Method and device for measuring the opening resistance moment of a hatch

Abstract

The application provides a kind of hatch door deployment resistance moment measurement method and device, through deployment auxiliary mechanism maintains hatch door in 0~180 ° range around hatch door rotating shaft quasi-static rotation;Through force sensor real-time measurement maintains the force of hatch door quasi-static rotation deployment auxiliary mechanism to hatch door;Through data collector, the output signal of force sensor is collected;Through processor, the average value of measured moment under two kinds of working conditions that hatch door has and does not have damping device is determined, by the difference between the two measured moment average value, the resistance moment generated by damping device in the process of hatch door deployment is obtained.The application can obtain 0~180 ° range damping device resistance moment and hatch door deployment process itself resistance moment through twice measurement, has higher efficiency, and can adapt to damping device generates resistance moment or driving moment two kinds of situations, has good application range;Through data processing and measurement mode selection, better measurement accuracy is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of measurement and industrial automation, and particularly relates to a method and device for measuring the opening resistance moment of a hatch. BACKGROUND

[0002] Nowadays, the exploration of space by human beings has become a popular field, and unmanned devices with automatic functions have attracted the attention of countries and enterprises because they are more suitable for long-term tasks in extreme environments. In extreme environments, it is often necessary to carry out automatic opening of the product hatch and interaction with the environment to achieve functions, but cables and pipelines and other devices are often arranged on the hatch, which span from the hatch to the main structure of the cabin. These devices that hinder or drive the opening are collectively referred to as damping devices, and unreasonable arrangement of the damping devices can cause excessive resistance, making the hatch opening not smooth or even unable to open, or excessive driving force, making the hatch open too fast and then impacting too much when in place. Therefore, it is particularly important to measure the opening resistance moment of the hatch in different environments such as different temperatures and vacuum, which can directly determine the design scheme of the opening driving mechanism and the layout scheme of the cables, pipelines, etc.

[0003] Due to the large volume and weight of the hatch used in the field of aerospace, the hatch is easily disturbed during rotation, which affects the measurement accuracy. At the same time, due to different design states and layout methods, the opening of the above-mentioned damping devices can generate resistance moment or driving moment, and the moment will change with the rotation angle of the hatch, increasing the difficulty of measurement. The rotation angle of the hatch covers a range of 0-180°, and the moment at all angles in this range needs to be measured, which is a large amount of work. In addition, due to the internal friction of the rotating shaft and the unbalanced gravity, the hatch itself also has a certain resistance moment, which is affected by the moment of inertia, the center of mass and the installation state of the driving mechanism. Through the review of existing data, no method has been found to efficiently and accurately measure the resistance moment of the damping devices and the resistance moment of the hatch itself during the opening of the hatch. SUMMARY

[0004] In order to overcome the deficiencies in the prior art, the present inventors have made intensive research and provided a method and device for measuring the opening resistance moment of a hatch, which solves the problem of measuring the resistance moment of the damping devices such as cables and pipelines and the resistance moment of the hatch itself during the opening of the hatch.

[0005] The technical solutions provided by the present application are as follows:

[0006] In a first aspect, a method for measuring the opening resistance moment of a hatch includes the following steps:

[0007] The hatch is connected to the opening auxiliary mechanism through a force sensor;

[0008] The damping device is not installed on the hatch door, the auxiliary deployment mechanism is started, and the hatch door is quasi-statically rotated around the hatch door rotation shaft under the action of the auxiliary deployment mechanism. During the rotation, the driving torque of the hatch door driving mechanism is M0;

[0009] The force F of the auxiliary device on the hatch door is measured in real time by the force sensor. When the force is a pressure, it is positive, and when the force is a tension, it is negative. The envelope curve of the force signal is drawn to process the force signal. The average value of the upper and lower envelope curves is solved to obtain the average value of the force F of the auxiliary device on the hatch door in this case The torque M1 is calculated by multiplying the force arm L.

[0010] The damping device is installed on the hatch door, the auxiliary deployment mechanism and the force sensor are used for measurement, and the same method as when the damping device is not installed on the hatch door is used to process and determine the average torque M2 of the hatch door in this case. The resistance torque M generated by the damping device is determined. When M is negative, it indicates that the damping device generates resistance torque. When M is positive, it indicates that the damping device generates driving torque.

[0011] Further, the resistance torque T0 of the hatch door itself during deployment is T0 = M1 - M0. When T0 is negative, it indicates that the hatch door itself generates resistance torque. When T0 is positive, it indicates that the hatch door itself generates driving torque.

[0012] Further, when the hatch door is quasi-statically rotated around the hatch door rotation shaft under the action of the auxiliary deployment mechanism, the rotation speed is controlled within 0.5° / s.

[0013] Further, when the hatch door is quasi-statically rotated around the hatch door rotation shaft under the action of the auxiliary deployment mechanism, the rotation range covers 0-180°.

[0014] Further, the force provided by the auxiliary mechanism at a specific position of the hatch door is always perpendicular to the hatch door. The distance between the action point of the force and the hatch door rotation shaft is the force arm required for determining the torque.

[0015] Further, the damping device is a device installed on the hatch door, including a cable or a pipeline, which spans from the hatch door to the main structure of the cabin body to form an obstacle or driving effect for the deployment of the hatch door.

[0016] In a second aspect, a device for measuring the deployment resistance torque of a hatch door includes an auxiliary deployment mechanism, a force sensor, a data collector, and a processor.

[0017] The auxiliary deployment mechanism is used to quasi-statically rotate the hatch door around the hatch door rotation shaft.

[0018] The force sensor is used to measure the force of the auxiliary deployment mechanism on the hatch door in real time when the hatch door is quasi-statically rotated.

[0019] The data collector is used for collecting the output signal of the force sensor;

[0020] The processor is used for recording the signal collected by the data collector, determining the average values of the measured torque under two working conditions of the hatch cover with and without the damping device in combination with the known force arm, obtaining the resistance torque of the damping device in the process of the hatch cover unfolding by subtracting the average values of the measured torque under the two working conditions, and obtaining the self-resistance torque of the hatch cover by subtracting the average value of the measured torque under the working condition without the damping device from the driving torque of the driving mechanism.

[0021] According to the measurement method and device for the resistance torque of the hatch cover unfolding provided by the application, the following beneficial effects are achieved:

[0022] (1) Compared with the traditional method, the application has simple principle, can obtain the damping device resistance torque and the self-resistance torque of the hatch cover in the range of 0-180° through two measurements, has high efficiency, and can adapt to the two cases of the damping device resistance torque and the driving torque, and has good application range.

[0023] (2) In the application, the force signal of the unfolding auxiliary mechanism is measured by the force sensor, the envelope line of the force signal is drawn, the average value of the upper and lower envelope lines is solved, and the average value of the measured force is obtained; the processor determines the torque according to the known force arm; the average values of the torques under the two states of with and without the damping device are measured by the above method, the measurement conditions are the same under the two states of with and without the damping device, and the result subtraction can greatly reduce the data error. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a principle diagram of the measurement method for the resistance torque of the hatch cover unfolding;

[0025] Figure 2 It is a flow chart of the measurement method for the resistance torque of the hatch cover unfolding;

[0026] Figure 3 It is a schematic diagram of obtaining the average value of the measured force by drawing the envelope line of the force signal and solving the average value of the upper and lower envelope lines;

[0027] Figure 4 It is the force F1 of the unfolding auxiliary mechanism on the hatch cover without the damping device in a certain example;

[0028] Figure 5 It is the torque M1 of the unfolding auxiliary mechanism on the hatch cover without the damping device in a certain example;

[0029] Figure 6 It is the force F2 of the unfolding auxiliary mechanism on the hatch cover with the damping device in a certain example;

[0030] Figure 7Let M2 be the torque M2 exerted by the deployment auxiliary mechanism with damping device on the hatch in a certain example.

[0031] Figure 8 Let M be the resistance torque generated by the cable and pipeline in a certain example. Detailed Implementation

[0032] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0033] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0034] According to a first aspect of the present invention, a method for measuring the drag torque of a hatch deployment is provided, comprising the following steps:

[0035] like Figures 1-2 As shown, before testing the magnitude of the drag torque, the hatch is connected to the deployment auxiliary mechanism via a force sensor, causing the hatch to rotate at a low speed in a quasi-static state (speed controlled within 0.5° / s) under the action of the deployment auxiliary mechanism. The hatch rotates around its rotation axis, during which the driving torque of the hatch drive mechanism and the drag torque of the hatch itself are M0 and T0, respectively. M0 is a known quantity, and T0 is the target measured value; T0 is affected by the hatch's moment of inertia, center of mass, and the installation state of the drive mechanism, and needs to be measured according to the actual working conditions. The drag torque generated by the damping device during the hatch rotation is M, which is the target measured value; M can be either the drag torque or the driving torque. The deployment auxiliary mechanism provides a force F that is always perpendicular to the hatch at a specific position. The force F is either pressure or tension, causing the hatch to rotate at a low speed in a quasi-static state or in a rotation-to-rest intermittent motion. The distance from the point of application of force F to the hatch rotation axis is the lever arm L required to determine the torque.

[0036] During the slow rotation of the hatch without a damping device, a force sensor measures the force F exerted on the hatch by the deployment auxiliary mechanism in real time. The data acquisition unit collects the output signal of the force sensor and sends it to the processor. The processor processes the force signal by constructing the envelope C3 of the force signal A1, and calculates the average value of the upper and lower envelopes to obtain the average force exerted on the hatch by the auxiliary device under this condition. like Figure 3 As shown. Average force. Multiplying by the lever arm L yields the torque M1. According to the principle of torque balance, M0 + T0 - M1 = 0 (where T0 is negative, indicating that the hatch itself generates a drag torque, and M1 is negative, indicating that the deployment auxiliary device is under tension, which is the driving torque; T0 is positive, indicating that the hatch itself generates a driving torque, and M1 is positive, indicating that the deployment auxiliary device is under pressure, which is the drag torque). Therefore, the drag torque of the hatch itself during deployment is determined to be T0 = M1 - M0.

[0037] Subsequently, a damping device was installed on the hatch, and the deployment auxiliary mechanism and force sensor were used again to measure and process the data in the same way to determine the average measured torque M2 of the hatch under this condition. According to the torque balance principle, M0 + T0 + M - M2 = 0. Therefore, the drag torque generated by the damping device is determined to be M = M2 - M1; when M is negative, it indicates that the damping device generates a drag torque; when M is positive, it indicates that the damping device generates a driving torque. If multiple measurements or repeated measurements are required, the above measurement method is repeated.

[0038] In the above measurement method, the hatch rotates around the hatch rotation axis, and the rotation range covers 0 to 180°. The driving torque and resistance torque of the drive mechanism are the same at the same angle, and the magnitude of the driving torque of the drive mechanism at a specified angle is a known quantity. Therefore, the resistance torque of the damping device and the magnitude of the resistance torque of the hatch itself during the hatch deployment process can be calculated, and then the driving torque margin during the hatch deployment process can be calculated as one of the evaluation bases for the hatch deployment scheme.

[0039] like Figure 3 As shown, using the envelope to calculate the average value can reduce the impact of signal fluctuations caused by door vibration, but it cannot eliminate the fluctuations in force values ​​caused by external influences. During the measurement process, due to environmental influences and systematic errors, the measured forces F1 and F2 have errors E1 and E2 respectively compared to the actual force values ​​C1 and C2. Since the measurement environment and systematic errors vary very little in multiple measurements at the same location, the errors E1 and E2 are similar. Therefore, the difference between the measured forces F1 and F2 and the difference between the actual force values ​​C1 and C2 can be very close.

[0040] According to a second aspect of the present invention, a measuring device for the drag torque of a hatch deployment is provided, comprising a deployment auxiliary mechanism, a force sensor, a data acquisition unit, and a processor;

[0041] The deployment auxiliary mechanism is used to make the hatch rotate quasi-statically around the hatch rotation axis, with the rotation speed controlled within 0.5° / s and the rotation range covering 0 to 180°. The force exerted by the auxiliary mechanism on the hatch is always perpendicular to the hatch, and the distance between the point of application of this force and the hatch rotation axis is the lever arm required to determine the torque.

[0042] The force sensor is used for measuring the force of the unfolding auxiliary mechanism on the hatch door in real time when the hatch door is kept in low-speed rotation;

[0043] The data collector is used for collecting the output signal of the force sensor;

[0044] The processor is used for recording the signal collected by the data collector, determining the average value of the measured torque under two working conditions of the hatch door with and without the damping device in combination with the known force arm, obtaining the resistance torque generated by the damping device in the unfolding process of the hatch door by subtracting the average value of the measured torque twice, and obtaining the self resistance torque of the hatch door by subtracting the average value of the measured torque without the damping device from the driving torque of the driving mechanism.

[0045] The automatic measurement method of the hatch door unfolding resistance torque in the application has been successfully applied to the measurement of the resistance torque of the cable and pipeline across the cabin body and the hatch door and the self resistance torque of the driving mechanism in the unfolding process of the hatch door of a certain aircraft, and good application effect has been obtained. The specific measurement process is as follows:

[0046] Before testing the resistance torque, the hatch door is connected with the unfolding auxiliary mechanism through the force sensor, the rotation speed of the hatch door is controlled within 0.5° / s under the action of the unfolding auxiliary mechanism, and the hatch door is in quasi-static state at this time. The force F of the auxiliary mechanism on the hatch door is 2.03m to the force arm L of the hatch door rotation shaft. The hatch door of the aircraft has no driving source in the measurement process, so M0=0; T0 is the resistance torque caused by the imbalance of gravity and the internal friction of the rotation shaft in the unfolding process of the hatch door.

[0047] In the process of slowly rotating the hatch door without the damping device, the force F1 curve (before smoothing) of the unfolding auxiliary mechanism on the hatch door is obtained by using the force sensor to measure in real time Figure 4 , the envelope curve C3 of the force signal A1 is drawn to process the force signal, the average value of the upper and lower envelope curves is solved, and the measured force average value of the hatch door under this condition is obtained curve (after smoothing) is seen Figure 4 ; it can be seen from Figure 4 that the change range of is +0.5N~ -1.5N, that is, the maximum thrust is 0.5N, and the maximum tension is 1.5N; the force multiplied by the force arm L obtains the torque M1 curve seen Figure 5 , and the change range of M1 is +1.02N〃m~ -3.05N〃m. According to T0=M1-M0, wherein M0=0, it can be known that the change range of the self resistance torque T0 of the hatch door in the unfolding process is +1.02N〃m~ -3.05N〃m, which represents that the maximum driving torque generated by the hatch door in the unfolding process is 1.02N〃m, and the maximum resistance torque is 3.05N〃m.

[0048] During the slow rotation of the hatch door with damping device, the force sensor is used to measure the force F2 curve (before smoothing) of the unfolding auxiliary mechanism on the hatch door in real time Figure 6 The force signal is processed by making the envelope curve C4 of the force signal A2, and the average value of the upper and lower envelope curves is solved to obtain the average value of the measured force of the hatch door in this case The curve (after smoothing) is shown in Figure 6 As can be seen from the figure , the change range of F2 is +0.6N-3N, the force After being multiplied by the force arm L, the torque M2 curve is shown in Figure 7 , and the change range of M2 is +1.22N'm-6.09N'm. According to M=M2-M1, it can be known that the change range of the resistance torque of the cable and pipeline during the unfolding process of the hatch door is +2.5N'm-4.4N'm (see Figure 8 ).

[0049] As can be seen from Figure 8 , in the initial stage of unfolding (before about 40°), the cable and pipeline mainly generate driving torque, and the maximum is about 2.5N'm; in the subsequent unfolding process, the cable and pipeline gradually generate resistance torque, and finally the resistance torque oscillates in the range of 2.5N'm±1.9N'm.

[0050] The above has described the present application in detail in combination with specific embodiments and exemplary examples, but these descriptions cannot be understood as limitations of the present application. Those skilled in the art understand that the technical solutions and embodiments of the present application can be variously replaced, modified or improved without deviating from the spirit and scope of the present application, and these all fall within the scope of the present application. The protection scope of the present application is subject to the appended claims.

[0051] The contents not described in detail in the specification of the present application are the known technology of those skilled in the art.

Claims

1. A method for measuring the drag torque of a hatch deployment, characterized in that, It comprises the following steps: The hatch is connected with the unfolding auxiliary mechanism through a force sensor; the force provided by the unfolding auxiliary mechanism at a specific position of the hatch is always perpendicular to the hatch, and the distance between the action point of the force and the rotation axis of the hatch is the force arm required for determining the moment; The damping device is not installed on the hatch, the unfolding auxiliary mechanism is started, and the hatch is quasi-statically rotated around the hatch rotation axis under the action of the unfolding auxiliary mechanism, during which the driving moment of the hatch driving mechanism is M0; the resistance moment of the hatch itself during the unfolding process is T0, T0=M1-M0, and T0 is negative, indicating that the hatch itself generates a resistance moment; T0 is positive, indicating that the hatch itself generates a driving moment; The force F of the auxiliary device on the hatch door is measured in real time by the force sensor, F is positive when it is pressure and negative when it is tension; the force signal is processed by making an envelope line of the force signal, and the average value of the upper and lower envelope lines is solved to obtain the average value of the force F of the auxiliary device on the hatch door under the condition ; The force arm L is multiplied to calculate the moment M1. The damping device is installed on the hatch, the damping device is a device including a cable or a pipeline installed on the hatch, spans from the hatch to the main structure of the cabin body, and forms an obstacle or a driving action for the hatch unfolding; the unfolding auxiliary mechanism and the force sensor are reused for measurement, and the measured moment average M2 of the hatch in this case is determined in the same way as when the damping device is not installed on the hatch, and the resistance moment M generated by the damping device is determined; when M is negative, the damping device generates a resistance moment; when M is positive, the damping device generates a driving moment.

2. The method of claim 1, wherein, The cabin door rotates around the cabin door rotating shaft under the action of the unfolding auxiliary mechanism, and the rotating speed is controlled within 0.1 / s.

3. The method of claim 1, wherein, When the hatch is quasi-statically rotated around the hatch rotation axis under the action of the unfolding auxiliary mechanism, the rotation range covers 0-180°.

4. A device for measuring the opening moment of a hatch door, characterized in that The method for measuring the unfolding resistance moment of the hatch according to any one of claims 1 to 3 comprises an unfolding auxiliary mechanism, a force sensor, a data collector, and a processor; The unfolding auxiliary mechanism is used to quasi-statically rotate the hatch around the hatch rotation axis; The force sensor is used to measure the force of the unfolding auxiliary mechanism on the hatch in real time when the hatch is quasi-statically rotated; The data collector is used to collect the output signal of the force sensor; The processor is used to record and process the signal collected by the data collector, determine the measured moment average of the hatch in two working conditions of with and without the damping device, and obtain the resistance moment generated by the damping device in the unfolding process of the hatch by subtracting the measured moment average in the two working conditions; the resistance moment of the hatch itself is obtained by subtracting the driving moment of the driving mechanism from the measured moment average in the working condition without the damping device.

5. The device for measuring the opening resistance moment of a hatch door according to claim 4, characterized in that The unfolding auxiliary mechanism meets the requirement of quasi-static rotation of the cabin door around the cabin door rotation axis, and the rotation speed is controlled within 0.5 / s.

6. The apparatus of claim 4, wherein, The unfolding auxiliary mechanism satisfies that the rotation range covers 0-180° when the hatch is quasi-statically rotated around the hatch rotation axis.

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