CN108535035B - Zero-gravity suspension test device for cylindrical surface unfolding mechanism - Google Patents
Zero-gravity suspension test device for cylindrical surface unfolding mechanism Download PDFInfo
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- CN108535035B CN108535035B CN201810229128.3A CN201810229128A CN108535035B CN 108535035 B CN108535035 B CN 108535035B CN 201810229128 A CN201810229128 A CN 201810229128A CN 108535035 B CN108535035 B CN 108535035B
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Abstract
The invention discloses a zero-gravity suspension test device for a cylindrical surface unfolding mechanism, which comprises a supporting assembly, a suspension guide rail assembly and a guide rail auxiliary moving assembly. The supporting component is used for fixing and supporting the cylindrical surface unfolding mechanism; the suspension guide rail assembly comprises a fixed guide rail and a guide rail capable of translating, and a sliding block capable of moving along the guide rail is arranged on the guide rail; one end of the suspension rope is connected with the unfolding mechanism, the other end of the suspension rope penetrates through the pulley to be connected with the counterweight, and the influence of the gravity of the unfolding mechanism on the unfolding process is eliminated through the action of the counterweight; the guide rail auxiliary moving assembly comprises a motor and a lead screw sliding table, the lead screw sliding table is driven by the motor to move, so that the guide rail capable of translating in the suspended guide rail assembly is driven to move, and the translatable guide rail is kept to be located right above a suspension rope suspension ring of the unfolding mechanism all the time in the unfolding process. The invention can effectively carry out gravity unloading in the unfolding process of the cylindrical surface unfolding mechanism, has simple structure and can be used for the ground zero-gravity unfolding test of the cylindrical surface unfolding mechanism.
Description
Technical Field
The invention belongs to the technical field of machinery, and relates to a zero-gravity suspension test device for a cylindrical surface unfolding mechanism, which can be used for a ground zero-gravity unfolding test of the cylindrical surface unfolding mechanism.
Background
With the development of aerospace industry, the structure of a spacecraft tends to be large-scale, but is limited by the geometric space of a carrier rocket, and a deployment mechanism is generated at the same time; the cylindrical surface unfolding mechanism is widely concerned and applied due to the good signal convergence capacity of the cylindrical surface unfolding mechanism. Before the cylindrical surface unfolding mechanism is put into use, unfolding tests are required to be carried out on the ground; and because the mechanism is in a weightless state when the mechanism runs on the rail, the ground unfolding test also needs to simulate the zero gravity state of the on-rail environment. The ground unfolding test device needs to be designed according to the structural characteristics, the unfolding motion trail and the like of the unfolding mechanism. The existing ground zero-gravity test device mainly aims at an unfolding mechanism with an unfolding track being a straight line, and a few test devices aiming at two-dimensional plane unfolding, and a movable suspension guide rail can also add extra resistance to the unfolding of the mechanism, so that the gravity unloading effect is reduced.
Disclosure of Invention
The invention aims to solve the problems and provides a zero-gravity suspension test device for a cylindrical surface unfolding mechanism, which can be used for simulating the zero-gravity state of an on-rail for the cylindrical surface unfolding mechanism in a ground gravity environment and is used for unfolding tests.
A zero gravity suspension test device for a cylindrical surface unfolding mechanism comprises a supporting assembly, a suspension guide rail assembly and a guide rail auxiliary moving assembly.
The supporting component comprises a frame, a supporting guide rail, a fixed supporting seat and a movable supporting seat. The frame is formed by connecting sectional materials and is integrally rectangular; the supporting guide rail is fixedly arranged on a cross beam on the side surface of the frame, the fixed supporting seat is fixedly arranged on the supporting guide rail, and the fixed supporting seat and the cross beam above the frame for installing and fixing the long guide rail are positioned in the same vertical plane; the movable supporting seat is arranged on the supporting guide rail and can move along the guide rail; the fixed supporting seat and the movable supporting seat are identical in structure, bearing seats are arranged on two sides of the supporting seat, and a rotating shaft at the joint of the outermost side joint of the cylindrical surface unfolding mechanism is respectively connected with the bearing seats on the fixed supporting seat and the movable supporting seat; the movable supporting seat reciprocates along the guide rail to realize the unfolding and folding of the cylindrical surface unfolding mechanism; under the connection constraint of the fixed supporting seat, the movable supporting seat and the unfolding mechanism, the unfolding mechanism joints which are positioned on the same row with the fixed supporting seat are always positioned in the same vertical plane in the unfolding process; similarly, the joints of the unfolding mechanism which are positioned on the same row with the movable supporting seat are also always positioned in the same vertical plane in the unfolding process.
The suspension guide rail assembly comprises a fixed long guide rail, a fixed short guide rail, a connecting sliding block, a movable long guide rail, a sliding block, a pulley, a suspension rope and a counterweight. The fixed long guide rail is fixedly arranged on the longitudinal beam above the frame; the two fixed short guide rails are respectively and fixedly arranged on the transverse beam above the frame; the two fixed short guide rails are respectively provided with a connecting slide block which can move along the guide rails, and the moving long guide rail is connected with the two connecting slide blocks and can move along the direction of the short guide rails; seven sliding blocks which can move along the guide rails are respectively arranged on the fixed long guide rail and the movable long guide rail, and each sliding block is provided with a pulley; one end of the suspension rope is connected with the suspension ring on the cylindrical surface unfolding mechanism; the suspension ring is connected with the right connecting rod and the left connecting rod through revolute pairs, the right connecting rod and the left connecting rod are respectively connected with the corresponding right joint and the left joint through revolute pairs, the lengths of the right connecting rod and the left connecting rod are equal, and the distance between the right connecting rod and the joint connecting part and the distance between the right connecting rod and the joint rotating shaft are equal, so that the suspension ring can be ensured to be always positioned on the angular bisector of the two joints; the other end of the suspension rope bypasses the pulley to be connected with the counterweight, and the mass of the counterweight is equal to the weight of the cylindrical surface unfolding mechanism part hung by the corresponding suspension rope.
The guide rail auxiliary moving assembly comprises a base, a lead screw, a sliding table, a motor and a connecting block. Two ends of the base are respectively and fixedly arranged on the top of the frame; two ends of the screw rod are arranged on the base through bearings and are connected with the motor through a coupler; the slip table is installed on the lead screw, and connecting block one end links to each other with the slip table, and the other end links to each other with removing long guide rail, and the drive through the motor drives the slip table and removes, and then can drive and remove long guide rail motion.
The zero-gravity suspension test device is not only suitable for a cylindrical surface unfolding mechanism formed by two rows, but also suitable for a cylindrical surface unfolding mechanism with n rows after being transversely expanded. A long guide rail corresponds to the position right above the suspension ring of each row of the unfolding mechanisms, and the guide rail corresponding to the first row is a fixed long guide rail and is fixedly connected with the frame; the moving long guide rails corresponding to the 2 nd row to the nth row are connected with the screw rod through the sliding table; the lead screws in the components are connected with the motor through a gear train, and the rotation speed ratio of the gears is 1, so that the rotation of the motor can be transmitted to the lead screws; the ratio of the screw pitch corresponding to the ith row to the screw pitch corresponding to the 2 nd row is (i-1), namely the moving speed of the moving long guide rail corresponding to the ith row is (i-1) times of the moving speed of the moving long guide rail corresponding to the 2 nd row; therefore, the driving of one motor can be realized, so that each moving long guide rail is always positioned right above the corresponding suspension ring in the unfolding process of the unfolding mechanism.
The invention has the advantages that:
(1) the invention develops a set of ground zero-gravity suspension test device aiming at a cylindrical surface unfolding mechanism, can be used for simulating an on-orbit zero-gravity state to carry out unfolding test, can be suitable for the transversely-expanded cylindrical surface unfolding mechanism, and has simple structure;
(2) the movable suspension guide rail can ensure that the counterweight for unloading gravity is always positioned right above the suspension ring of the unfolding mechanism;
(3) the guide rail auxiliary moving assembly can be used for driving the movable guide rail to move, and additional unfolding resistance is prevented from being added to the unfolding mechanism.
Drawings
FIG. 1 is a schematic view of the zero gravity suspension test apparatus for a cylindrical surface deployment mechanism according to the present invention;
FIG. 2 is a schematic view of a support assembly of the present invention;
FIG. 3 is an enlarged view of a portion of the support assembly of the present invention;
FIG. 4 is a schematic view of a cylindrical deployment mechanism of the present invention;
FIG. 5 is a schematic view of a suspension assembly of the present invention;
FIG. 6 is a schematic view of a suspension ring of the present invention;
FIG. 7 is a schematic view of the guide rail assisted movement assembly of the present invention;
FIG. 8 is a schematic view of a suspension testing apparatus of the present invention adapted for use with an n-column deployment mechanism;
in the figure:
1-support assembly 2-suspension assembly 3-guide rail auxiliary moving assembly
101-frame 102-support rail 103-fixed support seat
104-movable support base 105-bearing base 106-rotating shaft
201-fixed long guide rail 202-fixed short guide rail 203-connecting slide block
204-moving long guide rail 205-sliding block 206-pulley
207-suspension rope 208-suspension ring 209-right connecting rod
210-left connecting rod 211-right joint 212-left joint
213-counterweight 301-base 302-lead screw
303-sliding table 304-motor 305-connecting block
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Application number2017107554079 discloses a synchronous unfolding and folding cylindrical antenna based on a Bennett mechanism, wherein a cylindrical unfolding mechanism is disclosed, and the zero-gravity suspension test device can be applied to the unfolding mechanism. As shown in FIG. 4, during the unfolding process of the unfolding mechanism, A, B, C, D four points are always coplanar; joint M1、M2、M3、M4、M5、M6The projection on the plane ABCD is always on the straight line AB; joint N1、N2、N3、N4、N5、N6The projection of the trajectory of (a) onto the plane ABCD can be broken down into two parts, one part being the movement always along the straight line CD and the other part being the movement along the AC direction. The suspension position and mode of the unfolding mechanism can be determined according to the motion track of the joint, and one guide rail is fixedly positioned on the joint M1、M2、M3、M4、M5、M6Right above, the other guide rail is positioned at the joint N1、N2、N3、N4、N5、N6And may translate along with the joint.
The invention relates to a zero gravity suspension test device for a cylindrical surface unfolding mechanism, which comprises a support assembly 1, a suspension guide rail assembly 2 and a guide rail auxiliary moving assembly 3, and is shown in figure 1.
The support assembly 1 comprises a frame 101, a support rail 102, a fixed support 103 and a movable support 104, as shown in fig. 2. The frame 101 is formed by connecting sectional materials, and is integrally rectangular; the supporting guide rail 102 is fixedly arranged on a cross beam on the side surface of the frame 101, the fixed support seat 103 is fixedly arranged on the supporting guide rail and cannot move, and the fixed support seat 103 and the cross beam above the frame 101 for installing and fixing the long guide rail 201 are positioned in the same vertical plane; the movable support base 104 is arranged on the support guide rail and can move along the guide rail; the fixed support seat 103 and the movable support seat 104 have the same structure, bearing seats 105 are arranged on two sides of the support seats, and a rotating shaft 106 at the joint of the outermost joint of the cylindrical surface unfolding mechanism is respectively connected with the bearing seats 105 on the fixed support seat 103 and the movable support seat 104, as shown in fig. 3; moving the support 104 along the railsThe reciprocating movement can realize the expansion and the furling of the cylindrical surface expansion mechanism. Under the connection constraint of the fixed support seat 103, the movable support seat 104 and the unfolding mechanism, the unfolding mechanism joint A, M on the same column with the fixed support seat 1031、M2、M3、M4、M5、M6B is always positioned in the same vertical plane in the unfolding process; similarly, the expansion mechanism joint C, N is located on the same row as the movable support seat 1041、N2、N3、N4、N5、N6D is also always in the same vertical plane during deployment.
The suspension rail assembly 2 comprises a fixed long rail 201, a fixed short rail 202, a connecting slide block 203, a moving long rail 204, a slide block 205, a pulley 206, a suspension rope 207 and a counterweight 213, as shown in fig. 5. The fixed long guide rail 201 is fixedly arranged on a longitudinal beam above the frame 101 and is positioned in the same plane with the fixed support seat 103; the fixed short guide rails 202 are two in number and are respectively and fixedly arranged on a transverse beam above the frame 101; two fixed short guide rails 202 are respectively provided with a connecting slide block 203 which can move along the guide rails, and a moving long guide rail 204 is connected with the two connecting slide blocks 203 and can move along the direction of the short guide rails 202; seven sliding blocks 205 capable of moving along the guide rails are respectively arranged on the fixed long guide rail 201 and the moving long guide rail 204, and each sliding block 205 is provided with a pulley 206; one end of the suspension rope 207 is connected with a suspension ring 208 on the cylindrical surface unfolding mechanism; as shown in fig. 6, the suspension ring 208 is connected with the right connecting rod 209 and the left connecting rod 210 through a revolute pair, the right connecting rod 209 and the left connecting rod 210 are respectively connected with the corresponding right joint 211 and the left joint 212 through a revolute pair, the lengths of the right connecting rod 209 and the left connecting rod 210 are equal, and the distance between the joint connection and the joint rotating shaft is equal, so that the suspension ring 208 can be ensured to be always positioned on the angular bisector of the two joints; the other end of the hanger line 207 is connected to a counterweight 213 via a pulley 206, and the counterweight 213 has a mass equal to the weight of the portion of the corresponding hanger line 207 that hangs from the cylinder deployment mechanism. In the unfolding process of the unfolding mechanism, each joint moves up and down, the balance weight connected with the joint moves up and down along with the joint, and the moving distances of the joint and the balance weight are the same, namely the gravitational potential energy of the joint and the balance weight is always kept unchanged, so that the influence of gravity on the unfolding process can be eliminated.
The guide rail auxiliary moving assembly 3 comprises a base 301, a lead screw 302, a sliding table 303, a motor 304 and a connecting block 305, as shown in fig. 7. Two ends of the base 301 are respectively and fixedly arranged at the top of the frame 101; two ends of a lead screw 302 are arranged on the base 301 through bearings and are connected with a motor 304 through a coupler; the sliding table 303 is mounted on the screw 302, the screw 302 rotates under the driving of the motor 304, and the sliding table 303 is driven to move along the screw 302; one end of the connecting block 305 is connected with the sliding table 303, the other end of the connecting block is connected with the movable long guide rail 204, and the sliding table 303 can drive the movable long guide rail 204 to move after moving. The moving speed of the moving long guide rail 204 can be controlled by the motor 304, that is, the moving long guide rail 204 is always positioned at the joint N in the unfolding process1、N2、N3、N4、N5、N6Just above. The energy required to move the long rail 204 comes from the motor 304 of the rail-assisted movement assembly 3 and does not cause additional resistance to the movement of the deployment mechanism.
The zero-gravity suspension test device is not only used for a cylindrical surface unfolding mechanism formed by two rows, but also used for a cylindrical surface unfolding mechanism with multiple rows after being transversely expanded, and as shown in fig. 8, a schematic top view of the cylindrical surface unfolding mechanism with n rows and a corresponding schematic top guide rail auxiliary moving assembly are shown. A long guide rail corresponds to the position right above the suspension ring of each row of the unfolding mechanisms, and the guide rail corresponding to the first row is a fixed long guide rail 201 and is fixedly connected with the frame 101; the moving long guide rails corresponding to the 2 nd row to the nth row are connected with the screw rod through the sliding table; the lead screws in the components are connected with the motor 304 through a gear train, and the rotation speed ratio of the gears is 1, so that the rotation of the motor can be transmitted to the lead screws; the ratio of the screw pitch corresponding to the ith row to the screw pitch corresponding to the 2 nd row is (i-1), namely the moving speed of the moving long guide rail corresponding to the ith row is (i-1) times of the moving speed of the moving long guide rail corresponding to the 2 nd row; therefore, the driving of one motor can be realized, so that each moving long guide rail is always positioned right above the corresponding suspension ring in the unfolding process of the unfolding mechanism.
Claims (3)
1. A zero gravity suspension test device for a cylindrical surface unfolding mechanism is characterized by comprising a supporting assembly, a suspension guide rail assembly and a guide rail auxiliary moving assembly;
the support assembly is used for fixedly supporting the cylindrical surface unfolding mechanism, the suspension guide rail assembly comprises a fixed guide rail and a guide rail capable of translating, and a sliding block capable of moving along the guide rail is arranged on the guide rail; one end of the suspension rope is connected with the unfolding mechanism, the other end of the suspension rope penetrates through a pulley on the guide rail sliding block to be connected with the balance weight, the guide rail auxiliary moving assembly comprises a motor and a lead screw sliding table, the lead screw sliding table is driven by the motor to move, the guide rail capable of translating in the suspension guide rail assembly is driven to move, and the guide rail capable of translating is kept to be always positioned right above a suspension rope hanging ring of the unfolding mechanism in the unfolding process;
the suspension guide rail assembly comprises a fixed long guide rail, a fixed short guide rail, a connecting sliding block, a movable long guide rail, a sliding block, a pulley, a suspension rope and a counterweight; the fixed long guide rail is fixedly arranged on the longitudinal beam above the frame and is positioned in the same plane with the fixed support seat; the two fixed short guide rails are respectively and fixedly arranged on the transverse beam above the frame; the two fixed short guide rails are respectively provided with a connecting slide block which can move along the guide rails, and the moving long guide rail is connected with the two connecting slide blocks; the fixed long guide rail and the movable long guide rail are respectively provided with a sliding block capable of moving along the guide rail, and each sliding block is provided with a pulley; one end of the suspension rope is connected with the suspension ring on the cylindrical surface unfolding mechanism, the other end of the suspension rope bypasses the pulley and is connected with the counterweight, and the mass of the counterweight is equal to the weight of the part, corresponding to the suspension rope, of the cylindrical surface unfolding mechanism; the suspension ring is connected with the right connecting rod and the left connecting rod through revolute pairs, the right connecting rod and the left connecting rod are respectively connected with the corresponding right joint and the left joint through revolute pairs, the lengths of the right connecting rod and the left connecting rod are equal, and the distance between the right connecting rod and the joint connecting part and the distance between the right connecting rod and the joint rotating shaft are equal, so that the suspension ring can be ensured to be always positioned on the angular bisector of the two joints;
when the zero-gravity suspension test device is used for transversely expanded cylindrical surface unfolding mechanisms with multiple rows, a long guide rail corresponds to the position right above a suspension ring of each row of unfolding mechanisms, and the guide rail corresponding to the first row is a fixed long guide rail and is fixedly connected with a frame; the moving long guide rails corresponding to the 2 nd row to the nth row are connected with the screw rod through the sliding table; the lead screw in each component is connected with the motor through the gear train, the rotating speed ratio of each gear is 1, the motor is transmitted to each lead screw in a rotating mode, the ratio of the lead screw pitch corresponding to the ith row to the lead screw pitch corresponding to the 2 nd row is i-1, namely the moving speed of the moving long guide rail corresponding to the ith row is i-1 times of the moving speed of the moving long guide rail corresponding to the 2 nd row, and the driving of one motor is realized, so that each moving long guide rail is always positioned right above the corresponding suspension ring in the unfolding process of the unfolding mechanism.
2. The zero-gravity suspension test device for a cylinder deployment mechanism of claim 1, wherein the support assembly comprises a frame, a support rail, a fixed support, a movable support; the frame is rectangular, the supporting guide rail is fixedly arranged on a cross beam on the side face of the frame, the fixed supporting seat is fixedly arranged on the supporting guide rail, the fixed supporting seat and the cross beam above the frame, which are used for installing the fixed long guide rail, are positioned in the same vertical plane, the movable supporting seat is arranged on the supporting guide rail and can move along the guide rail, the rotating shaft at the joint of the outermost side joint of the cylindrical surface unfolding mechanism is respectively connected with the fixed supporting seat and the bearing seat on the movable supporting seat, and the unfolding and folding of the cylindrical surface unfolding mechanism are realized through the reciprocating movement of the movable.
3. The zero-gravity suspension test device for the cylindrical surface unfolding mechanism as claimed in claim 1, wherein the guide rail auxiliary moving assembly comprises a base, a lead screw, a sliding table, a motor and a connecting block; two ends of the base are respectively and fixedly arranged on the top of the frame; two ends of the screw rod are arranged on the base through bearings and are connected with the motor through a coupler; the sliding table is arranged on the screw rod, the screw rod rotates under the driving of the motor, and the sliding table is driven to move along the direction of the screw rod; one end of the connecting block is connected with the sliding table, the other end of the connecting block is connected with the movable long guide rail, and the sliding table moves to drive the movable long guide rail to move.
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| CN201810229128.3A CN108535035B (en) | 2018-03-20 | 2018-03-20 | Zero-gravity suspension test device for cylindrical surface unfolding mechanism |
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| CN201810229128.3A CN108535035B (en) | 2018-03-20 | 2018-03-20 | Zero-gravity suspension test device for cylindrical surface unfolding mechanism |
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| CN108535035B true CN108535035B (en) | 2020-04-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110304550B (en) * | 2019-07-15 | 2020-07-28 | 西安工业大学 | Active suspension device and suspension method of antenna structure |
| CN110827611B (en) * | 2019-11-29 | 2021-10-29 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN112061432B (en) * | 2020-09-25 | 2022-02-25 | 西安电子科技大学 | Parabolic cylinder antenna low-gravity unfolding test bed based on curved guide rail |
| CN113212815B (en) * | 2021-05-31 | 2022-12-13 | 长光卫星技术股份有限公司 | Ground unfolding device suitable for solar wings of different structural forms |
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| CN102145755A (en) * | 2010-02-10 | 2011-08-10 | 上海卫星工程研究所 | Zero-gravity suspension type deployment test device |
| CN106909074A (en) * | 2015-11-30 | 2017-06-30 | 欧姆龙株式会社 | Control device |
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| CN206969006U (en) * | 2017-06-26 | 2018-02-06 | 西安汾阳钢结构有限公司 | A kind of zero-gravity suspension type deployment test device |
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| JP3599976B2 (en) * | 1997-10-28 | 2004-12-08 | 三菱電機株式会社 | Exercise test equipment |
| CN104318828B (en) * | 2014-10-10 | 2016-08-24 | 北京卫星制造厂 | A kind of zero gravity experimental system for Spatial Multi-Dimensional development mechanism |
| CN205060041U (en) * | 2015-09-24 | 2016-03-02 | 天津航天机电设备研究所 | Battery battle array zero -g expandes two -way drive arrangement |
| CN107579332B (en) * | 2017-08-29 | 2020-09-22 | 北京航空航天大学 | Synchronous expansion and contraction cylindrical surface antenna based on Bennett mechanism |
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|---|---|---|---|---|
| CN102145755A (en) * | 2010-02-10 | 2011-08-10 | 上海卫星工程研究所 | Zero-gravity suspension type deployment test device |
| CN106909074A (en) * | 2015-11-30 | 2017-06-30 | 欧姆龙株式会社 | Control device |
| CN206552285U (en) * | 2017-03-09 | 2017-10-13 | 西安汾阳钢结构有限公司 | A kind of radial suspension arrangement of multilayer |
| CN206969006U (en) * | 2017-06-26 | 2018-02-06 | 西安汾阳钢结构有限公司 | A kind of zero-gravity suspension type deployment test device |
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