[0028] The invention will be further described in detail below in conjunction with the drawings.
[0029] Such as figure 1 , figure 2 As shown, the present invention includes a marble platform 1, a five-degree-of-freedom air-floating platform 15, a three-degree-of-freedom crane 8, a truss 6, a two-dimensional servo platform 3, a Stewart platform 10, a constant force hanging mechanism 11, a solar wing following truss 2, Loading manipulator 14, pose recognition mechanism and control system 9, in which a three-degree-of-freedom crane 8 is installed above the marble platform 1, a truss 6 is provided below the three-degree-of-freedom crane 8, and two trusses are installed below the truss 6. A three-dimensional servo platform 3 and a Stewart platform 10, a solar wing following truss 2 is installed under the Stewart platform 10, the loading manipulator 14 is installed on the solar wing following truss 2, and a five-degree-of-freedom gas is placed on the marble platform 1 The floating platform 15 is provided with a solar wing on the five-degree-of-freedom air floating platform 15. The constant force hanging mechanism 11 is installed below the two-dimensional servo platform 3 and connected with the spherical hinge at the center of mass of the solar wing to hang the solar wing. The three-degree-of-freedom crane 8 and the Stewart platform 10 are superimposed on movement The solar wing following truss 2 installed under the Stewart platform 10 is made to follow the posture of the solar wing, and the loading manipulator 14 installed on the solar wing following truss 2 performs disturbance loading on the solar wing.
[0030] Such as image 3 , Figure 4 As shown, the three-degree-of-freedom crane 8 includes a column 4, a beam 18, a car body 20, a lateral movement mechanism, a longitudinal movement mechanism, and a rotating mechanism. The two ends of the beam 18 are connected to the base by the column 4, and the longitudinal movement The mechanism is arranged on the top of the column 4 and connected to the cross beam 18, the cross beam 18 can be longitudinally reciprocated by the drive of the longitudinal movement mechanism; the vehicle body 20 is slidably arranged on the cross beam 18 and installed on the cross beam 18 The rotation mechanism is connected to the lateral movement mechanism of the vehicle body 20 and is connected to the truss 6.
[0031] The rotating mechanism includes a servo motor 21, a planetary gear 26, and a four-point contact bearing 7. The inner ring of the four-point contact bearing 7 is connected to the car body 20, and the outer ring is provided with a gear ring and connected to the truss 6. The servo The motor 21 is installed at the bottom of the car body 20, and the output shaft is connected to the outer ring of the four-point contact bearing 7 through a planetary gear 26, and the outer ring of the four-point contact bearing 7 is connected to the truss 6; the servo motor 21 is connected to the truss 6 through the planetary gear 26 The outer ring of the four-point contact bearing 7 is decelerated to rotate.
[0032] The transverse motion mechanism includes a transverse servo motor 22, a crane rail 5, a gear 23, a rack 17 and a slider 24, wherein the crane rail 5 and the rack 17 are mounted on the cross beam 18, and the slider 24 is mounted on the car body 20. The horizontal servo motor 22 is mounted on the car body 20, and the gear 23 is arranged on the output shaft of the horizontal servo motor 22 and meshes with the rack 17; the horizontal servo The motor 22 drives the gear 23 to rotate, causing the vehicle body 20 to slide left and right on the cross member 18. Both ends of the beam 18 are respectively connected with a set of the longitudinal motion mechanism, the longitudinal motion mechanism includes a longitudinal servo motor 12 and a rack and pinion mechanism, wherein the longitudinal servo motor 12 is installed on the end of the beam 18 and on the output shaft A gear is installed, a longitudinal rack is installed on the top of the column 4, and the gear is meshed with the longitudinal rack.
[0033] Such as Figure 5 As shown, the two-dimensional servo platform 3 includes a base plate 27, a primary plate 30, a secondary plate 32, a transverse screw nut drive mechanism and a longitudinal screw nut drive mechanism, wherein the base plate 27 is connected to the truss 6, and the primary The plate 30 is arranged under the base plate 27 and slidably connected to the base plate 27, the secondary plate 32 is arranged under the primary plate 30 and is slidably connected to the primary plate 30, and the longitudinal screw nut driving mechanism is arranged at On the base plate 27 and connected to the primary plate 30, the transverse screw nut driving mechanism is arranged on the primary plate 30 and connected to the secondary plate 32; driven by the transverse screw nut driving mechanism and the longitudinal screw nut The drive of the mechanism realizes the two-dimensional movement of the secondary plate 32.
[0034] The transverse screw nut drive includes a fast servo motor 31, a coupling 33, a screw 34, a platform slider, a platform guide rail, and a connecting seat 35. The fast servo motor 31 is arranged on the primary board 30 and the output shaft passes The coupling 33 is connected to a screw rod 34 rotatably installed under the primary plate 30. The connecting seat 35 is threadedly connected to the screw rod 34 and is rotatably connected to the secondary plate 32. The secondary plate 32 passes through a platform slider It is slidably connected with the platform guide rail installed under the primary board 30. The longitudinal screw nut driving mechanism has the same structure as the transverse screw nut driving mechanism, and the screw rods of the two mechanisms are installed orthogonally.
[0035] Such as Image 6 As shown, the constant force hanging mechanism 11 includes a base 42, a hoisting mechanism 43, an electric push rod 44, a guide rod 45, a spring seat 46, a buffer spring 47, a force sensor 48, a movable pulley 49, a fixed pulley 41, and a mounting seat 40. Hooke hinge 39, encoder 38, flexible cable 36 and through sleeve 37, wherein the base 42 is connected to the two-dimensional servo platform 3, and the hoisting mechanism 43, the electric push rod 44 and the fixed pulley 41 are installed on the base 42 Above, the head of the electric push rod 44 is equipped with a spring seat 46. The spring seat 46 is equipped with a guide rod 45 and a buffer spring 47. The spring seat 46 can drive the guide rod 45 together under the drive of the electric push rod 44. Move up and down. The buffer spring 47 is connected to the force sensor 48, the movable pulley 49 is installed below the force sensor 48; the encoder 38 is installed on the base 42 through a mounting seat 40, and the Hooke hinge 39 is installed through a rotating pair On the mounting seat 40, it can produce a two-dimensional rotation relative to the mounting seat 40, the through sleeve 37 is connected with the Hooke hinge 39; the hoisting mechanism 43 is wound with a flexible cable 36, and the flexible cable 36 passes through the movable pulley in turn 49. The fixed pulley 41 and the through sleeve 37 are connected with the spherical hinge at the center of mass of the sun wing; the winch mechanism 43 can realize the retracting and unfolding of the flexible cable 36.
[0036] Such as Picture 8 As shown, the loading manipulator 14 includes a holder 59, an upper arm 58, a middle arm 57, a forearm 56, a nozzle mounting plate 54, a nozzle connector 55, and a nozzle 53, wherein the holder 59, the upper arm 58, the middle arm 57, and the forearm 56 Connected by a rotating pair in turn, the holder 59 is connected to the solar wing following truss 2, the forearm 56 is fixedly connected to the nozzle mounting plate 54, the nozzle connecting head 55 is connected to the thread of the nozzle mounting plate 54, the nozzle 53 In the Laval form, the nozzle 53 is connected with the nozzle connector 55 through a thread, and the loading manipulator 14 can change the shape by rotating each rotating pair to realize the plane movement of the nozzle 53. The nozzle 53 is passed through a pressure reducing valve and a gas The container, the air pipe, and the high-speed solenoid valve are connected to the high-pressure gas cylinder 16.
[0037] The frame shape of the solar wing following truss 2 is enclosed on the outer side of the five-degree-of-freedom air-floating platform 15 where the solar wing is installed, and the part of the frame on the solar wing is in the form of a rectangular grid, and the number of squares and the number of solar wing pieces the same.
[0038] The pose recognition mechanism includes a camera 13, a camera mounting bracket and a wireless module, wherein the camera 13 is fixedly connected to the ground through the camera mounting bracket and electrically connected to the wireless module, and the wireless module is electrically connected to the control system 9.
[0039] The superimposed movement of the three-degree-of-freedom crane 8 and the two-dimensional servo platform 3 can accurately follow the position of the sun wing hanging point on the five-degree-of-freedom air-floating platform 15, and the superimposed movement of the three-degree-of-freedom crane 8 and the Stewart platform 10 can accurately follow the installation In the position of the solar wing on the five-degree-of-freedom air-floating platform 15, the constant hanging mechanism 11 and the solar wing following truss 2 follow the sun wing hanging point and position respectively, and the solar wing follows the loading on the truss 2. The manipulator 14 completes the disturbance loading of the solar wing. The five-degree-of-freedom air floating platform 15 is the prior art.
[0040] The working process of the present invention is specifically as follows: During dynamic simulation loading simulation, the five-degree-of-freedom air-floating platform 15 starts to move on the marble platform 1, and the camera 13 performs real-time photographing and tracking of the position and posture of the five-degree-of-freedom air floating platform 15, and The wireless module sends the image information of the five-degree-of-freedom air-floating platform 15 to the control system 9. The control system 9 calculates the position and posture coordinate difference between the previous position and the next position of the five-degree-of-freedom air flotation platform 15 through processing calculations. The module sends instructions to the servo motors of the three-degree-of-freedom crane 8, the two-dimensional servo platform 3, and the Stewart platform 10. The transverse servo motor 22, the longitudinal servo motor 12 and the servo motor at the bottom of the car body of the three-degree-of-freedom crane 8 act separately after receiving instructions to realize the rough follow-up plane movement of the trolley to the position of the centroid of the sun wing on the five-degree-of-freedom air bearing platform 15 , The movement of the trolley drives the truss 6 installed under the car body 20 to move. While the car body 20 and the truss 6 move, the flexible cable 36 of the constant force hanging mechanism 11 installed under the two-dimensional servo platform 3 will follow due to the position When the error occurs, the angle between the flexible cable 36 and the vertical direction is measured by the encoder 38, and the information is transmitted to the control system 9. After processing, the control system 9 sends instructions to drive the fast servo motors 31 and 3 on the two-dimensional servo platform 3 The servo electric cylinder 51 on the Stewart platform 10 respectively realizes the precise following movement of the sun wing lifting point and the solar wing pose. After the two-dimensional servo platform 3 receives the instruction, the fast servo motor 31 on the substrate 27 drives the screw 34 to rotate so that The first-level board 30 moves, the fast servo motor 31 on the first-level board drives the screw 34 to rotate to make the second-level board 32 move, and the superimposed movement of the first-level board 30 and the second-level board 32 realizes the constant force hanging under the second-level board 32 The hanging mechanism 11 follows the sun wing hanging points precisely. The six servo electric cylinders 51 on the Stewart platform 10 act to change the rod length after receiving the command, so that the movable platform 52 moves relative to the static platform 50 to follow the posture of the sun wing (e.g. Figure 7 (Shown), the movement of the Stewart platform 10 drives the sun wing installed on it to follow the truss 2 to realize the precise follow of the sun wing following the truss 2 to the position of the sun wing. While the solar wing following truss 2 precisely follows the position and attitude of the solar wing, the loading manipulator 14 installed on the solar wing following truss 2 through the card holder 59 loads the solar wing through the nozzle 53. The upper arm 58 and the middle can be adjusted during loading. The positions of the arm 57 and the forearm 56 change the loading position, and the gas pressure of the high-pressure gas cylinder 16 after passing through the pressure reducing valve can be adjusted to control the loading force and realize the follow-up loading of the five-degree-of-freedom air floating platform 15 with the solar wing. During the entire simulation process, the attitude of the solar wing changes from time to time, and the force on the flexible cable 36 of the constant force suspension mechanism 11 also changes constantly. The force sensor 48 measures the tension change of the flexible cable 36 in real time and transmits it to the control system 9, and the control system passes Process and send instructions to the electric push rod 44 to change its displacement to achieve force follow. When the stroke of the electric push rod 44 reaches the set range, the hoisting mechanism 43 retracts the flexible cable 36 to adjust the height of the lifting point to ensure that the electric push rod 44 does not appear Over-travel phenomenon, the above work continues.
