A ground experiment system for testing a plurality of large manned lunar docking mechanisms

Abstract

The present application relates to the technical field of space ground simulation experiment, in particular to a kind of ground experiment system for testing multiple large manned moon exploration docking mechanism. Including 3.5T aircraft simulation device, 17T aircraft simulation device and 8T aircraft simulation device connected in turn through buffer rod, the initial attitude of 3.5T aircraft simulation device, 17T aircraft simulation device and 8T aircraft simulation device is adjusted, and the friction with air floatation platform is reduced by using air floatation method, the docking process of three large space cabin sections in space is reproduced, and the performance and stability of manned moon exploration docking mechanism are verified. The present application can verify the performance of multiple large manned moon exploration docking mechanism, improve the precision and reliability of docking simulation, and provide strong support for the development of spacecraft docking technology.

Description

Technical Field

[0001] This invention relates to the field of aerospace ground simulation experiment technology, and in particular to a ground experimental system for testing multiple large manned lunar docking mechanisms. Background Technology

[0002] As humanity's exploration of space deepens, manned lunar exploration has become a crucial development direction in the aerospace field. In this process, docking technology for multiple large spacecraft modules is one of the key technologies for achieving manned lunar exploration missions. As a vital device for connecting and separating spacecraft, the stability and reliability of the docking mechanism directly affect the success of the entire lunar exploration mission.

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

[0004] Currently, performance testing of manned lunar docking mechanisms with multiple large spacecraft modules mainly relies on test facilities simulating the space environment. However, these facilities are difficult to use for simultaneous testing of multiple large spacecraft modules. To overcome these limitations, a novel integrated ground-based experimental system is needed to test the performance of manned lunar docking mechanisms with multiple large spacecraft modules. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide a ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms. This system seeks to resolve existing issues in the technology, verify the performance of multiple large-scale manned lunar docking mechanisms, improve the accuracy and reliability of docking simulations, and provide strong support for the development of spacecraft docking technology.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms. The system includes a 3.5T spacecraft simulator, a 17T spacecraft simulator, and an 8T spacecraft simulator connected sequentially via buffer rods. By adjusting the initial attitudes of the 3.5T, 17T, and 8T spacecraft simulators and utilizing air buoyancy to reduce friction with the air-bearing platform, the docking process of three large spacecraft modules in space is reproduced, verifying the performance and stability of the manned lunar docking mechanism.

[0008] The 17T aircraft simulation device includes a docking ring gravity balance unit, an active docking mechanism, an active attitude setting unit, a braking unit, a planar motion measurement sensor, a two-dimensional drive unit, a 17T air-bearing platform, a passive docking mechanism, a yaw unit, and a 17T flight simulator. The two-dimensional drive unit is mounted on the 17T air-bearing platform. The active attitude setting unit, braking unit, planar motion measurement sensor, and yaw unit are mounted on the two-dimensional drive unit. The 17T flight simulator is located within the braking unit. The active docking mechanism and passive docking mechanism are respectively located at both ends of the 17T flight simulator. The elements are located on both sides of the 17T flight simulator and are used to adjust the pitch and roll attitude of the 17T flight simulator; the docking ring gravity balance unit is set above the active docking mechanism and is connected to the active docking mechanism and the braking unit. The docking ring gravity balance unit is used to balance the gravity of the active docking mechanism in real time; the braking unit is used to brake the 17T flight simulator; the planar motion measurement sensor is used to measure the motion parameters of the 17T flight simulator; the yaw unit is used to set the Z-axis attitude of the 17T flight simulator; the 17T flight simulator performs two-dimensional frictionless motion on the 17T air-bearing platform through the two-dimensional drive unit.

[0009] The two-dimensional drive unit includes a Z-axis drive unit, an X-axis drive unit, and a base. The base is fixed to a 17T air-float platform, and the 17T air-float platform is located inside the base. The X-axis drive unit is located above the base, and the Z-axis drive unit is disposed on the X-axis drive unit and located above the 17T air-float platform.

[0010] The braking unit includes a brake plate, friction pads, an active brake, a brake bracket, a brake trolley, and a horizontal brake. The brake bracket is mounted on the Z-axis drive unit, the active brake is fixed to the top of the brake bracket, and the brake plate is disposed on both sides of the base.

[0011] Two friction pads are symmetrically arranged on both sides of the active brake. Each friction pad is connected to the corresponding brake slide plate through a brake trolley. The two sides of the brake bracket are connected to the outer edges of the two friction pads through steel wire ropes. A horizontal brake is provided in the middle of each steel wire rope.

[0012] The braking unit enables braking of the 17T flight simulator in both roll and pitch directions.

[0013] The docking ring gravity balancing unit includes a planar two-dimensional follower unit, a winch mechanism, a high-precision gravity balancer, and a hanging fixture. The planar two-dimensional follower unit is connected to the brake bracket via an inclined frame. The winch mechanism is fixed on the planar two-dimensional follower unit. The high-precision gravity balancer is suspended below the winch mechanism via a hook. The hanging fixture is connected to the high-precision gravity balancer via a wire rope and is connected to the active docking mechanism.

[0014] The active attitude setting unit includes four electric cylinders symmetrically arranged on both sides of the bow of the 17T flight simulator. Two electric cylinders on the same side are arranged vertically opposite each other. The pitch and roll attitude settings of the 17T flight simulator are achieved by adjusting the extension and retraction of the electric cylinders.

[0015] The yaw unit includes a yaw electric cylinder, which is fixed on the Z-axis drive unit and its output is connected to the 17T flight simulator.

[0016] The planar motion measurement sensor includes a floating encoder and connecting rods, wherein the floating encoder is connected to the Z-axis drive unit and the 17T flight simulator respectively via two connecting rods.

[0017] The 17T flight simulator includes a rear main beam, a front main beam, a horizontal counterweight block, a horizontal counterweight beam, a vertical tension beam, a vertical counterweight beam, a vertical counterweight block, a pull tube, and a turntable. The turntable is located within the braking unit. The front and rear main beams are connected to both sides of the turntable. The ends of the front and rear main beams are connected to the active docking mechanism and the passive docking mechanism, respectively. Horizontal counterweight beams are vertically connected to both sides of the ends of the front and rear main beams. Horizontal counterweight beams are provided on the horizontal counterweight beams on both sides of the front main beam. A vertical counterweight beam is provided at the bottom of the end of the rear main beam, and a vertical counterweight block is provided on the vertical counterweight beam. Vertical tension beams are provided at the top of the turntable and at the top of the ends of the rear and front main beams. The top of each vertical tension beam is connected to the end of the corresponding horizontal counterweight beam, the rear main beam, or the front main beam via a pull tube.

[0018] The 3.5T aircraft simulation device includes a 3.5T air-bearing platform, a brake, a drive and measurement unit, a 3.5T flight simulator, and a 3.5T passive docking mechanism. The 3.5T air-bearing platform is placed on the ground, the brake is located on both sides of the 3.5T air-bearing platform, the 3.5T flight simulator is placed on the 3.5T air-bearing platform, the 3.5T passive docking mechanism is located at one end of the 3.5T flight simulator, the drive and measurement unit connects the 3.5T air-bearing platform and the 3.5T flight simulator, and drives the 3.5T flight simulator to perform low-friction two-dimensional motion on the 3.5T air-bearing platform.

[0019] The 8T aircraft simulation device includes an 8T air-floating platform, an 8T active docking mechanism, an active gravity balancing mechanism, an 8T flight simulator, and a braking device. The 8T air-floating platform is placed on the ground, the 8T flight simulator is placed on the 8T air-floating platform, the braking device is located on both sides of the 8T air-floating platform, the 8T active docking mechanism is located at one end of the 8T flight simulator, and the active gravity balancing mechanism is located above the 8T active docking mechanism. The 8T flight simulator performs low-friction two-dimensional motion on the 8T air-floating platform, and uses the active gravity balancing mechanism to balance the gravity of the 8T active docking mechanism, thereby reducing the friction between the 8T flight simulator and the 8T air-floating platform.

[0020] The advantages and positive effects of this invention are as follows:

[0021] 1. This invention utilizes air flotation to reduce the friction between a large spacecraft module simulator and the ground, enabling it to perform five degrees of freedom motion and recreate the docking process of a manned lunar exploration mission.

[0022] 2. This invention utilizes a suspension method to balance the gravity of the docking mechanism, thereby improving the motion accuracy of a large spacecraft module simulator.

[0023] 3. This invention designs a 3.5T flight simulator, a 17T flight simulator, and an 8T flight simulator to reproduce the docking and collision process of manned lunar exploration on the ground. Attached Figure Description

[0024] The invention will be further described below with reference to the accompanying drawings:

[0025] Figure 1 This is an isometric view of the ground experimental system used by the present invention for testing multiple large manned lunar docking mechanisms;

[0026] Figure 2 This is an isometric view of the 17T aircraft simulation device in this invention;

[0027] Figure 3 This is a top view of the two-dimensional drive unit of the 17T aircraft simulation device in this invention;

[0028] Figure 4 This is a top view of the braking unit of the 17T aircraft simulator in this invention.

[0029] Figure 5 This is a side view of the braking unit of the 17T aircraft simulator in this invention;

[0030] Figure 6 This is a schematic diagram of the docking ring gravity balance unit of the 17T aircraft simulation device in this invention;

[0031] Figure 7 This is a schematic diagram of the active attitude setting unit of the 17T aircraft simulation device in this invention;

[0032] Figure 8 This is a schematic diagram of the planar motion measurement sensor of the 17T aircraft simulation device in this invention;

[0033] Figure 9 This is a schematic diagram of the yaw unit of the 17T aircraft simulation device in this invention;

[0034] Figure 10 This is a schematic diagram of the 17T flight simulator in this invention;

[0035] Figure 11 This is a schematic diagram of the structure of the 3.5T aircraft simulation device in this invention;

[0036] Figure 12 This is a schematic diagram of the structure of the 8T aircraft simulation device in this invention;

[0037] Figure 13 This is a schematic diagram of the buffer rod in this invention.

[0038] In the diagram: 100 is a 3.5T aircraft simulator, 200 is a 17T aircraft simulator, 300 is an 8T aircraft simulator, 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 drive unit, 7 is a 17T air-bearing platform, 8 is a passive docking mechanism, 9 is a yaw unit, 10 is a 17T flight simulator, 11 is a planar two-dimensional follow-up unit, 12 is a winch mechanism, 13 is a high-precision gravity balancer, 14 is a hoisting fixture, 15 is an electric cylinder, 16 is a brake slide plate, 17 is a friction plate, 18 is an active brake, 19 is a brake bracket, 20 is a brake trolley, 21 is a horizontal brake, and 22 is a floating encoder. 23 is the connecting rod, 24 is the Z-axis drive unit, 25 is the X-axis drive unit, 26 is the base, 27 is the rear main beam, 28 is the front main beam, 29 is the horizontal counterweight block, 30 is the horizontal counterweight beam, 31 is the vertical tension beam, 32 is the vertical counterweight beam, 33 is the vertical counterweight block, 34 is the pull tube, 35 is the turntable, 36 is the support frame, 37 is the guide rod, 38 is the contact, 39 is the inclined frame, 40 is the buffer rod, 41 is the 3.5T air-float platform, 42 is the brake, 43 is the drive and measurement unit, 44 is the 3.5T flight simulator, 45 is the 3.5T passive docking mechanism, 46 is the 8T air-float platform, 47 is the 8T active docking mechanism, 48 is the active gravity balance mechanism, 49 is the 8T flight simulator, and 50 is the braking device. Detailed Implementation

[0039] The invention will now be described in further detail with reference to the accompanying drawings.

[0040] The integrated ground-based experimental system for testing the performance of manned lunar docking mechanisms for multiple large spacecraft modules, as proposed in this invention, will be described in further detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0041] like Figure 1As shown, this invention provides a ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms. The system includes a 3.5T spacecraft simulation device 100, a 17T spacecraft simulation device 200, and an 8T spacecraft simulation device 300 connected sequentially via buffer rods 40. By adjusting the initial attitudes of the 3.5T, 17T, and 8T spacecraft simulation devices 100, 200, and 300, and by utilizing air buoyancy to reduce friction with the air-bearing platform, the docking process of three large spacecraft modules in space is reproduced, verifying the performance and stability of the manned lunar docking mechanism.

[0042] like Figure 2 As shown, in an embodiment of the present invention, the 17T aircraft simulation device 200 includes 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 drive unit 6, a 17T air-bearing platform 7, a passive docking mechanism 8, a yaw unit 9, and a 17T flight simulator 10. The two-dimensional drive unit 6 is mounted on the 17T air-bearing platform 7, the active attitude setting unit 3, the braking unit 4, the planar motion measurement sensor 5, and the yaw unit 9 are mounted on the two-dimensional drive unit 6, and the 17T flight simulator 10 is located within the braking unit 4. The active docking mechanism 2 and the passive docking mechanism 8... The active attitude setting unit 3 is located on both sides of the 17T flight simulator 10, and is used to adjust the pitch and roll attitude of the 17T flight simulator 10. The docking ring gravity balancing unit 1 is located above the active docking mechanism 2 and is connected to the active docking mechanism 2 and the braking unit 4. The docking ring gravity balancing unit 1 is used to balance the gravity of the active docking mechanism 2 in real time. The braking unit 4 is used to brake the 17T flight simulator 10. The planar motion measurement sensor 5 is used to measure the motion parameters of the 17T flight simulator 10. The yaw unit 9 is used to set the Z-axis attitude of the 17T flight simulator 10. The 17T flight simulator 10 performs frictionless two-dimensional motion on the 17T air-bearing platform 7 through the drive of the two-dimensional drive unit 6. The two-dimensional drive unit 6 and the yaw unit 9 are used to simulate the five-degree-of-freedom docking process of a large spacecraft segment, thereby verifying the performance of the manned lunar landing docking mechanism.

[0043] like Figure 3 As shown, in an embodiment of the present invention, the two-dimensional drive unit 6 includes a Z-axis drive unit 24, an X-axis drive unit 25, and a base 26. The base 26 is fixed on the 17T air-float platform 7, the 17T air-float platform 7 is located inside the base 26, the X-axis drive unit 25 is located above the base 26, and the Z-axis drive unit 24 is disposed on the X-axis drive unit 25 and located above the 17T air-float platform 7. The two-dimensional drive unit 6 is used to precisely set the planar two-dimensional linear motion speed of the 17T flight simulator 10.

[0044] like Figure 4-5As shown, in an embodiment of the present invention, the braking unit 4 includes a brake plate 16, friction pads 17, an active brake 18, a brake bracket 19, a brake trolley 20, and a horizontal brake 21. The brake bracket 19 is mounted on the Z-axis drive unit 24, the active brake 18 is fixed to the top of the brake bracket 19, and the brake plate 16 is disposed on both sides of the base 26. Two friction pads 17 are symmetrically arranged on both sides of the active brake 18. Each friction pad 17 is connected to the corresponding brake plate 16 through the brake trolley 20. The two sides of the brake bracket 19 are connected to the outer edges of the two friction pads 17 through steel wire ropes. A horizontal brake 21 is provided in the middle of each steel wire rope. The active brake 18 realizes braking in the two rotational directions of the 17T flight simulator 10: roll and pitch, and the horizontal brake 21 realizes braking in the horizontal movement.

[0045] like Figure 2 , Figure 5 , Figure 6 As shown, in an embodiment of the present invention, the docking ring gravity balancing unit 1 includes a planar two-dimensional follower unit 11, a winch mechanism 12, a high-precision gravity balancer 13, and a hanging fixture 14. The planar two-dimensional follower unit 11 is connected to the brake bracket 19 via a slant frame 39. The winch mechanism 12 is fixed on the planar two-dimensional follower unit 11. The high-precision gravity balancer 13 is suspended below the winch mechanism 12 via a hook. The hanging fixture 14 is connected to the high-precision gravity balancer 13 via a wire rope and is connected to the active docking mechanism 2.

[0046] like Figure 7 As shown, in an embodiment of the present invention, the active attitude setting unit 3 includes four electric cylinders 15 symmetrically arranged on both sides of the bow of the 17T flight simulator 10. Two electric cylinders 15 located on the same side are arranged vertically opposite each other. The pitch and roll attitude settings of the 17T flight simulator 10 are achieved by adjusting the extension and retraction of the electric cylinders 15.

[0047] Specifically, the electric cylinder 15 is fixed to the brake bracket 19 via a support frame 36. The output end of the electric cylinder 15 is connected to the contact 38, and the two sides of the contact 38 are slidably connected to the support frame 36 via two guide rods 37. When the contact 38 extends or retracts via the electric cylinder 15, the two guide rods 37 act as guides. The pitch and roll attitude settings of the 17T flight simulator 10 are achieved by adjusting the extension and retraction of the electric cylinder 15.

[0048] like Figure 8As 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.

[0049] like Figure 9 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.

[0050] like Figure 10 As shown in the embodiment of the present invention, the 17T flight 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 inside 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 tension pipes 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 tension pipes 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 tension pipes 34. The 17T flight simulator 10 achieves the same mass inertia as a real spacecraft docking module through precise counterweighting. 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.

[0051] In an embodiment of the present invention, the working principle of the 17T aircraft simulator 200 is as follows:

[0052] The 17T spacecraft simulator 200 can simulate the five-degree-of-freedom motion of a large spacecraft module, verifying the docking and separation performance of its manned lunar docking mechanism. The five-degree-of-freedom motion includes linear motion in the X and Z directions, roll, pitch, and yaw in the Z direction. The initial attitude of the 17T flight simulator 10 is adjusted using the active attitude setting unit 3, while the docking ring gravity balance unit 1 follows the movement of the active docking mechanism 2. During system operation, the yaw unit 9 and the two-dimensional drive unit 6 adjust the attitude of the 17T flight simulator 10 to reproduce the docking and impact process of two spacecraft in space. A planar motion measurement sensor 5 measures the motion data of the 17T flight simulator 10. At the end of the experiment, the braking unit 4 stops the movement of the 17T flight simulator 10.

[0053] In the embodiments of the present invention, the 17T spacecraft simulation device 200 can not only simulate the translation and rotation of a spacecraft during docking, but also simulate minute vibrations and attitude changes during docking, thereby simulating the docking process more accurately. Simultaneously, the device should also possess characteristics such as high precision, high reliability, and ease of operation and maintenance to meet the requirements of spacecraft docking simulation experiments.

[0054] like Figure 11 As shown, in an embodiment of the present invention, the 3.5T aircraft simulation device 100 includes a 3.5T air-bearing platform 41, a brake 42, a drive and measurement unit 43, a 3.5T flight simulator 44, and a 3.5T passive docking mechanism 45. The 3.5T air-bearing platform 41 is placed on the ground, the brake 42 is disposed on both sides of the 3.5T air-bearing platform 41, the 3.5T flight simulator 44 is placed on the 3.5T air-bearing platform 41, the 3.5T passive docking mechanism 45 is disposed at one end of the 3.5T flight simulator 44, the drive and measurement unit 43 connects the 3.5T air-bearing platform 41 and the 3.5T flight simulator 44, and the drive and measurement unit 43 drives the 3.5T flight simulator 44 to perform low-friction two-dimensional motion on the 3.5T air-bearing platform 41.

[0055] like Figure 12 As shown, in an embodiment of the present invention, the 8T aircraft simulation device 300 includes an 8T air-floating platform 46, an 8T active docking mechanism 47, an active gravity balancing mechanism 48, an 8T flight simulator 49, and a braking device 50. The 8T air-floating platform 46 is placed on the ground, the 8T flight simulator 49 is placed on the 8T air-floating platform 46, the braking device 50 is disposed on both sides of the 8T air-floating platform 46, the 8T active docking mechanism 47 is disposed at one end of the 8T flight simulator 49, and the active gravity balancing mechanism 48 is located above the 8T active docking mechanism 47. The 8T flight simulator 49 performs low-friction two-dimensional motion on the 8T air-floating platform 46 and uses the active gravity balancing mechanism 48 to balance the gravity of the 8T active docking mechanism 47, thereby reducing the friction between the 8T flight simulator 49 and the 8T air-floating platform 46.

[0056] like Figure 1 , Figure 13 As shown, in an embodiment of the present invention, the buffer rod 40 is connected between the 3.5T aircraft simulator 100 and the 17T aircraft simulator 200, and between the 17T aircraft simulator 200 and the 8T aircraft simulator 300.

[0057] This invention provides a ground-based experimental system for testing multiple large manned lunar docking mechanisms. It can simulate the five-degree-of-freedom motion of multiple large manned lunar spacecraft modules, verifying the docking and separation performance of their docking mechanisms. The initial attitudes of the 3.5T flight simulator 44, 17T flight simulator 10, and 8T flight simulator 49 are adjusted using the attitude setting units of the 3.5T, 17T, and 8T flight simulators 300, respectively. Air buoyancy is used to reduce friction with the air-bearing platform, reproducing the docking process of three large spacecraft modules in space, thus verifying the performance and stability of the manned lunar docking mechanism. This system should be able to realistically simulate the microgravity environment in space while simultaneously performing performance tests on the docking mechanisms of multiple large spacecraft modules. Furthermore, the system should possess a high level of automation and intelligence, automatically completing tasks such as installation, testing, data acquisition, and analysis of the docking mechanisms, improving testing efficiency and accuracy.

[0058] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms, characterized in that, The system includes a 3.5T spacecraft simulator (100), a 17T spacecraft simulator (200), and an 8T spacecraft simulator (300) connected in sequence via a buffer rod (40). By adjusting the initial attitude of the 3.5T spacecraft simulator (100), the 17T spacecraft simulator (200), and the 8T spacecraft simulator (300), and by using the air buoyancy method to reduce the friction with the air buoyancy platform, the docking process of three large spacecraft modules in space is reproduced, and the performance and stability of the manned lunar docking mechanism are verified. The 17T aircraft simulator (200) includes 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 drive unit (6), a 17T air-bearing platform (7), a passive docking mechanism (8), a yaw unit (9), and a 17T flight simulator (10). The two-dimensional drive unit (6) is located on the 17T air-bearing platform (7), the active attitude setting unit (3), the braking unit (4), the planar motion measurement sensor (5), and the yaw unit (9) are located on the two-dimensional drive unit (6), the 17T flight simulator (10) is located inside the braking unit (4), and the active docking mechanism (2) and the passive docking mechanism (8) are respectively located at both ends of the 17T flight simulator (10). The active attitude setting unit (3) is located on both sides of the 17T flight simulator (10) and is used to adjust the pitch and roll attitude of the 17T flight simulator (10); the docking ring gravity balance unit (1) is set above the active docking mechanism (2) and is connected to the active docking mechanism (2) and the braking unit (4). The docking ring gravity balance unit (1) is used to balance the gravity of the active docking mechanism (2) in real time; the braking unit (4) is used to brake the 17T flight simulator (10); the planar motion measurement sensor (5) is used to measure the motion parameters of the 17T flight simulator (10); the yaw unit (9) is used to set the Z-axis attitude of the 17T flight simulator (10); the 17T flight simulator (10) performs two-dimensional frictionless motion on the 17T air-floating platform (7) through the two-dimensional drive unit (6); The 17T flight 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 inside 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). (27) has horizontal counterweight beams (30) vertically connected to both ends of the front main beam (28). The horizontal counterweight beams (30) on both sides of the front main beam (28) are provided with horizontal counterweight beams (30). The bottom of the end of the rear main beam (27) is provided with a vertical counterweight beam (32), and a vertical counterweight block (33) is provided on the vertical counterweight beam (32). The top of the turntable (35) and the top of the ends of the rear main beam (27) and the front main beam (28) are provided with vertical tension beams (31). The top of each vertical tension beam (31) is connected to the end of the corresponding horizontal counterweight beam (30), the rear main beam (27) or the front main beam (28) through a pull tube (34).

2. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 1, characterized in that, The two-dimensional drive unit (6) includes a Z-axis drive unit (24), an X-axis drive unit (25), and a base (26). The base (26) is fixed to a 17T air-floating platform (7), and the 17T air-floating platform (7) is located inside the base (26). The X-axis drive unit (25) is located above the base (26), and the Z-axis drive unit (24) is disposed on the X-axis drive unit (25) and located above the 17T air-floating platform (7).

3. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 2, characterized in that, The braking unit (4) includes a brake plate (16), friction pads (17), an active brake (18), a brake bracket (19), a brake trolley (20), and a horizontal brake (21). The brake bracket (19) is mounted on the Z-axis drive unit (24), the active brake (18) is fixed to the top of the brake bracket (19), and the brake plate (16) is disposed on both sides of the base (26). Two friction pads (17) are symmetrically arranged on both sides of the active brake (18). Each friction pad (17) is connected to the corresponding brake slide plate (16) through the brake trolley (20). Both sides of the brake bracket (19) are connected to the outer edges of the two friction pads (17) through steel wire ropes. A horizontal brake (21) is provided in the middle of each steel wire rope. The braking unit (4) enables braking of the 17T flight simulator (10) in both roll and pitch directions.

4. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 3, characterized in that, The docking ring gravity balancing unit (1) includes a two-dimensional planar follower unit (11), a winch mechanism (12), a high-precision gravity balancer (13), and a hanging fixture (14). The two-dimensional planar follower unit (11) is connected to the brake bracket (19) through a slant frame (39). The winch mechanism (12) is fixed on the two-dimensional planar follower unit (11). The high-precision gravity balancer (13) is suspended on the lower side of the winch mechanism (12) through a hook. The hanging fixture (14) is connected to the high-precision gravity balancer (13) through a wire rope. The hanging fixture (14) is connected to the active docking mechanism (2).

5. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 2, characterized in that, The active attitude setting unit (3) includes four electric cylinders (15) symmetrically arranged on both sides of the bow of the 17T flight simulator (10). Two electric cylinders (15) located on the same side are arranged vertically opposite each other. The pitch and roll attitude settings of the 17T flight simulator (10) are realized by adjusting the extension and retraction of the electric cylinders (15). The yaw unit (9) includes a yaw electric cylinder, which is fixed on the Z-axis drive unit (24) and its output is connected to the 17T flight simulator (10).

6. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 2, characterized in that, The planar motion measurement sensor (5) includes a floating encoder (22) and connecting rods (23), wherein 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).

7. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 1, characterized in that, The 3.5T aircraft simulation device (100) includes a 3.5T air-bearing platform (41), a brake (42), a drive and measurement unit (43), a 3.5T flight simulator (44), and a 3.5T passive docking mechanism (45). The 3.5T air-bearing platform (41) is placed on the ground, the brake (42) is set on both sides of the 3.5T air-bearing platform (41), the 3.5T flight simulator (44) is placed on the 3.5T air-bearing platform (41), the 3.5T passive docking mechanism (45) is set at one end of the 3.5T flight simulator (44), the drive and measurement unit (43) connects the 3.5T air-bearing platform (41) and the 3.5T flight simulator (44), and the drive and measurement unit (43) drives the 3.5T flight simulator (44) to perform low-friction two-dimensional motion on the 3.5T air-bearing platform (41).

8. The ground-based experimental system for testing multiple large-scale manned lunar docking mechanisms according to claim 1, characterized in that, The 8T aircraft simulation device (300) includes an 8T air-floating platform (46), an 8T active docking mechanism (47), an active gravity balancing mechanism (48), an 8T flight simulator (49), and a braking device (50). The 8T air-floating platform (46) is placed on the ground, the 8T flight simulator (49) is placed on the 8T air-floating platform (46), the braking device (50) is set on both sides of the 8T air-floating platform (46), the 8T active docking mechanism (47) is set at one end of the 8T flight simulator (49), and the active gravity balancing mechanism (48) is located above the 8T active docking mechanism (47). The 8T flight simulator (49) performs low-friction two-dimensional motion on the 8T air-floating platform (46) and uses the active gravity balancing mechanism (48) to balance the gravity of the 8T active docking mechanism (47) to reduce the friction between the 8T flight simulator (49) and the 8T air-floating platform (46).

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