A large spacecraft rigid-flexible hybrid bionic vibration isolation mechanism and method

Abstract

The present application relates to a large spacecraft rigid-flexible-soft hybrid bionic vibration isolation mechanism and method, mainly comprising a rigid support mechanism (1), flexible connection accessories (2, 3), a soft body end attachment surface (4) and a layered vibration controller. The flexible connection accessories include spring dampers (2) and memory shape alloy dampers (3). The mechanism is designed based on the limb tissue structure of high stability animals and insects in nature. The main body of the vibration isolation structure uses rigid mechanisms as support to simulate the characteristics of biological bones, uses flexible structures as hierarchical connections to simulate biological nerves and ligaments, and uses soft structures as end attachment surfaces to simulate biological muscles and skin, for multi-level hybrid vibration isolation and substructure complementary control between the spacecraft platform and the load. Compared with the traditional flexible soft contact between the vibration isolation structure platform and the load, it has higher stability and better vibration isolation effect, and the soft body end can change shape according to task requirements, with stronger adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spacecraft vibration isolation mechanism and method, in particular to a large spacecraft rigid-flexible-soft hybrid bionic vibration isolation mechanism and method. BACKGROUND

[0002] The large spacecraft in orbit will be affected by various disturbances, and the connection effect between the platform and the load inevitably exists the effect of vibration coupling, which will have an adverse effect on the load performing high-precision space tasks. Moreover, the spacecraft gradually develops from miniaturization to large-scale and complexity, and the large space platform usually carries multiple effective loads. In order to meet the task requirements of different loads, higher requirements are put forward for the vibration isolation and suppression between the platform and the load. The existing vibration isolation and suppression mechanism mainly realizes the vibration reduction and damping effect through rigid structure, but the rigid structure itself has strong vibration transmission characteristics, and its vibration suppression effect is extremely limited.

[0003] In recent years, the development of bionic soft technology breaks the defects of traditional rigid structure, which can realize better intelligent control and flexible soft contact, and has stronger adaptability and compliance. The present application combines the advantages of rigid body, flexible body and soft body structure, realizes high-performance vibration isolation and suppression between the spacecraft platform and the load, and meets the high-precision performance task requirements of the load. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a large spacecraft rigid-flexible-soft hybrid bionic vibration isolation mechanism and method. The mechanism is designed based on the high-stability animal and insect limb tissue structure in nature, the vibration isolation structure main body adopts rigid mechanism as support to simulate the bone characteristics of biological body, flexible structure as hierarchical connection to simulate the nerve ligament of biological body, and soft structure as the end attachment surface to simulate the muscle skin of biological body, which is used for multi-level hybrid vibration isolation and substructure complementary control between the spacecraft platform and the load. The hybrid layered structure design assisted by active control method can realize the complementation of the performance between the structures, improve the vibration isolation effect, and has higher stability. Compared with the traditional vibration isolation structure, the advantage is obvious

[0005] Compared with the prior art, the present application has the following beneficial effects:

[0006] The present application is designed based on the high-stability animal and insect limb tissue structure in nature, the vibration isolation structure main body adopts rigid mechanism as support to simulate the bone characteristics of biological body, flexible structure as hierarchical connection to simulate the nerve ligament of biological body, and soft structure as the end attachment surface to simulate the muscle skin of biological body. Compared with the traditional vibration isolation structure platform and the flexible soft contact between the load, it has higher stability and better vibration isolation effect, and the soft end attachment surface can change shape according to the task requirements, and has stronger adaptability.

[0007] Preferably, the rigid support structure is bionically designed according to the structural characteristics of animals and insects in nature, and is alternately connected in X and N shapes, with rigid joints at the nodes, and equipped with lifting motors, and the size of the main body structure can be adjusted to meet the requirements of different loads and tasks.

[0008] Preferably, the flexible connection accessory is composed of a spring damper, a shape memory alloy connecting rod, and a flexible connecting beam, which is used for connecting the elements between the rigid support structures, and absorbs and dissipates vibrations by using flexible materials.

[0009] Preferably, the soft body end attachment surface has a layer blocking structure, and the surface is made of soft silicone material, and the inside has a particle blocking form, and the internal pressure change in the soft surface can be adjusted according to the external vibration characteristics, and the passive vibration isolation between the platform and the load is realized by using the vibration insensitive characteristics of the soft material.

[0010] Preferably, the layered vibration controller is installed between the layers, and high-performance vibration control algorithms are embedded inside, and the piezoelectric material is attached to the surface of the structure, and active negative feedback vibration control is performed according to the strength of the vibration measurement signal, and the vibration suppression effect of the designed structure is enhanced.

[0011] Preferably, the hybrid layered structure design assisted by the active control method can realize the complementation of the performance between structures, improve the vibration isolation effect, and has higher stability, and has obvious advantages compared with the traditional vibration isolation structure. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A large rigid-flexible-soft hybrid bionic vibration isolation mechanism provided by the embodiment of the present application is shown in the figure;

[0013] Figure 2 A rigid body support structure provided by the embodiment of the present application is shown in the figure;

[0014] Figure 3 A soft body end attachment surface provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0015] In order to make the technical problems solved by the present application, the technical solutions and beneficial effects more clear and explicit, the following specific embodiments are used to further explain the present application. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0016] The present application provides a large spacecraft rigid-flexible-soft hybrid bionic vibration isolation mechanism and method, and the general connection mode can refer to Figure 1 , Figure 1Only to explain the invention, and not for the limitation of the invention. The rigid support structure includes a seat, a rod (1.1) and a rod (1.2) arranged on the rod (1.1), a rod (1.3), and a plurality of rods are connected by hinges.

[0017] The rigid support structure includes a seat, a rod (1.1) and a rod (1.2) arranged on the rod (1.1), a rod (1.3), and a plurality of rods are connected by hinges.

[0018] The flexible connection accessory includes a spring damper (2) hinged in the connection of each rod of the rigid support structure (1) and a shape memory alloy arranged on the shape memory alloy connecting plate and a flexible beam plate connecting structure arranged on the shape memory alloy connecting plate for connecting the rigid support structure (1) and the soft end attachment surface (4).

[0019] The soft end attachment surface (4) includes a silica gel surface (4.3) and a layer blocking structure (4.1, 4.2) arranged in the silica gel surface.

[0020] The layered vibration controller includes a microcomputer arranged on the rigid support structure (1), a central processor arranged on the rigid support structure (1), a rudder arranged on the hinge of the rigid support structure (1), and a vibration measuring sensor arranged on the hinge of the rigid support structure (1).

[0021] The application also provides a vibration isolation method based on the rigid-flexible-soft hybrid bionic vibration isolation structure of the large spacecraft.

[0022] S1, suppose that a vibration is generated by the spacecraft base, and now prevent the vibration from being transmitted to the payload placed on the soft end attachment surface (4). The vibration is transmitted to the rigid support structure (1), and the vibration energy is dissipated by the hinged spring damper (2), and the vibration is attenuated.

[0023] S2, the vibration is transmitted to the memory shape alloy damper (3) via the support composed of the rigid support structure (1) and the hinged spring damper (2), and the vibration energy is attenuated. The vibration is further attenuated by the deformation of the memory shape alloy.

[0024] S3, the vibration is conducted to the soft body end attachment surface (4). The presence of the soft body end attachment surface (4) can change shape for different loads, be more adaptive, meet various task requirements, and the contact is soft, which is not sensitive to vibration, and the passive vibration isolation effect is further improved.

[0025] S4, the layered vibration controller is installed between the layers, and a high-performance vibration control algorithm is embedded inside. The piezoelectric material on the surface of the structure is used to actively and negatively feedback vibration control according to the strength of the vibration measurement signal, and the vibration suppression effect of the designed structure is enhanced.

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various configurations.

[0027] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0028] It should be noted that: similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the product in use, only for the convenience of describing the present application and simplifying the description, and not to indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0030] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", not that the structure must be completely horizontal, but can be slightly inclined.

[0031] In the description of the embodiments of the present application, it also needs to be explained that, unless explicitly defined and limited, if the terms "arrange", "install", "connect", "join" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or detachably connected, or integrally connected, they can be mechanically connected, or electrically connected, they can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0032] The present application will be further described in detail below with reference to the accompanying drawings:

[0033] Embodiment

[0034] Suppose a vibration is generated by a spacecraft base, and now the vibration needs to be prevented from being transmitted to the payload placed on the soft end attachment surface (4).

[0035] S1, the vibration is transmitted to the rigid support structure (1), and the vibration energy is dissipated by the articulated spring damper (2), and the vibration is attenuated.

[0036] S2, the vibration is transmitted to the memory shape alloy damper (3) through the support composed of the rigid support structure (1) and the articulated spring damper (2), and the vibration energy is attenuated. More vibration energy can be consumed by the deformation of the memory shape alloy, and the vibration is further attenuated.

[0037] S3, the vibration is transmitted to the soft end attachment surface (4). The existence of the soft end attachment surface (4) can change shape for different loads, has stronger adaptability, meets various task requirements, and the contact is soft contact, which has poor vibration sensitivity, and the passive vibration isolation effect is further improved.

[0038] S4, the layered vibration controller is installed between the layers, and a high-performance vibration control algorithm is embedded inside. The piezoelectric material is attached to the surface of the structure, and according to the strength of the vibration measurement signal, active negative feedback vibration control is performed to enhance the vibration suppression effect of the designed structure.

[0039] The above embodiment is only one of the implementation manners of the technical scheme of the present application, and the scope of protection of the present application is not limited to the above embodiment, but also includes any changes, substitutions and other implementation manners easily thought of by those skilled in the art within the technical scope disclosed by the present application.

Claims

1. A large spacecraft rigid-flexible hybrid biomimetic vibration isolation mechanism and method, characterized in that, Comprising: rigid support structure, flexible connection accessory, soft end attachment surface, hierarchical vibration controller; rigid support structure comprising: N-level main body support structure (1), support beam (1), motor; flexible connection accessory comprising: spring damper (2), shape memory alloy, flexible beam plate connection structure; soft end attachment surface comprising: silicone surface (4.1), layer blocking structure (4.2, 4.3); the hierarchical vibration controller comprising: microcomputer, central processor, control algorithm, steering wheel, vibration measurement sensor; the rigid support structure (1) is rigidly fixed and installed on the spacecraft platform as the main force part of the vibration isolation mechanism, used for supporting the payload; the flexible connection accessory (2, 3) is connected between the rigid support mechanism for hierarchical absorption and energy dissipation of vibration; the soft end attachment surface (4) is located between the support mechanism and the payload, attached to the surface of the payload, used for end vibration isolation; the hierarchical vibration controller is located at the mechanism connection point, using the active vibration control method based on piezoelectric material for vibration suppression.

2. The hybrid rigid-flexible soft bionic vibration isolation mechanism and method for large space structures according to claim 1, wherein, The rigid support structure (1) is bionic to the structural characteristics of animals and insects in nature, connected alternately in X and N shapes, with rigid hinged joints at the nodes, and equipped with lifting motors to adjust the size of the main structure to meet the needs of different loads and tasks.

3. The large space craft rigid-flexible hybrid vibration isolation mechanism and method of claim 1, wherein The flexible connection accessory is composed of spring damper (2), shape memory alloy damper (3), and flexible connection beam, used for connecting elements between rigid support structures, and absorbing and dissipating vibration by using flexible materials.

4. The large space craft rigid-flexible hybrid biomimetic vibration isolation mechanism and method of claim 1, wherein The soft end attachment surface has layer blocking structure (4.1, 4.2), and the surface (4.3) is made of soft silicone material, which can adjust the internal pressure change in the soft surface according to the external vibration characteristics, and realize passive vibration isolation between the platform and the load by using the vibration insensitive characteristics of soft materials.

5. The large space craft rigid-flexible hybrid biomimetic vibration isolation mechanism and method of claim 1, wherein, The hierarchical vibration controller is installed between the layers and embedded with high-performance vibration control algorithm, which uses piezoelectric material on the surface of the structure to actively feedback vibration control according to the strength of the vibration measurement signal, enhancing the vibration suppression effect of the designed structure.

6. The large space craft rigid-flexible hybrid biomimetic vibration isolation mechanism and method of claim 1, wherein The rigid-flexible-soft hybrid bionic vibration isolation mechanism for large spacecraft has a hybrid hierarchical structure design, which can realize performance complementation between structures and improve vibration isolation effect with the help of active control method, with higher stability, and has significant advantages compared with traditional vibration isolation structures.

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