Space testing device and method for on-orbit release inspection quality of locking and releasing mechanism

Abstract

The invention relates to the technical field of precision measurement, and discloses a space test device for on-orbit release of a test mass by a locking and releasing mechanism, the space test device comprises a vacuum system, a sensing system and the locking and releasing mechanism, a vacuum cavity is arranged, the locking and releasing mechanism and the test mass are both placed in the vacuum cavity, and the space test device is used for simulating an on-orbit release environment; the inspection mass is arranged in a mounting shell of the sensing system, a through hole is formed in the mounting shell, the locking and releasing mechanism penetrates through the through hole and can be in contact with the inspection mass, and a plurality of sensors are arranged on the mounting shell and can be used for detecting the pose speed of the inspection mass at multiple degrees of freedom and comprehensively detecting pose information of in-orbit release of the inspection mass; and verification performance is improved. The invention further provides a space testing method applying the device, and the locking and releasing mechanism is tested in a microgravity and vacuum environment.

Description

Technical Field

[0001] The invention relates to the field of precision measurement technology, and in particular to a space testing device and method for in-orbit release inspection quality of a locking and releasing mechanism. Background Art

[0002] Inertial sensors are one of the core payloads of space gravitational wave detection. Their key components include a freely suspended test mass as an inertial reference and a capacitive control system for detecting and controlling the test mass. In order to ensure that the capacitive control system and the test mass do not collide and get damaged during satellite launch, a locking and releasing mechanism is used in the space gravitational wave detection plan, so that the test mass is first locked and fixed inside the capacitive control system, and then released after the satellite enters orbit. The locking and releasing mechanism needs to meet the requirements of locking the test mass and releasing it at an extremely low speed at the same time. Once the test mass fails to be released or any of the initial velocities of the six degrees of freedom after release is too large, the test mass will collide with the capacitive control system and be damaged. Therefore, it is necessary to experimentally verify the locking and releasing performance of the locking and releasing mechanism before launching the space gravitational wave detection satellite to reduce the risk of failure of the formal in-orbit release of the test mass.

[0003] The research team of the University of Trento in Italy built a single-thrust release device to conduct ground experiments to verify the release performance of the locking release mechanism. Only one thrust was used to release from one side of the test mass. The test mass was suspended by a suspension wire to overcome the influence of the earth's gravity. However, this experiment has limitations: the test mass is suspended by a suspension wire, and only the single-degree-of-freedom linear velocity after the test mass is released can be measured, and six-degree-of-freedom performance testing cannot be achieved. Summary of the invention

[0004] The object of the present invention is to provide a space testing device and method for verifying the on-orbit release quality of a locking and releasing mechanism with good verification performance.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a space testing device for releasing a test mass on-orbit through a locking and releasing mechanism, comprising a vacuum system, a sensor system and a locking and releasing mechanism, wherein the vacuum system comprises a vacuum chamber, the sensor system and the locking and releasing mechanism are located in the vacuum chamber, the locking and releasing mechanism comprises two locking and releasing units, the sensor system is located between the two locking and releasing units, the sensor system comprises an installation shell and a plurality of detection units, the detection units comprise a plurality of sensors, the test mass is located in the installation shell, through holes are provided on opposite sides of the installation shell, the through holes are used for the locking and releasing unit to extend into the installation shell to contact the test mass, the sensor is installed on the installation shell, and the sensor is used to detect the posture of the test mass.

[0006] As a preferred embodiment, it also includes a substrate, the vacuum system also includes a vacuum pump, the vacuum pump is connected to the interior of the vacuum chamber, the vacuum pump is used to evacuate the vacuum chamber, the sensor system includes a sensor controller, the sensor controller is connected to the sensor via an optical fiber, the optical fiber passes through the mounting shell, and the vacuum chamber, the vacuum pump and the sensor controller are detachably connected to the substrate.

[0007] As a preferred embodiment, the sensing system includes two or more detection units, each of which includes an axial sensor and a radial sensor, and both the axial sensor and the radial sensor are installed on the mounting shell. The axial sensor is used to detect the axial displacement of the inspection mass, and the radial sensor is used to detect the radial displacement of the inspection mass.

[0008] As a preferred embodiment, the detection unit includes five axial sensors and one radial sensor, namely a first axial sensor, a second axial sensor, a third axial sensor, a fourth axial sensor, a fifth axial sensor and a first radial sensor. The first axial sensor, the second axial sensor and the third axial sensor are arranged on a first side surface of the mounting shell, the fourth axial sensor, the fifth axial sensor and the first radial sensor are arranged on a second side surface of the mounting shell, and the first side surface is adjacent to the second side surface.

[0009] As a preferred embodiment, the sensor is connected to the mounting shell through a clamping bracket, and the clamping bracket includes a mounting block, a clamping cylinder and a locking bolt. The clamping cylinder is a cylinder with openings at both ends, and the mounting block is provided with a through hole. The clamping cylinder is connected to the mounting block, and the side of the clamping cylinder is provided with a slot extending along its axial direction. The clamping cylinder is provided with a first locking hole and a second locking hole, the first locking hole is located on the side of the clamping cylinder, and the second locking hole is located on the side wall of the slot, the locking bolt passes through the first locking hole and is threadedly connected to the second locking hole, the mounting block is connected to the mounting shell, and the mounting shell is provided with a detection hole, the detection hole, the through hole and the clamping cylinder are connected and coaxial, the sensor is inserted into the clamping cylinder and its detection end extends into the mounting shell through the detection hole.

[0010] As a preferred solution, it also includes a carrier plate and two support units for being placed in the vacuum chamber, wherein the support unit is detachably connected to the carrier plate, the two support units are arranged opposite to each other at a distance, the support unit is used to support and fix the locking and releasing unit, and the carrier plate is detachably connected to the cavity wall of the vacuum chamber.

[0011] The present invention also provides a space testing method for in-orbit release inspection quality of a locking and releasing mechanism, comprising the following steps:

[0012] S1: placing the locking release mechanism and the inspection mass into the vacuum chamber of the space test device;

[0013] S2: With the geometric center of the inspection mass as the far point and the extension and retraction direction of the locking and releasing unit of the locking and releasing mechanism as the z-axis, a fixed coordinate system is established, and then the surface equation of the corresponding surface of the inspection mass is established;

[0014] S3: Get the coordinates of the sensor measurement point;

[0015] S4: According to the coordinates of the sensor measurement points and the surface equation of the corresponding surface of the test mass, the measurement equation group of the six-degree-of-freedom posture of the test mass is obtained through geometric relations;

[0016] S5: Evacuate the vacuum chamber and place the space test device in a microgravity environment, release the test mass, and collect test data for a certain period of time through sensors; solve the test data through the measurement equation group to obtain the six-degree-of-freedom posture of the test mass, and obtain the data of the six-degree-of-freedom posture of the test mass changing with time; use the least squares linear fitting to test the data of the six-degree-of-freedom posture of the test mass changing with time, and finally obtain the six-degree-of-freedom posture velocity after the test mass is released;

[0017] S6: Repeat the locking to check the quality several times and then release it again, perform multiple tests, repeat step S5, obtain multiple groups of test results, compare the obtained six-degree-of-freedom posture speed after release with the required speed, and complete the spatial test of the release performance of the locking and releasing mechanism.

[0018] Specifically, step S2 includes:

[0019] S201: Taking the geometric center of the inspection mass as the far point, and the extension direction of the lock release unit of the lock release mechanism as the z axis, the z axis points to the left and is perpendicular to the left side of the sensor system, and the x and y axes are perpendicular to the bottom and front of the installation shell respectively; establish a fixed coordinate system;

[0020] S202: In a fixed coordinate system, the rotation of the inspection mass can be described by rotating the pitch and yaw matrix:

[0021]

[0022] in η,θ are the clockwise rotations of the 7 test mass around the z, y, and x axes, respectively. The clockwise direction is viewed along the corresponding axis;

[0023] S203: Using the pitch and yaw matrix, the coordinates of a vertex of the inspection mass can be expressed as:

[0024] a=(a1,a2,a3)=m·(R,R,R)+(x0,y0,z0)

[0025] Where R is half the side length of the test mass, and x0, y0, z0 correspond to the offset of the center of mass of the test mass from the origin along the x, y, and z axes;

[0026] S204: The surface normal vectors of the bottom, front, and left sides of the inspection mass can be expressed as:

[0027] nx=(nx1,nx2,nx3)=m·(1,0,0)

[0028] ny=(ny1,ny2,ny3)=m·(0,1,0)

[0029] nz=(nz1,nz2,nz3)=m·(0,0,1)

[0030] S205: Using the formula of step S203 and the formula of step S204, the surface equations of the bottom, front and left sides of the inspection mass can be expressed as:

[0031] nx1(x-a1)+nx2(y-a2)+nx3(z-a3)=0

[0032] ny1(x-a1)+ny2(y-a2)+ny3(z-a3)=0

[0033] nz1(x-a1)+nz2(y-a2)+nz3(z-a3)=0.

[0034] Specifically, step S3 includes:

[0035] S301: Obtain the installation position of the sensor, the sensor includes five axial sensors and one radial sensor, three axial sensors are installed on the first side of the installation shell, two axial sensors and one radial sensor are installed on the second side of the installation shell, the first side and the second side are adjacent and perpendicular; the center coordinates of the sensor probe are:

[0036] sensoriX=(sensorix,sensoriy,sensoriz)i=1,2,3

[0037] sensorjY=(sensorjx,sensorjy,sensorjz)j=4,5

[0038] sensor6Z=(sensor6x,sensor6y,sensor6z)

[0039] Among them, X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the displacements of X, Y, and Z of the corresponding points on the corresponding surfaces of the inspection mass;

[0040] S302: The displacement signals read by the six sensors are (x1, x2, x3, y4, y5, z6), and the coordinates of the corresponding six measurement points in the fixed coordinate system are:

[0041] pXi=(xi+R,sensoriy,sensoriz)i=1,2,3

[0042] pYj=(sensorjx,yj+R,sensorjz)j=4,5

[0043] pZ6=(sensor6x,sensor6y,z6+R).

[0044] Specifically, in step S4, according to the geometric relationship: the coordinates of the sensor measurement point should satisfy the surface equation of the corresponding surface, that is, the formula of step S302 should satisfy the formula of step S205. Substituting the formula of step S302 into the formula of step S205, a measurement equation group consisting of six complex equations is obtained:

[0045] nx1(x1+R-a1)+nx2(sensor1y-a2)+nx3(sensor1z-a3)=0

[0046] nx1(x2+R-a1)+nx2(sensor2y-a2)+nx3(sensor2z-a3)=0

[0047] nx1(x3+R-a1)+nx2(sensor3y-a2)+nx3(sensor3z-a3)=0

[0048] ny1(sensor4x-a1)+ny2(y4+R-a2)+ny3(sensor4z-a3)=0

[0049] ny1(sensor5x-a1)+ny2(y5+R-a2)+ny3(sensor5z-a3)=0

[0050] nz1(sensor6x-a1)+nz2(sensor6y-a2)+nz3(z6+R-a3)=0

[0051] There are six unknowns By solving the equations, the six-degree-of-freedom position of the test mass is obtained

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The present invention sets a vacuum chamber, places the locking and releasing mechanism and the inspection mass in the vacuum chamber, and is used to simulate the on-orbit release environment. The inspection mass is placed in a mounting shell of the sensor system, and the mounting shell is provided with a through hole. The locking and releasing mechanism can contact the inspection mass through the through hole. A plurality of sensors are arranged on the mounting shell, which can be used to detect the posture and speed of multiple degrees of freedom of the inspection mass. The posture information of the inspection mass released on-orbit is comprehensively detected, thereby improving the verification performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a first-view structural diagram of a space testing device according to an embodiment of the present invention.

[0055] Figure 2 It is a schematic diagram of the structure of the space testing device according to an embodiment of the present invention from a second viewing angle.

[0056] Figure 3 It is a first-view connection diagram of a sensor system, a locking and releasing mechanism, and a supporting unit according to an embodiment of the present invention.

[0057] Figure 4 1 is a schematic diagram of the connection of the sensor system, the locking and releasing mechanism and the supporting unit from a second viewing angle according to an embodiment of the present invention.

[0058] Figure 5 Schematic diagram of the distribution of the first detection unit of the sensor system according to an embodiment of the present invention.

[0059] Figure 6 4 is a front view of a sensor system according to an embodiment of the present invention.

[0060] Figure 7 4 is a bottom view of the sensor system according to the embodiment of the present invention.

[0061] Figure 8 2 is a left side view of the sensor system according to the embodiment of the present invention.

[0062] Fig. 9 Schematic diagram of the distribution of the second detection units of the sensor system according to an embodiment of the present invention.

[0063] Fig.10 is an exploded diagram of a sensor system and a proof mass according to an embodiment of the present invention.

[0064] Fig.11 is an exploded view of the sensing system, proof mass, and lock release mechanism of an embodiment of the present invention.

[0065] Fig.12 It is a flow chart of the space testing method according to an embodiment of the present invention.

[0066] Fig.13 is a schematic diagram of a fixed coordinate system established in an embodiment of the present invention.

[0067] In the figure, 100-vacuum system; 110-vacuum chamber; 111-sealed door; 112-vacuum observation window; 113-feedthrough connector; 120-vacuum pump;

[0068] 200-sensing system; 210-mounting housing; 211-through hole; 212-first side; 213-second side; 214-clamping bracket; 2141-mounting block; 2142-clamping cylinder; 2143-locking bolt; 2144-slot; 215-frame; 216-cover plate; 217-insertion block; 220-sensing controller; 230-optical fiber; 240-first axial sensor; 250-second axial sensor; 260-third axial sensor; 270-fourth axial sensor; 280-fifth axial sensor; 290-first radial sensor;

[0069] 300-locking release mechanism; 310-first drive device; 320-rod; 330-second drive device; 340-plunger;

[0070] 400 - quality inspection; 410 - first groove; 420 - second groove; 500 - substrate; 600 - carrier; 700 - support unit; 710 - support plate. DETAILED DESCRIPTION

[0071] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0072] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "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", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0073] 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 according to specific circumstances.

[0074] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0075] Embodiment 1

[0076] like Figures 1 to 11 As shown, a space testing device for releasing a test mass on-orbit with a locking and releasing mechanism according to a preferred embodiment of the present invention comprises a vacuum system 100, a sensor system 200 and a locking and releasing mechanism 300, wherein the vacuum system 100 comprises a vacuum chamber 110, the sensor system 200 and the locking and releasing mechanism 300 are located in the vacuum chamber 110, the locking and releasing mechanism 300 comprises two locking and releasing units, the sensor system 200 is located between the two locking and releasing units, the sensor system 200 comprises an installation shell 210 and a plurality of detection units, the detection unit comprises a plurality of sensors, the test mass 400 is located in the installation shell 210, through holes 211 are provided on opposite sides of the installation shell 210, the through holes 211 are used for the locking and releasing unit to extend into the installation shell 210 to contact the test mass 400, the sensor is installed on the installation shell 210, and the sensor is used to detect the posture of the test mass 400. In this embodiment, by setting a vacuum chamber 110, the locking and releasing mechanism 300 and the inspection mass 400 are placed in the vacuum chamber 110 to simulate the on-orbit release environment, and the inspection mass 400 is placed in the installation shell 210 of the sensor system 200, and the installation shell 210 is provided with a through hole 211, and the locking and releasing mechanism 300 can contact the inspection mass 400 through the through hole 211. A number of sensors are arranged on the installation shell 210, which can be used to detect the posture speed of multiple degrees of freedom of the inspection mass 400, and the posture information of the on-orbit release of the inspection mass 400 is fully detected, thereby improving the verification performance. When the space test device of this embodiment is in use, the entire device is placed in a microgravity environment. Optionally, the space test device is transported to the space microgravity environment of the space station by a rocket. It should be pointed out that the space test device of this embodiment can also include a vacuum drop well, and the vacuum system 100, the sensor system 200 and the locking and releasing mechanism 300 are placed in the vacuum drop well to achieve a simulated microgravity environment.

[0077] Furthermore, the space test device further includes a substrate 500, the vacuum system 100 further includes a vacuum pump 120, the vacuum pump 120 is connected to the inside of the vacuum cavity 110, and the vacuum pump 120 is used to evacuate the vacuum cavity 110, the sensor system 200 includes a sensor controller 220, the sensor controller 220 is connected to the sensor through an optical fiber 230, the optical fiber 230 passes through the mounting housing 210, and the vacuum cavity 110, the vacuum pump 120 and the sensor controller are detachably connected to the substrate 500. The vacuum cavity 110, the vacuum pump 120, and the sensor controller 220 are all mounted on the substrate 500, which facilitates the overall movement and installation of the space test device.

[0078] The vacuum pump 120 evacuates the vacuum chamber 110 to form a vacuum environment inside the vacuum chamber 110. The vacuum chamber 110 of this embodiment is set in a rectangular parallelepiped shape, which is more convenient for positioning and detecting the inspection mass 400. The vacuum chamber 110 is provided with an entrance and exit, and a sealing door 111 is provided at the entrance and exit. The locking and releasing mechanism 300, the sensor system 200 and the inspection mass 400 are put in and taken out through the entrance and exit and the sealing door 111. A vacuum observation window 112 is provided on the side of the vacuum chamber 110, and the movement of the mechanical structure in the locking and releasing mechanism 300 can be observed. A feed-through connector 113 is installed on the side of the vacuum chamber 110, and the feed-through connector 113 provides a vacuum interface for the optical fiber 230 between the sensor in the vacuum chamber 110 and the sensor controller 220 outside the vacuum chamber 110.

[0079] like Fig. 9 and Fig.10 As shown, in this embodiment, the inspection mass 400 is a cube, and first grooves 410 are provided at the eight corners of the left and right sides of the inspection mass 400, and a second groove 420 is provided at the center of the inspection mass 400. The first groove 410 and the second groove 420 are used for positioning to cooperate with the locking and releasing mechanism 300 to lock and release the inspection mass 400.

[0080] Optionally, the two locking release units of the locking release mechanism 300 of this embodiment are three-stage locking release. The locking release unit includes a first driving device 310, a push rod 320, a second driving device 330 and a plunger 340. The first driving device 310 and the second driving device 330 are arranged along the axial direction of the push rod 320. The push rod 320 passes through the second driving device 330 and is connected to the first driving device 310. The first driving device 310 drives the push rod 320 to move along its axial direction. The plunger 340 is parallel to the axial direction of the push rod 320. The plunger 340 is connected to the second driving device 330 and is located on a side away from the first driving device 310. The second driving device 330 drives the plunger 340 to move along its axial direction. The plunger 340 is provided with a push pin that can be extended and retracted along its axial direction. The locking release unit of this embodiment is provided with eight push rods 320. First drive device 310 drives push rod 320 to move into mounting housing 210 and insert into first groove 410 at the corner of inspection mass 400 to apply force, fix inspection mass 400 at the center of mounting housing 210, and realize the function of locking and fixing inspection mass 400 during the transportation of the space test device. When a test cycle is completed, push rods 320 and plunger 340 on both sides can be extended again to re-lock and position inspection mass 400, and the above process can be repeated to complete the release again.

[0081] When the space testing device is in a space microgravity environment and vacuum environment such as a space station, the second driving device 330 extends the plunger 340 to press against the second grooves 420 in the center of the left and right sides of the inspection mass 400 from both sides, applies force to lock the inspection mass 400, and then retracts the push rod 320; then the plungers 340 on both sides retract a distance, and at the same time, the ejector pins inside the extended plunger 340 press against the two sides of the inspection mass 400 with a small force, and finally the ejector pins on both sides are quickly retracted to complete the release of the inspection mass 400. The above steps are the release process of the inspection mass 400.

[0082] In addition, the space testing device also includes a carrier plate 600 and two support units 700 for being placed in the vacuum chamber 110. The support unit 700 is detachably connected to the carrier plate 600. The two support units 700 are arranged opposite to each other at intervals. The support unit 700 is used to carry and fix the locking and releasing unit. The carrier plate 600 is detachably connected to the cavity wall of the vacuum chamber 110. The support unit 700 includes a support plate 710, and a support groove is provided on the support plate 710. The parts of the locking and releasing mechanism 300 are placed in the support groove to achieve positioning and fixing.

[0083] Embodiment 2

[0084] The difference between this embodiment and the first embodiment is that, based on the first embodiment, this embodiment further illustrates the sensor system 200 .

[0085] In this embodiment, the sensing system 200 includes two or more detection units, each of which includes an axial sensor and a radial sensor, both of which are mounted on the mounting housing 210, the axial sensor is used to detect the axial displacement of the inspection mass 400, and the radial sensor is used to detect the radial displacement of the inspection mass 400. By setting up two or more detection units, two or more sets of data can be compared and verified, errors can be reduced, and redundant backup can be performed. If a sensor fails during the space test, another detection unit sensor can be used to complete the test.

[0086] The detection unit of this embodiment includes five axial sensors and one radial sensor, which are a first axial sensor 240, a second axial sensor 250, a third axial sensor 260, a fourth axial sensor 270, a fifth axial sensor 280 and a first radial sensor 290. The first axial sensor 240, the second axial sensor 250 and the third axial sensor 260 are arranged on the first side surface 212 of the mounting shell 210, the fourth axial sensor 270, the fifth axial sensor 280 and the first radial sensor 290 are arranged on the second side surface 213 of the mounting shell 210, and the first side surface 212 is adjacent to the second side surface 213.

[0087] This embodiment is provided with two detection units, namely the first detection unit and the second detection unit. The mounting shell 210 is a cube, the first side 212 is respectively the bottom and the top of the mounting shell 210, and the second side 213 is respectively the front and the back. The sensors of the first detection unit are arranged at the bottom and the front of the mounting shell 210, wherein the first axial sensor 240, the second axial sensor 250, and the third axial sensor 260 of the first detection unit are arranged at the bottom of the mounting shell 210, and are used to read the displacement signal of the bottom of the inspection mass 400; the fourth axial sensor 270, the fifth axial sensor 280 and the first radial sensor 290 of the first detection unit are arranged at the front of the inspection mass 400, and are used to read the displacement signal of the front and the left side of the inspection mass 400. The first detection unit can solve the six-degree-of-freedom posture of the inspection mass 400 through a group of six displacement signals of six sensors. Similarly, the first axial sensor 240, the second axial sensor 250, and the third axial sensor 260 of the second detection unit are arranged on the mounting housing 210, and are used to read the displacement signal on the inspection mass 400; the fourth axial sensor 270, the fifth axial sensor 280, and the first radial sensor 290 of the first detection unit are arranged behind the inspection mass 400, and are used to read the displacement signal behind and on the right side of the inspection mass 400. The second detection unit can also obtain the six-degree-of-freedom posture of the inspection mass 400.

[0088] The first axial sensor 240 , the second axial sensor 250 , the third axial sensor 260 , the fourth axial sensor 270 , the fifth axial sensor 280 and the first radial sensor 290 of the present embodiment are all spectral confocal displacement sensors.

[0089] In this embodiment, the sensor is connected to the mounting housing 210 through a clamping bracket 214. The clamping bracket 214 includes a mounting block 2141, a clamping cylinder 2142 and a locking bolt 2143. The clamping cylinder 2142 is a cylinder with openings at both ends. The mounting block 2141 is provided with a through hole. The clamping cylinder 2142 is connected to the mounting block 2141. A notch 2144 extending along its axial direction is provided on the side of the clamping cylinder 2142. The clamping cylinder 2142 is provided with a first locking hole and a The second locking hole, the first locking hole is located on the side of the clamping cylinder 2142, the second locking hole is located on the side wall of the notch 2144, the locking bolt 2143 passes through the first locking hole and is threadedly connected with the second locking hole, the mounting block 2141 is connected to the mounting housing 210, the mounting housing 210 is provided with a detection hole, the detection hole, the through hole and the clamping cylinder 2142 are connected and coaxial, the sensor is inserted into the clamping cylinder 2142 and its detection end extends into the mounting housing 210 through the detection hole. After the sensor is inserted into the clamping cylinder 2142, push the sensor so that the sensor probe is located in the mounting housing 210, and then tighten the locking bolt 2143 to clamp the sensor. The clamping bracket 214 is used to facilitate the installation and removal of the sensor.

[0090] In addition, the installation shell 210 of this embodiment includes a frame 215 and a cover plate 216, the cover plate 216 is detachably connected to the frame 215, and the frame 215 is provided with a socket, and the cover plate 216 is provided with an insert block 217, the socket and the insert block 217 are both convex-shaped, and when connected, the insert block 217 is embedded in the socket to achieve positioning, and the cover plate 216 is connected to the frame 215 by bolts.

[0091] The other structures of this embodiment are the same as those of the first embodiment and will not be described again here.

[0092] Embodiment 3

[0093] like Fig.12 and Fig.13 As shown, the present invention provides a space testing method for releasing a proof mass 400 on-orbit by a locking release mechanism 300, comprising the following steps:

[0094] S1: placing the locking release mechanism 300 and the inspection mass 400 into the vacuum chamber 110 of the space testing device;

[0095] S2: Taking the geometric center of the proof mass 400 as the far point and the extension and contraction direction of the locking and releasing unit of the locking and releasing mechanism 300 as the z-axis, a fixed coordinate system is established, and then the surface equation of the corresponding surface of the proof mass 400 is established;

[0096] S3: Get the coordinates of the sensor measurement point;

[0097] S4: According to the coordinates of the sensor measurement points and the surface equation of the corresponding surface of the inspection mass 400, the measurement equation group of the six-degree-of-freedom posture of the inspection mass 400 is obtained through geometric relationships;

[0098] S5: evacuate the vacuum chamber 110 and place the space test device in a microgravity environment, release the test mass 400, and collect test data for a certain period of time through sensors; solve the test data for the six-degree-of-freedom posture of the test mass 400 through a measurement equation group, and obtain data on the six-degree-of-freedom posture of the test mass 400 changing with time; use the least squares linear fitting method to obtain the data on the six-degree-of-freedom posture of the test mass 400 changing with time, and finally obtain the six-degree-of-freedom posture velocity of the test mass 400 after release;

[0099] S6: Repeat the locking inspection mass 400 for multiple times and then release it again, perform multiple tests, repeat step S5, obtain multiple groups of test results, compare the obtained six-degree-of-freedom posture speed after release with the required speed, and complete the spatial test of the release performance of the locking release mechanism 300.

[0100] Specifically, step S2 includes:

[0101] S201: Take the geometric center of the inspection mass 400 as the far point, and take the extension direction of the locking release unit of the locking release mechanism 300 as the z-axis, the z-axis points to the left and is perpendicular to the left side of the sensor system 200, and the x-axis and y-axis are respectively perpendicular to the bottom and front of the mounting housing 210; establish a fixed coordinate system, such as Fig.13 As shown,

[0102] S202: In a fixed coordinate system, the rotation of the proof mass 400 may be described by rotating the pitch-yaw matrix:

[0103]

[0104] in η,θ are the clockwise rotations of 7 test mass 400 around z, y, and x axes, respectively. The clockwise direction is when looking along the corresponding axis;

[0105] S203: Using the pitch-yaw matrix, the coordinates of a vertex of the inspection mass 400 can be expressed as:

[0106] a=(a1,a2,a3)=m·(R,R,R)+(x0,y0,z0)

[0107] Where R is half of the side length of the test mass 400, and x0, y0, z0 correspond to the offset of the center of mass of the test mass 400 from the origin along the x, y, and z axes;

[0108] S204: The surface normal vectors of the bottom, front, and left sides of the inspection mass 400 can be expressed as:

[0109] nx=(nx1,nx2,nx3)=m·(1,0,0)

[0110] ny=(ny1,ny2,ny3)=m·(0,1,0)

[0111] nz=(nz1,nz2,nz3)=m·(0,0,1)

[0112] S205: Using the formula of step S203 and the formula of step S204, the surface equations of the bottom, front, and left sides of the inspection mass 400 can be expressed as:

[0113] nx1(x-a1)+nx2(y-a2)+nx3(z-a3)=0

[0114] ny1(x-a1)+ny2(y-a2)+ny3(z-a3)=0

[0115] nz1(x-a1)+nz2(y-a2)+nz3(z-a3)=0.

[0116] Further, step S3 includes:

[0117] S301: Obtain the installation position of the sensor, the sensor includes five axial sensors and one radial sensor, three axial sensors are installed on the first side surface 212 of the installation housing 210, two axial sensors and one radial sensor are installed on the second side surface 213 of the installation housing 210, the first side surface 212 and the second side surface 213 are adjacent and perpendicular; the center coordinates of the sensor probe are:

[0118] sensoriX=(sensorix,sensoriy,sensoriz)i=1,2,3

[0119] sensorjY=(sensorjx,sensorjy,sensorjz)j=4,5

[0120] sensor6Z=(sensor6x,sensor6y,sensor6z)

[0121] Wherein, X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the displacements of X, Y, and Z of the corresponding points on the corresponding surfaces of the inspection mass 400;

[0122] S302: The displacement signals read by the six sensors are (x1, x2, x3, y4, y5, z6), and the coordinates of the corresponding six measurement points in the fixed coordinate system are:

[0123] pXi=(xi+R,sensoriy,sensoriz)i=1,2,3

[0124] pYj=(sensorjx,yj+R,sensorjz)j=4,5

[0125] pZ6=(sensor6x,sensor6y,z6+R).

[0126] In addition, in step S4, according to the geometric relationship: the coordinates of the sensor measurement point should satisfy the surface equation of the corresponding surface, that is, the formula of step S302 should satisfy the formula of step S205. Substituting the formula of step S302 into the formula of step S205, a measurement equation group consisting of six complex equations is obtained:

[0127] nx1(x1+R-a1)+nx2(sensor1y-a2)+nx3(sensor1z-a3)=0

[0128] nx1(x2+R-a1)+nx2(sensor2y-a2)+nx3(sensor2z-as3)=0

[0129] nx1(x3+R-a1)+nx2(sensor3y-a2)+nx3(sensor3z-a3)=0

[0130] ny1(sensor4x-a1)+ny2(y4+R-a2)+ny3(sensor4z-a3)=0

[0131] ny1(sensor5x-a1)+ny2(y5+R-a2)+ny3(sensor5z-a3)=0

[0132] nz1(sensor6x-a1)+nz2(sensor6y-a2)+nz3(z6+R-a3)=0

[0133] There are six unknowns By solving the equations, the 400-degree-of-freedom posture of the test mass is obtained.

[0134] In summary, the embodiment of the present invention provides a space testing device for releasing a test mass on-orbit with a locking and releasing mechanism, which places both the locking and releasing mechanism 300 and the test mass 400 in the vacuum chamber 110 to simulate the on-orbit release environment, and the test mass 400 is placed in the installation shell 210 of the sensor system 200, and the installation shell 210 is provided with a through hole 211, through which the locking and releasing mechanism 300 can contact the test mass 400, and a number of sensors are provided on the installation shell 210, which can be used to detect the posture and speed of multiple degrees of freedom of the test mass 400, and can comprehensively detect the posture information of the test mass 400 released on-orbit, thereby improving the verification performance. The present invention provides a testing method using the above-mentioned space testing device.

[0135] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A space testing device for in-orbit release inspection of the locking and releasing mechanism, characterized in that: The invention comprises a vacuum system (100), a sensor system (200) and a locking and releasing mechanism (300), wherein the vacuum system (100) comprises a vacuum chamber (110), the sensor system (200) and the locking and releasing mechanism (300) are located in the vacuum chamber (110), the locking and releasing mechanism (300) comprises two locking and releasing units, the sensor system (200) is located between the two locking and releasing units, the sensor system (200) comprises a mounting shell (210) and a plurality of detection units, the detection units comprise a plurality of sensors, an inspection mass (400) is located in the mounting shell (210), through holes (211) are provided on opposite sides of the mounting shell (210), the through holes (211) are used for the locking and releasing unit to extend into the mounting shell (210) to contact the inspection mass (400), the sensor is mounted on the mounting shell (210), and the sensor is used to detect the position and posture of the inspection mass (400).

2. The space testing device for in-orbit release inspection quality of the locking and releasing mechanism according to claim 1 is characterized in that: The invention also includes a substrate (500). The vacuum system (100) also includes a vacuum pump (120). The vacuum pump (120) is connected to the interior of the vacuum chamber (110). The vacuum pump (120) is used to evacuate the vacuum chamber (110). The sensor system (200) includes a sensor controller (220). The sensor controller (220) is connected to the sensor via an optical fiber (230). The optical fiber (230) passes through the mounting shell (210). The vacuum chamber (110), the vacuum pump (120) and the sensor controller are detachably connected to the substrate (500).

3. The space testing device for in-orbit release inspection quality of the locking and releasing mechanism according to claim 1 is characterized in that: The sensing system (200) includes two or more detection units, each of which includes an axial sensor and a radial sensor. The axial sensor and the radial sensor are both mounted on the mounting housing (210). The axial sensor is used to detect the axial displacement of the inspection mass (400), and the radial sensor is used to detect the radial displacement of the inspection mass (400).

4. The space testing device for in-orbit release inspection quality of the locking and releasing mechanism according to claim 3 is characterized in that: The detection unit comprises five axial sensors and one radial sensor, which are respectively a first axial sensor (240), a second axial sensor (250), a third axial sensor (260), a fourth axial sensor (270), a fifth axial sensor (280) and a first radial sensor (290); the first axial sensor (240), the second axial sensor (250) and the third axial sensor (260) are arranged on a first side surface (212) of the mounting shell (210); the fourth axial sensor (270), the fifth axial sensor (280) and the first radial sensor (290) are arranged on a second side surface (213) of the mounting shell (210); and the first side surface (212) is adjacent to the second side surface (213).

5. The space testing device for in-orbit release inspection quality of the locking and releasing mechanism according to claim 1 is characterized in that: The sensor is connected to the mounting housing (210) via a clamping bracket (214); the clamping bracket (214) comprises a mounting block (2141), a clamping tube (2142) and a locking bolt (2143); the clamping tube (2142) is a cylinder with openings at both ends; the mounting block (2141) is provided with a through hole; the clamping tube (2142) is connected to the mounting block (2141); a side surface of the clamping tube (2142) is provided with a notch (2144) extending along its axial direction; the clamping tube (2142) is provided with a first locking hole and a second locking hole; The first locking hole is located on the side of the clamping cylinder (2142), the second locking hole is located on the side wall of the slot (2144), the locking bolt (2143) passes through the first locking hole and is threadedly connected to the second locking hole, the mounting block (2141) is connected to the mounting shell (210), the mounting shell (210) is provided with a detection hole, the detection hole, the through hole and the clamping cylinder (2142) are connected and coaxial, the sensor is inserted into the clamping cylinder (2142) and its detection end extends into the mounting shell (210) through the detection hole.

6. The space testing device for in-orbit release inspection quality of the locking and releasing mechanism according to claim 1 is characterized in that: It also includes a carrier plate (600) and two support units (700) for being placed in the vacuum chamber (110); the support unit (700) is detachably connected to the carrier plate (600); the two support units (700) are arranged opposite to each other at a distance; the support unit (700) is used to support and fix the locking and releasing unit; and the carrier plate (600) is detachably connected to the chamber wall of the vacuum chamber (110).

7. A space testing method for the on-orbit release inspection quality of a locking and releasing mechanism, characterized in that: The steps include: S1: placing the locking release mechanism and the inspection mass into the vacuum chamber of the space test device; S2: With the geometric center of the inspection mass as the far point and the extension and retraction direction of the locking and releasing unit of the locking and releasing mechanism as the z-axis, a fixed coordinate system is established, and then the surface equation of the corresponding surface of the inspection mass is established; S3: Get the coordinates of the sensor measurement point; S4: According to the coordinates of the sensor measurement points and the surface equation of the corresponding surface of the test mass, the measurement equation group of the six-degree-of-freedom posture of the test mass is obtained through geometric relations; S5: Evacuate the vacuum chamber and place the space test device in a microgravity environment, release the test mass, and collect test data for a certain period of time through sensors; solve the test data through the measurement equation group to obtain the six-degree-of-freedom posture of the test mass, and obtain the data of the six-degree-of-freedom posture of the test mass changing with time; use the least squares linear fitting to test the data of the six-degree-of-freedom posture of the test mass changing with time, and finally obtain the six-degree-of-freedom posture velocity after the test mass is released; S6: Repeat the locking to check the quality several times and then release it again, perform multiple tests, repeat step S5, obtain multiple groups of test results, compare the obtained six-degree-of-freedom posture speed after release with the required speed, and complete the spatial test of the release performance of the locking and releasing mechanism.

8. The space testing method for in-orbit release inspection quality of a locking and releasing mechanism according to claim 7 is characterized in that: Step S2 includes: S201: Taking the geometric center of the inspection mass as the far point, and the extension direction of the lock release unit of the lock release mechanism as the z axis, the z axis points to the left and is perpendicular to the left side of the sensor system, and the x and y axes are perpendicular to the bottom and front of the installation shell respectively; establish a fixed coordinate system; S202: In a fixed coordinate system, the rotation of the inspection mass can be described by rotating the pitch and yaw matrix: in η,θ are the clockwise rotations of the 7 test mass around the z, y, and x axes, respectively. The clockwise direction is viewed along the corresponding axis; S203: Using the pitch and yaw matrix, the coordinates of a vertex of the inspection mass can be expressed as: a=(a1,a2,a3)=m·(R,R,R)+(x0,y0,z0) Where R is half the side length of the test mass, and x0, y0, z0 correspond to the offset of the center of mass of the test mass from the origin along the x, y, and z axes; S204: The surface normal vectors of the bottom, front and left sides of the inspection mass can be expressed as: nx=(nx1,nx2,nx3)=m·(1,0,0) ny=(ny1,ny2,ny3)=m·(0,1,0) nz=(nz1,nz2,nz3)=m·(0,0,1) S205: Using the formula of step S203 and the formula of step S204, the surface equations of the bottom, front and left sides of the inspection mass can be expressed as: nnx1(x-a1)+nnx2(y-a2)+nnx3(z-a3)=0 ny1(x-a1)+ny2(y-a2)+ny3(z-a3)=0 nz1(x-a1)+nz2(y-a2)+nz3(z-a3)=0.

9. The space testing method for on-orbit release inspection quality of a locking and releasing mechanism according to claim 8 is characterized in that: Step S3 includes: S301: Obtain the installation position of the sensor, the sensor includes five axial sensors and one radial sensor, three axial sensors are installed on the first side of the installation shell, two axial sensors and one radial sensor are installed on the second side of the installation shell, the first side and the second side are adjacent and perpendicular; the center coordinates of the sensor probe are: sensoriX=(sensorix,sensoriy,sensoriz 1i=1,2,3 sensorjY=(sensorjx,sensorjy,sensorjz)j=4,5 sensor6Z=(sensor6x,sensor6y,sensor6z) Among them, X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the displacements of X, Y, and Z of the corresponding points on the corresponding surfaces of the inspection mass; S302: The displacement signals read by the six sensors are (x1, x2, x3, y4, y5, z6), and the coordinates of the corresponding six measurement points in the fixed coordinate system are: pXi=(xi+R,sensoriy,sensoriz)i=1,2,3 pYj=(sensorjx,yj+R,sensorjz)j=4,5 pZ6=(sensor6x,sensor6y,z6+R).

10. The space testing method for on-orbit release inspection quality of a locking and releasing mechanism according to claim 9, characterized in that: In step S4, according to the geometric relationship: the coordinates of the sensor measurement point should satisfy the surface equation of the corresponding surface, that is, the formula of step S302 should satisfy the formula of step S205. Substituting the formula of step S302 into the formula of step S205, a measurement equation group consisting of six complex equations is obtained: nx1(x1+R-a1)+nnx2(sensor1y-a2)+nnx3(sensor1z-a3)=0 nx1(x2+R-a1)+nnx2(sensor2y-a2)+nnx3(sensor2z-a3)=0 nx1(x3+R-a1)+nnx2(sensor3y-a2)+nnx3(sensor3z-a3)=0 ny1(sensor4x-a1)+ny2(y4+R-a2)+ny3(sensor4z-a3)=0 ny1(sensor5x-a1)+ny2(y5+R-a2)+ny3(sensor5z-a3)=0 nz1(sensor6x-a1)+nz2(sensor6y-a2)+nz3(z6+R-a3)=0 There are six unknowns By solving the equations, the six-degree-of-freedom position of the test mass is obtained

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