210353385A CN114952647B CN 114952647 B CN114952647 B CN 114952647B CN 202210353385 A CN202210353385 A CN 202210353385A CN 114952647 B CN114952647 B CN 114952647B
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- 238000012360 testing method Methods 0.000 title claims abstract description 45
- 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 14
- 230000007704 transition Effects 0.000 claims abstract description 74
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 26
- 210000001503 joint Anatomy 0.000 abstract description 21
- 238000012546 transfer Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 9
- 238000000576 coating method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005253 cladding Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000011179 visual inspection Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009916 joint effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect 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
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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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
-
- 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; and two clamping tools respectively positioned at one sides of the two transition tools, which are away from the spacecraft; the correcting component is used for correcting the position of the spacecraft; the fixing assembly is used for supporting and fixing the transition tool; the straightening assembly comprises a connecting beam formed on one side of the transition tool, which is 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; 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 extending upwards from two opposite 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. The device can effectively reduce the working strength of operators; the automation degree and the docking 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 thereof.
Background
In general, in the process of assembly integration and testing of spacecrafts such as satellites, links such as thermal control multi-layer cladding and whole satellite communication testing are required, and in the links, operations such as transferring, posture changing and the like are 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 coating step, a thermal control multilayer heat insulation component with excellent heat insulation performance needs to be coated on the satellite and the load surface, and in the coating process, the satellite gesture often needs to be rotated so as to carry out coating implementation of the thermal control multilayer heat insulation component on different parts of the satellite. At present, the method generally adopted at home and abroad is to transfer the satellite from the coating equipment of the coating operation station to the overturning equipment for overturning in a hoisting manner in the coating process, and then hoist the overturned satellite back to the coating equipment for coating other operation surfaces. In the process of satellite hoisting and docking with the overturning equipment and the cladding equipment, the method is realized mainly by manual docking modes such as visual inspection, hand adjustment and the like of operators.
In the whole satellite communication test link, for example, the satellite is required to be subjected to communication load performance index test, communication load fault positioning in the test stage and solution test. At present, two test modes are mainly adopted at home and abroad for whole satellite communication test: one is to directly place the satellite in a large-scale microwave darkroom for testing, and the mode has higher requirements on the space of the field; the other is to test by adopting a small-sized microwave camera bellows, the satellite is often required to be placed on special testing equipment under the test mode, the tested communication load of the satellite is aligned with detection equipment in the microwave camera bellows, the satellite is required to be effectively docked with the corresponding testing equipment in the process, and the method is also commonly realized by adopting manual docking modes such as hoisting and matching with visual inspection of operators, hand adjustment and the like in the industry at present.
The existing manual modes such as hoisting, visual inspection by operators, hand adjustment and the like are adopted for butt joint, and the following defects mainly exist:
(1) The labor intensity of operators is high, and the manual butt joint efficiency is low: the size, weight, rotational inertia and the like of the current most spacecraft products such as satellites are large, so that the operation is very inconvenient in the hoisting and manual butt joint process, meanwhile, operators often need to repeatedly adjust hand products in the butt joint process, the labor intensity is high, the butt joint efficiency is influenced, and the productivity is severely restricted especially in the spacecraft mass production mode.
(2) Safety of operators, spacecraft and related test equipment cannot be guaranteed: in the hoisting and manual butt joint processes, the spacecraft often generates shaking, and particularly when the product size, weight or rotational inertia of the spacecraft is large, the personal safety, the product safety and the equipment safety have large hidden dangers.
(3) The butt joint effect and the consistency in operation are low: the manual butt joint mode has higher dependence on a plurality of human factors such as experience, technology, working state and the like of operators, the butt joint effect and the time consumption of operation are uncontrollable, and the consistency is difficult to ensure. In particular in mass production mode, this approach is also disadvantageous for the beat control and planning and implementation of the production schedule.
Therefore, in order to overcome the defects in the prior art, it is necessary to provide a docking device and a docking method for the spacecraft assembly integration and test.
Disclosure of Invention
The invention aims to provide a docking device for spacecraft assembly integration and testing and a using method thereof, so as to solve at least one of the technical problems.
In order to achieve at least one of the above objects, the present application adopts the following technical scheme:
The first aspect of the present application provides a docking device for spacecraft assembly integration and testing, comprising:
two transition tools arranged at two ends of the spacecraft along the X direction;
Two clamping tools which are arranged along the X direction and are respectively positioned at one side of the transition tool away from the spacecraft;
at least one set of alignment assemblies for aligning the position of the spacecraft; and
The fixing assembly is used for supporting and fixing the transition tool;
the centering assembly includes:
the connecting beam is formed at one side of the transition tool, which is close to the clamping 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 extending upwards from two opposite sides of the bottom wall; the bottom wall and the two side walls form a groove cavity capable of accommodating the connecting beam, 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 which are arranged in an array.
Optionally, the alignment assembly has two sets disposed 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 mounted on the first bearing beam;
the carrying block is fixedly arranged on the second bearing beam.
Optionally, the central axis of the guide wheel in the Z direction is the same axis as the central axis of the carrying block.
Optionally, 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 downwards sinking the top surface of the connecting beam, and the longitudinal section of the groove is V-shaped.
Optionally, the fixing assembly has at least two groups;
The fixing assembly includes: a fixing pin which is positioned on the clamping tool and can reciprocate in the X direction; and
And a guide sleeve positioned on the transition tool and used for inserting the fixing pin.
Optionally, the fixing pin is located at a corner position 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 of using the docking device of the first aspect, comprising:
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 in the direction of approaching the transition tool until the connecting beam fixed on the transition tool is inserted between the guide wheel on the clamping tool and the carrying block;
respectively driving the two clamping tools to move upwards until the connecting beam contacts with the bottom wall of the carrying block;
Driving the guide wheel to move towards the direction of the carrying block until the guide wheel 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 by the driving and fixing assembly.
The beneficial effects of the application are as follows:
Aiming at the problems in the prior art, the application provides a butt joint device for spacecraft assembly integration and testing, which is used for completing the butt joint of a transition tool and a clamping tool by inserting a connecting beam formed on the transition tool between a carrying block and a guide wheel and limiting the connecting beam in a groove cavity through the guide wheel. The transition tool is arranged between the clamping tool and the spacecraft, and can 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 butting efficiency and the butting accuracy are improved, and the consistency of time consumption of operation is improved; and the safety of operators, spacecrafts and equipment in the butt joint process can be enhanced.
Drawings
The following describes the embodiments of the present invention in further detail with reference to the drawings.
FIG. 1 shows a schematic overall structure of a docking device for spacecraft assembly integration and testing in an embodiment of the application.
Fig. 2 shows an enlarged view of the structure of the portion a in fig. 1.
Fig. 3 shows a process diagram of installing transition tools of a docking device of a spacecraft assembly integrated assembly at two ends of a spacecraft in an embodiment of the application.
Fig. 4 shows a process diagram of the back-to-back movement of two clamping tools of a docking device of a spacecraft assembly in an embodiment of the application.
Fig. 5 shows a process diagram of the guide wheel retracting to a position away from the carrying block and the fixing pin retracting to a position away from the transition tooling in the clamping tooling of the docking device of the spacecraft assembly in an embodiment of the application.
Fig. 6 shows a first process diagram of a process of moving a clamping tool of a docking device of a spacecraft assembly to a direction approaching a transition tool to a state that a connecting beam fixed on the transition tool is inserted between a guide wheel and a carrying block on the clamping tool in one embodiment of the application.
Fig. 7 shows a second process diagram of a process of moving a clamping tool of a docking device of a spacecraft assembly to a direction approaching a transition tool to a state where a connecting beam fixed on the transition tool is inserted between a guide wheel and a carrying block on the clamping tool in an embodiment of the application.
Fig. 8 shows a process diagram of the guide wheels on two clamping tools of a docking device of a spacecraft assembly in an embodiment of the application moving towards the mounting blocks until the connection beam is trapped between the guide wheels and the mounting blocks.
Fig. 9 shows a process diagram of the insertion of the fixing pins into the guide sleeve in the fixing assembly of the docking device of the spacecraft assembly in an embodiment of the 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 azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication 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 according to the specific circumstances.
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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
To solve the problems in the prior art, one embodiment of the present application provides a docking device for spacecraft assembly integration and testing, as shown in fig. 1-9, comprising: 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; two clamping tools 3 which are arranged along the X direction and are respectively positioned at one side of the two transition tools 2 away from the spacecraft 1; at least one set of alignment assemblies for aligning the position of the spacecraft 1; and a fixing component for supporting and fixing the transition tool 2; the centering assembly includes: the connecting beam 41 is formed on one side of the transition tool 2, which is close to the clamping tool 3; 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 can reciprocate in the Z direction; the connection beam 41 can be inserted between the carrying block 42 and the guide wheel 43; the carrying block 42 includes a bottom wall and two side walls 422 formed by extending upward from 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 present application, the connection beam 41 formed on the transition tool 2 is inserted between the mounting block 42 and the guide wheel 43, and then the connection beam 41 is limited in the groove cavity by the guide wheel 43, so as to complete the butt joint of the transition tool 2 and the clamping tool 3. 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 butting efficiency and the butting accuracy are improved, and the consistency of the butting 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; related testing equipment (such as turnover equipment) of the spacecraft 1 in the links of performing thermal control multilayer cladding, communication testing and the like 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 a guide rail, a ball screw and other transmission structures on the testing equipment, so that the lifting of the clamping tool 3 and the butt joint with the transition tool 2 are realized.
In a specific embodiment, the bottom wall of the carrying block 42 includes a plurality of universal balls 421 arranged in an array. The connection beam 41 is mounted on a plurality of universal balls 421, and can be understood as: the connecting beam 41 may be limited to the plurality of universal balls 421 by the guide wheels 43. When the guide wheel 43 moves in the direction of the mounting block 42 and the connection beam 41 is restricted to the groove cavity, the connection beam 41 can move on the universal ball 421, thereby reducing friction between the connection beam 41 and the bottom wall of the mounting block 42.
In a specific embodiment, the central axis of the guide wheel 43 in the Z direction is the same as the central axis of the carrying block 42. In this way, when the guide wheel moves in the direction of the carrying block 42, the connecting beam 41 can be limited at the middle position of the groove cavity, so that the position of the spacecraft 1 can be aligned.
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 the downward depression of the top surface of the connection beam 41, 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 greater 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 connection beam 41 moves between the mounting block 42 and the guide wheel 43 and is offset from the central axis of the mounting block 42, the guide wheel 43 moves downward along an inner sidewall of the groove 411 to move the connection beam 41 to the central position of the mounting 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 sidewall of the guide wheel 43 in the Y direction, and when the guide wheel 43 is positioned in the groove 411 to press the connection beam 41, two opposite sidewalls of the guide wheel 43 are attached to two opposite sidewalls of the groove 411; when the guide wheel 43 is positioned in the groove 411 to press the connecting beam 41, the contact area between the guide wheel 43 and the groove 411 is increased, and the side wall of the groove 411 can bear the pressure of partial guide wheel 43, so that all the pressure can not be borne by the bottom of the groove 411; similarly, 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 damage and improve the service lives of the guide wheel 43 and the groove 411.
In one embodiment, the width of the slot cavity is greater than the width of the connecting beam 41. In other words, the length of the groove cavity in the Y direction is longer than the length of the connecting beam 41 in the Y direction, so that the connecting beam 41 in the Y direction may have an adjustment space within the groove cavity that can be adjusted. Specifically, the width of the groove chamber minus the width of the connecting beam 41 is defined as the active width; the distance between the tops of the two opposite inner side walls of the recess 411 is greater than the moving width plus the width of the outer peripheral side wall of the guide pulley 43 in the Y direction. Thus, when the connecting beam 41 is located in the groove 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 be aligned in the process of downward movement of the guide wheel 43.
In one embodiment, the alignment assembly has two sets disposed side by side. The arrangement of the two sets of straightening components enables the transition tool 2 to be in butt joint with the clamping tool 3 more accurately, and the butt joint error is reduced.
In one embodiment, the fixing assembly has at least two sets; preferably four groups; the fixing assembly includes: a fixing pin 51 which is positioned on the clamping tool 3 and can reciprocate 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 positioned on the transition tool 2 for inserting the fixing pin 51. The inner side wall of the sleeve is provided with a chamfer or a guiding inclined plane matched with the taper of the head of the fixed pin 51; the guide sleeve 52 is matched with the fixed pin 51, so that the transition tool 2 plays a role in guiding and positioning in the process of butting with the clamping tool 3; the clamping tool 3 and the transition tool 2 are fixedly connected into a whole by inserting the fixing pin 51 into the guide sleeve 52, so that 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 pin 51; a bearing frame which is fixedly connected with the top of the frame 31 and is used for fixing the carrying blocks 42 and the guide wheels 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 tool 3; i.e. at the corners of said frame 31, when the fixing assembly has four, four fixing pins 51 are respectively located at the four corners of the frame 31; the clamping tool 3 provides larger supporting force for the transition tool 2, and the transition tool 2 is connected with the clamping tool 3 more stably. In practical applications, the fixing pin 51 is not limited to be placed at the corner of the clamping tool 3, and may be set according to practical requirements.
Specifically, the clamping fixture 3 includes: a first load beam 33 and a second load beam 34 disposed 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 wheels 43 are mounted on the first load beam 33; the carrying block 42 is mounted and fixed on the second carrier beam 34. Therefore, the guide wheel 43 can be positioned above the carrying block 42, and the connecting beam 41 is conveniently inserted between the guide wheel 43 and the carrying block 42, so that the guide wheel 43 moves downwards to press and fix the connecting beam 41 in the groove 411 of the carrying block 42.
In a specific embodiment, the guide wheel 43 is connected to a telescopic rod 45, and the telescopic rod 45 is connected to 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 load beam 33, and the telescopic rod 45 passes through one end of the first load beam 33 to be connected with the first driving device 44, and the other end is connected with the guide wheel 43; the first driving device 44 may be a cylinder or an electric cylinder without limitation.
In a specific embodiment, the fixing pin 51 is connected to the 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 at one side of the frame 31 away from the transition tooling 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 an air cylinder or an electric cylinder without limitation.
In another embodiment of the present application, a method for using the docking device is provided, including:
Step S1, as shown in FIG. 3, two transition tools 2 are respectively arranged at two ends of a spacecraft 1 in the X direction; the transition tool 2 can be fixedly arranged at two ends of a spacecraft 1 product by operators of stations; in fig. 3, before the transition tooling 2 is installed on the spacecraft 1, the left side of the arrow is a structural diagram of the transition tooling 2 installed on two ends of the spacecraft 1.
Step S2, moving the spacecraft 1 with the transition tooling 2 between the two clamping tooling 3, wherein the height of the spacecraft is consistent with that of the two clamping tooling 3; the spacecraft 1 with the transition tool 2 moves through a transfer device; in practical application, before step S2, the clamping tools 3 are moved to a specified height through transmission structures such as a guide rail and a ball screw on the test equipment, and then the two clamping tools 3 are moved in a horizontal direction, that is, as shown in fig. 4, the two clamping tools 3 do opposite movement in the horizontal direction, so that a space for holding the spacecraft 1 and the transition tool 2 is reserved; at this time, as shown in fig. 5, the telescopic rod 45 connected to the guide wheel 43 on the clamp 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.
In step S3, as shown in fig. 6 and 7, the two clamping tools 3 are respectively driven to move in a direction approaching to 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, that is, the positions of the connecting beam 41 and 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 spacecraft with the transition tooling and the two clamping tooling in the step S2 are identical in height means that in the step S3, when the two clamping tooling 3 are respectively driven to move in the direction approaching the transition tooling 2, the connecting beam 41 fixed on the transition tooling 2 can be inserted between the guide wheel 43 and the carrying block 42 on the clamping tooling 3.
Step S4, respectively driving the two clamping tools 3 to move upwards until the connecting beam 41 is contacted with the bottom wall of the carrying block 42; in practical application, the transfer device for carrying the spacecraft 1 is separated from the spacecraft 1 at this time; 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 and separate from the transfer device through the lifting connection beam 41, so that the transfer device leaves the current station to execute other transfer tasks.
Step S5, as shown in FIG. 8, driving the guide wheel 43 to move towards the direction of the carrying block 42 until the guide wheel 43 presses the connecting beam 41, so that the connecting beam 41 is limited in the groove cavity through the guide wheel 43; i.e. the position structure as shown to the right of the arrow in fig. 8; specifically, when the guide wheel 43 moves in the direction of the carrying block 42, since the guide wheel 43 needs to align the connection beam 41 that is offset from the bottom wall of the carrying block 42, the connection beam 41 slides on the universal ball 421 on the bottom wall of the carrying block 42 during the process of moving the guide wheel 43 downward and pressing the connection beam 41 until the guide wheel 43 presses and fastens the connection beam 41 in the groove cavity, that is, between the guide wheel 43 and the bottom wall of the carrying block 42, at this time, the connection beam 41 is also located at the center position of the bottom wall of the carrying block 42, and the whole spacecraft 1 is also in an aligned state.
Step S6, as shown in FIG. 9, the clamping tool 3 and the transition tool 2 are fixedly connected by the driving fixing assembly. Specifically, the fixing pin 51 is driven to move in the direction of the guide sleeve 52 by the second driving device 53 until the fixing pin 51 is inserted into the guide sleeve 52; at the moment, the spacecraft 1 with the transition tool 2 and the clamping tool 3 finish the butt joint work; at this time, the spacecraft 1 can develop the test task of the relevant link.
The butt joint method can be suitable for the situation that the spacecraft 1 enters corresponding stations of links such as thermal control multilayer cladding, communication testing and the like under the transfer of the transfer device.
In practical application, after the related production test task is completed, the spacecraft 1, the transition tool 2 and the clamping tool 3 are separated.
The separation step comprises:
step S7, driving the fixed pin 51 to move away from the transition tool 2 through the second driving device 53, so that the fixed pin 51 is separated from the guide sleeve 52; the guide wheel 43 is moved 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 tooling 2 is released from the fixing constraint and can slide on the universal ball 421 with slight low friction.
Step S8, a transfer device for carrying the spacecraft 1 enters a specified 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 contacted with the carrying block 42 and a certain gap is reserved.
Step S9, two clamping tools 3 move back to back in the horizontal direction through transmission structures such as a guide rail and a ball screw on the test equipment; at this time, the spacecraft 1 with the transition tooling 2 is completely separated from the clamping tooling 3.
Step S10, the transfer equipment moves the spacecraft 1 and the transition tool 2 to other designated positions; the clamping fixture 3 is also restored to the original state.
Step S11, the transition tooling 2 at the two side ends of the spacecraft 1 is removed by a station operator.
And S12, the transfer equipment transfers the spacecraft 1 to the next production test link.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (7)
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;
Two clamping tools which are arranged along the X direction and are respectively positioned at one side of the transition tool away from the spacecraft;
at least one set of alignment assemblies for aligning the position of the spacecraft; and
The fixing assembly is used for supporting and fixing the transition tool;
the centering assembly includes:
the connecting beam is formed at one side of the transition tool, which is close to the clamping 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 extending upwards from two opposite 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;
The bottom wall of the carrying block comprises a plurality of universal balls which are arranged in an array;
The central axis of the guide wheel in the Z direction is the same as the central axis of the carrying block;
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 downwards sinking the top surface of the connecting beam, and the longitudinal section of the groove is V-shaped.
2. A docking device for spacecraft assembly and test according to claim 1, wherein,
The alignment assembly has two sets arranged side by side.
3. A docking device for spacecraft assembly and test according to claim 1, wherein,
The clamping tool comprises: 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 mounted on the first bearing beam;
the carrying block is fixedly arranged on the second bearing beam.
4. A docking device for spacecraft assembly and test according to claim 1, wherein,
The fixing component is provided with at least two groups;
The fixing assembly includes: a fixing pin which is positioned on the clamping tool and can reciprocate in the X direction; and
And a guide sleeve positioned on the transition tool and used for inserting the fixing pin.
5. A docking device for spacecraft assembly and test according to claim 4, wherein,
The fixed pin is located the bight position of centre gripping frock.
6. A docking device for spacecraft assembly and test according to claim 1, wherein,
The width of the groove cavity is larger than that of the connecting beam.
7. A method of using a docking device as claimed in any one of claims 1 to 6, comprising:
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 in the direction of approaching the transition tool until the connecting beam fixed on the transition tool is inserted between the guide wheel on the clamping tool and the carrying block;
respectively driving the two clamping tools to move upwards until the connecting beam contacts with the bottom wall of the carrying block;
Driving the guide wheel to move towards the direction of the carrying block until the guide wheel 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 by the driving and fixing assembly.
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| CN114952647A (en) | 2022-08-30 |
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