A space flexible capture system ground physical verification device and method

Abstract

The application discloses a ground physical verification device and method of a space flexible capturing system, relates to the field of ground test verification of space robots, and comprises an outer frame, a target driving mechanism, a flexible capturing system, a soft arm driving mechanism, a mounting plate and a soft arm. The target driving mechanism comprises a rotating driving device for driving the target to rotate in a direction perpendicular to the ground, a vertical driving device for driving the target and the rotating driving device to move along a direction perpendicular to the ground, and a first pull wire for connecting the target to the rotating driving device. The flexible capturing system comprises the soft arm, the mounting plate, the soft arm driving mechanism, the mounting plate connected to the outer frame, one end of the soft arm fixedly connected to the mounting plate, the other end of the soft arm connected to the soft arm driving system through a second pull wire, and the soft arm driving mechanism for controlling the position and the angle of the second pull wire to pull the soft arm so that the soft arm captures the target. The ground physical verification device and method of the space flexible capturing system can realize test verification in a simulated space microgravity environment on the ground.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of ground test verification of space robots, and relates to a design of a ground physical verification device of a space flexible capturing system, and belongs to the field of intelligent verification technology of spaceflight. BACKGROUND

[0002] With the development of the mega internet constellation plan, active removal of a large number of failed satellites becomes a new research focus. Miniaturization, reusability and low cost of the capturing device are the goals pursued by the active removal technology research institute of a large number of failed satellites.

[0003] The space flexible capturing system based on intelligent deformation materials becomes a new research direction in the field of space capturing due to its miniaturization and low cost. The flexible capturing device based on new intelligent materials such as memory alloy and IPMC (ion polymer metal composite) has the advantages of light weight, large storage ratio, reusability and low cost. However, due to the small load torque, it is more suitable for fine compliant operation on small targets. The flexible bionic capturing technology based on air pressure driving is one of the best choices for engineering application in recent years. In general, the space flexible capturing material technology has low maturity, and there is still a certain distance from engineering application.

[0004] In order to carry out test verification of the space flexible capturing system in the ground environment, it is necessary to realize microgravity environment simulation of the flexible capturing system in the ground gravity environment. SUMMARY

[0005] The application solves the technical problems of overcoming the deficiencies of the prior art and providing a space flexible capturing system ground physical verification device and method, which can realize test verification in a simulated space microgravity environment in the ground environment.

[0006] The technical solution of the application is:

[0007] A space flexible capturing system ground physical verification device, comprising:

[0008] an outer frame, a target driving mechanism and a flexible capturing system;

[0009] The target driving mechanism is connected to the outer frame, and the target driving mechanism comprises a rotary driving device for driving the target to rotate around an axis perpendicular to the ground, a vertical driving device for driving the target and the rotary driving device to move along a direction perpendicular to the ground, the target is connected to the rotary driving device through a first pull wire, and the vertical driving device moves by pulling the first pull wire to ensure that the pulling force on the target is equal to the gravity of the target.

[0010] The flexible catching system comprises a soft arm, a mounting plate, a soft arm driving mechanism, the mounting plate is connected to an outer frame, one end of the soft arm is fixedly connected to the mounting plate, and the other end of the soft arm is connected to a soft arm micro-gravity simulation driving mechanism through a second pull wire.

[0011] The vertical driving device comprises a first rotary motor, a first coupling, and a first ball screw, the first ball screw comprises a screw rod, a housing, and a sliding block, the first rotary motor is detachably connected to the top of the outer frame, the output shaft of the first rotary motor is connected to the screw rod through the first coupling, the housing is fixed relative to the housing of the first rotary motor, the sliding block is threadedly connected to the screw rod, and the sliding block is slidingly connected to the housing, and the target and the rotary driving device are both connected to the sliding block.

[0012] The rotary driving device comprises a second rotary motor and an electric clamp connected to the output shaft of the second rotary motor, the electric clamp is used for clamping the target, and an angular velocity sensor is mounted on the lower surface of the target and used for measuring the rotational angular velocity of the target in real time.

[0013] A tension sensor is mounted on the lower end surface of the electric clamp, and the force receiving surface of the tension sensor is connected to the target through a first pull wire.

[0014] One end of the soft arm is connected to a base, the base is connected to the mounting plate, there are n soft arms, n is an even number greater than or equal to 2, the roots of the soft arms are circumferentially distributed on the base, the roots of the opposite soft arms are mounted at the intersection positions of the diameters and circumferences, the pull wire sliding rails of the two opposite soft arms are parallel to the connecting lines of the roots of the two soft arms, and the planes in which the pull wire sliding rails and the connecting lines of the roots of the two soft arms are located are perpendicular to the ground.

[0015] Each soft arm is provided with a soft arm driving mechanism, the soft arm driving mechanism comprises a third rotary motor, a second coupling, a second ball screw, and a fifth rotary motor, the third rotary motor is fixedly connected to the outer frame through a mounting bracket, the second ball screw comprises a screw rod, a housing, and a sliding block, the output shaft of the third rotary motor is connected to the screw rod through the first coupling, the housing is fixed relative to the housing of the third rotary motor, the sliding block is threadedly connected to the screw rod, the sliding block is slidingly connected to the housing, the fifth rotary motor is fixedly connected to the sliding block, and the second pull wire is connected to the output shaft of the fifth rotary motor.

[0016] The four vertical supports are provided with nut fixing holes at intervals of 1 cm, and the soft arm mounting plate is fixed through the nut fixing holes; the soft arm mounting plate can be fixed by selecting four nut fixing holes with the same height according to the length of the soft arm required for testing, the length of the four vertical supports is L, the length of the soft arm for testing is Ls, the height of the target suspension point is H, and the longest straight line of the target contour is Lt, and then the height of the selected nut fixing hole is [L-Ls-H-Lt / 5, L-Ls-H-1Lt / 3].

[0017] The second pull wire is connected with an angle sensor, and the angle sensor is used for measuring the angle of the second pull wire.

[0018] A tension sensor is installed between the second pull wire and the soft arm, which is used to sense the tension on the pull wire in real time, so as to equalize the tension on the pull wire to the gravity of the soft arm, so as to offset the influence of the gravity of the soft arm on its motion characteristics.

[0019] A ground physical verification method of a space flexible capture system, comprising:

[0020] The rotating driving device clamps the target to rotate, realizes the initial angular velocity of the target in the direction perpendicular to the ground axis, then releases the target, and the target rotates according to the set angular velocity;

[0021] The flexible capture system is inflated and moves towards the target to capture the target, and in this process, the position and length of the second pull wire are adjusted in real time according to the angle sensor and force sensor information, so that the tension of the second pull wire offsets the gravity of the soft arm; at the same time, the vertical driving device drives the first pull wire to move upwards, so that the tension of the first pull wire on the target is equal to the gravity of the target;

[0022] According to the above steps, the soft arm end pressure sensor data and the target angular velocity data are obtained, and the influence of different soft arm air pressures on the spin elimination force of the soft arm on the target and the influence on the spin elimination speed of the target are analyzed through the soft arm end pressure sensor data and the target angular velocity data, so as to optimize and improve the manufacturing materials, size parameters and driving air pressure of the soft arm.

[0023] In summary, the present application at least includes the following beneficial technical effects:

[0024] (1) The target driving system realizes the simulation of the rotational motion of the captured target in the direction perpendicular to the ground axis, the initial angular velocity of the target can be controlled according to the test requirements, and the microgravity simulation of the target during the whole test process is realized;

[0025] (2) Through the setting of the flexible capture microgravity simulation system, the microgravity environment simulation of the whole process of the soft arm capturing the spin elimination target is realized.

[0026] (3) It can record the despinning force applied by the soft arm to the target and the change of the target's angular velocity during the entire process of target capture and despinning, so as to analyze and judge the feasibility and rationality of the designed soft arm's material, driving air pressure and other parameters. Attached Figure Description

[0027] Figure 1 This is a structural diagram of the ground physical verification device for the space flexible capture system;

[0028] Figure 2 A schematic diagram of the target's translational and rotational degrees of freedom.

[0029] Figure 3 A schematic diagram of the target's translational and rotational degrees of freedom.

[0030] Explanation of reference numerals in the attached diagram: 1. Outer frame;

[0031] 2. Target; 21. First pull wire; 22. Angular velocity sensor;

[0032] 31. First rotary motor; 32. First coupling; 33. First ball screw;

[0033] 41. Second rotary motor; 42. Electric clamp;

[0034] 5. Tension sensor;

[0035] 61. Flexible arm; 62. Base; 63. Mounting plate; 64. Second pull cable; 65. Angle sensor;

[0036] 71. Third rotary motor; 72. Second coupling; 73. Second ball screw; 74. Fifth rotary motor. Detailed Implementation

[0037] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0038] This application discloses a ground-based physical verification device and method for a space-based flexible capture system, such as... Figure 1 As shown, the verification device includes an outer frame 1, a target driving mechanism, and a flexible capture system. The target 2 driving mechanism is detachably connected to the top inside the outer frame 1 and is used to drive the target 2 to simulate a microgravity environment in space, as well as to move perpendicular to the bottom surface and / or rotate about an axis perpendicular to the ground. The flexible capture system is used to simulate the process of capturing the target 2 in a microgravity environment in space.

[0039] The target driving mechanism is connected to the outer frame 1, and includes a rotating driving device for driving the target 2 to rotate around an axis perpendicular to the ground, and a vertical driving device for driving the target 2 and the rotating driving device to move along a direction perpendicular to the ground. The target 2 is connected to the rotating driving device through a first pull wire 21, and the vertical driving device moves together with the rotating driving device and the first pull wire 21 to ensure that the pulling force on the target 2 is equal to the gravity of the target 2.

[0040] As shown in Figure 2 The vertical driving device includes a first rotating motor 31, a first coupling 32, and a first ball screw 33. The first rotating motor 31 is detachably connected to the top of the outer frame 1. The output shaft of the first rotating motor 31 is connected to the screw through the first coupling 32. The housing is fixed relative to the housing of the first rotating motor 31. The sliding block is threadedly connected to the screw and slidably connected to the housing. The target 2 and the rotating driving device are both connected to the sliding block.

[0041] The first rotating motor 31 is installed with a base and connected to the top of the outer frame 1 through a nut. The top of the outer frame 1 is provided with a plurality of screw holes for connecting the base. When the flexible capture system captures the target 2 at different positions, the first rotating motor 31 is detached from the outer frame 1 and installed at other positions on the top of the outer frame 1.

[0042] The rotating driving device includes a second rotating motor 41 and an electric clamp 42 connected to the output shaft of the second rotating motor 41. The electric clamp 42 is used to clamp the target 2. The electric clamp 42 has a large opening angle and does not block the upward and downward movement of the target 2. A tension sensor 5 is installed on the lower end surface of the electric clamp 42. The force receiving surface of the tension sensor 5 is connected to the target 2 through the first pull wire 21. An angular velocity sensor 22 is installed on the lower surface of the target 2 for real-time measurement of the rotational angular velocity of the target 2.

[0043] The flexible capture system includes soft arms 61, a base 62, a mounting plate 63, and a soft arm driving mechanism. One end of the soft arm 61 is connected to the base 62. The base 62 is connected to the mounting plate 63. The mounting plate 63 is connected to the outer frame 1. The other end of the soft arm 61 is connected to the soft arm driving mechanism through a second pull wire.

[0044] There are n soft arms 61, where n is an even number greater than or equal to 2. The roots of the soft arms 61 are circumferentially distributed on the base 62. The roots of the opposite soft arms 61 are installed at the intersection of the circle diameter and the circumference. The pull wire sliding rails of the two opposite soft arms 61 are parallel to the connecting line of the roots of the two soft arms, and the pull wire sliding rails are perpendicular to the ground.

[0045] As shown in Figure 3As shown, each soft arm 61 is provided with a soft arm driving mechanism, which includes a third rotary motor 71, a second coupling 72, a second ball screw 73, and a fifth rotary motor 74. The third rotary motor 71 is fixedly connected to the outer frame 1 through a mounting bracket. The second ball screw 73 includes a screw rod, a housing, and a sliding block. The output shaft of the third rotary motor 71 is connected to the screw rod through the first coupling 32. The housing is fixedly connected to the housing of the third rotary motor 71. The sliding block is threadedly connected to the screw rod and slidably connected to the housing. The fifth rotary motor 74 is fixedly connected to the sliding block. A second pull wire is connected to the output shaft of the fifth rotary motor 74. Specifically, the output shaft of the fifth rotary motor 74 can be connected to a winding wheel for winding and tensioning the second pull wire. An angle sensor 65 is connected to the second pull wire 64, and the angle sensor 65 is used to measure the angle of the second pull wire. A tension sensor 5 is installed between the second pull wire and the soft arm 61, which is used to sense the tension on the second pull wire in real time and ensure that the tension on the second pull wire is equal to the gravity of the soft arm 61. Since the other end of the soft arm 61 is relatively loose relative to the base 62 during the process of being pulled by the second pull wire, the tension received by the soft arm is almost not transmitted to the base 62. Therefore, when the tension of the second pull wire 64 on the target 2 is equal to the gravity of the target 2, it is considered that the influence of the gravity of the soft arm 61 on the motion characteristics is just offset.

[0046] The soft arm driving mechanism tightens the second pull wire to ensure that the tension on the soft arm 61 is equal to the gravity of the soft arm 61. The soft arm driving mechanism is used to control the position and angle of the second pull wire pulling the soft arm 61, so that the soft arm 61 captures the target 2.

[0047] Nut fixing holes are arranged on the four vertical supports of the outer frame at intervals of 1 cm. The soft arm mounting plate is fixed through the nut fixing holes. Four nut fixing holes with the same height can be selected to fix the soft arm mounting plate according to the length of the soft arm to be tested. The length of the four vertical supports is L, the length of the soft arm for testing is Ls, the height of the target hanging point is H, and the longest straight line of the target contour is Lt. Therefore, the height of the selected nut fixing hole is [L-Ls-H-Lt / 5, L-Ls-H-1Lt / 3].

[0048] The test device can simulate the approximate size of the target 2 and simulate the rotation and translation of the target 2 around a single axis in a space with no gravity. By changing the installation position of the first rotary motor 31, the device can be suspended within a cylindrical range with the top frame as the center and R as the radius.

[0049] The first rotary motor 31 drives the first ball screw 33 through the first coupling 32 to move the target 2 along the vertical axis direction to realize the translational movement of the target 2 along the vertical axis direction; the electric clamp 42 is installed on the output shaft of the second rotary motor 41, the tension sensor 5 is installed on the lower end surface of the electric clamp 42, and the force receiving surface of the tension sensor 5 is connected with the target 2 through a pull wire; the angular velocity sensor 22 is installed on the lower surface of the target 2 to measure the rotational angular velocity of the target 2 in real time.

[0050] The local surface physical verification device can simulate the initial angular velocity of the target 2 around the vertical axis direction, when the electric clamp 42 clamps the target 2, the rotation of the second rotary motor 41 is used to realize the rotational movement of the target 2 around the vertical axis direction, the angular velocity of the target 2 is controlled by controlling the angular velocity of the output shaft of the second rotary motor 41, the angular velocity of the target 2 is measured in real time by the angular velocity sensor 22, when the angular velocity of the target 2 reaches the set initial angular velocity of the target 2, the electric clamp 42 is released, and the target 2 is installed to realize the rotational movement at the set angular velocity.

[0051] The tension sensor 5 senses the tension in real time, when the soft arm 61 contacts the target 2, the measured value of the tension sensor 5 changes, when the measured value of the tension is less than the weight of the target 2, the first rotary motor 31 rotates to move the target 2 upward along the vertical axis direction, until the tension value sensed by the tension sensor 5 is equal to the weight of the target 2.

[0052] The linear motion output end of the second ball screw 73 is freely movable on the bidirectional slide rail controlled by a motor to simulate the movement of the target 2 in the two degrees of freedom of the slide rail.

[0053] n (n is an even number >= 2) soft arms 61 are installed on the mounting plate 63, and the second pull wire at the end position of the soft arm 61 vertically upwardly applies a force to offset the gravity of the soft arm 61; the gravity offset device of the soft arm 61 is as shown in the figure. Figure 3 The angle sensor 65 measures the angle of the pull wire of the soft arm 61 during the movement of the soft arm 61 grabbing the target 2, the third rotary motor 71 drives the linear output end of the second ball screw 73 to move on the slide rail through the second coupling 72 to make the output angle of the angle sensor 65 zero, according to the measured value of the force sensor of the pull wire of the soft arm 61, the fifth rotary motor 74 drives the winding drum to move to realize the winding and unwinding of the pull wire of the soft arm 61, so that the measured value of the force sensor is equal to the gravity of the soft arm 61, thereby ensuring that the pull wire of the soft arm 61 offsets the gravity of the soft arm 61.

[0054] The verification method comprises:

[0055] A ground physical verification method of a space flexible capture system comprises

[0056] When the target 2 capture task starts, the electric clamp 42 first clamps the target 2, and through the rotation of the second rotary motor 41, the target 2 is driven to rotate, so as to realize the initial angular velocity of the target 2 around the axis direction perpendicular to the ground, and then the target 2 is released, and the target 2 rotates according to the set angular velocity, and the vertical driving device drives the first pull wire 21 to move upwards, so that the pulling force of the first pull wire 21 on the target is equal to the gravity of the target 2.

[0057] The flexible capture system is inflated, and the soft arm 61 moves towards the target 2 under the drive of the soft arm driving mechanism to capture the target 2, and in this process, the position and length of the second pull wire are adjusted in real time according to the angle sensor 65 and force sensor information, so that the pulling force of the second pull wire offsets the gravity of the soft arm 61.

[0058] According to the above steps, the soft arm end pressure sensor data and the target angular velocity data are obtained, and the influence of different soft arm air pressures on the de-rotation force of the soft arm on the target and the influence on the de-rotation speed of the target are analyzed through the soft arm end pressure sensor data and the target angular velocity data, so as to optimize and improve the manufacturing material, size parameter and driving air pressure of the soft arm.

[0059] Although the present application is disclosed with the preferred embodiments as above, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present application, therefore, the protection scope of the present application should be limited by the scope defined by the claims of the present application.

Claims

1. A space flexible capture system ground physical verification apparatus, characterized in that: The utility model relates to a target driving mechanism, a flexible capture system and an external frame (1) are connected, and the target driving mechanism includes a rotating driving device for driving a target (2) to rotate around an axis perpendicular to the ground, a vertical driving device for driving the target (2) and the rotating driving device to move along the direction perpendicular to the ground, the target (2) is connected to the rotating driving device through a first pull wire (21), the vertical driving device moves by pulling the first pull wire (21) to ensure that the pulling force on the target (2) is equal to the gravity of the target (2). The flexible capture system includes a soft arm (61), a mounting plate (63) and a soft arm microgravity simulation driving mechanism, a pressure sensor is installed on the side of the soft arm end in contact with the target, the mounting plate (63) is connected to the external frame (1), one end of the soft arm (61) is fixedly connected to the mounting plate (63), and the other end of the soft arm (61) is connected to the soft arm microgravity simulation driving mechanism through a second pull wire (64); the soft arm microgravity simulation driving mechanism tightens the second pull wire (64), and the soft arm microgravity simulation driving mechanism is used for controlling the position and angle of the second pull wire (64) pulling the soft arm (61) to ensure that the pulling force on the soft arm (61) is equal to the gravity of the soft arm (61). One end of the soft arm (61) is connected to a base (62), the base (62) is connected to the mounting plate (63), there are n soft arms (61), n is an even number greater than or equal to 2, the soft arm roots are circumferentially distributed on the base (62), and the roots of the opposite soft arms are installed at the intersection positions of the diameters and circumferences, the pull wire sliding rails of the two opposite soft arms are parallel to the connecting lines of the two soft arm roots, and the planes where the pull wire sliding rails and the connecting lines of the two soft arm roots are perpendicular to the ground. The vertical driving device includes a first rotating motor (31), a first coupling (32) and a first ball screw (33), the first ball screw (33) includes a screw rod, a shell and a sliding block, the first rotating motor (31) is detachably connected to the top of the external frame (1), the output shaft of the first rotating motor (31) is connected to the screw rod through the first coupling (32), the shell is fixedly connected to the shell of the first rotating motor (31), the sliding block is threadedly connected to the screw rod, and the sliding block is slidably connected to the shell; the target and the rotating driving device are connected to the sliding block. The rotating driving device includes a second rotating motor (41) and an electric clamp (42) connected to the output shaft of the second rotating motor (41), and the electric clamp (42) is used for clamping the target; 2. The ground physical verification device for a space flexible capture system according to claim 1, wherein: An angular velocity sensor (22) is installed on the lower surface of the target and is used for measuring the rotational angular velocity of the target in real time.

3. The ground physical verification device for a space flexible capture system of claim 1, wherein: A pulling force sensor (5) is installed on the lower end surface of the electric clamp (42), and the force receiving surface of the pulling force sensor (5) is connected to the target through the first pull wire. ​ 4. The ground physical verification device of a space flexible capture system according to claim 3, characterized in that: ​ 5. The ground physical verification device for a space flexible capture system of claim 1, wherein: Each of the soft arms (61) is provided with a soft arm microgravity simulation driving mechanism, the soft arm microgravity simulation driving mechanism comprising a third rotary motor (71), a second coupling (72), a second ball screw (73) and a fifth rotary motor (74), the third rotary motor (71) being fixedly connected with the outer frame through a mounting bracket, the second ball screw (73) comprising a screw rod, a housing and a sliding block, the output shaft of the third rotary motor (71) being connected with the screw rod through the second coupling (72), the housing being fixedly connected with the housing of the third rotary motor (71), the sliding block being threadedly connected with the screw rod, the sliding block being slidingly connected with the housing, the fifth rotary motor being fixedly connected with the sliding block, and the second pull wire (64) being connected with the output shaft of the fifth rotary motor (74).

6. The ground physical verification device for a space flexible capture system of claim 1, wherein: The four vertical support columns are provided with nut fixing holes at intervals of 1 cm, the soft arm mounting plate is fixed through the nut fixing holes, the soft arm mounting plate can be fixed by selecting four nut fixing holes with the same height according to the length of the soft arm required for testing, the length of the four vertical support columns is L, the length of the soft arm required for testing is Ls, the height of the target suspension point is H, and the longest straight line of the target contour is Lt, and then the height of the nut fixing hole is selected as [L-Ls-H-Lt / 5, L-Ls-H-1Lt / 3].

7. The ground physical verification device for a space flexible capture system of claim 1, wherein: The second pull wire (64) is provided with an angle sensor (65), and the angle sensor is used for measuring the angle of the second pull wire.

8. The ground physical verification device for a space flexible capture system of claim 1, wherein: A tension sensor (5) is installed between the second pull wire (64) and the soft arm (61) and is used for detecting the tension on the second pull wire (64) in real time, and the tension on the second pull wire (64) is equal to the gravity of the soft arm (61) through the soft arm microgravity simulation driving device.

9. A method for ground physical verification of a space flexible capture system, using the ground physical verification device of any one of claims 1-8. Comprising The rotary driving device clamps the target (2) to rotate, so that the target (2) rotates at a set initial angular velocity in the direction perpendicular to the ground axis, and then the target (2) is released, and the target (2) rotates at the set angular velocity; The flexible capture system is inflated and moves towards the target (2) to capture the target (2), in this process, the position and length of the second pull wire (64) are adjusted in real time according to the angle sensor (65) and the tension sensor information connected with the soft arm (61), so that the tension of the second pull wire (64) is equal to the gravity of the soft arm, and the vertical driving device drives the first pull wire (21) to move upwards, so that the tension of the first pull wire (21) on the target is equal to the gravity of the target (2); According to the above steps, the soft arm end pressure sensor data and the target angular velocity data are obtained, and the influence of different soft arm air pressures on the de-rotation force of the soft arm on the target and the influence on the de-rotation speed of the target are obtained through the soft arm end pressure sensor data and the target angular velocity data.

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