A five-degree-of-freedom simulation device for docking ground test of large space cabin section

Abstract

The present application relates to aerospace ground simulation experiment technical field, especially relates to a kind of for docking ground test large aerospace cabin section five degrees of freedom simulation device. Including two-dimensional drive unit and being set on two-dimensional drive unit active attitude setting unit, brake unit, plane motion measuring sensor and yaw unit, wherein 17T aircraft simulation piece is located in brake unit, active docking mechanism and passive docking mechanism are respectively arranged at the two ends of 17T aircraft simulation piece, active attitude setting unit and yaw unit are used to adjust the pitch, roll and Z attitude of 17T aircraft simulation piece;Docking ring gravity balance unit is arranged above active docking mechanism, for real-time balancing the gravity of active docking mechanism;Brake unit is used to brake 17T flight simulator, plane motion measuring sensor is used to measure motion parameter.The present application improves the precision and reliability of docking simulation, and can be used to verify the docking characteristics of manned lunar docking mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space ground simulation experiments, in particular to a five-degree-of-freedom simulation device for docking ground tests of large space cabin sections. BACKGROUND

[0002] With the rapid development of space technology, due to the limitations of rocket launch capability, it is necessary to launch manned lunar exploration spacecraft in sections, and manned lunar docking mechanisms are essential components. In order to test the performance of manned lunar docking mechanisms in ground environments, high-precision, multi-degree-of-freedom simulation devices need to be developed to verify the rationality of the design of manned lunar docking mechanisms, the stability of the docking process, and the accuracy of docking parameters.

[0003] Traditional spacecraft docking simulation devices mostly use simple mechanical structures, such as single-degree-of-freedom or double-degree-of-freedom slide rail systems. These systems can simulate the docking process to some extent, but due to the limited degrees of freedom, they cannot completely simulate the complex motion and attitude changes of spacecraft during the docking process, so their simulation accuracy and reliability are limited.

[0004] In recent years, with the development of robot technology and automation control technology, multi-degree-of-freedom simulation devices have been widely used in spacecraft docking simulation. Such devices usually have three or more degrees of freedom, which can simulate the translation and rotation of spacecraft during the docking process, thus more realistically simulating the docking process. However, for large space cabin sections, the mass and volume are large, and the docking process is complex, so higher-precision simulation devices are needed to verify the docking performance.

[0005] Therefore, it is of great significance to develop a five-degree-of-freedom simulation device for docking ground tests of large space cabin sections. In the prior art, although some multi-degree-of-freedom simulation devices have been researched and applied, there are still few devices for docking simulation of large space cabin sections. SUMMARY

[0006] To solve the above problems, the present application provides a five-degree-of-freedom simulation device for docking ground tests of large space cabin sections, aiming to improve the accuracy and reliability of docking simulation and provide strong support for the development of spacecraft docking technology.

[0007] In order to achieve the above-mentioned purposes, the present application adopts the following technical solutions:

[0008] The application provides a large space cabin segment five-degree-of-freedom simulation device for docking ground test, which comprises a docking ring gravity balance unit, an active docking mechanism, an active attitude setting unit, a brake unit, a plane motion measurement sensor, a two-dimensional driving unit, a passive docking mechanism, a yaw unit and a 17T aircraft simulator, wherein the active attitude setting unit, the brake unit, the plane motion measurement sensor and the yaw unit are arranged on the two-dimensional driving unit, the 17T aircraft simulator is located in the brake unit, the active docking mechanism and the passive docking mechanism are arranged at two ends of the 17T aircraft simulator respectively, the active attitude setting unit is located at two sides of the 17T aircraft simulator and is used for adjusting the pitching and rolling attitudes of the 17T aircraft simulator; the docking ring gravity balance unit is arranged above the active docking mechanism and is connected with the active docking mechanism and the brake unit, and is used for balancing the gravity of the active docking mechanism in real time; the brake unit is used for braking the 17T flight simulator, the plane motion measurement sensor is used for measuring the motion parameters of the 17T flight simulator, and the yaw unit is used for setting the Z-direction attitude of the 17T flight simulator.

[0009] The two-dimensional driving unit is arranged on the granite platform, and the two-dimensional driving unit comprises a Z-direction driving unit, an X-direction driving unit and a base, wherein the base is fixed to the granite platform, the granite platform is located on the inner side of the base, the X-direction driving unit is located above the base, and the Z-direction driving unit is arranged on the X-direction driving unit and above the granite platform.

[0010] The brake unit comprises a brake sliding plate, a friction plate, an active brake, a brake support, a brake pulley and a horizontal brake, wherein the brake support is mounted on the Z-direction driving unit, the active brake is fixed to the top of the brake support, the brake sliding plate is arranged on both sides of the base,

[0011] Two friction plates are symmetrically arranged on both sides of the active brake, each friction plate is connected with the corresponding brake sliding plate through the brake pulley, both sides of the brake support are connected with the outer edges of the two friction plates through steel wires, and the middle parts of the steel wires are respectively provided with the horizontal brakes;

[0012] The brake unit realizes the braking of the rolling and pitching directions of the 17T flight simulator.

[0013] The docking ring gravity balance unit comprises a plane two-dimensional follow-up unit, a winch mechanism, a high-precision gravity balance and a hanging tool, wherein the plane two-dimensional follow-up unit is connected with the brake support through an inclined frame, the winch mechanism is fixed on the plane two-dimensional follow-up unit, the high-precision gravity balance is hung on the lower side of the winch mechanism through a lifting hook, the hanging tool is connected with the high-precision gravity balance through a steel wire, and the hanging tool is connected with the active docking mechanism.

[0014] The active posture setting unit comprises four electric cylinders symmetrically arranged on both sides of the bow of the 17T aircraft simulator, and two electric cylinders on the same side are arranged oppositely.

[0015] The planar motion measuring sensor comprises a floating encoder and connecting rods, wherein the floating encoder is connected with the Z-direction driving unit and the 17T flight simulator through two connecting rods respectively.

[0016] The yaw unit comprises a yaw electric cylinder, which is fixed on the Z-direction driving unit and connected with the 17T flight simulator at the output end.

[0017] The 17T aircraft simulator comprises a rear main beam, a front main beam, a horizontal counterweight, a horizontal counterweight beam, a vertical tension beam, a vertical counterweight beam, a vertical counterweight, a pull tube and a turntable, wherein the turntable is located in the brake unit, the front main beam and the rear main beam are connected on both sides of the turntable, the ends of the front main beam and the rear main beam are connected with the active docking mechanism and the passive docking mechanism respectively, the horizontal counterweight beams are vertically connected on both sides of the ends of the front main beam and the rear main beam, and the horizontal counterweight beams are arranged on the horizontal counterweight beams on both sides of the front main beam; the bottom of the end of the rear main beam is provided with the vertical counterweight beam, and the vertical counterweight beam is provided with the vertical counterweight; the top of the turntable and the top of the end of the rear main beam and the front main beam are provided with the vertical tension beam, and the top of each vertical tension beam is connected with the end of the corresponding horizontal counterweight beam, the rear main beam or the front main beam through the wire tube.

[0018] The large-scale spacecraft cabin segment five-degree-of-freedom simulation device for docking ground test has the advantages and positive effects that: the device can not only simulate the translation and rotation of the spacecraft in the docking process, but also simulate the slight vibration and attitude change in the docking process, so that the docking process is more accurately simulated. Meanwhile, the device should also have the characteristics of high precision, high reliability, easy operation and maintenance, etc. to meet the needs of spacecraft docking simulation test. The specific advantages are:

[0019] 1. The 17T five-degree-of-freedom spacecraft cabin segment simulator is designed by using the counterweight method, and the dynamic characteristics of the spacecraft cabin segment in space docking are highly restored, which can be used for verifying the docking characteristics of manned lunar exploration docking mechanism.

[0020] 2. The two-dimensional driving unit and the yaw unit are designed, and the five-degree-of-freedom motion of the large-scale spacecraft cabin segment is reproduced, which has high motion precision.

[0021] 3. The gravity of the active docking mechanism is balanced by using the suspension method, which reduces the interference of the active docking mechanism on the high-precision two-dimensional motion of the large-scale spacecraft cabin segment. BRIEF DESCRIPTION OF DRAWINGS

[0022] The invention is further described below with reference to the accompanying drawings:

[0023] Figure 1 isometric view of a five-degree-of-freedom simulation device for docking ground testing of a large space cabin segment of the invention;

[0024] Figure 2 is a top view of a two-dimensional driving unit in the invention;

[0025] Figure 3 is a top view of a braking unit in the invention

[0026] Figure 4 is a side view of a braking unit in the invention;

[0027] Figure 5 is a structural schematic view of a docking ring gravity balance unit in the invention;

[0028] Figure 6 is a structural schematic view of an active attitude setting unit in the invention;

[0029] Figure 7 is a schematic view of a planar motion measurement sensor in the invention;

[0030] Figure 8 is a structural schematic view of a yaw unit in the invention;

[0031] Figure 9 is a schematic view of a 17T aircraft simulation piece in the invention.

[0032] In the drawings: 1 is a docking ring gravity balance unit, 2 is an active docking mechanism, 3 is an active attitude setting unit, 4 is a braking unit, 5 is a planar motion measurement sensor, 6 is a two-dimensional driving unit, 7 is a granite platform, 8 is a passive docking mechanism, 9 is a yaw unit, 10 is a 17T aircraft simulation piece, 11 is a planar two-dimensional follow-up unit, 12 is a hoisting mechanism, 13 is a high-precision gravity balancer, 14 is a hanging tool, 15 is an electric cylinder, 16 is a brake sliding plate, 17 is a friction plate, 18 is an active brake, 19 is a brake support, 20 is a brake pulley, 21 is a horizontal brake, 22 is a floating encoder, 23 is a connecting rod, 24 is a Z-direction driving unit, 25 is an X-direction driving unit, 26 is a base, 27 is a rear main beam, 28 is a front main beam, 29 is a horizontal counterweight, 30 is a horizontal counterweight beam, 31 is a vertical tension beam, 32 is a vertical counterweight beam, 33 is a vertical counterweight, 34 is a pull tube, 35 is a rotary table, 36 is a support frame, 37 is a guide rod, 38 is a contact, and 39 is an inclined frame. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the invention clearer, the invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] As Figure 1 shown, the application provides a five-degree-of-freedom simulation device for docking ground test of large spacecraft cabin section, which comprises a docking ring gravity balance unit 1, an active docking mechanism 2, an active attitude setting unit 3, a braking unit 4, a planar motion measuring sensor 5, a two-dimensional driving unit 6, a passive docking mechanism 8, a yaw unit 9 and a 17T aircraft simulator 10, wherein the active attitude setting unit 3, the braking unit 4, the planar motion measuring sensor 5 and the yaw unit 9 are arranged on the two-dimensional driving unit 6, the 17T aircraft simulator 10 is located in the braking unit 4, the active docking mechanism 2 and the passive docking mechanism 8 are arranged at both ends of the 17T aircraft simulator 10 respectively, the active attitude setting unit 3 is located at both sides of the 17T aircraft simulator 10 for adjusting the pitch and roll attitude of the 17T aircraft simulator 10; the docking ring gravity balance unit 1 is arranged above the active docking mechanism 2 and connected with the active docking mechanism 2 and the braking unit 4, and is used for balancing the gravity of the active docking mechanism 2 in real time; the braking unit 4 is used for braking the 17T flight simulator 10, the planar motion measuring sensor 5 is used for measuring the motion parameters of the 17T flight simulator 10, and the yaw unit 9 is used for setting the Z-direction attitude of the 17T flight simulator 10. The five-degree-of-freedom docking process of the large spacecraft cabin section is simulated by using the two-dimensional driving unit 6 and the yaw unit 9, so as to verify the performance of the manned lunar docking mechanism.

[0035] As Figure 2 shown, in the embodiment of the application, the two-dimensional driving unit 6 is arranged on the granite platform 7, and the two-dimensional driving unit 6 comprises the granite platform 7, a Z-direction driving unit 24, an X-direction driving unit 25 and a base 26, wherein the base 26 is fixed on the granite platform 7, the granite platform 7 is located inside the base 26, the X-direction driving unit 25 is located above the base 26, and the Z-direction driving unit 24 is arranged on the X-direction driving unit 25 and above the granite platform 7. The two-dimensional driving unit 6 is used for accurately setting the planar two-dimensional linear motion speed of the 17T flight simulator 10.

[0036] As Figures 3-4As shown in the figure, in the embodiment of the present application, the brake unit 4 comprises a brake sliding plate 16, a friction plate 17, a main brake 18, a brake support 19, a brake pulley 20 and a horizontal brake 21, wherein the brake support 19 is installed on the Z-direction driving unit 24, the main brake 18 is fixed on the top of the brake support 19, the brake sliding plate 16 is arranged on both sides of the base 26; two friction plates 17 are symmetrically arranged on both sides of the main brake 18, each friction plate 17 is connected with the corresponding brake sliding plate 16 through the brake pulley 20, the two sides of the brake support 19 are connected with the outer edges of the two friction plates 17 through steel wires, and the middle parts of each steel wire are provided with a horizontal brake 21; the main brake 18 realizes the braking of the two rotating directions of the roll and the pitch of the 17T flight simulator 10, and the horizontal brake 21 realizes the braking of the horizontal movement.

[0037] As shown in the figure, Figure 1 , Figure 4 , Figure 5 As shown in the figure, in the embodiment of the present application, the docking ring gravity balance unit 1 comprises a planar two-dimensional follow-up unit 11, a hoisting mechanism 12, a high-precision gravity balance 13 and a hanging tool 14, wherein the planar two-dimensional follow-up unit 11 is connected with the brake support 19 through an inclined frame 39, the hoisting mechanism 12 is fixed on the planar two-dimensional follow-up unit 11, the high-precision gravity balance 13 is hung on the lower side of the hoisting mechanism 12 through a lifting hook, the hanging tool 14 is connected with the high-precision gravity balance 13 through a steel wire, and the hanging tool 14 is connected with the active docking mechanism 2.

[0038] As shown in the figure, Figure 6 As shown in the figure, in the embodiment of the present application, the active attitude setting unit 3 comprises four electric cylinders 15 symmetrically arranged on both sides of the bow of the 17T flight simulator 10, and the two electric cylinders 15 on the same side are arranged oppositely.

[0039] Specifically, the electric cylinder 15 is fixed on the brake support 19 through a support frame 36, the output end of the electric cylinder 15 is connected with a contact 38, and the two sides of the contact 38 are slidably connected with the support frame 36 through two guide rods 37. When the contact 38 is extended and retracted through the electric cylinder 15, the two guide rods 37 play a guiding role. It realizes the pitch and roll attitude setting of the 17T flight simulator 10 by adjusting the extension and retraction of the electric cylinder 15.

[0040] As shown in the figure, Figure 7As shown, in this embodiment of the invention, the planar motion measurement sensor 5 is placed on the lower side of the 17T flight simulator 10, and includes a floating encoder 22 and connecting rods 23. The floating encoder 22 is connected to the Z-axis drive unit 24 and the 17T flight simulator 10 respectively through two connecting rods 23. The planar motion measurement sensor 5 is a comprehensive measurement sensor used to measure the two-dimensional linear motion and yaw rotation of the 17T flight simulator 10 after it is released.

[0041] like Figure 8 As shown, in an embodiment of the present invention, the yaw unit 9 includes a yaw electric cylinder, which is fixed on the Z-axis drive unit 24 and its output terminal is connected to the 17T flight simulator 10. The yaw unit 9 is used to set the Z-axis attitude of the 17T flight simulator 10.

[0042] like Figure 9 As shown in the embodiment of the present invention, the 17T aircraft simulator 10 includes a rear main beam 27, a front main beam 28, a horizontal counterweight block 29, a horizontal counterweight beam 30, a vertical tension beam 31, a vertical counterweight beam 32, a vertical counterweight block 33, a pull tube 34, and a turntable 35. The turntable 35 is located within the braking unit 4. The front main beam 28 and the rear main beam 27 are connected to both sides of the turntable 35. The ends of the front main beam 28 and the rear main beam 27 are respectively connected to the active docking mechanism 2 and the passive docking mechanism 8. Horizontal counterweight beams 30 are vertically connected to both sides of the ends of the front main beam 28 and the rear main beam 27. Horizontal counterweight beams 30 are provided on the horizontal counterweight beams 30 on both sides of the front main beam 28. A vertical counterweight beam 32 is provided at the bottom end of the rear main beam 27, and a vertical counterweight block 33 is provided on the vertical counterweight beam 32. Vertical tension beams 31 are provided at the top of the turntable 35 and at the top ends of the rear main beam 27 and the front main beam 28. The top of the vertical tension beam 31 on the front main beam 28 is connected to the ends of the horizontal counterweight beams 30 on both sides and the front main beam 28 via three conduits 34. The top of the vertical tension beam 31 on the top of the turntable 35 is connected to the rear main beam 27 and the front main beam 28 via two conduits 34. The top of the vertical tension beam 31 on the rear main beam 27 is connected to the ends of the horizontal counterweight beams 30 on both sides and the rear main beam 27 via three conduits 34. The 17T spacecraft simulator 10 uses precise counterweighting to ensure that its mass inertia is the same as that of a real spacecraft docking module. The four sets of electric cylinders 15 are linked to drive the front main beam 28 and the rear main beam 27 to rotate, so as to set the initial attitude of the 17T flight simulator 10.

[0043] The present invention provides a large-scale five-degree-of-freedom simulation device for docking ground tests of a spacecraft segment, the working principle of which is as follows:

[0044] The present application can simulate five degrees of freedom motion of large spacecraft cabin section, verify the docking and separation performance of manned moon docking mechanism, and the five degrees of freedom motion is linear motion in X and Z directions, roll, pitch and Z direction yaw. The initial attitude of the 17T aircraft simulation piece 10 is adjusted by the active attitude setting unit 3, and the gravity balance unit 1 of the docking ring follows the motion of the active docking mechanism 2. When the system is running, the position and posture of the 17T aircraft simulation piece 10 are adjusted by the yaw unit 9 and the two-dimensional driving unit 6 to reproduce the docking impact process of two aircrafts in space, wherein the motion data of the 17T aircraft simulation piece 10 is measured by the plane motion measuring sensor 5. When the experiment is finished, the motion of the 17T flight simulator 10 is stopped by the brake unit 4.

[0045] The present application provides a large spacecraft cabin section five degrees of freedom simulation device for docking ground test, which can not only simulate the translation and rotation of the spacecraft in the docking process, but also simulate the slight vibration and attitude change in the docking process, so as to more accurately simulate the docking process. Meanwhile, the device should also have the characteristics of high precision, high reliability, easy operation and maintenance, etc. to meet the needs of spacecraft docking simulation test.

[0046] The above description is only an embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A large space cabin segment five degree of freedom simulation device for docking ground test, characterized in that, The device comprises a docking ring gravity balance unit (1), an active docking mechanism (2), an active attitude setting unit (3), a braking unit (4), a planar motion measurement sensor (5), a two-dimensional driving unit (6), a passive docking mechanism (8), a yaw unit (9) and a 17T aircraft simulator (10), wherein the active attitude setting unit (3), the braking unit (4), the planar motion measurement sensor (5) and the yaw unit (9) are arranged on the two-dimensional driving unit (6), the 17T aircraft simulator (10) is located in the braking unit (4), the active docking mechanism (2) and the passive docking mechanism (8) are arranged at two ends of the 17T aircraft simulator (10) respectively, the active attitude setting unit (3) is located at two sides of the 17T aircraft simulator (10) and is used for adjusting the pitch and roll attitudes of the 17T aircraft simulator (10); the docking ring gravity balance unit (1) is arranged above the active docking mechanism (2) and is connected with the active docking mechanism (2) and the braking unit (4), and the docking ring gravity balance unit (1) is used for balancing the gravity of the active docking mechanism (2) in real time; the braking unit (4) is used for braking the 17T flight simulator (10), the planar motion measurement sensor (5) is used for measuring the motion parameters of the 17T flight simulator (10), and the yaw unit (9) is used for setting the Z-direction attitude of the 17T flight simulator (10); The 17T aircraft simulator (10) comprises a rear main beam (27), a front main beam (28), a horizontal counterweight block (29), a horizontal counterweight beam (30), a vertical tension beam (31), a vertical counterweight beam (32), a vertical counterweight block (33), a wire tube (34) and a rotary table (35), wherein the rotary table (35) is located in the braking unit (4), the front main beam (28) and the rear main beam (27) are connected at two sides of the rotary table (35), the ends of the front main beam (28) and the rear main beam (27) are connected with the active docking mechanism (2) and the passive docking mechanism (8) respectively, the ends of the front main beam (28) and the rear main beam (27) are vertically connected with the horizontal counterweight beam (30) at two sides, the horizontal counterweight beam (30) is arranged on the horizontal counterweight beam (30) at two sides of the front main beam (28); the bottom of the end of the rear main beam (27) is provided with the vertical counterweight beam (32), and the vertical counterweight block (33) is arranged on the vertical counterweight beam (32); the top of the rotary table (35) and the top of the end of the rear main beam (27) and the front main beam (28) are provided with the vertical tension beam (31), and the top of each vertical tension beam (31) is connected with the end of the corresponding horizontal counterweight beam (30), the rear main beam (27) or the front main beam (28) through the wire tube (34).

2. The large space habitat segment five degree of freedom simulator for docking with the ground test of claim 1, wherein, The two-dimensional driving unit (6) is arranged on the granite platform (7), and the two-dimensional driving unit (6) comprises a Z-direction driving unit (24), an X-direction driving unit (25) and a base (26), wherein the base (26) is fixed to the granite platform (7), the granite platform (7) is located on the inner side of the base (26), the X-direction driving unit (25) is located above the base (26), and the Z-direction driving unit (24) is arranged on the X-direction driving unit (25) and above the granite platform (7).

3. The large space cabin segment five degree of freedom simulation device for docking ground test according to claim 2, characterized in that, The brake unit (4) comprises brake sliding plates (16), friction plates (17), a driving brake (18), a brake support (19), a brake pulley (20) and a horizontal brake (21), wherein the brake support (19) is mounted on the Z-direction driving unit (24), the driving brake (18) is fixed to the top of the brake support (19), the brake sliding plates (16) are arranged on both sides of the base (26), two friction plates (17) are symmetrically arranged on both sides of the driving brake (18), each friction plate (17) is connected with the corresponding brake sliding plate (16) through the brake pulley (20), and both sides of the brake support (19) are connected with the outer edges of the two friction plates (17) through steel wires, and the middle portions of the steel wires are each provided with the horizontal brake (21). The brake unit (4) realizes the braking of the 17T flight simulator (10) in the two rotating directions of rolling and pitching.

4. The large space cabin segment five degree of freedom simulation device for docking ground test according to claim 3, characterized in that, The docking ring gravity balance unit (1) comprises a planar two-dimensional follow-up unit (11), a winch mechanism (12), a high-precision gravity balance device (13) and a hanging tool (14), wherein the planar two-dimensional follow-up unit (11) is connected with the brake support (19) through an inclined frame (39), the winch mechanism (12) is fixed on the planar two-dimensional follow-up unit (11), the high-precision gravity balance device (13) is hung on the lower side of the winch mechanism (12) through a hook, the hanging tool (14) is connected with the high-precision gravity balance device (13) through a steel wire, and the hanging tool (14) is connected with the active docking mechanism (2).

5. The large space cabin segment five degree of freedom simulation device for docking ground test according to claim 2, characterized in that, The active attitude setting unit (3) comprises four electric cylinders (15) symmetrically arranged on both sides of the bow of the 17T flight simulator (10), and two electric cylinders (15) on the same side are arranged oppositely above and below, and the pitching and rolling attitude setting of the 17T flight simulator (10) are realized by adjusting the extension and contraction of the electric cylinders (15).

6. The large space cabin segment five degree of freedom simulation device for docking ground test according to claim 2, characterized in that, The planar motion measurement sensor (5) comprises a floating encoder (22) and a connecting rod (23), wherein the floating encoder (22) is connected with the Z-direction driving unit (24) and the 17T flight simulator (10) through two connecting rods (23) respectively.

7. The large space cabin segment five degree of freedom simulation device for docking ground test according to claim 2, characterized in that, The yaw unit (9) comprises a yaw electric cylinder, the yaw electric cylinder is fixed on the Z-direction driving unit (24), and the output end is connected with the 17T flight simulator (10).

Images