CN103552697A - Active suspension type satellite antenna three-dimensional extension testing device - Google Patents
Active suspension type satellite antenna three-dimensional extension testing device Download PDFInfo
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Abstract
The invention provides an active suspension type satellite antenna three-dimensional extension testing device. The active suspension type satellite antenna three-dimensional extension testing device comprises a controller, a two-dimensional horizontal motion mechanism, a vertical constant-tension adjusting mechanism, an angle measuring mechanism, a support mechanism and a lifting mechanism. The support mechanism is connected with the lifting mechanism, the two-dimensional horizontal motion mechanism is connected with the lifting mechanism and the support mechanism, the vertical constant-tension adjusting mechanism is connected with the two-dimensional horizontal motion mechanism, the angle measuring mechanism is connected with a vertical constant-tension adjusting mechanism, and the controller controls the two-dimensional horizontal motion mechanism, the vertical constant-tension adjusting mechanism and the angle measuring mechanism. The active suspension type satellite antenna three-dimensional extension testing device has the advantages of being simple in structure, easy to operate, high in positioning precision and high in response speed and can meet the requirements of satellite antenna ground three-dimensional extension testing.
Description
Technical field
The present invention relates to a kind of satellite antenna Three Dimensional Ground developing test device, particularly, relate to that a kind of positioning precision is high, the three-dimensional developing test device of the Active Suspensions formula satellite antenna of fast response time.
Background technology
For guaranteeing the satellite model successful execution of task in-orbit, satellite movable part and mechanism need to carry out on ground launching fully test to launch performance, to launch checking and the assessment of reliability.The gravitational compensation method of testing for ground spreadings such as the satellite sun wing, antenna, magnetometers has a variety of, mainly comprises air supporting and hangs two kinds of modes.Wherein, suspended type heavy truck force compensating, by there being non control system, can be divided into passive type and active, and said " initiatively " and " passive " are in the balance method for gravity, to have not have controlled drive system to determine.
Passive suspension formula gravity-compensated device is application fixed pulley, movable pulley, rope and mass, by the counterweight hanging, the experimental subjects hanging is carried out to gravity compensation, makes its free state under weightlessness.This kind of hang is in whole expansion process, between guide rail and bearing, there is friction drag, increased the resistance that movable part launches, caused the rope of its suspension to lag behind and movable part motion, thereby occur ground simulation and launch in-orbit the inconsistent problem of test.And due to the impact of friction drag between air resistance and guide rail etc., cause ground spreading test period to extend.
Active Suspensions method can well solve the deficiency of passive suspension method, as problems such as added mass and friction interference, by introducing controllable motor, regulating the vertical pulling force of rope to reach gravity compensation, and be furnished with a follow-up mechanism and carry out its pulling force of Real-time Balancing, its control accuracy adopts elaborate servo kinetic control system, compares passive type and controls suspension, can reach higher precision level, be the development tendency of current suspension method, but its research difficulty is larger, fails to be used widely.
The invention provides the three-dimensional developing test device of a kind of Active Suspensions formula satellite antenna, through the literature search of prior art is found, also not finding at present can be for the active Three Dimensional Ground developing test device of satellite antenna.
Summary of the invention
For defect of the prior art, the object of this invention is to provide the three-dimensional developing test device of a kind of Active Suspensions formula satellite antenna.
According to an aspect of the present invention, provide a kind of Active Suspensions formula satellite antenna three-dimensional developing test device, comprise: controller, two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction, angle measuring mechanism, supporting mechanism and lifting mechanism, supporting mechanism is connected with lifting mechanism, two-dimensional level kinematic mechanism is connected with supporting mechanism with lifting mechanism respectively, the permanent governing mechanism of tension of vertical direction is connected with two-dimensional level kinematic mechanism, angle measuring mechanism is connected with the permanent governing mechanism of tension of vertical direction, controller respectively with two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction and angle measuring mechanism connect.
Preferably, two-dimensional level kinematic mechanism comprises: directions X servomotor, Y-direction servomotor, directions X linear motion unit and Y-direction linear motion unit, directions X servomotor is connected with controller, directions X servomotor comprises directions X motor and directions X reductor, directions X linear motion unit comprises synchronizing shaft, two directions X guide rails and two directions X slide blocks, Y-direction servomotor is connected with controller, Y-direction servomotor comprises Y-direction motor and Y-direction reductor, and Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block; Wherein,
Two directions X guide rail parallels arrange, and synchronizing shaft is connected to one end of two directions X guide rails, and directions X motor is connected with directions X reductor, and directions X reductor is connected to one end of synchronizing shaft, and two directions X slide blocks are separately positioned on two directions X guide rails;
Y-direction guide rail two ends are connected with two directions X slide blocks respectively, and Y-direction motor is connected with Y-direction reductor, and Y-direction reductor is connected to one end of Y-direction guide rail, and Y-direction slide block is arranged on Y-direction guide rail.
Preferably, two-dimensional level kinematic mechanism range of movement is: 1.5m(X direction) ╳ 1m(Y direction), and the kinematic velocity of two-dimensional level kinematic mechanism horizontal direction is 0.4m/s to the maximum.
Preferably, the permanent governing mechanism of tension of vertical direction comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, the first adapter plate comprises horizontal connecting plate and vertical connecting panel, horizontal connecting plate is connected with Y-direction slide block, vertical connecting panel and horizontal connecting plate, and vertically connecting panel is mutually vertical with horizontal connecting plate, torque motor is arranged on vertical adapter plate one side and is connected with vertical adapter plate, lifting tube is arranged on vertical adapter plate opposite side, lifting tube further comprises spool and steel rope, spool is connected with torque motor through vertical adapter plate, steel rope one end is connected with spool, the other end is connected with pulling force sensor through horizontal adapter plate end, pulling force sensor is connected with controller.
Preferably, the permanent governing mechanism of tension of vertical direction also comprises wire line guide, and wire line guide is arranged on horizontal adapter plate and is connected with steel rope.
Preferably, angle measuring mechanism comprises: two coders, the second adapter plate, directions X angular measurement plate and Y-direction angular measurement plates, wherein,
The second adapter plate is structure as a whole, its horizontal connecting plate below that is arranged on the first adapter plate is connected with horizontal connecting plate, and the center of the second adapter plate is corresponding with the position of steel rope, the second adapter plate comprises four attachment faces, four attachment face inside surround hollow structure, on four angles that four attachment faces intersect, be provided with tapped bore, the second adapter plate is solidly connected to the horizontal connecting plate of the first installation by bolt by tapped bore;
It is inner that directions X angular measurement plate is arranged on the second adapter plate, directions X angular measurement plate comprises directions X rotating shaft, directions X swivel arm and two directions Xs pendulum that is connected, on four attachment faces, be provided with through hole, directions X rotating shaft is connected with the through hole socket on two attachment faces in X-direction, directions X swivel arm is connected with directions X rotating shaft, the be connected two ends of pendulum of two directions Xs are connected with the swivel arm of both sides respectively, and two directions Xs are connected in the middle of pendulum and form in order to the gap through steel rope;
It is inner that Y-direction angular measurement plate is arranged on the second adapter plate, Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions pendulum that is connected, Y-direction rotating shaft is connected with the through hole socket on two attachment faces in Y direction, Y-direction swivel arm is connected with Y-direction rotating shaft, the be connected two ends of pendulum of two Y-directions are connected with the swivel arm of both sides respectively, and two Y-directions are connected in the middle of pendulum and form in order to the gap through steel rope;
Two coders are arranged on the second adapter plate outside, and one of them coder is connected with directions X rotating shaft, and another coder is connected with Y-direction rotating shaft.
Preferably, also comprise a plurality of limit switches, limit switch is separately positioned on directions X guide rail and Y-direction guide rail, and each limit switch is all connected with controller.
Preferably, supporting mechanism adopts the aluminium section bar of 40mm * 40mm, two kinds of specifications of 40mm * 120mm to build.
Preferably, lifting mechanism height is 6m to the maximum, load-bearing 80kg.
Preferably, also comprise: upper computer, servoamplifier and servo-driver, controller and upper computer communication connection, servoamplifier is connected between controller and directions X servomotor and between controller and Y-direction servomotor, and servo-driver is connected between controller and torque motor.
Take below certain model satellite data transmission antenna launches test and principle of work and the process of this device is described as example: first shift this device onto treat deployable antenna side, regulate the adjustable height of this device, the expansion that guarantees this device highly meets the demands, regulate the parallelism of this device, guarantee that the parallelism between two-dimensional level kinematic mechanism and satellite benchmark meets test requirements document, then will pass antenna and developing test device by steel rope linking number, guarantee that steel rope crosses the centroid positions that number passes antennas, now two-dimensional level kinematic mechanism is in distance X direction motor distal-most end, opening controller, now can see that its pulling force sensor shows the gravimetric value of antenna, two dimension angular sensor is 0, secondly, when number biography antenna starts to launch gradually, two-dimensional level kinematic mechanism on it is also and then synchronized with the movement, effect due to inertia, when antenna movement omits faster than two-dimensional level kinematic mechanism, by being arranged on the two dimension angular coder on two-dimensional level kinematic mechanism, can measure in real time the deflection angle of learning steel rope, and be transferred to controller, controller detects after this angle signal, control immediately X, the motor follow-up motion of Y-direction, thereby keeping the deflection angle of steel rope is 0, and, in this process, also there is a upper and lower dipping and heaving in steel rope, therefore, by the pulling force detection signal on pulling force sensor, can record in real time this value of thrust, and this signal is inputed to controller, controller control torque motor movement, thereby guarantee in whole antenna expansion process, it is constant that its pulling force keeps, when antenna is deployed into behind position, whole expanding unit also synchronously stops, in order to guarantee the safety of this device, at directions X linear motion unit and Y-direction linear motion unit two ends, limit switch has respectively been installed, antenna and experimental set-up has been played a protective role when guaranteeing kinematic mechanism displacement generation outrange.
Apparatus of the present invention are simple in structure, easy to operate, this device regulates the vertical pulling force of steel rope by torque motor, make it reach gravity compensation requirement, and in the horizontal direction by two-dimentional follow-up mechanism Real-time Balancing pulling force, and control accuracy adopts elaborate servo kinetic control system, and positioning precision is high, fast response time.Therefore, compared with prior art, the present invention has simple in structure, easy to operate, positioning precision is high, the beneficial effect of fast response time, can meet the requirement that satellite antenna Three Dimensional Ground launches test.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the structure front elevation of the three-dimensional developing test device of Active Suspensions formula satellite antenna of the present invention;
Fig. 2 is the structure side view of the three-dimensional developing test device of Active Suspensions formula satellite antenna of the present invention;
Fig. 3 is the annexation schematic diagram of two-dimensional level kinematic mechanism and the permanent governing mechanism of tension of vertical direction;
Fig. 4 is the structural representation of angle measuring mechanism;
Fig. 5 is the hardware principle block diagram of the three-dimensional developing test device of Active Suspensions formula satellite antenna of the present invention.
In figure: 1 is two-dimensional level kinematic mechanism, 2 is the permanent governing mechanism of tension of vertical direction, 3 is angle measuring mechanism, 4 is supporting mechanism, 5 is lifting mechanism, 6 is limit switch, 11 is directions X motor, 12 is directions X reductor, 13 is synchronizing shaft, 14 is directions X guide rail, 15 is directions X slide block, 16 is Y-direction motor, 17 is Y-direction reductor, 18 is Y-direction guide rail, 19 is Y-direction slide block, 21 is torque motor, 22 is lifting tube, 23 is pulling force sensor, 24 is the first adapter plate, 221 is spool, 222 is steel rope, 31 is coder, 32 is the second adapter plate, 33 is directions X angular measurement plate, 34 is Y-direction angular measurement plate, 331 is directions X rotating shaft, 332 is directions X swivel arm, 333 is the directions X pendulum that is connected, 341 is Y-direction rotating shaft, 342 is Y-direction swivel arm, 343 is the Y-direction pendulum that is connected.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 5, the three-dimensional developing test device of a kind of Active Suspensions formula satellite antenna, comprise: controller, two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction, angle measuring mechanism, supporting mechanism and lifting mechanism, supporting mechanism is connected with lifting mechanism, two-dimensional level kinematic mechanism is connected with supporting mechanism with lifting mechanism respectively, the permanent governing mechanism of tension of vertical direction is connected with two-dimensional level kinematic mechanism, angle measuring mechanism is connected with the permanent governing mechanism of tension of vertical direction, controller respectively with two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction and angle measuring mechanism connect.
Further, two-dimensional level kinematic mechanism adopts servomotor to drive linear motion unit, and linear motion unit adopts toothed belt transmission mode.Particularly, as shown in Figure 3, two-dimensional level kinematic mechanism comprises: directions X servomotor, Y-direction servomotor, directions X linear motion unit and Y-direction linear motion unit, directions X servomotor is connected with controller, directions X servomotor comprises directions X motor and directions X reductor, directions X linear motion unit comprises synchronizing shaft, two directions X guide rails and two directions X slide blocks, Y-direction servomotor is connected with controller, Y-direction servomotor comprises Y-direction motor and Y-direction reductor, Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block, two directions X guide rail parallels arrange, synchronizing shaft is connected to one end of two directions X guide rails, directions X motor is connected with directions X reductor, directions X reductor is connected to one end of synchronizing shaft, two directions X slide blocks are separately positioned on two directions X guide rails, Y-direction guide rail two ends are connected with two directions X slide blocks respectively, and Y-direction motor is connected with Y-direction reductor, and Y-direction reductor is connected to one end of Y-direction guide rail, and Y-direction slide block is arranged on Y-direction guide rail.
Two-dimensional level kinematic mechanism of the present invention adopts servomotor to drive linear motion unit, and linear motion unit adopts toothed belt transmission mode.Because directions X need support the power in whole expansion process, therefore directions X motor drives two linear motion units to move by synchronizing shaft.Y-direction motion, on directions X, adopts servomotor to drive the form of linear motion unit equally.Two-dimensional level kinematic mechanism need provide 1.5m(X direction) ╳ 1m(Y direction) range of movement, and the kinematic velocity of its horizontal direction is 0.4m/s to the maximum.
Further, the permanent governing mechanism of tension of vertical direction adopts torque motor to drive spool rotation, constant moment of force by torque motor is exported, the permanent tension force that keeps steel rope, by detecting the signal of pulling force sensor, and then feed back to torque motor, and the rotating speed of Torque-adjusting motor, thus realize permanent tension force output.Particularly, as shown in Figure 3, the permanent governing mechanism of tension of vertical direction comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, the first adapter plate comprises horizontal connecting plate and vertical connecting panel, horizontal connecting plate is connected with Y-direction slide block, vertical connecting panel and horizontal connecting plate, and vertically connecting panel is mutually vertical with horizontal connecting plate, torque motor is arranged on vertical adapter plate one side and is connected with vertical adapter plate, lifting tube is arranged on vertical adapter plate opposite side, lifting tube further comprises spool and steel rope, spool is connected with torque motor through vertical adapter plate, steel rope one end is connected with spool, the other end is connected with pulling force sensor through horizontal adapter plate end, pulling force sensor is connected with controller.
The permanent governing mechanism of tension of vertical direction of the present invention, the lifting tube spool rotation that adopts torque motor to drive, lay winding wire ropes on spool, realizes the lifting of steel rope by the rotation of spool, in whole lifting process, by torque motor, keep the constant tension of steel rope.
Further, in order to control the direction of steel rope, the permanent governing mechanism of tension of vertical direction also comprises wire line guide, and wire line guide is arranged on horizontal adapter plate and is connected with steel rope.By the distance of notice wire line guide, make it meet the requirement of steel rope guiding.
Further, angle measuring mechanism is measured based on photoelectric encoder, by the tapped bore on four angles, connect firmly on adapter plate, the rotating shaft on four direction is fixed on four sidewalls of housing, and rotating shaft drives swivel arm to swing, on swivel arm, connect firmly pendulum, particularly, as shown in Figure 4, angle measuring mechanism comprises: two coders, the second adapter plate, directions X angular measurement plate and Y-direction angular measurement plates, wherein
The second adapter plate is structure as a whole, its horizontal connecting plate below that is arranged on the first adapter plate is connected with horizontal connecting plate, and the center of the second adapter plate is corresponding with the position of steel rope, the second adapter plate comprises four attachment faces, four attachment face inside surround hollow structure, on four angles that four attachment faces intersect, be provided with tapped bore, the second adapter plate is solidly connected to the horizontal connecting plate of the first installation by bolt by tapped bore; It is inner that directions X angular measurement plate is arranged on the second adapter plate, directions X angular measurement plate comprises directions X rotating shaft, directions X swivel arm and two directions Xs pendulum that is connected, on four attachment faces, be provided with through hole, directions X rotating shaft is connected with the through hole socket on two attachment faces in X-direction, directions X swivel arm is connected with directions X rotating shaft, the be connected two ends of pendulum of two directions Xs are connected with the swivel arm of both sides respectively, and two directions Xs are connected in the middle of pendulum and form in order to the gap through steel rope; It is inner that Y-direction angular measurement plate is arranged on the second adapter plate, Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions pendulum that is connected, Y-direction rotating shaft is connected with the through hole socket on two attachment faces in Y direction, Y-direction swivel arm is connected with Y-direction rotating shaft, the be connected two ends of pendulum of two Y-directions are connected with the swivel arm of both sides respectively, and two Y-directions are connected in the middle of pendulum and form in order to the gap through steel rope; Two coders are arranged on the second adapter plate outside, and one of them coder is connected with directions X rotating shaft, and another coder is connected with Y-direction rotating shaft.
As shown in Fig. 2 Fig. 3, the center of the second adapter plate and the position of steel rope of angle measuring mechanism are corresponding, be connected pendulum and two Y-directions of two directions Xs are connected in the middle of pendulum and all form in order to the gap through steel rope, steel rope is respectively through directions X angular measurement plate and Y-direction angular measurement plate, when steel rope a direction tilts, drive fixedly pendulum to swing, fixedly pendulum drives swivel arm to rotate, swivel arm drives turning cylinder to rotate, and then rotated by turning cylinder driven rotary coder, thereby the angle of inclination of measuring steel rope.
Further, as shown in Figure 3, the present invention also comprises four limit switches, and each limit switch is all connected with controller.Four limit switches are separately positioned on directions X guide rail and Y-direction guide rail, respectively have 2 limit switches in X, Y-direction, are used for detecting limit of sports record position.
Further, supporting mechanism is used for bearing the stressed of whole device, adopts the aluminium section bar of 40mm * 40mm, two kinds of specifications of 40mm * 120mm to build, and two-dimensional level kinematic mechanism is installed thereon, thereby a lifting table is provided.
Further, lifting mechanism, for providing the antenna of differing heights to launch motion, can adopt ripe lifting table to carry out appropriate reconstruction and form, and it is highly 6m to the maximum, load-bearing 80kg.
Further, the present invention also comprises upper computer, servoamplifier and servo-driver, controller and upper computer communication connection, and servoamplifier is connected between controller and directions X servomotor, and between controller and Y-direction servomotor, in order to realize signal, amplify.Servo-driver is connected between controller and torque motor, in order to drive motor, moves.
As shown in Figure 5, and be the control system schematic diagram of whole device, the motor of X, Y both direction adopts servomotor to join servoamplifier, and mode selects torque to control; Z direction (being vertical direction) adopts torque motor to join servo-driver, and mode is selected constant moment of force mode.By the process data of angular transducer and the test of pulling force sensor Real-time Collection, guarantee the completeness and efficiency of data logging.In addition, in X, Y-direction, respectively there are 2 limit switches, are used for detecting its limit of sports record position.
Control system upper computer is used touch-screen to control, and has been responsible for test parameters setting, process control and demonstration.Lower computer is controlled based on motion controller, controls the input/output signal of motor, in real time operating system (RTOS), process data is measured in real time, and is completed the closed loop moving control of multi-axis servo motor.The radical function of lower computer can be decomposed into two dimension and follow control unit and tension force control unit.By coder, gather the vertical angle of hoist cable, control X-axis and Y-axis and follow motor movement, guarantee that hoist cable is all the time in vertical state.By the tension force of high-precision force sensor measurement hoist cable, control the motion of X, Y servomotor and torque motor, guarantee hoist cable constant tension.
Apparatus of the present invention are by introducing torque motor, regulating the vertical pulling force of hang spring, make it reach gravity compensation requirement, and be furnished with in the horizontal direction a two-dimentional follow-up mechanism and carry out its pulling force of Real-time Balancing, its control accuracy adopts elaborate servo kinetic control system, compare passive type and control suspension, there is the features such as positioning precision is high, fast response time, can meet the requirement that satellite antenna Three Dimensional Ground launches test.
Take below certain model satellite data transmission antenna launches test and principle of work and the process of this device is described as example, first shift this device onto treat deployable antenna side, regulate the adjustable height of this device, the expansion that guarantees this device highly meets the demands, regulate the parallelism of this device, guarantee that the parallelism between two-dimensional level kinematic mechanism and satellite benchmark meets test requirements document, then will pass antenna and developing test device by steel rope linking number, guarantee that steel rope crosses the centroid positions that number passes antennas, now two-dimensional level kinematic mechanism is in distance X direction motor distal-most end, opening controller, now can see that its pulling force sensor shows the gravimetric value of antenna, two dimension angular sensor is 0, secondly, when number biography antenna starts to launch gradually, two-dimensional level kinematic mechanism on it is also and then synchronized with the movement, effect due to inertia, when antenna movement omits faster than two-dimensional level kinematic mechanism, by being arranged on the two dimension angular coder on two-dimensional level kinematic mechanism, can measure in real time the deflection angle of learning steel rope, and be transferred to controller, controller detects after this angle signal, control immediately X, the motor follow-up motion of Y-direction, thereby keeping the deflection angle of steel rope is 0, and, in this process, also there is a upper and lower dipping and heaving in steel rope, therefore, by the pulling force detection signal on pulling force sensor, can record in real time this value of thrust, and this signal is inputed to controller, controller control torque motor movement, thereby guarantee in whole antenna expansion process, it is constant that its pulling force keeps, when antenna is deployed into behind position, whole expanding unit also synchronously stops, in order to guarantee the safety of this device, at directions X linear motion unit and Y-direction linear motion unit two ends, limit switch has respectively been installed, antenna and experimental set-up has been played a protective role when guaranteeing kinematic mechanism displacement generation outrange.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned particular implementation, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. the three-dimensional developing test device of an Active Suspensions formula satellite antenna, it is characterized in that, comprise: controller, two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction, angle measuring mechanism, supporting mechanism and lifting mechanism, described supporting mechanism is connected with described lifting mechanism, described two-dimensional level kinematic mechanism is connected with supporting mechanism with described lifting mechanism respectively, the permanent governing mechanism of tension of described vertical direction is connected with described two-dimensional level kinematic mechanism, described angle measuring mechanism is connected with the permanent governing mechanism of tension of described vertical direction, described controller respectively with described two-dimensional level kinematic mechanism, the permanent governing mechanism of tension of vertical direction and angle measuring mechanism connect.
2. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, it is characterized in that, described two-dimensional level kinematic mechanism comprises: directions X servomotor, Y-direction servomotor, directions X linear motion unit and Y-direction linear motion unit, described directions X servomotor is connected with controller, described directions X servomotor comprises directions X motor and directions X reductor, described directions X linear motion unit comprises synchronizing shaft, two directions X guide rails and two directions X slide blocks, described Y-direction servomotor is connected with controller, described Y-direction servomotor comprises Y-direction motor and Y-direction reductor, described Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block, wherein,
Described two directions X guide rail parallels arrange, and described synchronizing shaft is connected to one end of described two directions X guide rails, and described directions X motor is connected with described directions X reductor,
Described directions X reductor is connected to one end of described synchronizing shaft, and described two directions X slide blocks are separately positioned on described two directions X guide rails; Described Y-direction guide rail two ends are connected with described two directions X slide blocks respectively, and described Y-direction motor is connected with described Y-direction reductor, and described Y-direction reductor is connected to one end of described Y-direction guide rail, and described Y-direction slide block is arranged on described Y-direction guide rail.
3. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 2, it is characterized in that, described two-dimensional level kinematic mechanism range of movement is: 1.5m(X direction) ╳ 1m(Y direction), and the kinematic velocity of described two-dimensional level kinematic mechanism horizontal direction is 0.4m/s to the maximum.
4. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, it is characterized in that, the permanent governing mechanism of tension of described vertical direction comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, described the first adapter plate comprises horizontal connecting plate and vertical connecting panel, described horizontal connecting plate is connected with described Y-direction slide block, described vertical connecting panel is connected with described horizontal connecting plate, and described vertical connecting panel is mutually vertical with horizontal connecting plate, described torque motor is arranged on described vertical adapter plate one side and is connected with described vertical adapter plate, described lifting tube is arranged on described vertical adapter plate opposite side, described lifting tube further comprises spool and steel rope, described spool is connected with described torque motor through described vertical adapter plate, described steel rope one end is connected with described spool, the other end is connected with described pulling force sensor through described horizontal adapter plate end, described pulling force sensor is connected with described controller.
5. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 4, it is characterized in that, the permanent governing mechanism of tension of described vertical direction also comprises wire line guide, and described wire line guide is arranged on described horizontal adapter plate and is connected with described steel rope.
6. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 4, it is characterized in that, described angle measuring mechanism comprises: two coders, the second adapter plate, directions X angular measurement plate and Y-direction angular measurement plates, described directions X measures plate and described Y-direction is measured the mutual vertical distribution of plate, wherein
Described the second adapter plate is structure as a whole, its horizontal connecting plate below that is arranged on described the first adapter plate is connected with described horizontal connecting plate, and the center of described the second adapter plate is corresponding with the position of described steel rope, described the second adapter plate comprises four attachment faces, described four attachment face inside surround hollow structure, on four angles that described four attachment faces intersect, be provided with tapped bore, described the second adapter plate is solidly connected to the described first horizontal connecting plate of installing by described tapped bore by bolt;
It is inner that described directions X angular measurement plate is arranged on described the second adapter plate, described directions X angular measurement plate comprises directions X rotating shaft, directions X swivel arm and two directions Xs pendulum that is connected, on described four attachment faces, be provided with through hole, described directions X rotating shaft is connected with the through hole socket on two attachment faces in X-direction, described directions X swivel arm is connected with described directions X rotating shaft, the be connected two ends of pendulum of described two directions Xs are connected with the described swivel arm of both sides respectively, and described two directions Xs are connected in the middle of pendulum and form in order to the gap through described steel rope;
It is inner that described Y-direction angular measurement plate is arranged on described the second adapter plate, described Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions pendulum that is connected, described Y-direction rotating shaft is connected with the through hole socket on two attachment faces in Y direction, described Y-direction swivel arm is connected with described Y-direction rotating shaft, the be connected two ends of pendulum of described two Y-directions are connected with the described swivel arm of both sides respectively, and described two Y-directions are connected in the middle of pendulum and form in order to the gap through described steel rope;
Described two coders are arranged on described the second adapter plate outside, and one of them coder is connected with described directions X rotating shaft, and another coder is connected with described Y-direction rotating shaft.
7. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, it is characterized in that, also comprise a plurality of limit switches, described limit switch is separately positioned on described directions X guide rail and Y-direction guide rail, and described each limit switch is all connected with described controller.
8. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, is characterized in that, described supporting mechanism adopts the aluminium section bar of 40mm * 40mm, two kinds of specifications of 40mm * 120mm to build.
9. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, is characterized in that, described lifting mechanism height is 6m to the maximum, load-bearing 80kg.
10. the three-dimensional developing test device of Active Suspensions formula satellite antenna according to claim 1, it is characterized in that, also comprise: upper computer, servoamplifier and servo-driver, described controller and the communication connection of described upper computer, described servoamplifier be connected between described controller and directions X servomotor and described controller and described Y-direction servomotor between, described servo-driver is connected between described controller and torque motor.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105530057A (en) * | 2014-09-28 | 2016-04-27 | 中兴通讯股份有限公司 | Device for quickly connecting antenna feeder terminal |
| CN105836163A (en) * | 2016-04-14 | 2016-08-10 | 北京卫星制造厂 | Boosting type spreading device applicable to flexible dynamic boundary connection |
| CN106542128A (en) * | 2016-12-07 | 2017-03-29 | 上海卫星装备研究所 | Heavy caliber petal type space mechanism ground spreading experimental rig |
| CN107741334A (en) * | 2017-10-23 | 2018-02-27 | 南京航空航天大学 | The large-scale folding exhibition antenna experimental rig of microgravity |
| CN107985637A (en) * | 2017-11-27 | 2018-05-04 | 上海卫星装备研究所 | A kind of active gravity unloading device |
| CN110015611A (en) * | 2019-05-10 | 2019-07-16 | 烟台艾森特智能装备有限公司 | A kind of suspender and hanging method |
| CN110304550A (en) * | 2019-07-15 | 2019-10-08 | 西安工业大学 | A kind of the active suspension apparatus and suspension system of antenna structure |
| CN111038748A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Air supporting three-dimensional active moving gravity unloading device |
| CN111952710A (en) * | 2020-09-25 | 2020-11-17 | 西安电子科技大学 | Framework type deployable antenna deployment control device |
| CN112436283A (en) * | 2020-11-24 | 2021-03-02 | 西安工业大学 | Bimodal suspension device of annular antenna structure and adjustment method |
| CN114476148A (en) * | 2022-01-25 | 2022-05-13 | 上海卫星工程研究所 | Satellite-borne flat plate type antenna gravity unloading device and method |
| CN115579251A (en) * | 2022-11-24 | 2023-01-06 | 上海航天空间技术有限公司 | Travel switch star catalogue system, working method and satellite testing device |
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| CN105530057A (en) * | 2014-09-28 | 2016-04-27 | 中兴通讯股份有限公司 | Device for quickly connecting antenna feeder terminal |
| CN105530057B (en) * | 2014-09-28 | 2020-10-16 | 中兴通讯股份有限公司 | Device for quickly connecting antenna feeder terminal |
| CN105836163A (en) * | 2016-04-14 | 2016-08-10 | 北京卫星制造厂 | Boosting type spreading device applicable to flexible dynamic boundary connection |
| CN106542128A (en) * | 2016-12-07 | 2017-03-29 | 上海卫星装备研究所 | Heavy caliber petal type space mechanism ground spreading experimental rig |
| CN106542128B (en) * | 2016-12-07 | 2019-05-03 | 上海卫星装备研究所 | Heavy caliber petal type space mechanism ground spreading experimental rig |
| CN107741334B (en) * | 2017-10-23 | 2020-01-21 | 南京航空航天大学 | Microgravity large-scale folding and unfolding antenna test device |
| CN107741334A (en) * | 2017-10-23 | 2018-02-27 | 南京航空航天大学 | The large-scale folding exhibition antenna experimental rig of microgravity |
| CN107985637A (en) * | 2017-11-27 | 2018-05-04 | 上海卫星装备研究所 | A kind of active gravity unloading device |
| CN110015611A (en) * | 2019-05-10 | 2019-07-16 | 烟台艾森特智能装备有限公司 | A kind of suspender and hanging method |
| CN110304550A (en) * | 2019-07-15 | 2019-10-08 | 西安工业大学 | A kind of the active suspension apparatus and suspension system of antenna structure |
| CN111038748A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Air supporting three-dimensional active moving gravity unloading device |
| CN111952710A (en) * | 2020-09-25 | 2020-11-17 | 西安电子科技大学 | Framework type deployable antenna deployment control device |
| CN112436283A (en) * | 2020-11-24 | 2021-03-02 | 西安工业大学 | Bimodal suspension device of annular antenna structure and adjustment method |
| CN112436283B (en) * | 2020-11-24 | 2022-10-14 | 西安工业大学 | Bimodal suspension device of annular antenna structure and adjustment method |
| CN114476148A (en) * | 2022-01-25 | 2022-05-13 | 上海卫星工程研究所 | Satellite-borne flat plate type antenna gravity unloading device and method |
| CN114476148B (en) * | 2022-01-25 | 2023-10-13 | 上海卫星工程研究所 | Gravity unloading device and method for satellite-borne flat plate type antenna |
| CN115579251A (en) * | 2022-11-24 | 2023-01-06 | 上海航天空间技术有限公司 | Travel switch star catalogue system, working method and satellite testing device |
| CN115579251B (en) * | 2022-11-24 | 2023-03-10 | 上海航天空间技术有限公司 | Working method of travel switch star catalogue system and satellite testing device |
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