CN116065304B - Machine sewing and connecting process for composite substrate of spacecraft circular flexible solar wing - Google Patents

Abstract

The invention provides a machine sewing and connecting process for a composite substrate of a circular flexible solar wing of a spacecraft, which comprises the following steps: s1, preparing a substrate; s2, installing a tension device; s3, adjusting solar wing sewing equipment; s4, setting parameters of solar wing sewing equipment; s5, testing the X-direction travel and the Z-direction height of the sewing surface of the solar wing sewing equipment, simulating sewing, and testing whether the sewing tracks are consistent; s6, sewing the first stitch by using solar wing sewing equipment; s7, setting a Y-direction displacement value a and an X-direction displacement value b of the stitching machine according to the stitching technical rules; s8, sewing a second stitch by using solar wing sewing equipment; s9, unloading the tension of the solar wing; s10, coating RTV glue on all suture lines, and curing for 3-10 days; s11, in an unfolding state, the side allowance of the suture stitch is 5mm; s12, repeating the steps to finish the sewing connection. The invention solves the problem that the circular flexible solar wing body is fixed in a microgravity state, and realizes the sewing method through the multi-dimension of the sewing equipment.

Description

Machine sewing and connecting process for composite substrate of spacecraft circular flexible solar wing

Technical Field

The invention belongs to the field of aerospace equipment, and particularly relates to a machine sewing and connecting process for a composite substrate of a circular flexible solar wing of a spacecraft.

Background

In a certain detection task of aerospace in China, a circular flexible solar wing is adopted as a detector energy supply component for the detector. The connection between the composite substrates can meet certain performance, environment and reliability requirements by adopting a new connection process technology, so that the machine sewing connection process of the polyimide film and the fiber fabric composite substrate for the circular flexible solar wing of the spacecraft is innovatively designed. The application of the new technology promotes the construction of the aerospace country of China, and has great significance;

at present, the domestic machine sewing and connecting process technology adopts an industrial sewing machine sewing method; the industrial sewing machine working principle is that the sewing material is fed to a sewing position through a mechanism, a presser foot moves downwards to be fixed, a needle is fixed at the end part of a needle rod, one or more sewing threads penetrate through the needle, the needle rod moves up and down to and fro, the needle is driven to guide a suture to pierce the sewing material, the thread moves to the lowest position, the thread forms a thread loop under the combined action of the sewing material, the needle, a needle groove and a shuttle bed cover, the thread loops are hooked through the rotation of a swinging shuttle point, the traction thread surrounds the lower part of a bobbin sleeve, a thread take-up lever moves upwards to draw the thread, the thread loops shrink and sleeve the bottom thread, the thread take-up lever continues to move upwards to tighten the upper thread, one or more stitches are formed on the sewing material, and one or more layers of the sewing materials are interweaved or stitched;

however, the circular flexible solar wing adopted by the detector is formed by bonding flexible solar cells on a composite substrate formed by compounding a polyimide film and a fiber fabric and binding and connecting the flexible solar cells through supporting ribs. The round flexible solar wing has an overall dimension of about 2-8 meters, and is stitched under the action of microgravity due to the specificity of functions, and in order to ensure that the substrate and the flexible battery piece cannot be damaged in the stitching process, the round flexible solar wing is fixed and unloaded to the microgravity state, the carpet surface is applied with 10-60N/meter of tension, the stitching line tension can be quantified, and the stitching equipment moves the stitching method. The overall dimension after sewing meets the drawing index, the blanket surface is integrally flat and has no fold deformation, and the blanket surface has no dislocation displacement under the action force of 60-80N/m. Obviously, the sewing method of the conventional industrial sewing machine cannot meet the sewing connection of the circular flexible solar wing of the detector, and also cannot meet the functional requirement.

Disclosure of Invention

In view of the above, the invention aims to provide a composite substrate machine sewing and connecting process of a circular flexible solar wing of a spacecraft, which solves the problem that a circular flexible solar wing body is fixed in a microgravity state and realizes a sewing method through multi-dimension of a sewing device; the stitching method has reliable connection, high dimensional accuracy and stable quality.

In order to achieve the above purpose, the technical scheme of the invention is realized as follows:

the machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft is characterized by comprising the following steps of:

s1, preparing a substrate; mounting a support unloading device, and mounting the solar wing composite substrate on the support unloading device;

s2, installing a tension device; assembling a tensioning device and a supporting unloading device to provide tensioning force for the solar wing composite substrate;

s3, adjusting solar wing sewing equipment; adjusting the sewing position between the solar wing sewing equipment and the solar wing composite substrate;

s4, setting parameters of solar wing sewing equipment;

s5, testing the X-direction travel and the Z-direction height of the sewing surface of the solar wing sewing equipment, simulating sewing, and testing whether the sewing tracks are consistent; after the installation of the solar blanket and the tooling is completed, the sewing equipment does not need to be provided with needles and threads, a sewing program starts to run, a laser displacement sensor detects the deviation between the actual position and the theoretical position of the blanket surface, and the deviation is displayed by a line graph to judge that additional compressive stress is brought to the solar blanket; finishing a primary sewing process;

s6, sewing a first stitch of the solar wing composite substrate by using solar wing sewing equipment, and knotting the end part of the line; checking the stitching quality after stitching is completed; the first line is formed by taking the outer end of the solar blanket as a sewing starting end and the small end of the solar blanket as a terminating end, and a first track line formed in the sewing process is a first track line; the second stitch is the same as the first stitch starting end except that there is a certain amount of spacing at the position of the start point of the first needle in the Y direction and a certain amount of spacing at the position of the X direction;

s7, inputting and setting a Y displacement value a (taking 2-10 mm) and an X displacement value b (taking 1-10 mm) on an equipment control interface of a sewing machine according to a sewing technical rule;

s8, sewing a second stitch of the solar wing composite substrate by using solar wing sewing equipment, and knotting the end part of the line; checking the stitching quality after stitching is completed;

s9, adjusting a tension device of the blanket surface, and unloading the tension of the solar wing;

s10, coating all suture lines with RTV glue according to a certain proportion, and curing for 3-10 days;

s11, in an unfolding state, the side allowance of the stitch line is 5mm, and a special cutter is used for cutting out the redundant solar blanket substrate;

s12, repeating the steps to finish the sewing connection of all the solar wing composite substrates;

further, the solar wing integrally comprises a first solar blanket, a second solar blanket, a third solar blanket, a fourth solar blanket, a middle first solar blanket, a middle second solar blanket, a sixth solar blanket, a seventh solar blanket, an eighth solar blanket, a ninth solar blanket, a middle fourth solar blanket and a middle third solar blanket;

the solar blanket comprises a first solar blanket, a second solar blanket, a third solar blanket, a fourth solar blanket, a sixth solar blanket, a seventh solar blanket, an eighth solar blanket and a ninth solar blanket which are spliced by two solar blanket bodies with the same structure, wherein each solar blanket body comprises a blanket surface, a sewing edge, a supporting rib and a process edge; a sewing edge is arranged between the process edge and the blanket surface; one sides of the supporting ribs of the two solar blanket bodies are spliced with each other, the supporting ribs are fixed with a supporting plate of a supporting unloading device through positioning pins, and the process edges of the solar blanket are connected with balancing weights to load tension on the solar blanket;

middle third, first, second, third, fourth and first solar blankets sequentially form a half solar wing whole; middle second solar blanket, six solar blanket, seven solar blanket, eight solar blanket, nine solar blanket, middle fourth solar blanket constitute the other half solar wing in turn.

Further, the sewing parameters of the solar wing are as follows: the needle distance is 2-15 mm, the speed is 60-200 needle/Min, the suture tension is 5-15N, and the straight track is set.

Further, the tension force provided by the tension device to the solar blanket is 10-60N/m.

Further, the solar blanket sewing equipment comprises a base, a gantry beam, an X-direction moving mechanism, a Y-direction moving mechanism, a servo electric cylinder, a Z-direction moving mechanism, an upper machine head, a lower machine head and a movable air floatation support, wherein the gantry beam is mounted on the upper surface of the base through a plurality of Y-direction moving mechanisms, and a plurality of movable air floatation supports are arranged on the lower surface of the base; the upper beam and the lower beam of the gantry beam are respectively provided with an X-direction moving mechanism and are divided into an X-direction moving mechanism and an X-direction moving mechanism, and the Z-direction moving mechanism comprises a Z-direction moving mechanism and a Z-direction moving mechanism; the Z upward moving mechanism is connected to the X upward moving mechanism, the Z downward moving mechanism is connected to the X downward moving mechanism, the Z upward moving mechanism is provided with an upper machine head, and the Z downward moving mechanism is provided with a lower machine head; the X-direction moving mechanism, the Y-direction moving mechanism and the Z-direction moving mechanism are used for adjusting the upper machine head and the lower machine head; the end part of the upper beam is connected with the end part of the lower beam through a servo electric cylinder; and a control box is arranged on one side of the gantry beam.

Further, the Y-direction moving mechanism comprises a plurality of Y-direction guiding mechanisms and a Y-direction driving mechanism, wherein the Y-direction guiding mechanism comprises a Y-direction guiding seat, a Y-direction guiding sliding rail is arranged on the Y-direction guiding seat, and the lower beam is in sliding connection with the Y-direction guiding sliding rail through a Y-axis guiding sliding block; the Y-direction driving mechanism comprises a Y-direction driving motor, a Y-direction driving screw rod and a Y-direction driving nut seat, the Y-direction driving motor is mounted on the base, the Y-direction driving screw rod is connected to the output end of the Y-direction driving motor, and the bottom of the lower beam is connected with the Y-direction driving screw rod in a matched manner through the Y-direction driving nut seat, so that the gantry beam is driven.

Further, an X upward moving mechanism and an X downward moving mechanism in the X downward moving mechanism are identical in structure, the X downward moving mechanism comprises an X downward driving motor, an X downward moving sliding rail, an X downward moving sliding block, an X downward moving screw rod and an X downward moving nut seat, a positioning step is arranged on the upper surface of the lower beam, two X downward moving sliding rails which are arranged in parallel are mounted to the positioning step through a sliding rail pressing plate, the X downward driving motor is mounted to the connecting beam, the X downward moving screw rod is arranged between the two X downward moving sliding rails, and the end part of the X downward driving motor is connected to the output end of the X downward driving motor; the X downward moving nut seat is connected with the two X downward moving slide rails in a sliding manner through a plurality of X downward moving slide blocks, and the X downward moving nut seat is also connected with the X downward moving screw rod in a matched manner.

Further, the Z-up moving mechanism and the Z-down moving mechanism have the same structure; the Z downward moving mechanism comprises a Z downward base plate, a Z downward driving motor, a Z downward moving screw rod, a Z downward nut seat and a Z downward moving frame, wherein the Z downward moving frame is mounted to the X downward moving nut seat through the Z downward base plate; the Z downward moving frame is provided with a Z downward moving screw rod, the Z downward driving motor is mounted on the Z downward base plate, and the output end of the Z downward driving motor is connected with the Z downward moving screw rod; the Z-direction downward nut seat is matched with the Z-direction downward moving screw rod, so that the Z-direction downward nut seat moves in the Z direction; the lower machine head is mounted to the Z-direction lower nut seat through a mounting plate.

Further, the supporting and unloading device comprises a first supporting framework, a second supporting framework, a first supporting plate, a second supporting plate, a first limiting device and a second limiting device, wherein the first supporting plate is arranged at the top of the first supporting framework, a first positioning hole is formed in the first supporting plate, one side of the first supporting framework is arranged by the first limiting device, and the first limiting plate of the first limiting device is arranged above the first supporting plate; the top of the second supporting framework is provided with a second supporting plate, the second supporting plate is provided with a second positioning hole, the second limiting device is arranged on one side of the second supporting framework, and a second limiting plate of the second limiting device is arranged below the second supporting plate; the first supporting framework and the second supporting framework are connected through the connecting piece, and a gap exists between the first supporting framework and the second supporting framework after connection.

Further, the first limiting device comprises a first duplex lifting mechanism, a first front mounting plate, a first rear mounting plate, a first front connecting frame, a first rear connecting frame, a first connecting rod and a first limiting plate; the two ends of the first double lifting mechanism are mounted on the first supporting framework through a first front mounting plate and a first rear mounting plate, the bottom of the first front connecting frame is connected to one lifting end of the first double lifting mechanism, and the bottom of the first rear connecting frame is connected to the other lifting end of the first double lifting mechanism; the first duplex lifting mechanism is provided with a hand wheel and is used for controlling the front connecting frame and the rear connecting frame to lift simultaneously, the front connecting frame and the rear connecting frame are connected through a first connecting rod, and the first connecting rod is provided with a first limiting plate;

the second limiting device comprises a second duplex lifting mechanism, a second front mounting plate, a second rear mounting plate, a second front connecting frame, a second rear connecting frame, a second connecting rod and a second limiting plate; the two ends of the second double lifting mechanism are mounted on the second supporting framework through a second front mounting plate and a second rear mounting plate, the bottom of the second front connecting frame is connected to one lifting end of the second double lifting mechanism, and the bottom of the second rear connecting frame is connected to the other lifting end of the second double lifting mechanism; the second duplex lifting mechanism is provided with a hand wheel and is used for controlling the lifting of the second front connecting frame and the second rear connecting frame simultaneously, the second front connecting frame and the second rear connecting frame are connected through a second connecting rod, and the second connecting rod is provided with a second limiting plate;

the mounting panel is equipped with No. two preceding guide posts before No. two, no. two preceding link bottom is equipped with the guide ring, the guide ring is connected No. two preceding link and No. two preceding guide posts, realizes No. two preceding link's rectilinear movement.

Compared with the prior art, the machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft has the following advantages:

(1) The machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft has the advantages that the sewing materials are fixed, the sewing machine has the X-direction, Y-direction and Z-direction moving functions, and the implementation of the irregular shape sewing material sewing process is facilitated.

(2) The machine sewing connection process of the composite substrate of the circular flexible solar wing of the spacecraft is suitable for the gravity unloading of materials to be sewn and is provided with products with high sewing dimensional accuracy, the high-accuracy molded surface size can be obtained, and the machine sewing connection process is better suitable for the products in the gravity-free state of the space vacuum environment.

(3) The machine stitching connection process for the composite substrate of the circular flexible solar wing of the spacecraft has the advantages of quantitatively setting stitching line tension, staggered lock stitch, adjustable stitch density, slow stitching and the like under the condition of applying a certain tension force. The industrial sewing machine has no functions of quantifying thread tension, dislocating stitch, sewing at a slow speed, and the like.

(4) According to the machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft, disclosed by the invention, the overall flatness of the solar wing blanket surface after sewing and connecting is improved, the consistency and stability of the sewing process are ensured, the sewing quality of the solar wing solar blanket is controlled, and the solar cell sheet is adhered and the power generation efficiency is ensured.

(5) The machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft has the advantages of simple equipment operation method, high sewing efficiency and high safety, and can realize strong; the application range is wide, and the sewing and connecting device is suitable for sewing and connecting large-scale flexible seam materials such as circular flexible solar wings, rectangular solar carpets, flexible living cabins and the like in all sizes. However, the equipment cost is high, and the equipment utilization rate is required to be improved to reduce the equipment depreciation cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic view of a solar blanket according to an embodiment of the present invention;

FIG. 2 is a schematic view of an overall layout of a solar wing according to an embodiment of the present invention;

FIG. 3 is a schematic view of a splice of two solar blankets according to an embodiment of the present invention;

FIG. 4 is a schematic view of a solar blanket sewing apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic view of an X-direction moving mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic view of a Y-direction moving mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic view of an upper head according to an embodiment of the present invention;

FIG. 8 is a schematic view of a lower head according to an embodiment of the present invention;

FIG. 9 is a schematic view of a support unloading apparatus according to an embodiment of the present invention;

FIG. 10 is a schematic view of a first stop device according to an embodiment of the present invention;

FIG. 11 is a schematic view of a second limiting device according to an embodiment of the present invention;

fig. 12 is a partial enlarged view of a in fig. 9 according to an embodiment of the present invention.

Reference numerals illustrate:

1. a solar wing sewing device; 11. a base; 111. moving the air floatation support; 12. a gantry beam; 121. a girder is arranged; 122. a connecting beam; 123. a lower beam; 13. an X-direction moving mechanism; 131. an X upward movement mechanism; 132. an X downward moving mechanism; 1321. x drives the motor downwards; 1322. the sliding rail is moved downwards by X; 1323. x moves down the lead screw; 1324. x moves the nut seat downwards; 14. a Y-direction moving mechanism; 141. a Y-direction guiding mechanism; 1411. a Y-direction guide seat; 1412. y guides the slide rail; 142. a Y-direction driving mechanism; 1421. a Y-direction driving motor; 1422. y-direction driving screw rod; 1423. y-direction driving nut seat; 15. a servo motor cylinder; 16. a Z-direction moving mechanism; 161. a Z-direction moving mechanism; 162. a Z-direction downward moving mechanism; 1621. a Z-directed downward base plate; 1622. z drives the motor downwards; 1623. z moves down the lead screw; 1624. a Z-direction lower nut seat; 1625. a Z-direction downward moving frame; 17. an upper machine head; 18. a lower machine head; 19. a control box; 2. supporting an unloading device; 21. a first supporting framework; 22. a second supporting framework; 23. a first support plate; 24. a second supporting plate; 25. a first limiting device; 251. a first duplex lifting mechanism; 252. a first front mounting plate; 253. a first rear mounting plate; 254. a first front connecting frame; 255. a first rear connecting frame; 256. a first connecting rod; 257. a first limiting plate; 26. a second limiting device; 261. a second duplex lifting mechanism; 262. a second front mounting plate; 263. a second rear mounting plate; 264. a second front connecting frame; 265. a second rear connecting frame; 266. a second connecting rod; 267. a second limiting plate; 27. a universal wheel; 3. a solar blanket; 31. a blanket surface; 32. stitching the edges; 33. a support rib; 34. a process side; 301. a first solar blanket; 302. a second solar blanket; 303. a third solar blanket; 304. a fourth solar blanket; 306. a No. six solar blanket; 307. a seventh solar blanket; 308. a solar blanket number eight; 309. a No. nine solar blanket; 310. a sun blanket number one; 311. middle second solar blanket; 312. middle third solar blanket; 313. middle-fourth solar blanket.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; 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 invention can be understood by those of ordinary skill in the art in a specific case.

The invention will be described in detail below with reference to the drawings in connection with embodiments.

The machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft, as shown in fig. 1-3, comprises the following steps:

s1, preparing a substrate; mounting a support unloading device 2, and mounting the solar wing composite substrate on the support unloading device 2;

s2, installing a tension device; assembling a tensioning device and a supporting unloading device 2 to provide tensioning force for the solar wing composite substrate;

s3, adjusting the solar wing sewing equipment 1; adjusting the sewing position between the solar wing sewing equipment 1 and the solar wing composite substrate;

s4, setting parameters of the solar wing sewing equipment 1;

s5, testing the X-direction travel and the Z-direction height of the sewing surface of the solar wing sewing equipment, simulating sewing, and testing whether the sewing tracks are consistent; after the installation of the solar blanket and the tooling is completed, the sewing equipment does not need to be provided with needles and threads, a sewing program starts to run, a laser displacement sensor detects the deviation between the actual position and the theoretical position of the blanket surface, and the deviation is displayed by a line graph to judge that additional compressive stress is brought to the solar blanket; finishing a primary sewing process;

s6, sewing a first stitch of the solar wing composite substrate by using solar wing sewing equipment, and knotting the end part of the line; checking the stitching quality after stitching is completed; the first line is formed by taking the outer end of the solar blanket as a sewing starting end and the small end of the solar blanket as a terminating end, and a first track line formed in the sewing process is a first track line; the second stitch is the same as the first stitch starting end except that there is a certain amount of spacing at the position of the start point of the first needle in the Y direction and a certain amount of spacing at the position of the X direction;

s7, inputting and setting a Y displacement value a (taking 2-10 mm) and an X displacement value b (taking 1-10 mm) on an equipment control interface of a sewing machine according to a sewing technical rule;

s8, sewing a second stitch of the solar wing composite substrate by using the solar wing sewing equipment 1, and knotting the end part of the line; checking the stitching quality after stitching is completed;

s9, adjusting a tension device of the blanket surface 31, and unloading the tension of the solar wing;

s10, coating all suture lines with RTV glue according to a certain proportion, and curing for 3-10 days;

s11, in an unfolding state, the side allowance of the stitch line is 5mm, and a special cutter is used for cutting out the redundant solar blanket 3 substrate;

s12, repeating the steps to finish the sewing connection of all the solar wing composite substrates;

preferably, as shown in fig. 2, the solar wing integrally includes a first solar blanket 301, a second solar blanket 302, a third solar blanket 303, a fourth solar blanket 304, a middle first solar blanket 310, a middle second solar blanket 311, a sixth solar blanket 306, a seventh solar blanket 307, an eighth solar blanket 308, a ninth solar blanket 309, a middle fourth solar blanket 313, a middle third solar blanket 312;

the first solar blanket 301, the second solar blanket 302, the third solar blanket 303, the fourth solar blanket 304, the sixth solar blanket 306, the seventh solar blanket 307, the eighth solar blanket 308 and the ninth solar blanket 309 have the same structure and are formed by splicing a first solar blanket body and a second solar blanket body, and the first solar blanket body and the second solar blanket body have the same structure and comprise a blanket surface 31, a sewing edge 32, a supporting rib 33 and a process edge 34; a sewing edge 32 is arranged between the process edge 34 and the carpet surface 31; one side of a supporting rib 33 of the first solar blanket body and one side of a supporting rib 33 of the second solar blanket body are mutually spliced, the supporting rib 33 is fixed with a supporting plate supporting the unloading device 2 through a locating pin, and a process edge 34 of the solar blanket is connected with a balancing weight to load tension on the solar blanket;

middle third solar blanket 312, first solar blanket 301, second solar blanket 302, third solar blanket 303, fourth solar blanket 304, and middle first solar blanket 310 sequentially form a half solar wing whole; middle No. two solar blanket 311, six solar blanket 306, seven solar blanket 307, eight solar blanket 308, nine solar blanket 309, and middle No. four solar blanket 313 sequentially form the other half solar wing whole.

Preferably, the sewing parameters of the solar wing are as follows: the needle distance is 2-15 mm, the speed is 60-200 needle/Min, the suture tension is 5-15N, and the straight track is set.

Preferably, the tensioning force provided by the tensioning device to the solar blanket 3 is 10-60N/m.

The solar wing sewing equipment 1 comprises a base 11, a gantry beam, an X-direction moving mechanism 13, a Y-direction moving mechanism 14, a servo motor cylinder, a Z-direction moving mechanism 16, an upper machine head 17, a lower machine head 18 and a movable air floatation support 111, wherein the gantry beam is mounted on the upper surface of the base 11 through a plurality of Y-direction moving mechanisms 14, and a plurality of movable air floatation supports 111 and a plurality of guide wheels are arranged on the lower surface of the base 11; preferably, on the cast iron working platform, the air floatation support is utilized for moving adjustment. Under the non-working condition, when the equipment needs to move in a workshop, the universal wheel 27 can be lifted by hand, and the equipment is moved by utilizing the universal wheel 27;

the upper beam 121 and the lower beam 123 of the gantry beam are respectively provided with an X-direction moving mechanism 13 and are divided into an X-direction moving mechanism 131 and an X-direction moving mechanism 132, and the Z-direction moving mechanism 16 comprises a Z-direction moving mechanism 161 and a Z-direction moving mechanism 162; the Z upward moving mechanism 161 is connected to the X upward moving mechanism 131, the Z downward moving mechanism 162 is connected to the X downward moving mechanism 132, the Z upward moving mechanism 161 is provided with an upper head 17, and the Z downward moving mechanism 162 is provided with a lower head 18; the X-direction moving mechanism 13, the Y-direction moving mechanism 14 and the Z-direction moving mechanism 16 are used for adjusting an upper machine head 17 and a lower machine head 18; the end of the upper beam 121 and the end of the lower beam 123 are connected through a servo electric cylinder; one side of the gantry beam is provided with a control box 19. The X-direction moving mechanism 13, the Y-direction moving mechanism 14, the servo motor cylinder, the Z-direction moving mechanism 16, the upper machine head 17, the lower machine head 18 and the movable air floatation support 111 are all connected to a control box 19. Preferably, the control box 19 comprises an upper machine position and a lower machine position; the upper computer is used for realizing man-machine interaction and operation, the lower computer adopts a Siemens S7-15T motion control type main controller, the instruction of the main controller is transmitted to a SINAMICSV servo driver through communication, and the servo driver further controls each motor to act according to the instruction; the synchronous problem of the upper and lower machine heads 18 adopts a motion control type PLC, and an electronic cam mechanism is arranged on the inner surface of the upper and lower machine heads, so that synchronous tracking control can be performed.

Preferably; a high-precision servo electric cylinder is used as a support between the ends of the upper beam 121 and the lower beam 123. When the upper beam 121 and the lower beam 123 reach the station, the servo motor cylinder is closed to support the upper beam 121, so that the upper beam 121 can be kept to be supported at two ends, and the precision and the rigidity of the equipment are improved. The servo electric cylinder adopts a software limiting and travel switch dual protection device to limit the movement range of the servo electric cylinder so as to prevent accidents caused by galloping or misoperation, and the electric cylinder has a self-locking function.

Preferably, the whole gantry beam 12 has a U-shaped structure, and includes an upper beam 121, a connecting beam 122 and a lower beam 123 that are connected end to end, and the lower beam 123 that is parallel to the upper beam 121 is mounted to the base through a plurality of Y-directional moving mechanisms 14, so as to realize the movement of the gantry beam 12 in the Y-axis direction; the whole base is manufactured by welding sectional materials and steel plates so as to achieve the requirements of high rigidity and reduction of the gravity center of the whole equipment; the gantry beam 12 is made of 6061 aluminum alloy; the whole gantry beam 12 is provided with a side plate, the side plate comprises the gantry beam 12, and covers the internal structure and parts mounted inside, so that the gantry beam is safe and attractive; the side plates of the upper beam 121 and the lower beam 123 are integrally cut by using a 6061 aluminum alloy plate with the thickness of 3000mm x 1500mm x 15 mm; so that it has good bending resistance, and the intermediate connecting beams 122 are welded together using an aluminum alloy plate. The whole mortise and tenon structure that adopts of welding adopts the mode of plug welding to reduce welding deformation of maximum possible.

Preferably, the Y-direction moving mechanism 14 includes a plurality of Y-direction guiding mechanisms 141 and a Y-direction driving mechanism 142, wherein the Y-direction guiding mechanism 141 includes a Y-direction guiding seat 1411, a Y-direction guiding rail 1412 is disposed on the Y-direction guiding seat 1411, and the lower beam 123 is slidably connected with the Y-direction guiding rail 1412 through a Y-axis guiding slider; the Y-direction driving mechanism 142 includes a Y-direction driving motor 1421, a Y-direction driving screw 1422, and a Y-direction driving nut seat 1423, where the Y-direction driving motor 1421 is mounted to the base, the Y-direction driving screw 1422 is connected to the output end of the Y-direction driving motor 1421, and the bottom of the lower beam 123 is cooperatively connected with the Y-direction driving screw 1422 through the Y-direction driving nut seat 1423, so as to realize driving of the gantry beam 12.

Preferably, the number of the Y-direction guiding mechanisms 141 is at least one, and the Y-direction guiding mechanisms are uniformly distributed between the lower beam 123 and the base; the Y-direction driving mechanism 142 is disposed in the middle of the lower beam 123, the Y-direction moving mechanism 14 adopts a sliding rail single screw structure, so as to improve the rigidity and precision of support and movement, avoid blocking, and the Y-direction moving system adopts a software limiting, mechanical limiting and travel switch triple protection device to limit the Y-direction moving range, so as to prevent accidents caused by galloping or misoperation; and a dust cover is added to the whole mechanism of the Y-direction movement system.

Preferably, the X upward moving mechanism 131 and the X downward moving mechanism 132 in the X downward moving mechanism 13 have the same structure, the X downward moving mechanism 132 includes an X downward driving motor 1321, an X downward moving slide rail 1322, an X downward moving slide block, an X downward moving screw rod 1323 and an X downward moving nut seat 1324, a positioning step is disposed on the upper surface of the lower beam 123, and two parallel X downward moving slide rails 1322 are mounted to the positioning step through a slide rail pressing plate, and specifically, the straightness and parallelism of the two guide rails can be ensured by setting the positioning step. The X downward driving motor 1321 realizes the function of driving the X downward moving nut seat 1324;

the X-down driving motor 1321 is mounted to the connecting beam 122, the X-down moving screw 1323 is disposed between two X-down moving slide rails 1322, and an end portion thereof is connected to an output end of the X-down driving motor 1321; the X-down nut seat 1324 is slidably connected to two X-down slide rails 1322 through a plurality of X-down slide blocks, and the X-down nut seat 1324 is also cooperatively connected to an X-down screw 1323.

Preferably, two ends of the X downward moving sliding rail 1322 are provided with a limiting mechanism for limiting the X downward moving nut seat 1324, and the X direction moving system adopts a software limiting, mechanical limiting and travel switch triple protection device to limit the X direction moving range so as to prevent accidents caused by galloping or misoperation.

Preferably, the Z-up moving mechanism 161 and the Z-down moving mechanism 162 have the same structure; only the Z-up moving mechanism 161 will be described herein; the Z-down moving mechanism 162 includes a Z-down base plate 1621, a Z-down driving motor 1622, a Z-down moving screw 1623, and a Z-down moving frame 1625, the Z-down moving frame 1625 being mounted to the X-down moving nut seat 1324 through the Z-down base plate 1621; the Z-direction downward moving frame 1625 is provided with a Z-direction downward moving screw rod 1623, the Z-direction downward driving motor 1622 is mounted to the Z-direction downward base plate 1621, and the output end is connected with the Z-direction downward moving screw rod 1623; the Z-direction lower nut seat 1624 is matched with the Z-direction lower moving screw rod 1623 to realize the movement of the Z-direction lower nut seat 1624 in the Z direction; the lower head 18 is mounted to a Z-down nut mount 1624 by a mounting plate; the upper machine head 17 is mounted to the Z-direction nut seat through a mounting plate; and the positions of the upper machine head 17 and the lower machine head 18 correspond to each other, and the upper machine head 17 and the lower machine head 18 are purchasing pieces. After the Z-downward nut seat 1624 is matched and connected with the Z-downward moving screw rod 1623, the Z-downward nut seat 1624 is in sliding fit with the Z-downward moving frame 1625, so as to complete the guiding function; the upper nose 17 and the lower nose 18 have a movement range of + -25 mm;

the Z-direction moving mechanism 16 limits the Z-direction movement range by adopting a software limiting, mechanical limiting and travel switch triple protection device so as to prevent accidents caused by galloping or misoperation; in the sewing process, the machine heads are moved up and down synchronously by laser positioning, so that the distance between the upper machine head 18 and the lower machine head 18 and the solar blanket 3 is kept constant, normal operation can be ensured under the condition that a small error is arranged on the solar blanket 3, and meanwhile, the lower machine head 18 and the solar blanket 3 can be kept in natural contact, so that additional compressive stress on the solar blanket 3 is avoided.

When in sewing, the deviation amount of the equipment relative to the X direction and the Y direction of the solar blanket 3 can be adjusted under the manual operation module, then automatic pre-sewing and sewing operation is started from the adjusted position, and different sewing parameters can be set by the equipment; the needle and thread tension (upper thread tension and lower thread tension) of the equipment can be adjusted according to the requirement; the X\Y\Z axis is movable in three directions, the X, Z axis has a two-dimensional linkage function, and the Z direction is provided with a laser displacement sensor which can be used for detecting the distance between the upper and lower machine heads 18 and the blanket surface 31, so that the normal operation can be ensured under the condition that the solar blanket 3 is provided with a small error, and meanwhile, the lower machine heads 18 and the solar blanket 3 can be kept in natural contact, so that additional compressive stress to the solar blanket 3 is avoided; the system has the functions of log storage and retrieval, can store parameters, does not need to be input again when being used next time, and can be directly retrieved for use; the device has a single-axis debugging function, and in single-axis debugging, an error alarm occurs, and after an error is eliminated, the device can continue to be debugged by clicking reset. The apparatus has a virtual image function, and the laser displacement sensor detects the amount of deviation of the actual position and the theoretical position of the blanket face 31 at the time of pre-stitching, and displays the amount of deviation with a line graph. When the machine is in fault, the product can play a protection role within 0.1s and enter a shutdown protection state. Meanwhile, mechanical vibration is reduced by supporting two ends of the gantry beam, and the rigidity is good and the precision is high. The sewing equipment has complete functions, is safe and reliable, and successfully solves the sewing problem of the flexible solar blanket 3.

The supporting and unloading device 2 is shown in fig. 9-12, and comprises a first supporting framework 21, a second supporting framework 22, a first supporting plate 23, a second supporting plate 24, a first limiting device 25 and a second limiting device 26, wherein the first supporting plate 23 is arranged at the top of the first supporting framework 21, a first positioning hole is formed in the first supporting plate 23, one side of the first supporting framework 21 is provided with the first limiting device 25, and a first limiting plate 257 of the first limiting device 25 is arranged above the first supporting plate 23; the top of the second supporting framework 22 is provided with a second supporting plate 24, the second supporting plate 24 is provided with a second positioning hole, the second limiting device 26 is arranged on one side of the second supporting framework 22, and a second limiting plate 267 of the second limiting device 26 is arranged below the second supporting plate 24; the first supporting framework 21 and the second supporting framework 22 are connected through a connecting piece, and a gap exists between the first supporting framework 21 and the second supporting framework 22 after connection.

Preferably, the first positioning hole and the second positioning hole can be one or more; the positioning holes are used for keeping the shape and the position precision of the composite substrate; the first solar blanket body of the solar wing is fixed to the first supporting plate 23, and the second solar blanket body is fixed to the second supporting plate 24; the process edge 34 of the first solar blanket body is attached to the lower part of the limiting device and connected with the limiting device to apply tensile force, and the process edge 34 of the second solar blanket body is attached to the upper part of the limiting device and connected with the limiting device to apply tensile force; and the lifting mechanisms of the first limiting device 25 and the second limiting device 26 are adjusted to ensure that the overlapping areas of the tensioned first solar blanket body and the tensioned second solar blanket body are horizontally attached.

Preferably, the first supporting framework 21 and the second supporting framework 22 form a frame structure through a plurality of steel beams, and universal wheels 27 are arranged at the bottoms of the first supporting framework 21 and the second supporting framework 22 and used for pushing the whole device.

Preferably, the first support plate 23 and the second support plate 24 are both in a fan-shaped structure matching with the blades of the solar wing, the first support plate 23 is mounted to the first support frame 21 through a countersunk screw, the second support plate 24 is also mounted to the first support frame 21 through a countersunk screw, and countersunk screws are used for enabling the screws to completely enter the support plates, so that the surfaces of the support plates are flat and have no protrusions.

Preferably, the first limiting device 25 includes a first duplex lifting mechanism 251, a first front mounting plate 252, a first rear mounting plate 253, a first front connecting frame 254, a first rear connecting frame 255, a first connecting rod 256 and a first limiting plate 257; the two ends of the first double lifting mechanism are mounted on the first supporting framework 21 through a first front mounting plate 252 and a first rear mounting plate 253, the bottom of the first front connecting frame 254 is connected to one lifting end of the first double lifting mechanism 251, and the bottom of the first rear connecting frame 255 is connected to the other lifting end of the first double lifting mechanism 251; the first duplex lifting mechanism 251 is provided with a hand wheel for controlling the simultaneous lifting of the first front connecting frame 254 and the first rear connecting frame 255, the first front connecting frame 254 and the first rear connecting frame 255 are connected through a first connecting rod 256, the first connecting rod 256 is provided with a first limiting plate 257, and the first duplex lifting mechanism 251 is a common linkage lifting mechanism in the market.

Preferably, the first front mounting plate 252 is provided with a first front guide column, a guide ring is arranged at the bottom end of the first front connecting frame 254, and the guide ring connects the first front connecting frame 254 with the first front guide column, so that the first front connecting frame 254 can linearly move.

Preferably, the second limiting device 26 includes a second duplex lifting mechanism 261, a second front mounting plate 262, a second rear mounting plate 263, a second front connecting frame 264, a second rear connecting frame 265, a second connecting rod 266, and a second limiting plate 267; the two ends of the second double lifting mechanism are mounted on the second supporting framework 22 through a second front mounting plate 262 and a second rear mounting plate 263, the bottom of the second front connecting frame 264 is connected to one lifting end of the second double lifting mechanism 261, and the bottom of the second rear connecting frame 265 is connected to the other lifting end of the second double lifting mechanism 261; the second duplex lifting mechanism 261 is provided with a hand wheel for controlling the simultaneous lifting of the second front connecting frame 264 and the second rear connecting frame 265, the second front connecting frame 264 and the second rear connecting frame 265 are connected through the second connecting rod 266, and the second connecting rod 266 is provided with a second limiting plate 267.

Preferably, the second front mounting plate 262 is provided with a second front guide column, a guide ring is arranged at the bottom end of the second front connecting frame 264, and the guide ring connects the second front connecting frame 264 with the second front guide column to realize the linear movement of the second front connecting frame 264.

Preferably, the first limiting plate 257 and the second limiting plate 267 are all obliquely arranged, and the inclination angles are all degrees.

The working principle is that the position states of the first supporting plate 23 and the second supporting plate 24 are adjusted, so that the hole position precision of the positioning hole is ensured to meet the index requirement; the first solar blanket body is transferred to a first supporting plate 23, and a supporting framework of the first solar blanket body is fixedly connected with a first positioning hole through a positioning pin; the second solar blanket body is transferred to a second supporting plate 24, and a supporting framework of the second solar blanket body is fixedly connected with the second positioning hole through a positioning pin; the process edge 34 of the first solar blanket body is attached to the lower portion of the limiting device and connected with the limiting device to apply stretching force, and the process edge 34 of the second solar blanket body is attached to the upper portion of the limiting device and connected with the limiting device to apply stretching force, so that flatness is guaranteed.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (6)

1. The machine sewing and connecting process for the composite substrate of the circular flexible solar wing of the spacecraft is characterized by comprising the following steps of:

s1, preparing a substrate; mounting a support unloading device, and mounting the solar wing composite substrate on the support unloading device;

s2, installing a tension device; assembling a tensioning device and a supporting unloading device to provide tensioning force for the solar wing composite substrate;

s3, adjusting solar wing sewing equipment; adjusting the sewing position between the solar wing sewing equipment and the solar wing composite substrate;

s4, setting parameters of solar wing sewing equipment;

s5, testing the X-direction travel and the Z-direction height of the sewing surface of the solar wing sewing equipment, simulating sewing, and testing whether the sewing tracks are consistent; after the installation of the solar blanket and the support unloading device is completed, the sewing equipment does not need to be provided with needles and threads, a sewing program starts to run, a laser displacement sensor detects the deviation between the actual position and the theoretical position of the blanket surface, the deviation is displayed by a line graph, and the additional compressive stress born by the solar blanket is judged; finishing a primary sewing process;

s6, sewing a first stitch of the solar wing composite substrate by using solar wing sewing equipment, and knotting the end part of the line; checking the stitching quality after stitching is completed; the first line is formed by taking the outer end of the solar blanket as a sewing starting end and the small end of the solar blanket as a terminating end, and a first track line formed in the sewing process is a first track line; the second stitch is the same as the first stitch starting end except that there is a certain amount of spacing at the position of the start point of the first needle in the Y direction and a certain amount of spacing at the position of the X direction;

s7, inputting a Y displacement value a on an equipment control interface of a sewing machine according to a sewing technical rule, wherein the a is 2-10 mm; the X-direction displacement value b, b is 1-10 mm;

s8, sewing a second stitch of the solar wing composite substrate by using solar wing sewing equipment, and knotting the end part of the line; checking the stitching quality after stitching is completed;

s9, adjusting a tension device of the blanket surface, and unloading the tension of the solar wing;

s10, coating RTV glue on all suture lines, and curing for 3-10 days;

s11, in an unfolding state, cutting the redundant solar blanket substrate by using a cutter, wherein the side amount of the suture trace is 5mm;

s12, repeating the steps to finish the sewing connection of all the solar wing composite substrates to form a solar wing whole.

2. The composite substrate machine sewing and connecting process of the circular flexible solar wing of the spacecraft of claim 1, wherein the process is characterized by comprising the following steps: the solar wing integrally comprises a first solar blanket, a second solar blanket, a third solar blanket, a fourth solar blanket, a middle first solar blanket, a middle second solar blanket, a sixth solar blanket, a seventh solar blanket, an eighth solar blanket, a ninth solar blanket, a middle fourth solar blanket and a middle third solar blanket;

the solar blanket comprises a first solar blanket, a second solar blanket, a third solar blanket, a fourth solar blanket, a sixth solar blanket, a seventh solar blanket, an eighth solar blanket and a ninth solar blanket which are spliced by two solar blanket bodies with the same structure, and comprises a blanket surface, a stitching edge, a supporting rib and a process edge; a sewing edge is arranged between the process edge and the blanket surface; one sides of the supporting ribs of the two solar blanket bodies are spliced with each other, the supporting ribs are fixed with a supporting plate of a supporting unloading device through positioning pins, and the process edges of the solar blanket are connected with balancing weights to load tension on the solar blanket;

middle third, first, second, third, fourth and first solar blankets sequentially form a half solar wing whole; middle second solar blanket, six solar blanket, seven solar blanket, eight solar blanket, nine solar blanket, middle fourth solar blanket constitute the other half solar wing in turn.

3. The composite substrate machine sewing and connecting process of the circular flexible solar wing of the spacecraft of claim 1, wherein the process is characterized by comprising the following steps: the sewing parameters of the solar wing are as follows: the needle distance is 2-15 mm, the speed is 60-200 needle/Min, the suture tension is 5-15N, and the straight track is set.

4. The composite substrate machine sewing and connecting process of the circular flexible solar wing of the spacecraft of claim 2, which is characterized in that: the tension force provided by the tension device to the solar blanket is 10-60N/m.

5. The composite substrate machine sewing and connecting process of the circular flexible solar wing of the spacecraft of claim 1, wherein the process is characterized by comprising the following steps: the supporting and unloading device comprises a first supporting framework, a second supporting framework, a first supporting plate, a second supporting plate, a first limiting device and a second limiting device, wherein the first supporting plate is arranged at the top of the first supporting framework, a first positioning hole is formed in the first supporting plate, the first limiting device is arranged on one side of the first supporting framework, and the first limiting plate of the first limiting device is arranged above the first supporting plate; the top of the second supporting framework is provided with a second supporting plate, the second supporting plate is provided with a second positioning hole, the second limiting device is arranged on one side of the second supporting framework, and a second limiting plate of the second limiting device is arranged below the second supporting plate; the first supporting framework and the second supporting framework are connected through the connecting piece, and a gap exists between the first supporting framework and the second supporting framework after connection.

6. The machine stitching and connecting process for composite substrates of circular flexible solar wings of spacecraft of claim 5, wherein the machine stitching and connecting process is characterized in that: the first limiting device comprises a first duplex lifting mechanism, a first front mounting plate, a first rear mounting plate, a first front connecting frame, a first rear connecting frame, a first connecting rod and a first limiting plate; the two ends of the first duplex lifting mechanism are mounted on the first supporting framework through a first front mounting plate and a first rear mounting plate, the bottom of the first front connecting frame is connected to one lifting end of the first duplex lifting mechanism, and the bottom of the first rear connecting frame is connected to the other lifting end of the first duplex lifting mechanism; the first duplex lifting mechanism is provided with a hand wheel and is used for controlling the front connecting frame and the rear connecting frame to lift simultaneously, the front connecting frame and the rear connecting frame are connected through a first connecting rod, and the first connecting rod is provided with a first limiting plate;

the second limiting device comprises a second duplex lifting mechanism, a second front mounting plate, a second rear mounting plate, a second front connecting frame, a second rear connecting frame, a second connecting rod and a second limiting plate; the two ends of the second duplex lifting mechanism are mounted on the second supporting framework through a second front mounting plate and a second rear mounting plate, the bottom of the second front connecting frame is connected to one lifting end of the second duplex lifting mechanism, and the bottom of the second rear connecting frame is connected to the other lifting end of the second duplex lifting mechanism; the second duplex lifting mechanism is provided with a hand wheel and is used for controlling the lifting of the second front connecting frame and the second rear connecting frame simultaneously, the second front connecting frame and the second rear connecting frame are connected through a second connecting rod, and the second connecting rod is provided with a second limiting plate;

the mounting panel is equipped with No. two preceding guide posts before No. two, no. two preceding link bottom is equipped with the guide ring, the guide ring is connected No. two preceding link and No. two preceding guide posts, realizes No. two preceding link's rectilinear movement.

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