CN114603326A

CN114603326A - Universal frame type adjustable overturning device

Info

Publication number: CN114603326A
Application number: CN202210236918.0A
Authority: CN
Inventors: 罗任峰; 曹江威; 王文宗; 康萌
Original assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Current assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2022-06-10
Anticipated expiration: 2042-03-10
Also published as: CN114603326B

Abstract

The invention provides a universal frame type adjustable overturning device which comprises a supporting frame tool, an overturning tool, a load tool, 2 driving mechanisms and 2 braking mechanisms, wherein the overturning tool is positioned in the supporting frame tool, the overturning tool is detachably connected to the load tool, an optical load simulation piece is installed in the load tool, two ends of the overturning tool are respectively connected with one driving mechanism, each driving mechanism is connected with one braking mechanism, and the bottoms of the 2 braking mechanisms are respectively fixed to two sides of the overturning tool. The universal frame type adjustable overturning equipment disclosed by the invention is suitable for universal overturning, posture adjusting and assembling of a high-bearing spacecraft, and has the advantages of wide application range and strong universality; the attitude-adjusting assembly rigidity of the overturning load in the horizontal position is improved, and the stability of the assembly process is ensured; the overturning process is simple to operate, the overturning speed is controllable, the whole mass center is self-adaptive, the overturning process is stable, and the overturning preventing measure is provided.

Description

Universal frame type adjustable overturning device

Technical Field

The invention belongs to the field of overturning assembly of large aerospace optical equipment, and particularly relates to universal frame type adjustable overturning equipment.

Background

The increase of spacecraft function will bring the increase of spacecraft load volume absolutely, and the large-scale optical equipment of space flight needs to carry out operations such as accurate upset, accent appearance in the installation, and the upset of spacecraft is mostly through multidimension revolving stage at present, and the specificity is strong, and rotation angle is fixed, and the cost is higher. In order to overcome the defects of the prior art, a universal frame type overturning device with large size, high bearing capacity and 0-180-degree overturning angle is designed aiming at the overturning and assembling requirements of large aerospace optical equipment.

Disclosure of Invention

In view of this, the present invention provides a universal frame type adjustable turnover device to solve the deficiencies of the prior art.

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

the utility model provides an adjustable upset of general frame-type is equipped, includes braced frame frock, upset frock, load frock, 2 actuating mechanism and 2 arrestment mechanism, the upset frock is located inside the braced frame frock, and the upset frock is inside can dismantle and be connected to the load frock, and load frock internally mounted optics load simulation piece, an actuating mechanism is connected respectively at upset frock both ends, and every actuating mechanism all connects an arrestment mechanism, and 2 arresting mechanism bottoms are fixed respectively to upset frock both sides, actuating mechanism and the equal signal connection of arrestment mechanism are to the controller.

Further, the braced frame frock includes braced frame body, a plurality of parallels, a plurality of universal rings and a plurality of nitrogen gas spring, the braced frame body is the U-shaped structure, a plurality of parallels of braced frame body bottom equipartition, braced frame body internally mounted upset frock, a plurality of universal rings of braced frame body concave part, top both sides equipartition respectively, a plurality of nitrogen gas springs of braced frame body both sides equipartition, every nitrogen gas spring's top all contacts with the upset frock.

Further, the upset frock includes upset body, a plurality of screw clamp plate, a plurality of locker and a plurality of pivot eyelidretractor, the upset body is the U-shaped structure, and an actuating mechanism is connected respectively to upset body both sides, and upset body internally mounted load frock, a plurality of screw clamp plate of the concave part distribution of upset body, a plurality of lockers of upset body concave part both sides equipartition, a plurality of pivot eyelidretractors of upset body top both sides fixed connection.

Further, the locker includes locating plate, Y axle sliding assembly, 2X axle guide rails, X axle slider, X axle lead screw and fixing base, the X axle slider is T shape structure, and X axle slider bottom is sliding connection to 2X axle guide rails respectively, and X axle slider one side is connected to Y axle sliding assembly, and Y axle sliding assembly one side is connected to the locating plate, and X axle slider opposite side is equipped with the fixing base, and the equal movable sleeve in X axle slider middle part, fixing base middle part connects to X axle lead screw outer wall.

Further, the pivot support is including supporting body, spring pin axle, backup pad, adjusting block, direction optical axis and 2 regulation slide rails, support the body top and be connected to the spring pin axle, support body one side and be connected to the backup pad through the lead screw, the backup pad is used for the location load frock, supports the body opposite side and is connected to adjusting block, adjusting block bottom middle part is connected to the direction optical axis, the direction optical axis is fixed to upset body one side, adjusting block bottom both sides are sliding connection one respectively and adjust the slide rail, every is adjusted the slide rail bottom and all is fixed to upset body one side.

Further, the load tool comprises a load frame, the load frame is of a U-shaped structure, an optical load simulation piece is installed inside the load frame, the bottom of the load frame is clamped to the screw pressing plate and the locker, a plurality of positioning grooves are formed in two sides of the load frame, and the positioning grooves are matched with the supporting plate for use.

Compared with the prior art, the universal frame type adjustable overturning equipment has the following advantages:

(1) the universal frame type adjustable overturning equipment disclosed by the invention is suitable for universal overturning, posture adjusting and assembling of a large-size high-bearing spacecraft, and is wide in application range and strong in universality; the attitude-adjusting assembly rigidity of the overturning load in the horizontal position is improved, and the stability of the assembly process is ensured; the overturning process is simple to operate, the overturning speed is controllable, the whole mass center is self-adaptive, the overturning process is stable, and the overturning preventing measure is provided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a frame-type flexible flipping mechanism with a simulated flipping spacecraft according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a turning device according to an embodiment of the present invention;

FIG. 3 is a schematic view of a support frame of the turning apparatus according to an embodiment of the present invention;

fig. 4 is a schematic view of a turning body frame of the turning device according to the embodiment of the present invention;

FIG. 5 is a schematic view of a spindle support according to an embodiment of the present invention;

FIG. 6 is a schematic view of a locking device according to an embodiment of the present invention;

fig. 7 is a sectional view of a load binder according to an embodiment of the present invention.

Description of reference numerals:

1. supporting a frame tool; 11. a support frame body; 12. sizing block; 13. a universal hoisting ring; 14. a nitrogen spring; 2. turning over the tool; 21. turning over the body; 22. a screw pressing plate; 23. a locker; 231. positioning a plate; 232. a Y-axis slide assembly; 233. an X-axis guide rail; 234. an X-axis slider; 235. an X-axis lead screw; 236. a fixed seat; 24. a rotating shaft supporter; 241. a support body; 242. a spring pin; 243. a support plate; 244. adjusting the sliding block; 245. guiding the optical axis; 246. adjusting the slide rail; 3. a drive mechanism; 4. A brake mechanism; 5. loading tooling; 51. a load frame; 52. positioning a groove; 6. an optical load simulator.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

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

As shown in fig. 1 to 7, a general frame type adjustable turnover device comprises a support frame tool 1, a turnover tool 2, a load tool 5, 2 driving mechanisms 3 and 2 braking mechanisms 4, wherein the turnover tool 2 is located inside the support frame tool 1, the turnover tool 2 is detachably connected to the load tool 5, the load tool 5 is internally provided with an optical load simulation piece 6, two ends of the turnover tool 2 are respectively connected with one driving mechanism 3, each driving mechanism 3 is connected with one braking mechanism 4, the bottoms of the 2 braking mechanisms 4 are respectively fixed to two sides of the turnover tool 2, and the driving mechanisms 3 and the braking mechanisms 4 are in signal connection with a controller. The controller can be current PLC also can be the industrial computer, and in this embodiment, actuating mechanism 3 all connects a arrestment mechanism 4 and is prior art, and actuating mechanism 3 can be the servo motor drive, also can add planetary reducer for servo motor and worm gear, and arrestment mechanism 4 can be the electric liquid stopper. The universal frame type adjustable overturning equipment disclosed by the invention is suitable for universal overturning, posture adjusting and assembling of a large-size high-bearing spacecraft, and is wide in application range and strong in universality; the attitude-adjusting assembly rigidity of the overturning load in the horizontal position is improved, and the stability of the assembly process is ensured; the overturning process is simple to operate, the overturning speed is controllable, the whole mass center is self-adaptive, the overturning process is stable, and the overturning preventing measure is provided.

Support frame frock 1 includes braced frame body 11, a plurality of parallels 12, a plurality of universal rings 13 and a plurality of nitrogen spring 14, braced frame body 11 is the U-shaped structure, and 11 bottom equipartitions of braced frame body are a plurality of parallels 12, and 11 internally mounted upset frock 2 of braced frame body, 11 concave part of braced frame body, top both sides equipartition are a plurality of universal rings 13 respectively, and 11 both sides equipartitions of braced frame body are a plurality of nitrogen spring 14, and every nitrogen spring 14's top all contacts with upset frock 2. In this embodiment, the supporting frame body 11 is formed by welding H-shaped steel or steel plate. The supporting frame body 11 is provided with 8 hoisting points for hoisting under different working conditions. The supporting frame body 11 is provided with a nitrogen spring 14 which plays a role in limiting and buffering the turnover equipment.

The turnover tool 2 comprises a turnover body 21, a plurality of screw pressing plates 22, a plurality of locking devices 23 and a plurality of rotating shaft supporting devices 24, wherein the turnover body 21 is of a U-shaped structure, two sides of the turnover body 21 are respectively connected with a driving mechanism 3, the load tool 5 is arranged inside the turnover body 21, the screw pressing plates 22 are distributed on the groove portion of the turnover body 21, the locking devices 23 are uniformly distributed on two sides of the groove portion of the turnover body 21, and the rotating shaft supporting devices 24 are fixedly connected with two sides of the top of the turnover body 21. In this embodiment. The main body of the turnover equipment body is of a U-shaped structure and is formed by welding H-shaped steel, steel plates and the like. The turnover equipment adopts two sets of driving systems to realize the back-and-forth turnover of 0 to 180 degrees. The two brake shafts are used for cooperating with the two sets of brake systems to ensure that the position of the turnover device is locked when the turnover device is static. The bottom of the non-opening end of the U-shaped turnover body 21 is provided with a load locker 23 integrating positioning and posture adjustment, and the locker 23 and the screw pressing plate 22 fix the equipment. The screw hold down plate 22 secures the device.

The locking device 23 comprises a positioning plate 231, a Y-axis sliding assembly 232, 2X-axis guide rails 233, an X-axis slider 234, an X-axis lead screw 235 and a fixing seat 236, wherein the X-axis slider 234 is of a T-shaped structure, the bottom of the X-axis slider 234 is respectively connected to the 2X-axis guide rails 233 in a sliding manner, one side of the X-axis slider 234 is connected to the Y-axis sliding assembly 232, one side of the Y-axis sliding assembly 232 is connected to the positioning plate 231, the other side of the X-axis slider 234 is provided with the fixing seat 236, the middle of the X-axis slider 234 and the middle of the fixing seat 236 are both movably sleeved on the outer wall of the X-axis lead screw 235, the locking device 233 is used for positioning and fastening a large-scale spacecraft tooling frame (load tooling 5), in the embodiment, the positioning plate 231 is lifted through the Y-axis sliding assembly 232, the Y-axis sliding assembly 232 is an existing slider and guide rail, and the up-down movement of the positioning plate 231 in the Y-axis direction is adjusted by adjusting the up-down movement of the slider on the guide rail, the staff makes X axle slider 234 slide on 2X axle guide rails 233 through adjusting X axle lead screw 235, and X axle slider 234 slides on 2X axle guide rails 233 thereby changes the distance between X axle slider 234 and fixing base 236.

The rotating shaft supporter 24 includes a supporting body 241, a spring pin 242, a supporting plate 243, an adjusting slider 244, a guiding optical axis 245 and 2 adjusting sliding rails 246, the top of the supporting body 241 is connected to the spring pin 242, one side of the supporting body 241 is connected to the supporting plate 243 through a screw rod, when in actual use, a worker can adjust the distance between the supporting plate 243 and the supporting body 241 through the adjusting screw rod, the supporting plate 243 is used for positioning the load tool 5, the other side of the supporting body 241 is connected to the adjusting slider 244, the middle part of the bottom of the adjusting slider 244 is connected to the guiding optical axis 245, the guiding optical axis 245 is fixed to one side of the turnover body 21, two sides of the bottom of the adjusting slider 244 are respectively connected with one adjusting sliding rail 246 in a sliding manner, and the bottom of each adjusting sliding rail 246 is fixed to one side of the turnover body 21. In this embodiment, the opening end of the U-shaped turnover body 21 is provided with a rotation shaft supporter 24, and the rotation shaft supporter 24 can be used for supporting a load when a turnover load is horizontal, so as to ensure load rigidity.

The load tool 5 comprises a load frame 51, the load frame 51 is of a U-shaped structure, the optical load simulation piece 6 is installed inside the load frame 51, the bottom of the load frame 51 is clamped to the screw pressing plate 22 and the locker 23, a plurality of positioning grooves 52 are formed in two sides of the load frame 51, the positioning grooves 52 are matched with the supporting plate 243 for use, in actual use, the worker adjusts the shaft supporter 24, so as to clamp the supporting plate 243 in the positioning groove 52, when the screw pressing plate 22 is used, a worker removes the screws of the screw pressing plate 22, and the distance between the X-axis slide block 234 and the fixed seat 236 is drawn by screwing the X-axis screw 235, thereby clamping the bottom of the load frame 51, the screws of the screw pressing plate 22 are then tightened, and the distance between the X-axis sliding block 234 and the fixed seat 236 is locked by screwing the X-axis screw 235, so that the load frame 51 is tightly clamped in the turnover body 21.

The invention provides a universal frame type adjustable overturning device which is large in size, high in bearing capacity and 0-180-degree in overturning angle. The overturning device has the functions of self-adaptive balancing, overturn prevention, overrun protection, power loss self-locking, failure protection, emergency braking and the like, ensures the safety of a large-scale spacecraft, and is widely applied to overturning of the spacecraft with various dimensions.

The universal overturning equipment can provide a universal mechanical interface and is provided with a special mechanical interface fixedly connected with a main overturned load or a tool. The rapid balancing after the load installation can be realized through self-adaptive balancing or reserved torsional moment redundancy and other modes so as to adapt to the load overturning requirements of different cantilever lengths. The device can adapt to the position change of the whole mass center caused by different loads, prevent overturning in the overturning process, reduce the whole mass center of the equipment as much as possible and meet the safety requirement of the overturning process.

The universal frame type overturning equipment is stable and controllable in overturning process, has a self-locking function, guarantees the safety of a large-scale spacecraft, and can be widely applied to overturning of the spacecraft with various dimensions.

Example 1

The structure of a general frame-type adjustable overturning device for a large spacecraft is shown in the example and shown in fig. 1, and the frame-type overturning device mainly comprises a supporting frame, overturning equipment, an overturning driving system, a braking system, an electric control system and the like. The large optical spacecraft is restrained and fixed through the load tool frame, the tool is operated during overturning, direct touch on the optical simulation load can be avoided, and the large optical spacecraft is protected. The frame type overturning device can realize the installation and the overturning of the large spacecraft at any angle within 0-180 degrees. Figure 1 shows the 90 deg. installation, flipped over to 0 deg. removal. The spacecraft and the tool frame are hoisted to the turnover frame, are positioned through the two lockers on the turnover equipment body, and are fixed through the screw pressing plate. In the positioning process, two-way fine adjustment can be performed according to the locking device, so that the rigidity of the spacecraft in the overturning process is ensured.

The supporting frame adopts an H-shaped steel and steel plate welding structure. And 8 hoisting points are arranged on the supporting frame and are used for hoisting under different working conditions. The supporting frame is provided with a nitrogen spring which plays a role in limiting and buffering the turnover equipment.

The turnover device mainly comprises a turnover body, a servo motor, a driving mechanism, a brake shaft, a locker and a screw pressing plate. The main body of the turnover equipment body is of a U-shaped structure and is formed by welding H-shaped steel, steel plates and the like. The turnover equipment adopts two sets of driving systems to realize the back-and-forth turnover of 0 to 180 degrees. The two brake shafts are used for cooperating with the two sets of brake systems to ensure that the position of the turnover device is locked when the turnover device is static. The bottom of the non-opening end of the U-shaped turnover body is provided with a load locker which integrates positioning and posture adjustment, and the load locker and the screw pressing plate fix the equipment. The open end of the U-shaped turnover body is provided with a rotating shaft support, and the U-shaped turnover body can be used for supporting a load when a turnover load is horizontal, so that the load rigidity is ensured. The locker carries out location to large-scale spacecraft frock frame and steps up, and the screw clamp plate is fixed to equipment.

The turnover equipment adopts double-drive systems, the left side and the right side of the turnover equipment are respectively provided with a set of drive system, and each drive system adopts a drive mode of a servo motor, a planetary reducer and a worm and gear reducer. The overturning driving adopts closed-loop control, electromechanical joint clearance elimination and overturning angle control precision of 10'. Due to the self-locking characteristic of the worm gear and the worm, the reliable positioning after the load is overturned to any position for parking can be ensured by matching with the locking function of the electro-hydraulic brake.

The brake is arranged on a high-speed shaft of the equipment and mainly comprises a bracket, a brake part, an operating device and the like. In the actual use process of the turnover equipment, the brake can meet the requirement that the total mass center of the turnover load and the turnover equipment is located at any position.

The detailed mounting and dismounting process comprises the following steps:

the installation process comprises the following steps:

1) lifting the positioning block 231 of the locker 23 and adjusting to a positioning position;

2) the loading frame 51 is hung on the overturning platform mounting plane (in the overturning body 21);

3) adjusting the position of the load frame 51 to ensure that the inner surface of the girder on one side of the load frame 51 is attached to the positioning block 231 of the locker 23; meanwhile, the load frame 51 is basically positioned in the middle of the overturning platform (the installation plane of the overturning platform is coated with an installation position line);

4) the load frame 51 is clamped with 8 sets of screw clamps 22.

5) The installation process is ended.

The disassembling process comprises the following steps:

1) the horizontal ruler is placed on the load frame 51, and the load frame 51 is hung by a crown block, and the hanging is kept as horizontal as possible.

2) All the screw pressing plates 22 are removed, and the locking device 23 plays a certain supporting role at the moment;

3) returning the three lockers 23 located below to the initial position;

4) inching the crown block to cause the load frame 51 to be separated upwards from the three lockers 23 located above;

5) the horizontal movement of the crown block causes the load frame 51 to leave the tipper;

6) returning all the lockers 23 to the initial positions;

7) the disassembly process is complete.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an adjustable upset of general frame-type is equipped which characterized in that: including braced frame frock (1), upset frock (2), load frock (5), 2 actuating mechanism (3) and 2 arrestment mechanism (4), upset frock (2) are located braced frame frock (1) inside, and upset frock (2) inside can be dismantled and be connected to load frock (5), load frock (5) internally mounted optics load simulation piece (6), and actuating mechanism (3) are connected respectively at upset frock (2) both ends, and an arrestment mechanism (4) are all connected in every actuating mechanism (3), and 2 arrestment mechanism (4) bottoms are fixed respectively to upset frock (2) both sides, actuating mechanism (3) and the equal signal connection of arrestment mechanism (4) are to the controller.

2. A universal frame-type adjustable turn-over apparatus as claimed in claim 1, wherein: braced frame frock (1) is including braced frame body (11), a plurality of parallels (12), a plurality of universal rings (13) and a plurality of nitrogen spring (14), braced frame body (11) are the U-shaped structure, a plurality of parallels (12) of braced frame body (11) bottom equipartition, braced frame body (11) internally mounted upset frock (2), braced frame body (11) concave part, a plurality of universal rings (13) of top both sides equipartition respectively, a plurality of nitrogen spring (14) of braced frame body (11) both sides equipartition, the top of every nitrogen spring (14) all contacts with upset frock (2).

3. A universal frame-type adjustable turn-over apparatus as claimed in claim 1, wherein: upset frock (2) are including upset body (21), a plurality of screw clamp plate (22), a plurality of locker (23) and a plurality of pivot eyelidretractor (24), upset body (21) are the U-shaped structure, and a actuating mechanism (3) is connected respectively to upset body (21) both sides, and upset body (21) internally mounted load frock (5), a plurality of screw clamp plate (22) of recess portion distribution of upset body (21), a plurality of locker (23) of upset body (21) recess portion both sides equipartition, a plurality of pivot eyelidretractor (24) of upset body (21) top both sides fixed connection.

4. A universal frame-type adjustable turn-over apparatus as claimed in claim 3, wherein: locker (23) are including locating plate (231), Y axle sliding assembly (232), 2X axle guide rail (233), X axle slider (234) and X axle lead screw (235) and fixing base (236), X axle slider (234) are T shape structure, and sliding connection is to 2X axle guide rail (233) respectively in X axle slider (234) bottom, and X axle slider (234) one side is connected to Y axle sliding assembly (232), and Y axle sliding assembly (232) one side is connected to locating plate (231), and X axle slider (234) opposite side is equipped with fixing base (236), and X axle slider (234) middle part, fixing base (236) middle part all swing joint connect to X axle lead screw (235) outer wall.

5. A universal frame-type adjustable turn-over apparatus as claimed in claim 3, wherein: the rotating shaft support (24) comprises a support body (241), a spring pin shaft (242), a support plate (243), an adjusting slider (244), a guide optical axis (245) and 2 adjusting sliding rails (246), the top of the support body (241) is connected to the spring pin shaft (242), one side of the support body (241) is connected to the support plate (243) through a screw rod, the support plate (243) is used for positioning a load tool (5), the other side of the support body (241) is connected to the adjusting slider (244), the middle of the bottom of the adjusting slider (244) is connected to the guide optical axis (245), the guide optical axis (245) is fixed to one side of the turnover body (21), two sides of the bottom of the adjusting slider (244) are respectively connected with one adjusting sliding rail (246) in a sliding mode, and the bottom of each adjusting sliding rail (246) is fixed to one side of the turnover body (21).

6. A universal frame-type adjustable turn-over rig as claimed in claim 5, wherein: load frock (5) are the U-shaped structure including load frame (51), load frame (51) internally mounted optics load simulation piece (6), and load frame (51) bottom joint is to screw clamp plate (22), locker (23), and a plurality of constant head tanks (52) have been seted up to load frame (51) both sides, and constant head tank (52) are used with backup pad (243) cooperation.