Suspended on-orbit assembly universal electromechanical-hydraulic interface function test device and method

Abstract

The present invention provides a suspended on-orbit assembly universal electromechanical-hydraulic interface functional test device and method, comprising: a force-assisted simulation component, an angle deviation simulation component, a suspension connection component, a position deviation simulation component, a universal interface component and a truss support structure; the force-assisted simulation component is sequentially connected to the angle deviation simulation component and the suspension connection component, the upper end of the universal interface component is connected to the suspension connection component, the lower end of the universal interface component is fixedly connected to the position deviation simulation component, and all components are supported by the truss support structure. The test device proposed by the present invention is simple and easy to operate. Through a simple suspension device, the docking and separation processes can be conveniently controlled; the test items are comprehensive; the test equipment is highly versatile, and when the universal interface design scheme is changed, it can be used for relevant technical verification of the new on-orbit assembly universal interface without making major changes.

Description

Technical Field

[0001] The present invention relates to the field of on-orbit assembly technology in the aerospace field, and in particular to a suspended on-orbit assembly universal electromechanical-hydraulic interface function test device and method. Background Art

[0002] Ultra-large spacecraft, represented by space-based solar power stations and ultra-large space telescopes, must be built through on-orbit assembly. One of the core technologies of on-orbit assembly is the on-orbit assembly universal interface, including mechanical connection interfaces, power supply and information interfaces. Some assembly tasks also include liquid interfaces, such as propulsion lines, thermal control fluid circuits, etc. Conducting ground test verification for such interfaces is an essential part of early feasibility verification of the scheme. The purpose of the test mainly includes verifying the autonomous connection and separation functions of the assembly interface, specifically including the automatic locking and unlocking functions of the mechanical interface, the conduction and separation functions of the electrical interface, the conduction and separation functions of the liquid interface, and the sealing function. In addition, considering that during the on-orbit assembly process, due to the control errors of the space robot arm or the spacecraft itself, the on-orbit assembly universal interface is required to have a certain redundant capture capability, and its capture margin index is required to be verified.

[0003] Existing test methods primarily include flotation tests, suspension tests, and slide rail tests. A search of the prior art revealed a suspended zero-gravity simulation testbed and its use method, disclosed in Chinese invention patent publication number CN105539889B. This bed utilizes a hybrid active-passive tracking mode and features power-off protection, making it suitable for zero-gravity simulation tests of complex motion mechanisms requiring multi-point suspension.

[0004] In the Chinese utility model patent document with publication number CN206969006U, a zero-gravity suspension-type deployment test device is disclosed, which aims to reduce the weight and cost of the horizontal grid of the zero-gravity unloading platform. In the Chinese invention patent document with publication number CN102407530B, a modular self-reconfigurable robot unit module docking mechanism and docking method are disclosed. In the Chinese invention patent document with publication number CN101482455A, a follow-up zero-gravity simulation test method is disclosed, which can well simulate the zero-gravity state and is mainly suitable for the deployment of large-sized and heavy space-deployable mechanical devices such as solar wings and space-deployable mechanical devices such as lightweight extension rods. In the Chinese invention patent document with publication number CN108639389A, a space electromagnetic docking mechanism and docking method that can repeatedly achieve locking and unlocking are disclosed, which does not involve a ground test system.

[0005] The above inventions are unable to solve the problem of ground function verification of universal electromechanical and hydraulic interfaces for on-orbit assembly. In order to systematically verify the functions of universal electromechanical and hydraulic interfaces for on-orbit assembly applications, the present invention proposes a suspended on-orbit assembly universal electromechanical and hydraulic interface function test device and method. Summary of the Invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a suspended on-orbit assembly universal electromechanical and hydraulic interface function test device and method.

[0007] According to the present invention, a suspended on-orbit assembly universal electromechanical-hydraulic interface function test device is provided, comprising: a force assist simulation component, an angle deviation simulation component, a suspension connection component, a position deviation simulation component, a universal interface component and a truss support structure;

[0008] The force assist simulation component is connected to the angle deviation simulation component and the suspension connection component in sequence, the upper end of the universal interface component is connected to the suspension connection component, and the lower end of the universal interface component is fixedly connected to the position deviation simulation component. All components are supported by the truss support structure.

[0009] Preferably, the force-assisted simulation assembly includes a counterweight, a sling, a fixed pulley, a lifting ring, a pull rod, and a mounting plate;

[0010] The counterweight is connected to one end of the sling, the other end of the sling passes through the fixed pulley and is connected to a lifting ring, the lifting ring is connected to the pull rod, and the pull rod is connected to the mounting plate.

[0011] Preferably, the angle deviation simulation component includes a three-degree-of-freedom attitude adjustment mechanism and an angle dial, the three-degree-of-freedom attitude adjustment mechanism is connected to the mounting plate, and the angle dial displays the angle of the three-degree-of-freedom attitude adjustment mechanism.

[0012] Preferably, the suspension connection assembly includes a telescopic connecting rod, a lifting ring mounting plate, and a docking mechanism connecting rod;

[0013] The upper end of the telescopic connecting rod is connected to the three-degree-of-freedom posture adjustment mechanism, the lower end of the telescopic connecting rod is connected to the top end of the ring mounting plate, and the bottom end of the ring mounting plate is connected to the docking mechanism connecting rod.

[0014] Preferably, the position deviation simulation component includes a transverse sliding mounting bracket, a longitudinal sliding mounting bracket, a transverse adjustment scale and a longitudinal adjustment scale;

[0015] The transverse sliding mounting bracket performs single-degree-of-freedom transverse motion along the truss support structure, the longitudinal sliding mounting bracket is located inside the transverse sliding mounting bracket, and performs single-degree-of-freedom longitudinal translation motion along the inner frame of the transverse sliding mounting bracket, and the transverse adjustment scale and the longitudinal adjustment scale are installed on the truss support structure for measuring the displacement of the transverse sliding mounting bracket and the longitudinal sliding mounting bracket.

[0016] Preferably, the universal interface assembly includes an integrated electromechanical-hydraulic interface active end, an integrated electromechanical-hydraulic interface passive end, a position switch, a cable, a battery, a liquid pipeline, an electrical interface indicator light, a water pump, a water pump switch, and a flow indicator;

[0017] The active end of the integrated electromechanical-hydraulic interface is connected to the position deviation simulation component, the cable connects the electrical interface in the active end of the integrated electromechanical-hydraulic interface, the electrical interface in the passive end of the integrated electromechanical-hydraulic interface, the electrical interface indicator light and the battery into a loop, one end of the liquid pipeline is connected to the liquid interface in the active end of the integrated electromechanical-hydraulic interface, and the other end is connected to the liquid interface in the passive end of the integrated electromechanical-hydraulic interface.

[0018] A method for testing the function of a universal electromechanical-hydraulic interface for a suspended on-orbit assembly according to the present invention comprises the following steps:

[0019] Step S1: adjusting the angle deviation simulation component and the position deviation simulation component to a zero deviation position;

[0020] Step S2: completing the electromechanical and hydraulic connections of the universal interface assembly;

[0021] Step S3: completing the electromechanical and hydraulic separation of the universal interface assembly;

[0022] Step S4: Adjust the angle deviation simulation component so that the posture deviations around the three axes are [Δα, Δβ, Δγ] respectively, and adjust the position deviation simulation component so that the lateral and longitudinal deviations are [Δx, Δy] respectively. Repeat steps S2 and S3 under different deviation combinations until the test is completed under all deviation combinations.

[0023] Preferably, in step S2, the passive end of the integrated electromechanical-hydraulic interface is controlled by the force-assisted simulation component to move vertically from top to bottom until the in-place switch is triggered, and the active end of the integrated electromechanical-hydraulic interface starts locking to complete the locking with the passive end of the integrated electromechanical-hydraulic interface, the electrical interface indicator light turns on, the water pump switch is closed, the water pump works, and the flow indicator displays the liquid flow in the current liquid pipeline.

[0024] Preferably, in step S3, the water pump switch is turned off, the water pump stops working, the active end of the integrated electromechanical-hydraulic interface starts unlocking, and the unlocking with the passive end of the integrated electromechanical-hydraulic interface is completed. The force-assisted simulation component controls the passive end of the integrated electromechanical-hydraulic interface to move vertically from bottom to top, and the electrical interface indicator light goes out.

[0025] Preferably, in step S4, the deviation Δα is set to ±Δα max , Δβ=±Δβ max , Δγ=±Δγ max , Δx=±Δx max , Δy=±Δy max , the subscript max indicates the maximum value of the corresponding deviation.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The test device is simple and easy to operate. The docking and separation processes can be easily controlled through a simple suspension device.

[0028] 2. The test project covers a comprehensive range, which can not only fully verify the function of the universal interface for on-orbit assembly, but also fully verify performance indicators such as capture margin;

[0029] 3. The test equipment is highly versatile. When the universal interface design is changed, it can be used for relevant technical verification of the new on-orbit assembly universal interface without making major changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] Figure 1 This is a schematic diagram of the overall structure of a suspended on-orbit assembly universal electromechanical and hydraulic interface function test device according to an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of the structure of the position deviation simulation component in an embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the structure of the angle deviation simulation component and the suspension connection component in an embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of a universal interface component in an embodiment of the present invention;

[0035] Figure 5 This is a flow chart of a method for functional testing a universal electro-mechanical-hydraulic interface for suspended on-orbit assembly according to an embodiment of the present invention.

[0036] Explanation of the accompanying drawings: 1. Force-assisted simulation component; 2. Angle deviation simulation component; 3. Suspension connection component; 4. Position deviation simulation component; 5. Universal interface component; 6. Truss support structure; 7. Counterweight; 8. Lifting rope; 9. Fixed pulley; 10. Lifting ring; 11. Pull rod; 12. Mounting plate; 13. Three-degree-of-freedom posture adjustment mechanism; 14. Retractable connecting rod; 15. Lifting ring mounting plate; 16. Docking mechanism connecting rod; 17. Horizontal sliding mounting bracket; 18. Longitudinal sliding mounting bracket; 19. Active end of integrated electromechanical-hydraulic interface; 20. Passive end of integrated electromechanical-hydraulic interface; 21. In-position switch; 22. Cable; 23. Liquid pipeline; 24. Electrical interface indicator light; 25. Water pump; 26. Water pump switch; 27. Flow indicator; 28. Battery. DETAILED DESCRIPTION

[0037] The present invention will be described in detail below with reference to specific embodiments. The following embodiments 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, without departing from the scope of the present invention, a number of variations and improvements may be made by those skilled in the art. These all fall within the scope of protection of the present invention.

[0038] A suspended on-orbit assembly universal electromechanical and hydraulic interface function test device, such as Figure 1 and Figure 2 As shown, it includes: a force-assisted simulation component 1, an angle deviation simulation component 2, a suspension connection component 3, a position deviation simulation component 4, a universal interface component 5 and a truss support structure 6; the force-assisted simulation component 1 is connected to the angle deviation simulation component 2 and the suspension connection component 3 in sequence, the upper end of the universal interface component 5 is connected to the suspension connection component 3, and the lower end of the universal interface component 5 is fixedly connected to the position deviation simulation component 4, and all components are supported by the truss support structure 6.

[0039] The force-assisted simulation component 1 includes a counterweight 7, a sling 8, a fixed pulley 9, a lifting ring 10, a pull rod 11, and a mounting plate 12; the counterweight 7 is connected to one end of the sling 8, and the other end of the sling 8 is connected to the lifting ring 10 after passing through the fixed pulley 9, and the lifting ring 10 is connected to the pull rod 11 through a transition structure, and the pull rod 11 is connected to the mounting plate 12.

[0040] like Figure 2 and Figure 3 As shown, the angle deviation simulation component 2 includes a three-degree-of-freedom attitude adjustment mechanism 13 and an angle dial. The three-degree-of-freedom attitude adjustment mechanism 13 is connected to the mounting plate 12. The angle dial displays the angle of the three-degree-of-freedom attitude adjustment mechanism 13. By adjusting the combination of the angle errors in the three rotation directions, the attitude control error in the docking process is simulated.

[0041] The suspension connection assembly 3 includes a telescopic connecting rod 14, a lifting ring mounting plate 12, and a docking mechanism connecting rod 16; the upper end of the telescopic connecting rod 14 is connected to the three-degree-of-freedom posture adjustment mechanism 13, the lower end of the telescopic connecting rod 14 is connected to the top of the lifting ring mounting plate 12, and the bottom end of the lifting ring mounting plate 12 is connected to the docking mechanism connecting rod 16.

[0042] The position deviation simulation assembly 4 includes a transverse sliding mounting bracket 17, a longitudinal sliding mounting bracket 18, a transverse adjustment scale, and a longitudinal adjustment scale, which are used to simulate transverse and longitudinal initial position errors. The transverse sliding mounting bracket 17 performs single-degree-of-freedom transverse motion along the truss support structure 6. The longitudinal sliding mounting bracket 18 is located within the transverse sliding mounting bracket 17 and performs single-degree-of-freedom longitudinal translation along the inner frame of the transverse sliding mounting bracket 17. The transverse adjustment scale and the longitudinal adjustment scale are mounted on the truss support structure 6 to measure the displacement of the transverse sliding mounting bracket 17 and the longitudinal sliding mounting bracket 18. This combination of transverse and longitudinal motion simulates position control errors during the docking process.

[0043] like Figure 4 As shown, the universal interface assembly 5 includes an integrated electromechanical-hydraulic interface active end 19, an integrated electromechanical-hydraulic interface passive end 20, an in-position switch 21, a cable 22, a battery 28, a liquid pipeline 23, an electrical interface indicator light 24, a water pump 25, a water pump switch 26, and a flow indicator 27; Figure 4 (a) The connection state of the integrated electromechanical-hydraulic interface active end 19 and the integrated electromechanical-hydraulic interface passive end 20, Figure 4 (b) The active end 19 of the integrated electromechanical-hydraulic interface and the passive end 20 of the integrated electromechanical-hydraulic interface are separated.

[0044] The active end 19 of the integrated electromechanical-hydraulic interface is fixedly mounted on the position deviation simulation assembly 4. A cable 22 connects the electrical interface in the active end 19, the electrical interface in the passive end 20, the electrical interface indicator light 24, and the battery 28 to form a circuit. A liquid line 23 has one end connected to the liquid interface in the active end 19 of the integrated electromechanical-hydraulic interface and the other end connected to the liquid interface in the passive end 20 of the integrated electromechanical-hydraulic interface.

[0045] The present invention proposes a method for testing the function of a universal electromechanical and hydraulic interface of a suspended on-orbit assembly, using the above-mentioned test device, referring to Figure 5 , specifically including the following steps:

[0046] Step S1: adjusting the angle deviation simulation component 2 and the position deviation simulation component 4 to a zero deviation position.

[0047] Step S2: completing the electromechanical and hydraulic connections of the universal interface assembly 5 .

[0048] The passive end 20 of the integrated electromechanical-liquid interface is controlled by the force-assisted simulation component 1 to move vertically from top to bottom until the in-place switch 21 is triggered. The active end 19 of the integrated electromechanical-liquid interface starts to lock and completes the locking with the passive end 20 of the integrated electromechanical-liquid interface. If the electrical interface indicator light 24 is on, it indicates that the circuit is connected, otherwise it indicates that it is not connected. Close the water pump switch 26, the water pump 25 starts working, and the flow indicator 27 displays the liquid flow in the current liquid pipeline 23. If the flow is not zero, it indicates that the liquid interface is connected, otherwise it is not connected. Observe whether there is any liquid leakage at the connection between the active end 19 of the integrated electromechanical-liquid interface and the passive end 20 of the integrated electromechanical-liquid interface. If there is no leakage, it indicates that the liquid interface is well sealed, otherwise it indicates that the seal is not good.

[0049] Step S3: completing the electromechanical and hydraulic separation of the universal interface assembly 5 .

[0050] Turn off the water pump switch 26, the water pump 25 stops working, the active end 19 of the integrated electromechanical-hydraulic interface starts unlocking, and completes the unlocking with the passive end 20 of the integrated electromechanical-hydraulic interface. The force-assisted simulation component 1 controls the passive end 20 of the integrated electromechanical-hydraulic interface to move vertically from bottom to top, and the electrical interface indicator light 24 goes out.

[0051] Step S4: Adjust the angle deviation simulation component 2 so that the posture deviations around the three axes are [Δα, Δβ, Δγ] respectively, and adjust the position deviation simulation component 4 so that the lateral and longitudinal deviations are [Δx, Δy] respectively, and set the deviation Δα = ±Δα max , Δβ=±Δβ max , Δγ=±Δγ max , Δx=±Δx max , Δy=±Δy max The subscript max represents the maximum value of the corresponding deviation. Steps S2 and S3 are repeated continuously under a total of 64 different deviation combinations.

[0052] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0053] 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.

[0054] 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. A suspended on-track assembly universal electromechanical and hydraulic interface function test device, characterized in that: include: A force assist simulation component (1), an angular deviation simulation component (2), a suspension connection component (3), a position deviation simulation component (4), a universal interface component (5), and a truss support structure (6); The force assist simulation component (1) is connected to the angle deviation simulation component (2) and the suspension connection component (3) in sequence, the upper end of the universal interface component (5) is connected to the suspension connection component (3), and the lower end of the universal interface component (5) is fixedly connected to the position deviation simulation component (4), and all components are supported by the truss support structure (6); The force-assisted simulation component (1) comprises a counterweight (7), a sling (8), a fixed pulley (9), a lifting ring (10), a pull rod (11), and a mounting plate (12); The counterweight (7) is connected to one end of the sling (8), the other end of the sling (8) passes through the fixed pulley (9) and is connected to the lifting ring (10), the lifting ring (10) is connected to the pull rod (11), and the pull rod (11) is connected to the mounting plate (12); The angle deviation simulation component (2) comprises a three-degree-of-freedom attitude adjustment mechanism (13) and an angle dial, wherein the three-degree-of-freedom attitude adjustment mechanism (13) is connected to the mounting plate (12), and the angle dial displays the angle of the three-degree-of-freedom attitude adjustment mechanism (13); The position deviation simulation component (4) comprises a transverse sliding mounting bracket (17), a longitudinal sliding mounting bracket (18), a transverse adjustment scale and a longitudinal adjustment scale; The transverse sliding mounting bracket (17) performs a single-degree-of-freedom transverse motion along the truss support structure (6); the longitudinal sliding mounting bracket (18) is located inside the transverse sliding mounting bracket (17) and performs a single-degree-of-freedom longitudinal translation motion along the inner frame of the transverse sliding mounting bracket (17); the transverse adjustment scale and the longitudinal adjustment scale are installed on the truss support structure (6) and are used to measure the displacement of the transverse sliding mounting bracket (17) and the longitudinal sliding mounting bracket (18).

2. The suspended on-track assembly universal electromechanical and hydraulic interface function test device according to claim 1, characterized in that: The suspension connection assembly (3) comprises a telescopic connecting rod (14), a lifting ring mounting plate (15), and a docking mechanism connecting rod (16); The upper end of the telescopic connecting rod (14) is connected to the three-degree-of-freedom posture adjustment mechanism (13), the lower end of the telescopic connecting rod (14) is connected to the top end of the ring mounting plate (15), and the bottom end of the ring mounting plate (15) is connected to the docking mechanism connecting rod (16).

3. The suspended on-track assembly universal electromechanical and hydraulic interface function test device according to claim 1, characterized in that: The universal interface assembly (5) includes an integrated electromechanical-hydraulic interface active end (19), an integrated electromechanical-hydraulic interface passive end (20), an in-position switch (21), a cable (22), a battery (28), a liquid pipeline (23), an electrical interface indicator light (24), a water pump (25), a water pump switch (26), and a flow indicator (27); The active end (19) of the integrated electromechanical-hydraulic interface is connected to the position deviation simulation component (4); the cable (22) connects the electrical interface in the active end (19) of the integrated electromechanical-hydraulic interface, the electrical interface in the passive end (20) of the integrated electromechanical-hydraulic interface, the electrical interface indicator light (24) and the battery (28) into a loop; one end of the liquid pipeline (23) is connected to the liquid interface in the active end (19) of the integrated electromechanical-hydraulic interface, and the other end is connected to the liquid interface in the passive end (20) of the integrated electromechanical-hydraulic interface.

4. A method for functional testing of a general electromechanical and hydraulic interface for a suspended on-orbit assembly, using the device for functional testing of a general electromechanical and hydraulic interface for a suspended on-orbit assembly according to claim 3, characterized in that: The following steps are involved: Step S1: adjusting the angle deviation simulation component (2) and the position deviation simulation component (4) to a zero deviation position; Step S2: completing the electromechanical and hydraulic connections of the universal interface assembly (5); Step S3: completing the electromechanical and hydraulic separation of the universal interface assembly (5); Step S4: Adjust the angle deviation simulation component (2) so that the attitude deviations around the three axes are [Δα, Δβ, Δγ] respectively, and adjust the position deviation simulation component (4) so ​​that the lateral and longitudinal deviations are [Δx, Δy] respectively. Repeat steps S2 and S3 under different deviation combinations until the test under all deviation combinations is completed.

5. The method for functional testing of a universal electromechanical-hydraulic interface for suspended on-track assembly according to claim 4, characterized in that: In step S2, the passive end (20) of the integrated electromechanical-hydraulic interface is controlled by the force-assisted simulation component (1) to move vertically from top to bottom until the in-position switch (21) is triggered, and the active end (19) of the integrated electromechanical-hydraulic interface starts locking and completes locking with the passive end (20) of the integrated electromechanical-hydraulic interface. The electrical interface indicator light (24) lights up, the water pump switch (26) is closed, the water pump (25) works, and the flow indicator (27) displays the liquid flow in the current liquid pipeline (23).

6. The method for functional testing of a universal electromechanical-hydraulic interface for suspended on-track assembly according to claim 4, characterized in that: In step S3, the water pump switch (26) is turned off, the water pump (25) stops working, the active end (19) of the integrated electromechanical-hydraulic interface starts unlocking, and the unlocking with the passive end (20) of the integrated electromechanical-hydraulic interface is completed, the force-assisted simulation component (1) controls the passive end (20) of the integrated electromechanical-hydraulic interface to move vertically from bottom to top, and the electrical interface indicator light (24) goes out.

7. The method for functional testing of a universal electromechanical and hydraulic interface for suspended on-track assembly according to claim 4, characterized in that: In step S4, the deviations Δα=±Δαmax, Δβ=±Δβmax, Δγ=±Δγmax, Δx=±Δxmax, and Δy=±Δymax are set, where the subscript max represents the maximum value of the corresponding deviation.

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