CN117773963A - Microgravity chain type assembly system - Google Patents
Microgravity chain type assembly system Download PDFInfo
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- CN117773963A CN117773963A CN202311837976.XA CN202311837976A CN117773963A CN 117773963 A CN117773963 A CN 117773963A CN 202311837976 A CN202311837976 A CN 202311837976A CN 117773963 A CN117773963 A CN 117773963A
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- 230000005486 microgravity Effects 0.000 title claims abstract description 21
- 210000001503 joint Anatomy 0.000 claims description 132
- 238000000034 method Methods 0.000 claims description 13
- 230000009194 climbing Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Abstract
The invention provides a microgravity chain type assembly system, which comprises a spacecraft platform, an assembly base, a robot and a module to be assembled or a multi-module combination; the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and the module or the multi-module combination is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot. The invention is used for solving the alignment assembly problem of the large-span multi-group connector.
Description
Technical Field
The invention relates to the technical field of on-orbit construction of spacecrafts, in particular to a microgravity chain type assembly method.
Background
The method is used for continuously providing challenging aerospace tasks in the fields of space science and military application, such as extraterrestrial planet life detection, electronic reconnaissance, remote sensing detection and the like, and the development of hundred-meter-level reflecting surface antennas, planar array antennas and solar array surfaces is urgently required. The traditional unfolding technology is limited by a kinematic pair of a folding mechanism, the thrust of a carrier rocket, the envelope of a fairing and the like, and has the problems of complex folding mechanism, low on-orbit unfolding reliability, large antenna size, large ground low-gravity simulation experiment difficulty and the like, so that the construction requirement of the ultra-large space structure cannot be completely met. The on-orbit assembly technology decouples the mechanical connection between rocket launching section modules, can break through rocket thrust and fairing envelope limitation, has the characteristics of high structural efficiency, strong expansibility, gradual upgrading and the like, and is particularly suitable for constructing a space structure with large size, high precision and high specific stiffness. However, since the space robot has a low moving speed and low positioning accuracy (such as the positioning accuracy of the end of a typical 5 m-scale space robot arm is ±5 mm), it is difficult to move efficiently on a large scale on a large flexible base, and in order to reduce the steps of on-orbit assembly operation and improve the reliability of tasks, it is necessary to perform assembly operation of large-sized modules (10 m-scale). The assembly task of the large-size ground module is generally supported and matched by a special tool in a distributed manner, so that high-precision alignment and positioning of all to-be-connected points are realized; however, space robots with lower accuracy do not have the ability to align all joints around a large module at the same time.
Therefore, based on the advantage that the gravity deformation of the large-size module in the space microgravity environment can be ignored, a method for assembling the large-size module unit by utilizing a low-precision robot multi-axis (multi-interface) with high efficiency and high rigidity is urgently needed to be explored, and a space convenient and efficient assembly process is developed.
Disclosure of Invention
The technical problems solved by the invention are as follows: the invention aims to provide a microgravity chain type assembly method for efficiently assembling large-size modules by a space robot, which aims to solve the alignment assembly problem of large-span multi-group joints.
The technical scheme adopted by the invention is as follows: in order to achieve the above purpose, the invention provides a microgravity chain type assembly system, which comprises a spacecraft platform, an assembly base, a robot and a module to be assembled or a multi-module combination;
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and the module or the multi-module combination is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot.
Further, the joints on the assembly base comprise root joints which are required to be aligned and connected by a robot and chain joints which are not required to be aligned and connected by the robot; the joints on the modules or the multi-module combination comprise root joints which are required to be aligned and connected by a robot, and chain joints which are not required to be aligned and connected by the robot, are respectively in one-to-one correspondence with the root joints and the chain joints on the assembly base, and are female joints and male joints;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the module or the multi-module combination and the 1 st group of chain joints on the assembly base passively enter the capturing domain and start to complete the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to complete the butt joint assembly, so that the process is repeated, the N groups of chain joints sequentially enter the capturing domain, and the butt joint assembly without the auxiliary alignment of the robot is sequentially completed.
Furthermore, the assembly base is a structural body, or a unfolding mechanism, or a fixedly connected module or a module combination obtained by the previous assembly.
Further, the robot is a mechanical arm fixed on a base, or a climbing robot with a moving function, or a robot carried and moved by other tools;
further, the alignment and capture tolerance of the root joint is larger than pose deviation generated when the robot aligns the modules or the module groups, and the positioning precision of the root joint after locking enables the first group of chain joints to passively enter a capture domain; the positioning accuracy after the i-th set of links is locked is such that the i+1-th set of links passively enter the capture domain, i=1, 2,3, …, N.
A space chain type assembly system comprises a spacecraft platform, an assembly base, a robot and at least 2 modules to be assembled or multi-module combination;
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and a module or a multi-module combination to be assembled is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot.
Further, the joint on the assembly base is a root joint which needs to be aligned and connected by a robot;
the joints on the modules or the multi-module combination to be assembled comprise root joints which are required to be aligned and connected by a robot and chain joints which are not required to be aligned and connected by the robot, the root joints on the modules or the multi-module combination to be assembled and the root joints on the assembly base are female joints and male joints, the chain joints are in one-to-one correspondence with the chain joints on the adjacent modules or the module combination, and the chain joints are female joints and male joints;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the adjacent modules or the multi-module combination passively enter the capturing domain and start to complete the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to complete the butt joint assembly, so that the process is repeated, the N groups of chain joints between the adjacent modules or the module combination sequentially enter the capturing domain and finish the butt joint assembly without the auxiliary alignment of the robot.
Furthermore, the assembly base is a structural body, or a unfolding mechanism, or a fixedly connected module or a module combination obtained by the previous assembly.
Further, the robot is a mechanical arm fixed on a base, or a climbing robot with a moving function, or a robot carried and moved by other tools;
further, the alignment and capture tolerance of the root joint is larger than pose deviation generated when the robot aligns the modules or the module groups, and the positioning precision of the root joint after locking enables the first group of chain joints to passively enter a capture domain; the positioning accuracy after the i-th set of links is locked is such that the i+1-th set of links passively enter the capture domain, i=1, 2,3, …, N.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention meets the construction targets of large-size modules in the convenient assembly space of the robot, in particular to long-strip, triangle, quadrangle, hexagon and other modules, the periphery of the modules comprises a plurality of groups of root joints and chain joints which are orderly arranged, the chain assembly does not need to align all joints on the periphery of the modules at one time, the requirement of the positioning precision of the tail end of the robot is greatly reduced, the control capability of a main space mechanical arm is matched, the assembly of a small number of nearby root joints is carried out by the robot, and the precision and force control performance requirements of the assembly task on the robot are reduced;
(2) The initial positioning capability of the root joint and the relay positioning capability of the front-end chain joint provide alignment capturing conditions for sequential assembly of the following chain joints, and the on-orbit assembly efficiency is improved without direct access of a robot.
Drawings
FIG. 1 is a schematic view of a chain assembly between a single module and an assembly base according to a preferred embodiment 1 of the present invention;
fig. 2 is a schematic diagram of chain assembly between 2 sets of modules and an assembly base according to the preferred embodiment 2 of the present invention.
Detailed Description
For a better description of the present invention, a preferred embodiment is described in detail below with reference to the accompanying drawings, in combination with the task of assembling a long-strip-shaped large-scale module unit and a large-scale base:
example 1:
the microgravity chain type assembly method provided by the embodiment is applied to on-orbit construction of a strip antenna array surface or a solar cell array and the like so as to meet the requirements of high reliability and high efficiency splicing of a large-span gap.
As shown in fig. 1, which is a schematic diagram of a chain assembly between a single set of modules and an assembly base, the system comprises a spacecraft platform, an assembly base, a robot and a module to be assembled or a multi-module combination,
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and the module or the multi-module combination is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot;
the joints on the assembly base comprise a root joint which is required to be aligned and connected by a robot and a chain joint which is not required to be aligned and connected by the robot;
the joints on the modules or the multi-module combination comprise a root joint which is required to be aligned and connected by a robot and a chain joint which is not required to be aligned and connected by the robot, and the two joints are respectively in one-to-one correspondence with the root joint and the chain joint on the assembly base and are female joints and male joints;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the module or the multi-module combination and the 1 st group of chain joints on the assembly base passively enter the capturing domain and start to complete the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to complete the butt joint assembly, so that the process is repeated, the N groups of chain joints sequentially enter the capturing domain, and the butt joint assembly without the auxiliary alignment of the robot is completed in a parallel manner.
The assembly base can be a high-rigidity structure body, can be a unfolding mechanism convenient for emission and storage, and can be a fixedly connected module or a module combination obtained by preface assembly;
the robot can be a mechanical arm with a fixed base, a climbing robot with a moving function, and a robot carried and moved by other tools;
the alignment and capture tolerance of the root joint is obviously larger than pose deviation generated when the robot aligns a module or a module group, and the positioning precision of the root joint after locking needs to enable the first group of chain joints to passively enter a capture domain;
the positioning accuracy of the i-th group of chain joints after the i-th group of chain joints are locked is required to enable the i+1-th group of chain joints to passively enter the capturing domain, i=1, 2,3, … and N.
Example 2:
to better illustrate the present invention, a preferred embodiment is supplemented, and the present invention is described in detail with reference to the accompanying drawings, in which:
the microgravity chain type assembly method provided by the embodiment is applied to on-orbit construction of a strip antenna array surface or a solar cell array and the like so as to meet the requirements of high reliability and high efficiency splicing of a large-span gap.
As shown in fig. 2, which is a schematic diagram of a chain assembly between a single set of modules and an assembly base, the system comprises a spacecraft platform, an assembly base, a robot and at least 2 modules or a multi-module combination to be assembled,
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and the module or the multi-module combination is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot;
the joint on the assembly base is a root joint which needs to be aligned and connected by a robot;
the joints on the modules or the multi-module combination comprise a root joint which is required to be aligned and connected by a robot and a chain joint which is not required to be aligned and connected by the robot, wherein the root joint on the upper joint and the root joint on the assembly base are a female joint and a male joint, and the upper chain joint corresponds to the chain joint on the adjacent modules or the multi-module combination one by one and is a female joint and a male joint;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the adjacent modules or the multi-module combination passively enter the capturing domain and start to finish the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to finish the butt joint assembly, so that the process is repeated, the N groups of chain joints between the adjacent modules or the module combination sequentially enter the capturing domain, and the butt joint assembly without the auxiliary alignment of the robot is finished in a parallel manner.
The assembly base can be a high-rigidity structure body, can be a unfolding mechanism convenient for emission and storage, and can be a fixedly connected module or a module combination obtained by preface assembly;
the robot can be a mechanical arm with a fixed base, a climbing robot with a moving function, and a robot carried and moved by other tools;
the alignment and capture tolerance of the root joint is obviously larger than pose deviation generated when the robot aligns a module or a module group, and the positioning precision of the root joint after locking needs to enable the first group of chain joints to passively enter a capture domain;
the positioning accuracy of the i-th group of chain joints after the i-th group of chain joints are locked needs to enable the i+1-th group of chain joints to passively enter the capturing domain.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any modification or replacement made by those skilled in the art within the scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
The invention, in part not described in detail, is within the skill of those skilled in the art.
Claims (10)
1. The microgravity chain type assembly system is characterized by comprising a spacecraft platform, an assembly base, a robot and a module to be assembled or a multi-module combination;
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and the module or the multi-module combination is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot.
2. The microgravity chain assembly system of claim 1, wherein the joints on the assembly base comprise root joints requiring robot-assisted alignment connection, and chain joints requiring robot-assisted alignment connection; the joints on the modules or the multi-module combination comprise root joints which are required to be aligned and connected by a robot, and chain joints which are not required to be aligned and connected by the robot, are respectively in one-to-one correspondence with the root joints and the chain joints on the assembly base, and are female joints and male joints;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the module or the multi-module combination and the 1 st group of chain joints on the assembly base passively enter the capturing domain and start to complete the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to complete the butt joint assembly, so that the process is repeated, the N groups of chain joints sequentially enter the capturing domain, and the butt joint assembly without the auxiliary alignment of the robot is sequentially completed.
3. The microgravity chain assembly system of claim 2, wherein the assembly base is a structure, or a deployment mechanism, or a fixed module or a module combination obtained by the previous assembly.
4. A microgravity chain assembly system according to claim 3 wherein the robot is a base-fixed robotic arm, or a climbing robot with movement or a robot carried for movement by other tools.
5. The microgravity chain assembly system of claim 4, wherein the root joint alignment capture tolerance is greater than pose bias generated when the robot aligns the modules or groups of modules, the positioning accuracy after the root joint locking is such that the first group of links passively enter the capture domain; the positioning accuracy after the i-th set of links is locked is such that the i+1-th set of links passively enter the capture domain, i=1, 2,3, …, N.
6. The space chain type assembly system is characterized by comprising a spacecraft platform, an assembly base, a robot and at least 2 modules to be assembled or a multi-module combination;
the spacecraft platform is a satellite, a space station and other space facility platforms with gesture and track control capability in an orbit microgravity environment, the assembly base is rigidly connected with the spacecraft platform, the robot is fixed on the assembly base through an end tool, and a module or a multi-module combination to be assembled is pre-fixed on the spacecraft platform or the assembly base through detachable connection and is in the pick-up range of the robot.
7. A space chain assembly system according to claim 6 wherein the joints on the assembly base are root joints that need to be aligned by robotic assistance;
the joints on the modules or the multi-module combination to be assembled comprise root joints which are required to be aligned and connected by a robot and chain joints which are not required to be aligned and connected by the robot, the root joints on the modules or the multi-module combination to be assembled and the root joints on the assembly base are female joints and male joints, the chain joints are in one-to-one correspondence with the chain joints on the adjacent modules or the module combination, and the chain joints are female joints and male joints;
the chain joints are a first group of chain joints, a second group of chain joints, … and an N group of chain joints from the root joint position from the near to the far in sequence, and N is more than or equal to 1;
after the root joint is assembled and locked under the auxiliary alignment of the robot, the first group of chain joints on the adjacent modules or the multi-module combination passively enter the capturing domain and start to complete the butt joint assembly, and meanwhile, the next group of chain joints passively enter the capturing domain and start to complete the butt joint assembly, so that the process is repeated, the N groups of chain joints between the adjacent modules or the module combination sequentially enter the capturing domain and finish the butt joint assembly without the auxiliary alignment of the robot.
8. A space chain type assembly system according to claim 7, wherein the assembly base is a structural body, or an unfolding mechanism, or a fixed connection module or a module combination obtained by the previous assembly.
9. A space chain assembly system according to claim 8, wherein the robot is a robot arm fixed to a base, or a climbing robot with a moving function, or a robot carried and moved by other tools.
10. A space chain assembly system according to claim 9 wherein the root joint alignment capture tolerance is greater than the pose bias generated when the robot aligns the modules or groups of modules, the positioning accuracy of the root joint after locking being such that the first group of links passively enter the capture domain; the positioning accuracy after the i-th set of links is locked is such that the i+1-th set of links passively enter the capture domain, i=1, 2,3, …, N.
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| CN202311837976.XA CN117773963A (en) | 2023-12-28 | 2023-12-28 | Microgravity chain type assembly system |
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| CN202311837976.XA CN117773963A (en) | 2023-12-28 | 2023-12-28 | Microgravity chain type assembly system |
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| CN117773963A true CN117773963A (en) | 2024-03-29 |
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