Antenna horizontal deployment test device and method

Abstract

The present invention provides an antenna horizontal deployment test device and method, the antenna horizontal deployment test device includes a frame structure, a long guide rail, a short guide rail, a pulley, an active suspension device, and an antenna suspension device; the long guide rail is installed on the frame structure and arranged along the length direction of the frame structure, the short guide rail is installed on the long guide rail by a pulley, and the short guide rail can slide along the length direction of the long guide rail; the active suspension device is suspended on the short guide rail, and the antenna suspension device is suspended on the active suspension device. The present invention provides a deployment test environment in a vacuum tank for large and heavy-loaded antennas, greatly reducing the deployment risk, reducing the operation risk in the tank, and improving the deployment and unloading accuracy of the mechanism. It can fully verify the horizontal deployment of the mechanism in the vacuum tank and establish the deployment state in the vacuum tank. It meets the requirements of the deployment test of the large antenna of the new research satellite in the vacuum tank.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, and in particular to a device and method for testing horizontal deployment of an antenna. Background Art

[0002] In order to meet the requirements of satellite antenna deployment test before thermal test, the antenna needs to be deployed in a vacuum tank to establish the antenna deployed state. The main purpose of the ground deployment test of large heavy-load antenna in a vacuum tank is to:

[0003] Establish the antenna deployment state before vacuum thermal testing; verify the conformity of the antenna deployment in the can with the overall technical requirements;

[0004] The existing method for deploying antennas in a tank primarily relies on a suspended counterweight deployment method. This method utilizes a suspension frame, long and short guide rails, a pulley, and a counterweight pulley. A deployment hanger is constructed within the vacuum tank, and the long and short guide rails are attached to the suspension frame. The pulley is then used to unload the antenna panel's weight. Counterweight pulleys are then used to reduce friction during the pulley's movement, enabling deployment within the tank using the counterweight pulley method and establishing the antenna's deployment state within the vacuum tank.

[0005] However, for some ultra-large antenna deployment mechanisms deployed in a vacuum tank, the entire satellite has a small space in the tank, the antenna is large in size, the deployment path range is large, the operating space is narrow, and the operation risk is high, so the traditional pulley counterweight method cannot be used. Moreover, the new antenna is larger in size and has a heavier load. The layout is compact in the vacuum tank, and the friction resistance when deployed using the traditional pulley counterweight suspension method is still not small. In addition, the operation risk is high and the space is narrow, which affects the deployment operation and personnel safety in the tank.

[0006] After searching the literature on ground deployment technology of deployment mechanisms at home and abroad, it was found that there is no relevant content on the principles and methods of horizontal deployment test in vacuum tanks for large heavy-load antennas.

[0007] Patent document CN 108132029 B discloses a precision measurement method and apparatus for the assembly of a satellite antenna deployment system. This method uses a four-camera photogrammetry system to measure dot-coded markings on the panels, hinges, and rods of the system. Digital images of the panels, hinges, and rods with the dot-coded markings at different locations are captured. Computer image processing and least-squares fitting are used to calculate the flatness of the panels and the axial positions of the hinges and rods, thereby determining the assembly accuracy of the satellite antenna deployment system. However, this method is not suitable for the confined space inside a vacuum tank. Summary of the Invention

[0008] In view of the defects in the prior art, an object of the present invention is to provide an antenna horizontal deployment test device.

[0009] According to the present invention, an antenna horizontal deployment test device is provided, comprising a frame structure, a long guide rail, a short guide rail, a pulley, an active hanging device and an antenna hanging device;

[0010] The long guide rail is installed on the frame structure and arranged along the length direction of the frame structure. The short guide rail is installed on the long guide rail through a pulley, and the short guide rail can slide along the length direction of the long guide rail.

[0011] The antenna hanging device has a first installation position, which is an antenna installation position;

[0012] The active hanging device is hung on the short guide rail, and the antenna hanging device is hung on the active hanging device.

[0013] Preferably, there are multiple long guide rails and multiple short guide rails; the short guide rails are arranged perpendicular to the long guide rails; the number of the antenna hanging devices, the number of the pulleys and the number of the active hanging devices correspond one to one.

[0014] Preferably, the active hanging device includes a hanging device body, a high-strength spring, a tension sensor, a first steel wire rope

[0015] The tension sensor is installed between the high-strength spring and the main body of the hanging device. The bottom end of the high-strength spring is connected to the first steel wire rope, and the first steel wire rope is sleeved on the antenna hanging device.

[0016] Preferably, the main body of the hanging device includes a servo motor, a reducer, a transmission gear, a drum, an encoder, a brake, a rope pressure roller, a guide rod, a sensor connector, a housing and a second steel rope;

[0017] The servo motor, reducer, transmission gear, reel, encoder, brake, and rope-arranging roller are all installed in the housing; the guide rod is arranged at the bottom of the housing;

[0018] The drum is provided with a first tooth portion, which is engaged with the transmission gear. The second steel wire rope is wound on the drum. The servo motor can drive the drum to rotate by controlling the transmission gear, thereby achieving the extension and shortening of the second steel wire rope.

[0019] One end of the tension sensor is connected to the second steel wire rope through the sensor connector; the other end of the tension sensor is connected to the high-strength spring.

[0020] Preferably, the frame structure includes a triangular fixing frame and a main frame, the triangular fixing frame is installed at both ends of the main frame, the long guide rail is arranged along the length direction of the main frame, and the short guide rail is arranged along the width direction of the main frame.

[0021] Preferably, the antenna hanging device includes a first connecting component, a first roller assembly, and a hanger body;

[0022] The first connecting component is arranged on the waist-shaped hole of the sling body, and the length direction of the waist-shaped hole is consistent with the length direction of the sling body. The center axis of the first roller assembly is tightly connected to the sling body, the first steel wire rope is sleeved on the first roller assembly, and the first roller assembly can rotate along its own center axis. The first connecting component is used to connect to the antenna.

[0023] Preferably, the number of the long guide rails is 2, the number of the short guide rails is 4; the number of the active hanging devices is 8, and the number of the antenna hanging devices is 8;

[0024] The two long guide rails are arranged in parallel, the four short guide rails are perpendicular to the long guide rails, and both ends of the short guide rails are mounted on the long guide rails through pulleys;

[0025] Both ends of the short guide rail are connected with active hanging devices, and the active hanging devices are connected to the antenna through antenna hanging devices.

[0026] According to the present invention, a method for testing antenna horizontal deployment is provided, which uses the antenna horizontal deployment test device described above and further includes the following steps:

[0027] S1: Install the tripod fixing frame and the main frame together and move them to the work station;

[0028] S2: Install the long guide rails on the suspension frame and adjust the straightness, horizontality, parallelism and rail spacing of the long guide rails;

[0029] S3: Install the short guide rail onto the long guide rail through a pulley; and adjust the horizontality of the short guide rail;

[0030] S4: Conduct a simulated counterweight test, defining the portion of the first steel wire rope that is sleeved on the antenna suspension device as the first suspension point; conduct load tests of 100kg, 200kg, and 300kg on a single first suspension point; conduct a 400kg joint adjustment on two first suspension points suspended on the same short guide rail; conduct an 800kg joint adjustment on four first suspension points suspended on two adjacent short guide rails, and record the suspension force and displacement monitoring data of the active suspension device.

[0031] S5: hoist the satellite into the vacuum tank for parking and perform attitude adjustment;

[0032] S6: hoisting the antenna horizontal deployment test device into the vacuum tank, and docking and installing the antenna using the antenna hanging device, and then performing center of mass adjustment and gravity unloading on the combination of the antenna and the first connecting component 24;

[0033] The center of mass is adjusted by moving the first connecting member 24 in the waist-shaped hole along the length direction of the waist-shaped hole to adjust the center of mass of the combination of the antenna and the antenna hanging device 6;

[0034] Gravity unloading utilizes a servo motor to extend and retract the second steel wire rope, providing an upward force to the antenna suspension device and antenna combination via the first steel wire rope, or driving the antenna suspension device and antenna combination upward. Antenna Suspension Device S7: Establishing a horizontally deployed antenna within the vacuum tank.

[0035] Preferably, in step S2, the long guide rails are measured for horizontality, straightness, parallelism, and spacing between long guide rails using a laser tracker, and the parallelism between the two long guide rails is ≤1mm / 8000mm; the horizontality between the two long guide rails is ≤1mm / 8000mm; the straightness of the long guide rails is ≤1mm / 8000mm, and the spacing between the long guide rails is 2000±1mm.

[0036] Preferably, in step S6, the combined centroid position of the antenna and the first connecting component 24 is adjusted and controlled within ±0.2 mm of the actual centroid of the antenna by moving the first connecting component 24 in the waist-shaped hole along the length direction of the waist-shaped hole.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. This invention provides a vacuum tank deployment test environment for large, heavy-loaded antennas. This significantly reduces deployment risks, lowers in-tank operation risks, improves the deployment and unloading accuracy of the mechanism, and fully verifies the mechanism's horizontal deployment within the vacuum tank, establishing the deployed state within the vacuum tank. This meets the requirements for new research satellite large antenna deployment tests within the vacuum tank.

[0039] 2. The present invention avoids the limitations of traditional pulley counterweight suspension deployment through the design of the first roller on the antenna suspension device, reduces the friction resistance caused by traditional suspension ropes, improves the deployment accuracy of the mechanism, ensures the stability of repeated deployment of the payload, and meets the requirements of ground deployment tests of large heavy-load mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0041] Figure 1It is a structural schematic diagram of the present invention;

[0042] Figure 2 This is a schematic diagram of the active hanging device;

[0043] Figure 3 This is a schematic diagram of the antenna hanging device;

[0044] Figure 4 This is a schematic diagram of the principle of multi-point active suspension horizontal deployment;

[0045] Figure 5 This is a schematic diagram of control system signals;

[0046] Figure 6 This is the test flow chart for a large heavy-load antenna in a vacuum tank.

[0047] The figure shows:

[0048]

[0049] DETAILED DESCRIPTION

[0050] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0051] The present invention provides an antenna horizontal deployment test device, comprising a frame structure 1, a long guide rail 2, a short guide rail 3, a pulley 4, an active suspension device 5, and an antenna suspension device 6. In a preferred embodiment, the long guide rail 2 has a circular cross-section, and the short guide rail 3 has a rectangular cross-section. The antenna horizontal deployment test device also includes a control system electrically connected to the active suspension device 5. In a preferred embodiment, the pulley 4 is a heavy-duty pulley. Heavy-duty specifically refers to a pulley body that can bear the weight of a large-mass antenna and meet its sliding requirements, such as a pulley that can withstand a weight of 200-500 kilograms. The antenna suspension device 6 is a lightweight antenna suspension device. Lightweight specifically refers to an antenna suspension device that is light in weight, simple in structure, and has a strength that meets suspension requirements. For example, a lightweight antenna suspension device weighs 8-15 kilograms.

[0052] like Figure 1 As shown, the long guide rail 2 is installed on the frame structure 1 and arranged along the length direction of the frame structure 1. The short guide rail 3 is installed on the long guide rail 2 through a pulley 4, and the short guide rail 3 can slide along the length direction of the long guide rail 2;

[0053] The antenna hanging device 6 has a first installation position, which is an antenna installation position;

[0054] The active hanging device 5 is hung on the short guide rail 3 , and the antenna hanging device 6 is hung on the active hanging device 5 .

[0055] There are multiple long guide rails 2 and multiple short guide rails 3; the short guide rails 3 are arranged perpendicular to the long guide rails 2; the number of the antenna hanging devices 6, the number of the pulleys 4 and the number of the active hanging devices 5 correspond one to one.

[0056] like Figure 2 As shown, the active suspension device 5 includes a suspension device body 7, a high-strength spring 8, a tension sensor 9, and a first steel wire rope 31; in a preferred example, the active suspension device 5 also includes an adjustment component 19, and the adjustment component 19 is a basket screw structure.

[0057] The tension sensor 9 and adjustment assembly 19 are installed between the high-strength spring 8 and the suspension device body 7. The bottom end of the high-strength spring 8 is connected to the first steel wire 31, which is mounted on the antenna suspension device 6. The adjustment assembly 19 can manually fine-tune the height of the spring 8.

[0058] The main body 7 of the hanging device includes a servo motor 10, a reducer 11, a transmission gear 12, a drum 13, an encoder 14, a brake, a rope roller 16, a guide rod 17, a sensor connector 18, a housing 20 and a second steel rope 21;

[0059] The servo motor 10, reducer 11, transmission gear 12, reel 13, encoder 14, brake, and rope pressure roller 16 are all installed in the shell 20; in a preferred example, the hanging device main body 7 also includes a support frame 15, and the servo motor 10, reducer 11, encoder 14 and brake are installed in the shell 20 through the support frame 15.

[0060] The guide rod 17 is arranged at the bottom of the housing 20;

[0061] The drum 13 is provided with a first tooth portion that meshes with the transmission gear 12. The second steel wire rope 21 is wound around the drum 13. The servo motor 10 can drive the drum 13 to rotate by controlling the transmission gear 12, thereby extending and shortening the second steel wire rope 21. In a preferred embodiment, the transmission gear 12 is a bevel gear. One end of the tension sensor 9 is connected to the second steel wire rope 21 via the sensor connector 18; the other end of the tension sensor is connected to the high-strength spring. In a preferred embodiment, the active suspension device 5 also includes an adjustment assembly 19, and the other end of the tension sensor is connected to the high-strength spring via the adjustment assembly 19. In a preferred embodiment, the suspension device body 7 also has a limit function for limiting the extension and shortening of the second steel wire rope 21. This limit function can be implemented by software in the servo motor 10 and encoder 14.

[0062] The frame structure 1 includes a triangular fixing frame 22 and a main frame 23. The triangular fixing frame 22 is mounted at both ends of the main frame 23. The long guide rails 2 are arranged along the length of the main frame 23, and the short guide rails 3 are arranged along the width of the main frame 23. In a preferred embodiment, the rigidity and stability of the frame structure 1 meet the requirements of concentrated force and distributed force loads, and have good stability.

[0063] like Figure 3 As shown, the antenna hanging device 6 includes a first connecting component 24, a first roller assembly 25, and a sling body 26. The first connecting component 24 is disposed on a waist-shaped hole in the sling body 26, and the length of the waist-shaped hole is consistent with the length of the sling body 26. The central axis of the first roller assembly 25 is tightly connected to the sling body 26. A first steel wire rope 31 is mounted on the first roller assembly 25, and the first roller assembly 25 is capable of rotating along its own central axis. The first connecting component 24 is used to connect to the antenna and can move within the waist-shaped hole along the length of the waist-shaped hole to adjust the center of mass of the antenna and antenna hanging device 6 assembly. In a preferred embodiment, the antenna suspension device is primarily constructed from a reinforced frame of integral channel steel and reinforced ribs welded together. The first roller assembly 25 is located at the center suspension location and includes a wire rope chuck and a deep groove ball bearing. The wire rope chuck rotates relative to the sling body 26 via the deep groove ball bearing under the action of the first wire rope 31. The first roller assembly 25 reduces friction between the sling body 26 and the first wire rope 31 during antenna deployment, facilitating antenna deployment. In a preferred embodiment, the first connecting component 24 is a screw-nut structure.

[0064] In a preferred embodiment, the number of the long guide rails 2 is 2, the number of the short guide rails 3 is 4; the number of the active hanging devices 5 is 8, and the number of the antenna hanging devices 6 is 8;

[0065] The two long guide rails 2 are arranged in parallel, the four short guide rails 3 are perpendicular to the long guide rails 2, and both ends of the short guide rails 3 are mounted on the long guide rails 2 via pulleys 4; both ends of the short guide rails 3 are connected to active hanging devices 5, and the active hanging devices 5 are connected to the antenna via antenna hanging devices 6. Figure 4 As shown, the antenna includes a left antenna body 27 (-X direction) and a right antenna body 28 (+X direction). Both the left antenna body 27 and the right antenna body 28 include a first antenna plate 29 and a second antenna plate 30. The first antenna plate 29 and the second antenna plate 30 are rotatably connected. Antenna suspension devices 6 located at both ends of the same short guide rail 3 are respectively connected to the two ends of the same antenna plate.

[0066] The present invention also provides an antenna horizontal deployment test method, which uses the antenna horizontal deployment test device and further includes the following steps:

[0067] S1: The triangular fixing frame 22 is docked with the main frame 23 and installed and moved to the working position;

[0068] S2: Install the long guide rail 2 on the suspension frame and adjust the straightness, horizontality, parallelism and guide rail spacing of the long guide rail; in a preferred example, the circular long guide rail uses a laser tracker to measure the horizontality, straightness, parallelism and long guide rail spacing, and the parallelism between the two long guide rails is ≤1mm / 8000mm; the horizontality between the two long guide rails is ≤1mm / 8000mm; the long guide rail straightness is ≤1mm / 8000mm, and the long guide rail spacing is 2000±1mm.

[0069] S3: Install the short guide rail 3 onto the long guide rail 2 through the pulley 4; and adjust the horizontality of the short guide rail 3;

[0070] S4: Conduct a simulated counterweight test, defining the portion of the first steel wire rope 31 that fits over the antenna suspension device 6 as the first suspension point. A single first suspension point is tested with loads of 100 kg, 200 kg, and 300 kg. Two first suspension points suspended on the same short guide rail 3 are tested with a combined load of 400 kg. Four first suspension points suspended on two adjacent short guide rails 3 are tested with a combined load of 800 kg. The suspension force and displacement monitoring data of the active suspension device 5 are recorded. Preferably, the four first suspension points suspended on two adjacent short guide rails 3 are used to suspend the antenna body on the same side.

[0071] In a preferred embodiment, step S4 includes selecting four sets of counterweights and applying them to the four first suspension points on two adjacent short guide rails 3 for suspending the antenna body on the same side, debugging the displacement and suspension force of each first suspension point, and observing the minimum displacement and suspension force fluctuation during the movement. The counterweights are then replaced and applied to the two first suspension points on the same short guide rail 3 to test the synchronization of the suspension operation. Finally, the counterweights are replaced again and applied to the four first suspension points on two adjacent short guide rails 3 for suspending the antenna body on the same side to test the synchronization of the suspension operation. Active suspension system coordination is a key factor affecting the repeatability of the deployment process, and analysis and testing of suspension force monitoring, displacement monitoring, and multi-point suspension synchronization are required during the deployment process of the entire suspension system. A counterweight is used to simulate the mass of the antenna. The counterweight is hung under the active hanging device. The single-point vertical displacement and the multi-point linkage vertical displacement are controlled by the active hanging device 5. At the same time, the movement of the pulley 4 is controlled, and the operation status of the guide rail and the synchronization of the active hanging device 5 are observed. The final requirement is that the synchronization accuracy is better than 0.1mm, the multi-point hanging force is reasonably controlled by ±2%, and the gravity unloading accuracy is better than 98%.

[0072] S5: The satellite is hoisted into the vacuum tank and parked, and attitude adjustment is performed. The attitude adjustment is performed according to the requirements of the tank and is required to meet the design requirements. In a preferred embodiment, the attitude adjustment is to adjust the horizontal angle and pitch angle of the satellite attitude, and the horizontal angle and pitch angle are preferably both 90°±10 seconds.

[0073] S6: hoisting the antenna horizontal deployment test device into the vacuum tank, and docking and installing the antenna using the antenna hanging device 6, and then adjusting the center of mass of the combination of the antenna and the first connecting component 24 and gravity unloading;

[0074] Center of mass adjustment involves moving the first connecting member 24 within the waist-shaped hole along its length to adjust the center of mass of the antenna and antenna suspension device 6 combination. Gravity unloading involves controlling the extension and contraction of the second steel wire rope 21 using the servo motor 10, thereby applying an upward force to the antenna suspension device 6 and antenna combination via the first steel wire rope 31, or driving the antenna suspension device 6 and antenna combination upward. Preferably, the antenna center of mass adjustment and gravity unloading are based on the actual product mass provided in the design documents plus the follower mass of the deployed tooling.

[0075] Taking a certain antenna as an example, first, the first antenna plate 29 and the second antenna plate 30 are folded, forming a first angle between the first antenna plate 29 and the second antenna plate 30, which is an acute angle. Antenna suspension devices 6 are installed on both sides of each antenna plate, and each antenna plate is provided with a second suspension point on both sides. The line connecting the two second suspension points passes through the center of mass of the antenna plate, and the positions of the first suspension point and the second suspension point match. A tension sensor 9 is used to monitor and adjust the unloaded mass of each antenna plate in real time. Preferably, the combined center of mass of the antenna and the first connecting component 24 is adjusted by moving the first connecting component 24 along the length of the waist-shaped hole within the waist-shaped hole, and is controlled within ±0.2 mm of the actual center of mass of the antenna.

[0076] S7: Establishing the antenna's horizontal deployment status within the vacuum tank. Preferably, before deploying the antenna, a status check is performed, specifically verifying various indicators, including the horizontally suspended deployment fixture within the tank, the cable connections, any excess material, the presence of hooks on the satellite, and the air supply and pressure in the plant. Furthermore, during deployment within the vacuum tank, the antenna's compliance with design specifications can be assessed by observing the control system's displacement accuracy and hanging accuracy, the presence of hooks during deployment, the stability of deployment, and the final deployment angle.

[0077] The step S7 includes: finally conducting a horizontal deployment test of the antenna in a tank based on the actual product, and judging the feasibility and practical application effect of this large-scale heavy-load vacuum tank horizontal deployment test method by observing the antenna operating status, suspension displacement and suspension force fluctuation during the deployment process. When the operator controls the pulley 4 to move along the long guide rail 2 along the length of the long guide rail 2, the first antenna plate 29 and the second antenna plate 30 are deployed relative to each other, and the first angle gradually increases until the first antenna plate 29 and the second antenna plate 30 are parallel. At this time, if Figure 4 As shown, antenna plate 29 is placed horizontally. During horizontal antenna deployment, first antenna plate 29 and second antenna plate 30 rotate relative to each other. The movement of the antenna plates has both horizontal and vertical components. The final deployment state is that all antenna plates are parallel to the horizontal plane.

[0078] In a preferred embodiment, Figure 6As shown, the deployment process for the right antenna body 28 (+X direction) and the left antenna body 27 (-X direction) can be performed sequentially. First, the right antenna body 28 (+X direction) is deployed, including pre-deployment status confirmation, active suspension and pulley control of the +X direction antenna deployment, and post-deployment antenna support. Then, the left antenna body 27 (-X direction) is deployed, including replacement of the suspension to the -X wing antenna panel, pre-deployment status confirmation, active suspension and pulley control of the -X direction antenna deployment, and post-deployment antenna support. After both antenna bodies are deployed, the suspension device is removed, and the antenna deployment state is established. The entire test device of the present invention primarily utilizes a multi-point active suspension method to conduct antenna deployment tests within a vacuum tank.

[0079] Since the size of the active components in the new satellite - the payload antenna - has increased significantly, the accuracy of the antenna shape has increased significantly, and the weight has increased. Therefore, when unfolding in a vacuum tank, in order to reduce the friction resistance of the mechanism during the unfolding process, improve the unloading accuracy of the unfolding process, and reduce operational risks, the present invention adopts the multi-point active suspension principle to achieve horizontal unfolding of the payload antenna in the vacuum tank, providing multi-point suspension unfolding and unloading for large payload antennas. In addition, the present invention also adopts a balanced vertical gravity compensation method to compensate for the actual mass of the payload antenna, and monitors the unloading force in real time during the unfolding process, thereby improving the unloading accuracy during the unfolding test in the vacuum tank. That is, the present invention adopts the multi-point active suspension principle and the balanced vertical gravity compensation principle to achieve horizontal unfolding of the antenna in the vacuum tank and establish the unfolding state in the vacuum tank.

[0080] The balanced vertical gravity compensation principle is achieved through a rigid-flexible coupling suspension design, connecting the antenna suspension devices 6 at each end of the same short guide rail 3 to the respective ends of the antenna panel. This design not only achieves the suspension function but also enhances the rigidity of the antenna panel. Furthermore, the vertical active suspension device 5 is equipped with a high-precision tension sensor and a high-rigidity tension spring, achieving an unloading accuracy of better than 1%. This allows for simultaneous control and monitoring of vertical displacement and suspension force during antenna deployment. Furthermore, during horizontal deployment tests, the antenna's actual gravity compensation and adjustment of its center of mass can be achieved, further verifying the product's ground deployment and locking performance. In a preferred embodiment, the fluctuation of the suspension force at multiple first suspension points is better than 3%.

[0081] The multi-point active suspension principle includes: controlling the transmission gear 12 through the servo motor 10 to drive the drum 13 to rotate, thereby achieving the extension and shortening of the second steel wire rope 21 to achieve the purpose of gravity unloading of the antenna, and monitoring the fluctuation of the suspension force in real time through various sensors in the suspension device body 7; the multi-point active suspension principle also includes: utilizing the linear motion of the pulley on the transverse long guide rail 2 along the length direction of the long guide rail 2 to achieve the horizontal expansion movement of the antenna. In a preferred embodiment, the actual load antenna of a single first suspension point is 300kg, and the maximum load can reach 500kg. It is used to suspend the antenna body on the same side, and the displacement synchronization between the four first suspension points suspended on two adjacent short guide rails 3 is better than 0.1mm.

[0082] The present invention establishes an unloading environment for the antenna when it is deployed in a vacuum tank through a top suspension frame, long and short guide rails, a pulley, an active suspension device, etc., and adopts a four-point linkage active suspension on the top of the antenna to realize gravity unloading and displacement control during the antenna deployment process, meeting the two-dimensional motion requirements of the antenna when it is deployed.

[0083] In order to accurately establish the antenna deployment state, the multi-point active suspension principle is adopted to realize the horizontal deployment of the antenna in the tank, establish the deployment state in the vacuum tank, and adopt the balanced vertical gravity compensation method to compensate for the actual mass of the load antenna, thereby improving the unloading accuracy during the deployment test in the tank. The antenna horizontal deployment test method first performs a simulated operation test on the horizontal deployment device through the single-point simulated counterweight method and the multi-point linkage debugging method, and finally combines it with the product to verify the feasibility and application effect of the large-scale heavy-load antenna horizontal deployment test method in the vacuum tank by testing the process stability, suspension force fluctuation, and suspension synchronization of the antenna deployment. The present invention is suitable for the deployment of various types of antennas in a vacuum tank, and preferably, it is suitable for the deployment experiment of space deployment mechanisms such as large-scale load antennas. The present invention avoids the limitations of the traditional pulley counterweight suspension deployment and the deployment friction resistance caused by the traditional suspension, improves the deployment accuracy of the mechanism, ensures the stability of the repeated deployment of the payload, and meets the requirements of the ground deployment test of large-scale heavy-load mechanisms. The present invention utilizes the multi-point active suspension principle and the balanced vertical gravity compensation principle to achieve the test requirements of high unloading accuracy and low friction resistance during the deployment test of large heavy-load antennas in a vacuum tank. It breaks the traditional deployment method, avoids the limitations and risks of traditional pulley counterweight deployment and the deployment friction resistance caused by traditional suspension, improves the deployment accuracy of the mechanism, ensures the stability of repeated deployment of the payload, improves work efficiency, and meets the model mission requirements.

[0084] like Figure 5 As shown, Figure 5 This is a schematic diagram of the control system signal. In the figure, "#1 servo, #2 servo, #3 servo, #4 servo" represent Figure 4The servo motor 10 signal in the four active hanging devices 5; the "tension sensor" in the figure indicates Figure 4 The signal of the tension sensor 9 in the four active hanging devices 5; the "limit sensor" in the figure indicates Figure 4 The limit function signals in the four active hanging devices 5. Figure 5 This indicates that all of the above signals are controlled and collected by a control system. In a preferred embodiment, the control system also includes a controller, an acquisition module, a PLC, a hub, a computer, and a human-machine interface (HMI). The servo motor is connected to the controller for signal transmission, while the tension sensor and limit sensor are connected to the acquisition module for signal transmission. Signals from the controller and acquisition module are processed by the PLC and then transmitted to the hub, reaching the computer and HMI.

[0085] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0086] Those skilled in the art will appreciate that, in addition to implementing the system, device, and various modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the method steps. Therefore, the system, device, and various modules provided by the present invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; the modules for implementing various functions can also be considered both software programs for implementing the method and structures within the hardware component.

[0087] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. An antenna horizontal deployment test device, characterized in that: It comprises a frame structure (1), a long guide rail (2), a short guide rail (3), a pulley (4), an active hanging device (5) and an antenna hanging device (6); The long guide rail (2) is mounted on the frame structure (1) and arranged along the length direction of the frame structure (1); the short guide rail (3) is mounted on the long guide rail (2) via a pulley (4), and the short guide rail (3) is capable of sliding along the length direction of the long guide rail (2); The antenna hanging device (6) has a first installation position, which is an antenna installation position; The active hanging device (5) is hung on the short guide rail (3), and the antenna hanging device (6) is hung on the active hanging device (5); The number of the long guide rails (2) is multiple, and the number of the short guide rails (3) is multiple; the short guide rails (3) and the long guide rails (2) are arranged vertically; the number of the antenna hanging devices (6), the number of the pulleys (4), and the number of the active hanging devices (5) correspond to each other; The active hanging device (5) comprises a hanging device body (7), a high-strength spring (8), a tension sensor (9), and a first steel wire rope (31); A tension sensor (9) is installed between the high-strength spring (8) and the hanging device body (7); the bottom end of the high-strength spring (8) is connected to the first steel wire rope (31); and the first steel wire rope (31) is sleeved on the antenna hanging device (6); The antenna hanging device (6) comprises a first connecting component (24), a first roller assembly (25), and a hanging device body (26); The first connecting component (24) is arranged on the waist-shaped hole of the sling body (26), and the length direction of the waist-shaped hole is consistent with the length direction of the sling body (26). The center axis of the first roller assembly (25) is tightly connected to the sling body (26). The first steel wire rope (31) is mounted on the first roller assembly (25), and the first roller assembly (25) can rotate along its own center axis. The first connecting component (24) is used to connect to the antenna.

2. The antenna horizontal deployment test device according to claim 1, characterized in that: The hanging device body (7) includes a servo motor (10), a speed reducer (11), a transmission gear (12), a reel (13), an encoder (14), a brake, a rope pressure roller (16), a guide rod (17), a sensor connector (18), a housing (20) and a second steel wire rope (21); The servo motor (10), reducer (11), transmission gear (12), reel (13), encoder (14), brake, and rope-arranging roller (16) are all installed in the housing (20); the guide rod (17) is arranged at the bottom of the housing (20); The drum (13) is provided with a first tooth portion, the first tooth portion is engaged with the transmission gear (12), the second steel wire rope (21) is wound on the drum (13), and the servo motor (10) can drive the drum (13) to rotate by controlling the transmission gear (12), thereby achieving the extension and shortening of the second steel wire rope (21); One end of the tension sensor (9) is connected to the second steel wire rope (21) via the sensor connector (18); the other end of the tension sensor (9) is connected to the high-strength spring.

3. The antenna horizontal deployment test device according to claim 2, characterized in that: The frame structure (1) comprises a triangular fixing frame (22) and a main frame (23), wherein the triangular fixing frame (22) is mounted at both ends of the main frame (23), the long guide rail (2) is arranged along the length direction of the main frame (23), and the short guide rail (3) is arranged along the width direction of the main frame (23).

4. The antenna horizontal deployment test device according to claim 3, characterized in that: The number of the long guide rails (2) is 2, and the number of the short guide rails (3) is 4; the number of the active hanging devices (5) is 8, and the number of the antenna hanging devices (6) is 8; The two long guide rails (2) are arranged in parallel, the four short guide rails (3) are all perpendicular to the long guide rails (2), and both ends of the short guide rails (3) are installed on the long guide rails (2) through pulleys (4); Both ends of the short guide rail (3) are connected to active hanging devices (5), and the active hanging devices (5) are connected to the antenna via an antenna hanging device (6).

5. A method for testing the horizontal deployment of an antenna, characterized in that: The antenna horizontal deployment test device according to claim 4 further comprises the following steps: S1: The triangular fixing frame (22) and the main frame (23) are docked and installed and moved to the working position; S2: Install the long guide rail (2) on the suspension frame and adjust the straightness, horizontality, parallelism and rail spacing of the long guide rail; S3: Install the short guide rail (3) onto the long guide rail (2) via a pulley (4); and adjust the horizontality of the short guide rail (3); S4: Conduct a simulated counterweight test, defining the portion of the first steel wire rope (31) that is sleeved on the antenna hanging device (6) as the first hanging point; conduct load tests of 100kg, 200kg, and 300kg on a single first hanging point; conduct a 400kg joint adjustment on two first hanging points hung on the same short guide rail (3); conduct an 800kg joint adjustment on four first hanging points hung on two adjacent short guide rails (3), and record the hanging force and displacement monitoring data of the active hanging device (5); S5: hoist the satellite into the vacuum tank for parking and perform attitude adjustment; S6: hoisting the antenna horizontal deployment test device into the vacuum tank, and docking and installing the antenna using the antenna hanging device (6), and then adjusting the center of mass of the combination of the antenna and the first connecting component (24) and gravity unloading; The center of mass is adjusted by: moving the first connecting component (24) in the waist-shaped hole along the length direction of the waist-shaped hole to adjust the center of mass of the combination of the antenna and the antenna hanging device (6); The gravity unloading is a process in which the servo motor (10) is used to drive the extension and contraction of the second steel wire rope (21), and the first steel wire rope (31) is used to provide an upward force to the combination of the antenna hanging device (6) and the antenna, or to drive the combination of the antenna hanging device (6) and the antenna to move upward; S7: Establishing a horizontally deployed state of the antenna in the vacuum tank.

6. The antenna horizontal deployment test method according to claim 5, characterized in that: In step S2, the long guide rails are measured for horizontality, straightness, parallelism, and spacing between the long guide rails using a laser tracker. The parallelism between the two long guide rails is ≤1mm / 8000mm; the horizontality between the two long guide rails is ≤1mm / 8000mm; the straightness of the long guide rails is ≤1mm / 8000mm, and the spacing between the long guide rails is 2000±1mm.

7. The antenna horizontal deployment test method according to claim 5, characterized in that: In step S6, the first connecting component (24) is moved in the waist-shaped hole along the length direction of the waist-shaped hole to adjust the combined centroid position of the antenna and the first connecting component (24) and control it within ±0.2 mm of the actual centroid of the antenna.

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