Microgravity test system for ground simulation on-orbit assembly environment

Abstract

The invention provides a microgravity test system for simulating an on-orbit assembly environment on the ground. A spring force measuring assembly, a pulley hanging assembly, a linear motion module and transverse and longitudinal guide rails are fixedly mounted on an unloading truss. One end of an assembled object is fixed on the simulation wall, and a lifting bolt and a turn buckle are arranged above the other end of the assembled object and are connected with the spring force measurement assembly through a lifting rope for compensating derived force generated by the assembled object in the assembling process; the lower ends of the pulley hanging assemblies are fixedly connected with an assembled object 1 through lifting ropes, turn buckles and lifting bolts, the upper end of each pulley hanging assembly is connected with a longitudinal guide rail on an unloading truss, and every two pulley hanging assemblies are arranged in parallel. The linear motion module is installed on the unloading truss through a connecting plate, a fixed pulley is installed at the lower end of the linear motion module, the linear motion module is fixedly connected with the assembled object 2 through a lifting rope, a turn buckle and a lifting bolt, when the clamping tool drives the assembled object 2 to move, a gear motor on the linear motion module rotates to drive the fixed pulley to actively follow, and the unloading efficiency is further improved. The microgravity test system for simulating the on-orbit assembly environment on the ground is suitable for simulating an on-orbit assembly test on the ground, is particularly suitable for an assembly task with a plurality of assembly objects, is easy and convenient to install, high in stability and good in universality, can be used for simulating the on-orbit assembly environment on the ground, and is suitable for popularization and application. And the influence of the ground gravity on the test is eliminated to the greatest extent.

Description

Technical Field

[0001] The invention belongs to the field of aerospace, and in particular relates to a microgravity test system for simulating an on-orbit assembly environment on the ground. Background Art

[0002] As the complexity of space missions increases, many scientific experiments or engineering projects require large structures or equipment. These large structures may face great challenges when launched after ground assembly, and space assembly can support more complex mission requirements. Ground simulation tests can verify the technologies and processes required for on-orbit assembly, including the effectiveness of various assembly methods, equipment and tools. This helps to identify potential problems in advance and ensure feasibility in the actual space environment. Since space is a zero-gravity environment, how to simulate the zero-gravity environment has become one of the first problems to be solved in ground-based on-orbit assembly experiments. During the on-orbit assembly process in space, the assembly object and the assembled object may be in different postures, and multiple objects may be assembled continuously. When simulating on-orbit assembly experiments on the ground, the traditional suspension unloading method and the air flotation unloading method are difficult to meet the three-dimensional movement of the assembly object and the assembled object, which brings certain difficulties to the ground simulation of the on-orbit microgravity environment. The present invention proposes a microgravity test system for simulating an on-orbit assembly environment on the ground. For assembly tasks facing multiple assembly objects, it can realize gravity unloading of assembly objects that move in a three-dimensional range, and can realize gravity unloading of large loads with unloading efficiency that meets the requirements. In addition, the present invention innovatively installs a fixed pulley on a linear motion module. When the assembly object installation accuracy requirements are relatively high, the fixed pulley can be controlled to rotate by the reduction motor of the linear motion module so that the fixed pulley follows the movement of the assembly object, further improving the unloading efficiency. The present invention is easy to install, has strong stability and good versatility, and can be used for simulating an on-orbit assembly environment on the ground to eliminate the influence of ground gravity on the test to the greatest extent. Summary of the invention

[0003] The present invention aims to propose a microgravity test system for simulating an on-orbit assembly environment on the ground. For an on-orbit assembly task with multiple assembly objects, the present invention takes an assembly task with two assembly objects as an example to solve the problem that the prior art is difficult to meet with large-load gravity unloading of multiple assembly objects under three-dimensional motion, which brings certain difficulties to the ground simulation of the on-orbit assembly microgravity environment.

[0004] To achieve the above-mentioned purpose, the present invention provides a microgravity test system for simulating an on-orbit assembly environment on the ground, which includes: an unloading truss, a spring force measuring assembly, a pulley hanging assembly, a linear motion module, a horizontal and vertical guide rail, a basket bolt, a hanging rope, a counterweight and mounting plates of various components, all of which are installed on the unloading truss. The lower end of the spring force measuring assembly is connected to the assembled object through a hanging rope and a basket bolt to offset the derived force generated during the assembly process and prevent the assembled object from shaking during the assembly process; the pulley hanging assembly is installed on the vertical guide rail and connected to the assembly object 1 through a hanging rope and a basket bolt; a fixed pulley is installed at the lower end of the linear motion module, and the lower end of the fixed pulley is fixedly connected to the assembly object 2 through a hanging rope and a basket bolt. When the assembly object 2 moves, the motor of the linear motion module rotates to realize the active following of the fixed pulley. The assembled object and the assembly object are kept level by adjusting the basket bolt.

[0005] Furthermore, the unloading truss is composed of a ball head and ball rod truss.

[0006] Furthermore, the spring force measuring assembly comprises a first pulley, a fixing plate and a spring force gauge. The first pulley is mounted on a ball bar in an unloading truss above the assembled object, and the lower end of the first pulley is connected to the fixing plate and the spring force gauge.

[0007] Furthermore, the pulley hanging assembly includes a first pulley, a second pulley, a hanging rope and a counterweight. The first pulley is mounted on the longitudinal rail, the second pulley is connected to the first pulley, one end of the hanging rope is connected to the assembly object through a turnbuckle bolt, and the other end is connected to the pulley hanging assembly on the other side through the second pulley and the counterweight.

[0008] Furthermore, the transverse guide rail and the longitudinal guide rail may be linear guide rails or other applicable guide rails.

[0009] Furthermore, the linear motion module includes a lead screw, a motion module and a reduction motor. The motion module is fixedly connected to the fixed pulley, and the reduction motor is fixedly connected to one end of the lead screw, and the horizontal movement of the fixed pulley is achieved by the rotation of the reduction motor.

[0010] Furthermore, the suspension rope is a steel wire rope or other applicable types of ropes.

[0011] Furthermore, the counterweight is composed of a plurality of small counterweight blocks, which is convenient for compensating the unloaded gravity. The counterweight is located in a square tube, and a rubber pulley is installed on the side of the counterweight to convert sliding friction into rolling friction to prevent the counterweight block from shaking during long-distance movement.

[0012] The advantages of the present invention compared with the prior art are:

[0013] (1) The present invention performs gravity unloading of the assembled object and the assembling object through a spring force measuring component, a pulley hanging component, a fixed pulley, a basket bolt, a hanging rope and a counterweight, which fully considers the motion state of the assembled object and the assembling object. Various components can be flexibly installed according to the actual assembly task, and the gravity unloading of multiple assembly objects can be satisfied.

[0014] (2) The present invention realizes the gravity unloading of multiple assembly objects in three-dimensional motion through components such as horizontal and vertical guide rails, linear motion modules and first pulleys, and installs the fixed pulley on the linear motion module. When the assembly object installation accuracy requirement is high, the fixed pulley can move with the movement of the assembly object, further improving the unloading efficiency. According to the actual assembly task, the horizontal and vertical guide rails, linear motion modules and other components can be flexibly installed to realize the gravity unloading of the assembled objects and the assembly objects in the two-dimensional and three-dimensional motion process.

[0015] (3) The present invention uses an unloading truss composed of a ball head and a ball rod as a carrier, and installs a spring force measuring component, a pulley hanging component, a horizontal and vertical guide rails, and a linear motion module on it to realize microgravity environment simulation. The installation and disassembly are simple, and the unloading truss can be flexibly installed according to the actual assembly task requirements. The spring force measuring component, the pulley hanging component, the horizontal and vertical guide rails, and the linear motion module can meet the two-dimensional and three-dimensional movement of most assembly objects and can be installed according to the actual assembly task requirements, with strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the overall structure diagram of the microgravity test system in the present invention;

[0017] Figure 2 It is a structural diagram of the spring force measuring assembly in the present invention;

[0018] Figure 3 It is a structural diagram of the pulley suspension assembly in the present invention;

[0019] Figure 4 This is a structural diagram of the linear motion module in the present invention;

[0020] Figure 5 It is a schematic diagram of the connection between the spring force measuring assembly and the assembled object in the present invention;

[0021] Figure 6 It is a schematic diagram of the connection between the pulley suspension assembly and the assembly object in the present invention;

[0022] Figure 7 It is a structural diagram of the counterweight in the present invention;

[0023] Figure 1 The symbols are explained as follows:

[0024] 1 represents an unloading truss; 2 represents a spring force measuring assembly; 7 represents an assembled object; 8 represents an assembly object 1; 9 represents an assembly object 2; and 10 represents a simulated wall.

[0025] Figure 2 The symbols are explained as follows:

[0026] 21 denotes a first pulley; 22 denotes a fixed plate; and 23 denotes a spring dynamometer.

[0027] Figure 3 The symbols are explained as follows:

[0028] 3 represents a pulley suspension assembly; 31 represents a first pulley; 32 represents a second pulley; 5 represents a transverse guide rail; and 6 represents a longitudinal guide rail.

[0029] Figure 4 The symbols are explained as follows:

[0030] 4 represents a linear motion module; 41 represents a lead screw assembly; 42 represents a motion module; 43 represents a reduction motor; and 44 represents a fixed pulley.

[0031] Figure 6 The symbols are explained as follows:

[0032] 33 represents a suspension rope; 14 represents a square tube.

[0033] Figure 7 The symbols are explained as follows:

[0034] 34 represents a counterweight; 13 represents a rubber pulley. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "horizontal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] like Figures 1 to 4As shown, a microgravity test system for simulating an on-orbit assembly environment on the ground comprises: an unloading truss 1, a spring force measuring assembly 2, a pulley hanging assembly 3, a linear motion module 4, horizontal and vertical guide rails 5 and 6, a basket bolt 11 and an eye screw 12. The unloading truss 1 is obtained by splicing a ball head and a ball rod truss, and is placed on the ground or fixed to the ground; the spring force measuring assembly 2 is installed on a ball rod in the unloading truss 1, and the lower end is fixedly connected to the assembled object 7 through a basket bolt and an eye screw to prevent the assembled object 7 from shaking during the assembly process, and the other end of the assembled object 7 is fixed to the simulation wall 10; the horizontal and vertical guide rails 5 and 6 are fixedly installed on the lower ends of both sides of the unloading truss 1, respectively, and four pulley hanging assemblies 3 are installed on the vertical guide rail 6, and are installed in parallel on both sides of the unloading truss 1 in pairs, and the two pulley hanging assemblies on the same side are used to hang one end of the assembly object 8, and the other is used to hang the counterweight. In this way, the assembly object 8 can be moved in three directions; the linear motion module 4 is installed at the lower end in the middle of the unloading truss 1, and the linear motion module 4 includes a screw assembly 41, a motion module 42 and a reduction motor 43. A fixed pulley 44 is installed on the motion module. The lower end of the fixed pulley is fixedly connected to the assembly object 9 through a hanging rope and a basket bolt. When the assembly object 9 moves, the reduction motor in the linear motion module rotates to achieve synchronous following of the fixed pulley. By adjusting the basket bolt, the assembled object 7, the assembly object 8 and the assembly object 9 are kept horizontal at the beginning of assembly.

[0040] The spring force measuring assembly 2 includes a first pulley 21, a fixing plate 22 and a spring force gauge 23. The first pulley 21 is mounted on a ball bar in the unloading truss 1, one end of the fixing plate 22 is connected to the first pulley 21, and the other end is connected to the spring force gauge 23. The other end of the spring force gauge 23 is connected to the assembled object 7. Figure 5 As shown, the assembled object is installed with a lifting eye screw 12, and the two lifting ropes are first connected to the two basket bolts 11 respectively, and the two basket bolts are then connected to the lifting eye screws at the hanging points on both sides of the assembled object 7 respectively. The assembled object 7 can be kept level by adjusting the basket bolts.

[0041] The pulley suspension assembly 3 includes a first pulley 31, a second pulley 32, a suspension rope 33 and a counterweight 34. The first pulley 31 is mounted on the longitudinal guide rail 6, and the second pulley 32 is mounted at the lower end of the first pulley 31. Figure 6 As shown, four pulley hanging assemblies 3 are installed in parallel on both sides of the unloading truss 1 in pairs, one of which is used to hang the assembly object 8 and the other is used to hang the counterweight. There are four corresponding hanging points on the assembled object, which are installed with eye screws. The two hanging points on one side are respectively connected to two basket bolts, which are then connected to two hanging ropes, and the same is true for the other side. The horizontal hanging of the assembly object 8 is achieved by adjusting the four basket bolts.

[0042] In the linear motion module 4, there are multiple threaded holes on the motion module 42 for installing the fixed pulley 44. When the assembly object 9 moves, the reduction motor 43 rotates to drive the fixed pulley 44 to follow synchronously. The lower end of the fixed pulley is fixedly connected to the assembly object 9 through a hanging rope and a basket bolt to realize the movement of the assembly object 9 in two directions.

[0043] The counterweight 34 is composed of a plurality of small counterweight blocks, such as Figure 7 As shown, the entire counterweight is placed in a square tube 14, and a rubber pulley 13 is installed on the side to convert sliding friction into rolling friction to prevent the counterweight from shaking during long-distance movement.

[0044] The working process of a ground-based microgravity test system that simulates the on-orbit assembly environment:

[0045] One end of the assembled object 7 is fixed on the simulation wall 10, and a lifting eye screw and a basket bolt are installed on the side close to the assembly position. The spring force measuring component is installed on the unloading truss above the lifting eye screw, and is fixedly connected to the basket bolt on the assembled object 7 through a hanging rope to compensate for the derived force generated during the assembly process and prevent the assembled object from shaking during the assembly process. The assembly object 8 is connected to the two pulley hanging assemblies through the basket bolts, and the assembly object 8 can achieve gravity unloading when moving horizontally, vertically and forward and backward. The assembly object 8 is suspended on both sides, which is convenient for the robot arm or experimenter to assemble. After the assembly object 8 is fixedly connected to the assembled object 7, in this example, the assembly object 9 needs to be installed above the assembly object 8, and is fixedly connected to the fixed pulley 44 on the linear motion module 4 through the basket bolt and the hanging rope. When the clamping tool drives the assembly object 9 to move, the fixed pulley is actively followed by the rotation of the reduction motor, further improving the unloading efficiency.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A microgravity test system for simulating an on-orbit assembly environment on the ground, characterized in that: It includes an unloading truss, a spring force measuring component, a pulley hanging component, a linear motion module, horizontal and vertical guide rails, a basket bolt, a hanging rope, a counterweight and mounting plates of various components, all of which are installed on the unloading truss. The lower end of the spring force measuring component is connected to the assembled object through a hanging rope and a basket bolt to offset the derived force generated during the assembly process and prevent the assembled object from shaking during the assembly process; the pulley hanging component is installed on the vertical guide rail and connected to the assembly object 1 through a hanging rope and a basket bolt; a fixed pulley is installed at the lower end of the linear motion module, and the lower end of the fixed pulley is fixedly connected to the assembly object 2 through a hanging rope and a basket bolt. When the assembly object 2 moves, the motor of the linear motion module rotates to realize the active following of the fixed pulley. The assembled object and the assembly object are kept level by adjusting the basket bolt.

2. A microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 1, characterized in that: The unloading truss is composed of a ball head and ball rod truss.

3. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 1, characterized in that: The spring force measuring assembly comprises a first pulley, a fixed plate and a spring force gauge. The first pulley is installed on a ball bar in an unloading truss above the assembled object, and the lower end of the first pulley is connected to the fixed plate and the spring force gauge.

4. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 1, characterized in that: The pulley hanging assembly includes a first pulley, a second pulley, a hanging rope and a counterweight. The first pulley is mounted on the longitudinal rail, the second pulley is connected to the first pulley, one end of the hanging rope is connected to the assembly object through a basket bolt, and the other end is connected to the counterweight through the second pulley and the second pulley hanging assembly.

5. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 4, characterized in that: The transverse guide rail and the longitudinal guide rail can be linear guide rails or other suitable guide rails.

6. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 1, characterized in that: The linear motion module includes a lead screw, a motion module and a reduction motor. The motion module is fixedly connected to the fixed pulley, and the reduction motor is fixedly connected to one end of the lead screw. The horizontal movement of the fixed pulley is achieved by the rotation of the reduction motor.

7. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 4, characterized in that: The sling is a wire rope or other suitable type of rope.

8. The microgravity test system for simulating an on-orbit assembly environment on the ground according to claim 4, characterized in that: The counterweight is composed of multiple small counterweights to compensate for the unloaded gravity. The counterweight is located in a square tube, and a rubber pulley is installed on the side of the counterweight to convert sliding friction into rolling friction to prevent the counterweight from shaking during long-distance movement.

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