CN110282578A - Spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle - Google Patents
Spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle Download PDFInfo
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- CN110282578A CN110282578A CN201910525203.5A CN201910525203A CN110282578A CN 110282578 A CN110282578 A CN 110282578A CN 201910525203 A CN201910525203 A CN 201910525203A CN 110282578 A CN110282578 A CN 110282578A
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- Prior art keywords
- lifting mechanism
- slewing equipment
- vertical lifting
- body supports
- vertical
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a kind of spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicles, it mainly include body supports frame, vertical lifting mechanism, slewing equipment, running gear, lower margin support device and control system, wherein, vertical lifting mechanism pedestal is respectively set in frame two sides, vertical lifting mechanism thereon uses spiral lifting motion mode, slewing equipment is arranged on vertical lifting mechanism, it is driven by it and carries out vertical direction movement, slewing equipment side uses motor driven, the other side is follower, gear wheel is arranged on slewing equipment drive end rotating shaft, play transmitting torque, drive the effect of spacecraft large size bay section revolution；Installation sleeve on driven end rotating shaft forms rotary axis with drive end rotating shaft；Control system cabinet moves automatically for controlling elevating mechanism vertical lift, slewing equipment revolution and body supports frame electric up-down.Compared with prior art, the present invention realizes the big stroke vertical elevation of spacecraft large size cabin, and meets the demands such as the adjustment of spacecraft pose, geometric accuracy holding.
Description
Technical field
The invention belongs to spacecraft equipment technical fields, in particular it relates to which one kind is in Space Vehicle System
Large size bay section multi-purpose stand vehicle used in integrating process, it is vertical which can be realized Large Spacecraft bay section horizontality
The adjustment of the poses such as lifting and revolution and geometric accuracy are kept, and meet the assembly demand of spacecraft product.
Background technique
In current spacecraft industry, the typical ground total coating process equipment that when large-scale bay section general assembly uses mainly has
Two classes.One kind is that bay section parks unwheeling, is composed of single structural member, mainly includes main frame, lower margin support device
And interface frame, mating frame, lower margin support device are parked for tooling, main frame is main force support structure, interface frame, mating frame for spacecraft product with
The connection of tooling.The tooling only has the function of to park, and cabin is placed on progress general assembly implementation, cabin appearance in tooling with fixed pose
State cannot be changed, and be unable to satisfy the demand of cabin pose adjustment in spacecraft product final assemble operation process.Another kind of tooling
Be cabin park/overturn unwheeling, the tooling on the basis of parking unwheeling, between interface frame, mating frame and main frame be provided with have hand
The torsion shaft of dynamic adjustment function, constitutes turnover mechanism, to increase uniaxial turn over function, cabin may be implemented around some water
The overturning of flat reference axis, to complete the single-degree-of-freedom rotation adjustment of cabin posture.A part of uniaxial overturning unwheeling may be implemented
360 ° of cabin revolution, the overturning unwheeling of another part single shaft can only realize the overturning in smaller angle.This design of technological arrangement
It is more mature, using extensive.But manual overturning function manpower expends larger, low efficiency, and spacecraft product section region can not be real
Existing operation, single shaft overturning are unable to satisfy the demand of spacecraft product multi-freedom posture adjustment.
Currently, spacecraft bay section carries out general assembly implementation, example mostly using unwheeling or uniaxial overturning unwheeling is parked as carrier
Such as the schematic diagram of spacecraft support class ground machine technological equipment in the prior art is shown referring to Fig. 1, Fig. 1.By cabin appearance
The constraint that state cannot be adjusted according to demand, the operation of many general assembly events in operation (such as cable laying, pipeline installation etc.)
Inefficiency, part general assembly events in operation cannot achieve safety work.The individual technical ability of assembling work personnel is wanted under this mode
Ask high, operating efficiency is low, and in general assembly implementation process, there are the risks such as biggish personal damage, spacecraft damage.For big
Type spacecraft needs to realize the demand of high-rise working and the adjustment of multidigit appearance, and traditional technological equipment but cannot achieve.For this purpose, providing
It is a kind of can be realized vertical lift, the stent car of horizontal rotation function is required.
Summary of the invention
The object of the present invention is to provide a kind of spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicles, to meet
The high-precision assembly positioning of spacecraft large size bay section general assembly and the needs of multi-freedom posture adjustment.
To achieve the goals above, present invention employs the following technical solutions:
Spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle mainly includes body supports frame, vertical liter
Descending mechanism, slewing equipment, running gear, lower margin support device and control system, wherein body supports frame two sides are respectively set
Vertical lifting mechanism pedestal is installed, vertical lifting mechanism is integrally designed with body supports frame fusion, transported using spiral lifting
Flowing mode, wherein vertical lifting mechanism be respectively arranged in body supports frame two sides it is a set of, using bi-motor synchronous driving mode,
Slewing equipment is arranged on the guide rail of vertical lifting mechanism, is driven by the motor and lead screw of vertical lifting mechanism and is carried out vertical side
To movement, slewing equipment side uses motor driven, and the other side is follower, and arrangement is big on slewing equipment drive end rotating shaft
Gear plays the role of transmitting torque, driving spacecraft large size bay section revolution；Installation sleeve on driven end rotating shaft, with active
Rotating shaft is held to form rotary axis；Control system cabinet is arranged in body supports frame side, vertical for controlling elevating mechanism
Lifting, slewing equipment revolution and body supports frame electric up-down move automatically, and it is attached that control system cabinet is arranged in elevating mechanism
Closely, it is integrally designed with vertical lifting mechanism, not independent occupied space.
Wherein, body supports lower frame quadrangle is respectively arranged the heavily loaded traveling wheel of a cuff low damage function, and formation can
The mobile wheel group of any direction is realized that stent car horizontality transporting direction arbitrarily converts, is conducive under stent car heavy condition
Transport.
Wherein, body supports frame is used to support vertical lifting mechanism and spacecraft product, at product load 2000kg,
Horizontal direction deformation can be kept to be no more than 10mm.
Wherein, body supports frame lower bottom part quadrangle be respectively set it is a set of carry out whole height adjusting (Z-direction electricity
Dynamic, hand-operated lifting) lower margin support, form support device.
Wherein, vertical lifting mechanism is arranged symmetrically in main body frame two sides, passes through lead screw, guide rail, driving motor and driven
Platform completes the linear movement of vertical direction, and two-side synchronous kinematic accuracy is up to no more than 1mm.
Wherein, slewing equipment can be realized around 360 ° of revolute functions of horizontal axis, complete the random angle of 2000kg weight cabin
Degree revolution and positioning, rotating accuracy are better than 0.1 °.
Wherein, the driving shaft side setting driving motor and gear of slewing equipment, driven end side is arranged servo-actuated bearing, uses
In the interface that offer is connect with large-scale cabin.
Wherein, control system realizes vertical lifting mechanism movement velocity 5mm/s, the electronic support lower margin liter of body supports frame
Reduction of speed degree 4mm/s, slewing equipment rotational speed 60s/rad, each movement velocity can total travel Serial regulations.
Compared with the common process equipment for not having elevating function in the prior art, multi-purpose stand vehicle of the invention, energy
It enough realizes the big stroke pose adjustment of spacecraft large size cabin vertical direction and meets multiple degrees of freedom high-precision regulatory demand.
Detailed description of the invention
Fig. 1 is the schematic diagram of spacecraft support class ground machine technological equipment in the prior art；
Fig. 2, Fig. 3 are spacecraft large size bay section general assembly Liftable type multi-purpose stand bassinet structure composition signals of the invention
Figure；
Carrying bottom surface based on 1 in braced frame；Column (containing stair) based on 2 in braced frame；3 rise to be vertical
Lead screw in descending mechanism；4 be the guide rail in vertical lifting mechanism；5 be the jam nut in vertical lifting mechanism；6 be revolution dress
Driving motor in setting；7 be the driving shaft in slewing equipment；8 be the driven shaft in slewing equipment；9 be bottom surface support device
Lower margin；10 be the wheel group draw bar in running gear；11 be the wheel group of running gear；12 be the control cabinet of control system.
Specific embodiment
Introduced below is the specific embodiment as content of the present invention, below by specific embodiment to this
The content work of invention further illustrates.Certainly, description following detailed description is only example not Tongfang of the invention
The content in face but should not be understood as the limitation scope of the invention.
As shown in Figure 2 and Figure 3, spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle of the invention, it is main to wrap
Include body supports frame, vertical lifting mechanism, slewing equipment, support device, running gear and control system.Body supports frame
A set of vertical lifting mechanism pedestal, symmetric configuration, to install vertical lifting mechanism is respectively set in two sides.Vertical lifting mechanism is adopted
It mainly include spiral lift, lead screw 3, guide rail 4 and from moving platform with spiral lifting motion mode.Vertical lifting mechanism is in master
Body braced frame two sides be respectively arranged it is a set of, using bi-motor synchronous driving mode.Spiral lift is arranged in vertical lifting mechanism
On pedestal, driving lead screw 3 is rotated, and it is the guiding device of elevating movement that guide rail 4 is arranged in parallel along the vertical direction with lead screw 3,
Ensure load tie point uniform stressed, be conducive to the weight for mitigating a whole set of stent car, there is compact-sized, light-weight, reliability
The advantages that high.Slewing equipment is arranged on vertical lifting mechanism, is driven by lead screw 3 vertically moving.Slewing equipment is divided into
Two parts are arranged on the vertical lifting mechanism of body supports frame two sides, and side is driven using driving motor 6, another
Side is follower.Gear wheel is installed on slewing equipment drive end rotating shaft, that is, driving shaft 7, is connected with shafting is corresponded in revolution unwheeling
After connecing, plays the role of transmitting torque, drives large-scale bay section revolution；Installation sleeve on driven end rotating shaft, that is, driven shaft 8, with master
Moving axis 7 forms rotary axis, and two groups of shafting concentricities are up to 0.2mm.The control cabinet 12 of control system is arranged in body supports
Frame side is integrally laid out with vertical lifting mechanism.Body supports lower frame quadrangle is respectively arranged a cuff low damage function
Heavily loaded traveling wheel, formed can the mobile wheel group of any direction, constitute a whole set of running gear, realize that stent car horizontality is appointed
The walking transport in meaning direction.It is disposed about a support construction in each wheel group respectively, constitutes a whole set of support device, there is edge
Vertical direction carries out the function of height adjustment, has manual, electric two kinds of operating modes.
Specifically, the present invention in body supports frame be the shape of falling π structure, mainly by carrying bottom surface 1 and two sides stand
Column 2 forms.Bottom surface 1 mainly uses hollow square steel pipe welding structure, guarantees the overall stiffness of unwheeling while mitigating weight.It is main
Triangular structure is formed on rear side of body braced frame column to be reinforced, and guarantees the rigidity of two sides jacking system, and in triangle knot
Staircase is set on the outside of structure, and to facilitate personnel to move up and down, while triangular structure covers control system cable, is conducive to
Technological equipment is beautiful.Meanwhile control system control cabinet being placed in by staircase lower space size.Remove control cabinet position in stair lower part
It sets and is designed to case structure, used as storage attachment, cable.It is different high in support platform for the ease of manual operation
It spends position and is provided with telescopic device, design guardrail, it is ensured that the safety of operator.
Vertical lifting mechanism in the present invention is mounted on the two sides of unwheeling main body frame, it is contemplated that stent car Structure of need is tight
The product gather, is small in size, is light-weight, and carrying is approximate rigid structure, and jacking system uses spiral lifting structure.It is vertical to rise
Drop structure is formed by lead screw, guide rail, driving motor and from moving platform.To ensure large-scale bay section tie point uniform force, will go up and down
A set of, the synchronous driving of two sides mechanism is respectively arranged in unwheeling two sides for mechanism.Its course of work is that motor driven lead screw completes rotation, is led to
It crosses to be fixed on to drive from the jam nut 5 on moving platform from moving platform and go up and down, connect from moving platform by the sliding block and guide rail 4 of two sides
It connects, in entire motion process, provides guiding by guide rail, the sliding block on guide rail is connect with from moving platform, it is ensured that bearing bias
When torque, lead screw 3 does not bend.Lead screw 3 selects M80 stepped tooth screw-threaded shaft elevator, lead screw gap 0.1mm.Stepped tooth lead screw
Mechanical Driven and limit are carried out using SN-R type jam nut 5, jam nut 5 is mounted below main nut, normal operating conditions
It is not subject to axial load, while being shielded to unidirectional loads, nut wear-out failure, jam nut will undertake whole load.
Lift control system constitutes servo motor speed-adjusting and control system with drive control module is exchanged using two sets of AC servo motors.For
Share jacking system spiral lift lateral force, 2 guide rails are set around every spiral lift, jacking system use can be improved
Precision and increase service life.When vertical lifting mechanism is run, control system is by two sets of servo jacking systems with identical speed
Degree operation, and reach while starting, stop.After control system master controller (PLC) receives the instruction of kinematic parameter, pass to
Driver obtains information by internal drive controller and drive motor rotates, and lead screw follows shaft to rotate, and nut drives rotation
Transfer from one department to another system lifting.And the encoder real-time detection being mounted on motor goes out the torque of motor, speed, location information and is sent to
Driver constitutes lifting closed-loop control system, and to accurately control the height of each lifting in real time, while information is transferred to miniature control
Device processed, microcontroller calculate platform real-time attitude, adjust platform stance in real time by normal solution operation, to move as next time
Make the reference instructed, to ensure to control precision.If in two servo motor start-up courses wherein a motor due to failure nothing
Method operation, in addition a motor is also out of service, prevents unilateral stress, or even cause to become due to the uneven of active force
Shape.
The top of vertical lifting mechanism is arranged in slewing equipment in the present invention, the slave moving platform being fixed in lifting structure
Upper surface is divided into drive end and driven end for large-scale bay section horizontal rotation.Gear wheel is installed on drive end rotating shaft, with branch
After corresponding to coupling of shaft system in unwheeling, play the role of transmitting torque, driving bay section revolution；Installation sleeve on support end rotating shaft,
Rotary axis is formed with drive end rotating shaft.Unwheeling upper rotary axial interface (span between the slewing equipment of stent car two sides) has
Regulating power, by the prominent lifting structure inner surface installation of slewing equipment.The power moved using servo motor as slewing equipment
Source, servo motor itself have the function of exporting real-time driving moment.Transmission system itself includes double reduction, and the first order is snail
Worm and gear is slowed down, and the second level is spur gear deceleration, total reduction ratio 200:1.Subtract in worm and gear input terminal planet of connecting again
Fast device, reduction ratio 20:1, further promotes reduction ratio, to meet torque output demand.
In the present invention, the setting of body supports frame lower bottom part quadrangle is a set of to carry out whole height adjusting (Z-direction electricity
Dynamic, hand-operated lifting) lower margin 9 support, form bottom surface jacking system, be made of 4 vertical conveyors, vertical direction may be implemented
The movement of range 600mm.The device is by switching, it can be achieved that manually, electrically going up and down two kinds of operating modes.
In the present invention, a set of heavily loaded traveling wheel is respectively set in body supports frame lower bottom part quadrangle, and running gear is by four
A heavy duty movable pulley group 11 is constituted.Each wheel group 11 is included to pull round bar 10, is driven by manpower, any angle can be achieved
Transformation substantially increase walking convenience to realize any adjusting of stent car direction of travel.
Control system hardware in the present invention is all mounted in control cabinet 12, and control cabinet 12 is arranged in body supports
Frame side is integrally designed with vertical lifting mechanism, dramatically saves arrangement space.Operation panel is by power supply before controlling cabinet
Control zone and Industry Control screen composition, directly can be completed revolute function, vertical lift function, main body branch to operation of front panel
The automatic control of support frame frame bottom surface elevating function etc..Vertical lift system, revolution system is respectively set in three regions of control panel point
System, the corresponding function button of bottom surface jacking system.Control cabinet after connection panel be mounted with axial flow blower, input power interface,
Motor cable interface, encoder cable interface and ground stud control device arrangements in cabinet and separate, are easy in accordance with strong and weak electrical wiring
The good principle of Operation and Maintenance, ventilation and heat.Vertical lift system, rotary system, bottom surface jacking system Joint Designing realize three
The Integrated Simulation of a system, it can be achieved that large-scale bay section elevating function, revolute function, bottom surface elevating function etc. automatic control.
Although a specific embodiment of the invention is described in detail and is illustrated above, it should be noted that
We can make various changes and modifications above embodiment, but these are without departure from spirit of the invention and appended power
Benefit requires documented range.
Claims (8)
1. spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle mainly includes body supports frame, vertical lift
Mechanism, slewing equipment, running gear, lower margin support device and control system, wherein peace is respectively set in body supports frame two sides
Vertical lifting mechanism pedestal is filled, vertical lifting mechanism thereon is integrally designed with body supports frame fusion, using spiral liter
Motion mode drops, wherein vertical lifting mechanism be respectively arranged in body supports frame two sides it is a set of, using the synchronous driving side of bi-motor
Formula, slewing equipment are arranged on the guide rail of vertical lifting mechanism, are driven by the motor and lead screw of vertical lifting mechanism and are erected
Histogram uses motor driven to movement, slewing equipment side, and the other side is follower, cloth on slewing equipment drive end rotating shaft
Gear wheel is set, plays the role of transmitting torque, driving spacecraft large size bay section revolution；Installation sleeve on driven end rotating shaft, with
Drive end rotating shaft forms rotary axis；Control system cabinet is arranged in body supports frame side, for controlling elevating mechanism
Vertical lift, slewing equipment revolution and body supports frame electric up-down move automatically, and control system cabinet is arranged in elevator
Near structure, it is integrally designed with vertical lifting mechanism, not independent occupied space.
2. stent car as described in claim 1, wherein body supports lower frame quadrangle is respectively arranged a cuff low damage function
Can heavily loaded traveling wheel, formed can the mobile wheel group of any direction, realize that stent car horizontality transporting direction arbitrarily converts, have
Conducive to the transport under stent car heavy condition.
3. stent car as described in claim 1, wherein body supports frame is used to support vertical lifting mechanism and spacecraft produces
Product can keep horizontal direction deformation to be no more than 10mm at product load 2000kg.
4. stent car as described in claim 1, wherein a set of carry out is respectively set in body supports frame lower bottom part quadrangle
Whole height adjusts the lower margin support of (Z-direction electronic, hand-operated lifting), forms support device.
5. stent car as described in claim 1, wherein vertical lifting mechanism is arranged symmetrically in main body frame two sides, passes through silk
Thick stick, guide rail, driving motor and the linear movement that vertical direction is completed from moving platform, two-side synchronous kinematic accuracy are not more than 1mm.
6. stent car as described in any one in claim 1-5, wherein slewing equipment can be realized around 360 ° of revolution function of horizontal axis
Can, arbitrary angle rotary and the positioning of 2000kg weight cabin are completed, rotating accuracy is better than 0.1 °.
7. stent car as described in any one in claim 1-5, wherein the driving shaft side of slewing equipment setting driving motor and
Servo-actuated bearing is arranged in gear, driven end side, for providing the interface connecting with large-scale cabin.
8. stent car as described in any one in claim 1-5, wherein control system realizes vertical lifting mechanism movement velocity
5mm/s, body supports frame electronic support lower margin lifting speed 4mm/s, slewing equipment rotational speed 60s/rad, each movement speed
Degree can total travel Serial regulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525203.5A CN110282578A (en) | 2019-06-18 | 2019-06-18 | Spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910525203.5A CN110282578A (en) | 2019-06-18 | 2019-06-18 | Spacecraft large size bay section general assembly Liftable type multi-purpose stand vehicle |
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| CN110282578A true CN110282578A (en) | 2019-09-27 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476297A (en) * | 2020-10-29 | 2021-03-12 | 山东工业陶瓷研究设计院有限公司 | Assembly fixture for cabin section |
| CN113267323A (en) * | 2021-06-08 | 2021-08-17 | 上海市东方海事工程技术有限公司 | Intelligent multi-axis displacement and rotation device |
| CN114346943A (en) * | 2022-01-04 | 2022-04-15 | 航天科工空间工程发展有限公司 | Adjusting device for satellite assembly |
| CN114393540A (en) * | 2021-11-25 | 2022-04-26 | 天津航天机电设备研究所 | Movable full-function satellite assembly platform |
| WO2022174634A1 (en) * | 2021-02-20 | 2022-08-25 | 北京卫星制造厂有限公司 | Multi-agent reconstructed combination and multi-degree-of-freedom posture adjustment system |
| CN115291527A (en) * | 2022-09-30 | 2022-11-04 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
| CN115628357A (en) * | 2022-09-23 | 2023-01-20 | 中国航天空气动力技术研究院 | Large-scale rotating part bearing structure |
| CN116765776A (en) * | 2023-06-30 | 2023-09-19 | 北京新风航天装备有限公司 | Device and method for entering cabin of transverse and vertical mixed equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476297A (en) * | 2020-10-29 | 2021-03-12 | 山东工业陶瓷研究设计院有限公司 | Assembly fixture for cabin section |
| WO2022174634A1 (en) * | 2021-02-20 | 2022-08-25 | 北京卫星制造厂有限公司 | Multi-agent reconstructed combination and multi-degree-of-freedom posture adjustment system |
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| CN114393540A (en) * | 2021-11-25 | 2022-04-26 | 天津航天机电设备研究所 | Movable full-function satellite assembly platform |
| CN114346943A (en) * | 2022-01-04 | 2022-04-15 | 航天科工空间工程发展有限公司 | Adjusting device for satellite assembly |
| CN115628357A (en) * | 2022-09-23 | 2023-01-20 | 中国航天空气动力技术研究院 | Large-scale rotating part bearing structure |
| CN115291527A (en) * | 2022-09-30 | 2022-11-04 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
| CN115291527B (en) * | 2022-09-30 | 2022-12-20 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
| CN116765776A (en) * | 2023-06-30 | 2023-09-19 | 北京新风航天装备有限公司 | Device and method for entering cabin of transverse and vertical mixed equipment |
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Application publication date: 20190927 |