A space testing device and method for on-orbit release inspection quality of a locking and releasing mechanism

Abstract

The present invention relates to the field of precision measurement technology, and discloses a space testing device for an on-orbit release test mass of a locking and releasing mechanism, comprising a vacuum system, a sensor system, and a locking and releasing mechanism. By providing a vacuum chamber, the locking and releasing mechanism and the test mass are both placed in the vacuum chamber to simulate an on-orbit release environment, and the test mass is placed in a mounting housing of the sensor system, the mounting housing being provided with a through hole through which the locking and releasing mechanism can contact the test mass. A number of sensors are provided on the mounting housing, which can be used to detect the posture and velocity of multiple degrees of freedom of the test mass, providing comprehensive detection of the posture information of the test mass released on-orbit, thereby improving verification performance. The present invention also provides a space testing method using the above-mentioned device to test the locking and releasing mechanism in a microgravity, vacuum environment.

Description

Technical Field

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

[0002] Inertial sensors are a core payload for space-based gravitational wave detection. Key components include a freely suspended test mass, serving as an inertial reference, and a capacitive control system for detecting and controlling the test mass. To ensure that the capacitive control system and test mass are protected from collision and damage during satellite launch, space-based gravitational wave detection programs utilize a locking and release mechanism. This mechanism secures the test mass within the capacitive control system and then releases it after the satellite enters orbit. This locking and release mechanism must simultaneously lock the test mass and release it at an extremely low speed. If the test mass fails to release or if any of the six degrees of freedom (DOF) initial velocities after release are excessive, the test mass will collide with the capacitive control system and be damaged. Therefore, prior to the launch of a space-based gravitational wave detection satellite, the locking and release performance of the locking and release mechanism must be experimentally verified to mitigate the risk of a failed on-orbit release of the test mass.

[0003] A research team from the University of Trento in Italy built a single-pin release device to conduct ground experiments to verify the release performance of the locking release mechanism. Only one pin was used to release from a single side of the test mass, which 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 objectives, the present invention provides a space testing device for releasing an inspection mass on-orbit through a locking and releasing mechanism, comprising a vacuum system, a sensing system and a locking and releasing mechanism, wherein the vacuum system comprises a vacuum chamber, the sensing 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 sensing system is located between the two locking and releasing units, the sensing system comprises an installation shell and a plurality of detection units, the detection units comprise a plurality of sensors, the inspection 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 inspection mass, the sensor is installed on the installation shell, and the sensor is used to detect the posture of the inspection mass.

[0006] As a preferred embodiment, a substrate is further included, and the vacuum system further includes a vacuum pump, which is connected to the interior of the vacuum cavity and is used to evacuate the vacuum cavity. The sensing system includes a sensor controller, which is connected to the sensor via an optical fiber, and the optical fiber passes through the mounting shell. The vacuum cavity, 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. The axial sensor and the radial sensor are both 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 solution, 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 the first side surface of the mounting shell, and the fourth axial sensor, the fifth axial sensor and the first radial sensor are arranged on the second side surface of the mounting shell, and the first side surface is adjacent to the second side surface.

[0009] As a preferred solution, 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 communicated 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, the support units are detachably connected to the carrier plate, the two support units are arranged opposite to each other at a distance, the support units are used to support and fix the locking and releasing units, 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 on-orbit release inspection quality of a locking and releasing mechanism, comprising the following steps:

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

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

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

[0015] S4: Based on the coordinates of the sensor measurement points and the surface equation of the corresponding surface of the proof mass, the measurement equation group of the six-degree-of-freedom posture of the proof mass is obtained through geometric relationships;

[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 using a set of measurement equations to obtain the six-degree-of-freedom position and attitude of the test mass, and obtain the data on the change of the six-degree-of-freedom position and attitude of the test mass over time; use the least squares linear fit to test the data on the change of the six-degree-of-freedom position and attitude of the test mass over time, and finally obtain the six-degree-of-freedom position velocity after the release of the test mass;

[0017] S6: Repeat the locking to check the quality several times and then release it again, perform multiple tests, repeat step S5, obtain multiple sets 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: Establish a fixed coordinate system with the geometric center of the test mass as the far point, the extension and contraction direction of the lock release unit of the lock release mechanism as the z-axis, the z-axis pointing to the left and perpendicular to the left side of the sensor system, and the x-axis and y-axis perpendicular to the bottom and front of the mounting housing, respectively.

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

[0021]

[0022] in The clockwise rotation of the test mass around the z, y, and x axes respectively, and the clockwise direction is viewed along the corresponding axes;

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

[0024]

[0025] Where R is half of the side length of the inspection mass, The corresponding test mass center of mass offset 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]

[0028] S205: Using the formulas of step S203 and step S204, the surface equations of the bottom, front, and left sides of the inspection mass can be expressed as:

[0029] .

[0030] Specifically, step S3 includes:

[0031] 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 housing, and two axial sensors and one radial sensor are installed on the second side of the installation housing. The first side and the second side are adjacent and perpendicular. The center coordinates of the sensor probe are:

[0032]

[0033] Where X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the X, Y, and Z displacements of corresponding points on the corresponding surfaces of the inspection mass;

[0034] S302: The displacement signals read by the six sensors are , then the coordinates of the corresponding six measurement points in the fixed coordinate system are:

[0035] .

[0036] Specifically, in step S4, based on 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:

[0037]

[0038] There are six unknowns By solving the equations, we can get the six-degree-of-freedom pose of the test mass: .

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention sets up a vacuum cavity, places the locking and releasing mechanism and the inspection mass in the vacuum cavity, and is used to simulate the on-orbit release environment, and the inspection mass is placed in the installation shell of the sensor system. The installation shell is provided with a through hole, and the locking and releasing mechanism can contact the inspection mass through the through hole. A number of sensors are set on the installation shell, which can be used to detect the posture speed of multiple degrees of freedom of the inspection mass, and comprehensively detect the posture information of the inspection mass when it is released on orbit, thereby improving the verification performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic structural diagram from a first perspective of a space testing device according to an embodiment of the present invention.

[0042] Figure 2 2 is a schematic structural diagram of the space testing device according to an embodiment of the present invention from a second perspective.

[0043] Figure 3 1 is a schematic diagram of the connection between the sensing system, the locking and releasing mechanism, and the supporting unit according to an embodiment of the present invention from a first perspective.

[0044] Figure 4 2 is a schematic diagram of the connection between the sensing system, the locking and releasing mechanism, and the supporting unit according to an embodiment of the present invention from a second perspective.

[0045] Figure 5 Schematic diagram of the distribution of first detection units of the sensor system according to an embodiment of the present invention.

[0046] Figure 6 4 is a front view of a sensing system according to an embodiment of the present invention.

[0047] Figure 7 2 is a bottom view of the sensing system according to an embodiment of the present invention.

[0048] Figure 8 It is a left side view of the sensing system according to an embodiment of the present invention.

[0049] Figure 9 Schematic diagram of the distribution of the second detection units of the sensing system according to an embodiment of the present invention.

[0050] Figure 10 is an exploded diagram of the sensing system and proof mass according to an embodiment of the present invention.

[0051] Figure 11 is an exploded view of the sensing system, proof mass, and lock-release mechanism of an embodiment of the present invention.

[0052] Figure 12 4 is a flow chart of a spatial testing method according to an embodiment of the present invention.

[0053] Figure 13 Schematic diagram of a fixed coordinate system established in an embodiment of the present invention.

[0054] In the figure, 100 is a vacuum system; 110 is a vacuum chamber; 111 is a sealing door; 112 is a vacuum observation window; 113 is a feed-through connector; 120 is a vacuum pump;

[0055] 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 - Notch; 215 - Frame; 216 - Cover; 217 - Insert block; 220 - Sensor 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;

[0056] 300 - locking and releasing mechanism; 310 - first driving device; 320 - ejector rod; 330 - second driving device; 340 - plunger;

[0057] 400 - quality inspection; 410 - first groove; 420 - second groove; 500 - substrate; 600 - carrier; 700 - support unit; 710 - support plate. DETAILED DESCRIPTION

[0058] The following embodiments of the present invention are described in further detail with reference to 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.

[0059] In the description of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0060] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0061] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0062] Example 1

[0063] like Figures 1 to 11 As shown, a space testing device for releasing an inspection mass on-orbit using a locking and releasing mechanism according to a preferred embodiment of the present invention includes a vacuum system 100, a sensor system 200 and a locking and releasing mechanism 300. The vacuum system 100 includes 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 includes two locking and releasing units. The sensor system 200 is located between the two locking and releasing units. The sensor system 200 includes a mounting shell 210 and a plurality of detection units. The detection unit includes a plurality of sensors. The 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 installed on the mounting shell 210. The sensor is used to detect the posture of the inspection mass 400. In this embodiment, a vacuum chamber 110 is provided, and the locking and releasing mechanism 300 and the test mass 400 are placed in the vacuum chamber 110 to simulate the on-orbit release environment. The test mass 400 is placed in the mounting housing 210 of the sensor system 200. The mounting housing 210 is provided with a through hole 211. The locking and releasing mechanism 300 can contact the test mass 400 through the through hole 211. A number of sensors are provided on the mounting housing 210, which can be used to detect the posture and velocity of multiple degrees of freedom of the test mass 400. The posture information of the test mass 400 released on orbit is comprehensively 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 noted 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.

[0064] Furthermore, the space testing device 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 and 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 housing 210. The vacuum chamber 110, the vacuum pump 120, and the sensor controller 220 are detachably connected to the substrate 500. The vacuum chamber 110, the vacuum pump 120, and the sensor controller 220 are all mounted on the substrate 500 to facilitate the overall movement and installation of the space testing device.

[0065] 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 configured 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, through which 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.

[0066] like Figure 9 and Figure 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.

[0067] Optionally, the two locking release units of the locking release mechanism 300 of this embodiment provide a three-stage locking release. The locking release unit includes a first drive device 310, a push rod 320, a second drive device 330, and a plunger 340. The first drive device 310 and the second drive device 330 are arranged along the axial direction of the push rod 320. The push rod 320 passes through the second drive device 330 and is connected to the first drive device 310. The first drive device 310 drives the push rod 320 to move axially. The plunger 340 is parallel to the axial direction of the push rod 320 and is connected to the second drive device 330 and located on a side away from the first drive device 310. The second drive device 330 drives the plunger 340 to move axially. The plunger 340 is provided with an axially retractable ejector pin. The locking release unit of this embodiment is equipped with eight push rods 320. First drive mechanism 310 drives ejector pins 320 into mounting housing 210 and into first grooves 410 at the corners of proof mass 400, applying force to secure proof mass 400 in the center of mounting housing 210. This locks proof mass 400 during transport of the test apparatus. After a test cycle is complete, ejector pins 320 and plungers 340 are extended again to re-lock and reposition proof mass 400, and the release process is repeated.

[0068] When the space testing device is in a space microgravity environment and vacuum environment such as a space station, the second driving device 330 is used to extend 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. After applying force to lock the inspection mass 400, the push rod 320 is retracted; then the plungers 340 on both sides are retracted for 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.

[0069] The space testing apparatus also includes a carrier plate 600 for placement within the vacuum chamber 110 and two support units 700. The support units 700 are detachably connected to the carrier plate 600 and are spaced apart and arranged in a manner opposed to each other. The support units 700 are used to support and secure the locking and release units. The carrier plate 600 is detachably connected to the wall of the vacuum chamber 110. The support units 700 include a support plate 710 having support grooves formed therein. The various components of the locking and release mechanism 300 are positioned and secured within the support grooves.

[0070] Example 2

[0071] The difference between this embodiment and the first embodiment is that, based on the first embodiment, this embodiment further explains the sensor system 200 .

[0072] In this embodiment, sensing system 200 includes two or more detection units, each of which includes an axial sensor and a radial sensor. Both the axial sensor and the radial sensor are mounted on mounting housing 210. The axial sensor is used to detect the axial displacement of proof mass 400, while the radial sensor is used to detect the radial displacement of proof mass 400. The presence of two or more detection units allows for comparison and verification of two or more sets of data, reduces errors, and provides redundant backup. If a sensor fails during a spatial test, the test can be completed using the sensor of another detection unit.

[0073] The detection unit of this embodiment includes five axial sensors and one radial sensor, namely 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.

[0074] 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 the bottom and top of the mounting shell 210, and the second side 213 is the front and back. The sensors of the first detection unit are arranged on the bottom and 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 on the bottom of the mounting shell 210, and are used to read the displacement signal below 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 in front of the inspection mass 400, and are used to read the displacement signal of the front and 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 from six sensors. Similarly, first axial sensor 240, second axial sensor 250, and third axial sensor 260 of the second detection unit are located on the top of mounting housing 210 and are used to read displacement signals from proof mass 400. Fourth axial sensor 270, fifth axial sensor 280, and first radial sensor 290 of the first detection unit are located behind proof mass 400 and are used to read displacement signals from the rear and right sides of proof mass 400. The second detection unit can also obtain the six-degree-of-freedom position of proof mass 400.

[0075] In this embodiment, 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 are all spectral confocal displacement sensors.

[0076] 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 two ends open. The mounting block 2141 is provided with a through hole. The clamping cylinder 2142 is connected to the mounting block 2141. The side of the clamping cylinder 2142 is provided with a notch 2144 extending along its axial direction. 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, and the second locking hole is located on the sidewall of the notch 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 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 inserting the sensor 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 facilitates the installation and removal of the sensor.

[0077] In addition, the mounting 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. The cover plate 216 is provided with an insert block 217. Both the socket and the insert block 217 are convex-shaped. When connected, the insert block 217 is embedded in the socket to achieve positioning. The cover plate 216 is connected to the frame 215 by bolts.

[0078] The other structures of this embodiment are the same as those of the first embodiment and will not be described again here.

[0079] Example 3

[0080] like Figure 12 and Figure 13 As shown, the present invention provides a space testing method for releasing a proof mass 400 on-orbit using a locking and releasing mechanism 300, comprising the following steps:

[0081] S1: placing the locking and releasing mechanism 300 and the proof mass 400 into the vacuum chamber 110 of the space testing apparatus;

[0082] S2: Establish a fixed coordinate system with the geometric center of proof mass 400 as the far point and the extension and contraction direction of the lock release unit of lock release mechanism 300 as the z-axis, and then establish the surface equation of the corresponding surface of proof mass 400;

[0083] S3: Get the coordinates of the sensor measurement point;

[0084] S4: Based on the coordinates of the sensor measurement points and the surface equations of the corresponding surfaces of the proof mass 400, a set of measurement equations for the six-degree-of-freedom posture of the proof mass 400 is obtained through geometric relationships;

[0085] S5: Evacuate the vacuum chamber 110 and place the space test apparatus in a microgravity environment, release the test mass 400, and collect test data for a certain period of time through the sensor; solve the test data using a set of measurement equations to obtain the six-degree-of-freedom posture of the test mass 400, and obtain data on the six-degree-of-freedom posture of the test mass 400 changing with time; perform least squares linear fitting on the six-degree-of-freedom posture data 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;

[0086] S6: Repeat locking the inspection mass 400 multiple times and then release it again, perform multiple tests, repeat step S5, obtain multiple sets 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 300.

[0087] Specifically, step S2 includes:

[0088] S201: With the geometric center of the proof mass 400 as the far point, and the extension and contraction direction of the lock release unit of the lock 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 perpendicular to the bottom and front of the mounting housing 210 respectively; establish a fixed coordinate system, such as Figure 13 As shown,

[0089] S202: In a fixed coordinate system, the rotation of proof mass 400 can be described by rotating the pitch and yaw matrix:

[0090]

[0091] in The clockwise rotation of the test mass 400 around the z, y, and x axes is respectively, and the clockwise direction is viewed along the corresponding axis;

[0092] S203: Using the pitch and yaw matrix, the coordinates of a vertex of proof mass 400 can be expressed as:

[0093]

[0094] Where R is half of the side length of the inspection mass 400, The corresponding offset of the center of mass of the test mass 400 from the origin along the x, y, and z axes;

[0095] S204: The surface normal vectors of the bottom, front, and left surfaces of the inspection mass 400 can be expressed as:

[0096]

[0097] S205: Using the formulas of step S203 and step S204, the surface equations of the bottom, front, and left sides of the inspection mass 400 can be expressed as:

[0098] .

[0099] Furthermore, step S3 includes:

[0100] 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, and 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 probes are:

[0101]

[0102] Wherein, X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the X, Y, and Z displacements of corresponding points on the corresponding surfaces of the proof mass 400;

[0103] S302: The displacement signals read by the six sensors are , then the coordinates of the corresponding six measurement points in the fixed coordinate system are:

[0104] .

[0105] 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:

[0106]

[0107] There are six unknowns By solving the equations, we can get the 400 six-degree-of-freedom pose of the test mass .

[0108] In summary, an embodiment of the present invention provides a space testing device for releasing a test mass on-orbit with a locking and releasing mechanism. The device provides a vacuum chamber 110, and places both the locking and releasing mechanism 300 and the test mass 400 in the vacuum chamber 110 to simulate an on-orbit release environment. The test mass 400 is placed in a mounting shell 210 of a sensor system 200. The mounting shell 210 is provided with a through hole 211. The locking and releasing mechanism 300 can contact the test mass 400 through the through hole 211. A number of sensors are provided on the mounting shell 210, which can be used to detect the posture and speed of multiple degrees of freedom of the test mass 400. The device has a comprehensive detection function for the posture information of the test mass 400 released on-orbit, thereby improving verification performance. The present invention provides a testing method using the above-mentioned space testing device.

[0109] 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 on-orbit release inspection of a locking and releasing mechanism, characterized in that: The invention comprises a vacuum system (100), a sensing system (200) and a locking and releasing mechanism (300), wherein the vacuum system (100) comprises a vacuum chamber (110), the sensing 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 sensing system (200) is located between the two locking and releasing units, the sensing 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 posture of the inspection mass (400); The sensing system (200) includes two or more detection units, each of the detection units includes an axial sensor and a radial sensor, both of the axial sensor and the radial sensor 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); The detection unit includes five axial sensors and one radial sensor, namely 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), and 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). The first side surface (212) is adjacent to the second side surface (213).

2. The space testing device for on-orbit release quality inspection of a 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), and the vacuum pump (120) is used to evacuate the vacuum chamber (110). The sensing system (200) includes a sensing controller (220), the sensing controller (220) is connected to the sensor via an optical fiber (230), and the optical fiber (230) passes through the mounting housing (210). The vacuum chamber (110), the vacuum pump (120) and the sensing controller (220) are detachably connected to the substrate (500).

3. The space testing device for on-orbit release quality inspection of a 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) 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 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 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.

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

5. A space testing method for on-orbit release inspection quality of a locking and releasing mechanism, based on the space testing device according to any one of claims 1 to 4, characterized in that: The steps include: S1: Place the locking release mechanism and the test mass into the vacuum chamber of the space test device; S2: With the geometric center of the test mass as the far point and the extension and contraction direction of the lock-release unit of the lock-release mechanism as the z-axis, a fixed coordinate system is established, and then the surface equation of the corresponding surface of the test mass is established; S3: Get the coordinates of the sensor measurement point; S4: Based on the coordinates of the sensor measurement points and the surface equation of the corresponding surface of the proof mass, the measurement equation group of the six-degree-of-freedom posture of the proof mass is obtained through geometric relationships; 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 using a set of measurement equations to obtain the six-degree-of-freedom position and attitude of the test mass, and obtain the data on the change of the six-degree-of-freedom position and attitude of the test mass over time; use the least squares linear fit to test the data on the change of the six-degree-of-freedom position and attitude of the test mass over time, and finally obtain the six-degree-of-freedom position velocity after the release of the test mass; S6: Repeat the locking to check the quality several times and then release it again, perform multiple tests, repeat step S5, obtain multiple sets 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.

6. The space testing method for on-orbit release inspection quality of a locking and releasing mechanism according to claim 5, characterized in that: Step S2 includes: S201: Establish a fixed coordinate system with the geometric center of the test mass as the far point, the extension and contraction direction of the lock release unit of the lock release mechanism as the z-axis, the z-axis pointing to the left and perpendicular to the left side of the sensor system, and the x-axis and y-axis perpendicular to the bottom and front of the mounting housing, respectively. S202: In a fixed coordinate system, the rotation of the test mass can be described by rotating the pitch and yaw matrix: in The clockwise rotation of the test mass around the z, y, and x axes respectively, and the clockwise direction is viewed along the corresponding axes; S203: Using the pitch and yaw matrix, the coordinates of a vertex of the inspection mass can be expressed as: Where R is half of the side length of the inspection mass, The corresponding test mass center of mass offset 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: S205: Using the formulas of step S203 and step S204, the surface equations of the bottom, front, and left sides of the inspection mass can be expressed as: 。 7. The space testing method for on-orbit release inspection quality of a locking and releasing mechanism according to claim 6, 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 housing, and two axial sensors and one radial sensor are installed on the second side of the installation housing. The first side and the second side are adjacent and perpendicular. The center coordinates of the sensor probe are: Where X, Y, and Z represent the displacement sensors distributed on the corresponding surfaces, respectively measuring the X, Y, and Z displacements of corresponding points on the corresponding surfaces of the inspection mass; S302: The displacement signals read by the six sensors are , then the coordinates of the corresponding six measurement points in the fixed coordinate system are: 。 8. The space testing method for on-orbit release inspection quality of a locking and releasing mechanism according to claim 7, characterized in that: In step S4, based on 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: There are six unknowns By solving the equations, we can get the six-degree-of-freedom pose of the test mass: .

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