Automatic assembling and adjusting method and system for spacecraft mechanism unfolding test

Abstract

The invention relates to the technical field of spacecrafts, in particular to an automatic assembling and adjusting method and system for an unfolding test of a spacecraft mechanism, and the assembling and adjusting system comprises a computer control device, a robot, a connecting tool, a spacecraft unfolding mechanism, a tilt angle sensor, a gravity unloading device and a hanging device, the space pose of the spacecraft unfolding mechanism is adjusted; the tilt angle sensor is used for measuring pitching and rolling angle postures of the spacecraft unfolding mechanism in real time; the computer control device obtains data of the tilt angle sensor, solves the expected pose of the spacecraft mechanism, controls the robot to automatically adjust the pose of the spacecraft mechanism, and controls the unloading force of the hanging device. According to the installation and adjustment system, six spatial freedom degrees of the spacecraft unfolding mechanism can be decoupled, automatic adjustment of the posture of the spacecraft unfolding mechanism can be achieved through cooperative use of the robot and the sensor, repeated adjustment and measurement are avoided, and the unfolding test efficiency of the spacecraft mechanism is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of spacecraft technology, and in particular to an automatic adjustment method and system for a spacecraft mechanism test. Background Art

[0002] The spacecraft deployment mechanism is a very important component of the spacecraft. In the launch state, it is arranged in a smaller volume in the space envelope of spacecraft such as rockets and satellites. When in orbit, it is deployed to the preset working state through command control. It plays an important role in deep space exploration, communications, remote sensing and navigation satellites.

[0003] The deployment mechanism of a spacecraft needs to adapt to the complex space environment, including mechanical, thermal and other space environmental factors. In order to ensure the smooth deployment of the deployment mechanism on orbit, it is particularly important to conduct deployment tests under simulated space environment conditions during the ground development phase of the spacecraft. When simulating the zero-gravity environment on orbit, a gravity unloading device needs to be built to unload the gravity of the active parts of the mechanism. In order to ensure the stable and efficient unloading efficiency of the deployment mechanism during the entire deployment process, the position adjustment accuracy between the deployment mechanism of the spacecraft and the ground and gravity unloading device is particularly important.

[0004] In the prior art, the spacecraft deployment mechanism is precisely measured by measuring instruments such as theodolites and laser trackers, and then the position adjustment between the spacecraft deployment mechanism and the ground and gravity unloading devices is achieved through telescopic fine-tuning mechanisms at multiple connections. However, for the relatively complex spacecraft deployment mechanism, there are problems such as cumbersome precision measurement process, coordinate coupling of adjustment links, and repeated measurement and adjustment.

[0005] In view of this, this application is specially filed. Summary of the invention

[0006] The purpose of the present application is to propose an automatic assembly and adjustment method and system for a spacecraft mechanism deployment test, which can obtain the spatial position and unloading force of the spacecraft deployment mechanism in real time by means of inclination sensors, machine vision and force feedback elements; and automatically adjust the position of the spacecraft deployment mechanism by a robot, thereby realizing an automatic assembly and adjustment method for a spacecraft mechanism deployment test that integrates functions such as versatility, high precision and quantitative automatic adjustment of each degree of freedom, and is particularly suitable for ground testing and adjustment of large and complex spacecraft deployment mechanisms such as antennas and solar wings.

[0007] On the one hand, the present application provides an automatic assembly and adjustment system for a spacecraft mechanism deployment test, the assembly and adjustment system comprising a computer control device, a robot, a connecting tool, a spacecraft deployment mechanism, a tilt sensor, a gravity unloading device and a hanging device; the computer control device is electrically connected to the robot, the tilt sensor and the hanging device, and is used to obtain the spatial posture and unloading force of the spacecraft deployment mechanism, control the robot to drive the spacecraft deployment mechanism to perform three-way angle adjustment of pitch, roll and yaw and three-way position adjustment of longitudinal, lateral and vertical directions, and then control the unloading force of the hanging device; the robot is mechanically connected to the spacecraft deployment mechanism through the connecting tool; the tilt sensor is aligned with the spacecraft deployment mechanism, and is used to measure the pitch and roll angle posture of the spacecraft deployment mechanism in real time; the gravity unloading device is connected to the spacecraft deployment mechanism through the hanging device, and is used to track the movement of the spacecraft deployment mechanism and provide unloading force during the deployment test.

[0008] In some embodiments, the spacecraft deployment mechanism includes a fixed component, a movable component and a first motion joint; the movable component is connected to the fixed component in the form of a kinematic pair through the first motion joint; the fixed component is mechanically connected to the robot through the connecting tooling, and a first reference feature is provided on the fixed component for installing the inclination sensor to measure the pitch and roll angles; a second reference feature is provided on the first motion joint, and a third reference feature is also provided on the fixed component, and laser points and target points are provided at the second reference feature and the third reference feature for visually detecting the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism.

[0009] In some embodiments, the gravity unloading device includes a fixed truss, an unfolding frame and a second motion joint; the unfolding frame is connected to the fixed truss in the form of a kinematic pair via the second motion joint; a fourth reference feature corresponding to the second reference feature is provided on the second motion joint, and a fifth reference feature corresponding to the third reference feature is provided on the fixed truss; a laser pen and a camera are provided at the fourth reference feature and the fifth reference feature, the laser pen is used to emit laser vertically downward, and the camera is used to capture image information of all laser points and target points on the spacecraft deployment mechanism.

[0010] In some embodiments, the suspension device includes a connecting rope, a force feedback element and a telescopic adjustment element; the force feedback element is connected to the spacecraft deployment mechanism and the computer control device, and is used to detect the unloading force of the spacecraft deployment mechanism; the telescopic adjustment element is connected in series with the force feedback element, and is used to adjust the unloading force of the spacecraft deployment mechanism to a target unloading force; the connecting rope connects the telescopic adjustment element and the gravity unloading device.

[0011] On the other hand, the present application provides a method for automatic adjustment of a spacecraft mechanism deployment test, comprising: Calibrate robot and spacecraft deployment mechanisms; According to the deviation between the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles, the robot is controlled to drive the spacecraft deployment mechanism to adjust the pitch and roll angles; According to the deviation between the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position, the robot is controlled to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position; According to the measured unloading force of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the vertical position, and the unloading force of the spacecraft deployment mechanism is adjusted to the target unloading force to perform a deployment test.

[0012] In some embodiments, the calibrating the robot and the spacecraft deployment mechanism includes: The spacecraft deployment mechanism comprises a fixing member and a first motion joint, the fixing member is provided with a first reference feature for mounting an inclination sensor, and the first motion joint is provided with a second reference feature; The calibration of the robot and the spacecraft deployment mechanism includes: Establishing a first workpiece coordinate system of the robot according to a relative posture relationship between the robot and a first reference coordinate system corresponding to the first reference feature; A second workpiece coordinate system of the robot is established according to a relative posture relationship between the robot and a second reference coordinate system corresponding to the second reference feature.

[0013] In some embodiments, controlling the robot to drive the spacecraft deployment mechanism to adjust the pitch and roll angles according to the deviation between the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles includes: Setting the motion coordinate system of the robot to a first workpiece coordinate system; Obtaining the pitch and roll angle attitude of the spacecraft deployment mechanism; Determining an angular deviation of the pitch and roll angles of the spacecraft deployment mechanism based on the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles; Based on the pitch and roll angle deviations of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the pitch and roll angles.

[0014] In some embodiments, the robot is controlled to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position based on the deviation between the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position, including: Setting the motion coordinate system of the robot to a second workpiece coordinate system; Acquiring image information of all laser points and target points on the spacecraft deployment mechanism; Based on the image information of all laser points and target points on the spacecraft deployment mechanism, the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism are obtained; Determining deviations of the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism based on the measured yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position; Based on the yaw angle, longitudinal position and lateral position deviation of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position and lateral position.

[0015] In some embodiments, controlling the robot to drive the spacecraft deployment mechanism to adjust the vertical position and the unloading force according to the measured unloading force of the spacecraft deployment mechanism includes: monitoring an unloading force of the spacecraft deployment mechanism; determining an unloading force deviation of the spacecraft deployment mechanism based on a measured unloading force and a target unloading force of the spacecraft deployment mechanism; Controlling the robot to drive the spacecraft deployment mechanism to move in a vertical direction; When the monitored unloading force deviation of the spacecraft deployment mechanism is within the allowable deviation range, it is determined that the spacecraft deployment mechanism is in the vertical position.

[0016] After adopting the above technical solution, the present application has the following beneficial effects compared with the prior art.

[0017] 1. In the present invention, the spatial position and unloading force of the spacecraft deployment mechanism are obtained in real time by means of an inclination sensor, machine vision and force feedback element; the position and posture of the spacecraft deployment mechanism are automatically adjusted by an industrial robot; 2. The present invention solves the problem of coordinate coupling and repeated adjustment during the posture adjustment process of the traditional use of a crane tooling to connect a spacecraft mechanism product, and can decouple the degrees of freedom that need to be adjusted, thereby improving the efficiency and accuracy of the posture adjustment of the spacecraft deployment mechanism deployment test; 3. In the present invention, the proposed automatic adjustment method for spacecraft mechanism deployment test and the system application robot universal interface are applicable to the posture adjustment of various types of spacecraft mechanism products, and are a universal adjustment method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of a method for ground deployment and adjustment of a spacecraft deployment mechanism in an embodiment of the present application; Figure 2 It is a logic block diagram of pitch and roll angle adjustment of the spacecraft deployment mechanism in the embodiment of the present application; Figure 3 It is a logic block diagram of the yaw angle and longitudinal and lateral position adjustment of the spacecraft deployment mechanism in the embodiment of the present application; Figure 4 It is a logic block diagram of the vertical position and unloading force adjustment of the spacecraft deployment mechanism in the embodiment of the present application; Figure 5 It is a structural schematic diagram of the automatic assembly and adjustment system for the spacecraft mechanism deployment test in an embodiment of the present application; Figure 6 is a schematic diagram of the connection between the spacecraft deployment mechanism and the hanging device in the embodiment of the present application; Figure 7 It is a connection diagram of the gravity unloading device and the hanging device in the embodiment of the present application.

[0019] In the figure: 100, automatic assembly and adjustment system for spacecraft mechanism deployment test; 10, robot; 20, connecting tooling; 30, spacecraft deployment mechanism; 31, first motion joint; 311, first reference feature; 32, fixed component; 321, second reference feature; 322, third reference feature; 33, movable component; 40, tilt sensor; 50, gravity unloading device; 51, fixed truss; 52, second motion joint; 521, fourth reference feature; 522, fifth reference feature; 53, deployment frame; 54, guide rail slider; 55, laser pen; 56, camera; 60, hanging device; 61, force feedback element; 62, telescopic adjustment element; 63, connecting rope. DETAILED DESCRIPTION

[0020] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0021] On the one hand, the embodiment of the present application provides a spacecraft mechanism deployment test automatic adjustment system 100, the specific structure of the adjustment system is shown in FIG. Figures 5 to 7, which includes a computer control device, a robot 10, a connecting tool 20, a spacecraft deployment mechanism 30, an inclination sensor 40, a gravity unloading device 50 and a hanging device 60; the computer control device is electrically connected to the robot 10, the inclination sensor 40 and the hanging device 60, and is used to obtain the spatial posture and unloading force of the spacecraft deployment mechanism 30, control the robot 10 to drive the spacecraft deployment mechanism 30 to perform three-dimensional angle adjustment of pitch, roll and yaw and three-dimensional position adjustment of longitudinal, lateral and vertical directions, and then control the unloading force of the hanging device 60; the robot 10 is mechanically connected to the spacecraft deployment mechanism 30 through the connecting tool 20; the inclination sensor 40 is aligned with the spacecraft deployment mechanism 30, and is used to measure the pitch and roll angle posture of the spacecraft deployment mechanism 30 in real time; the gravity unloading device 50 is connected to the spacecraft deployment mechanism 30 through the hanging device 60, and is used to track the movement of the spacecraft deployment mechanism 30 and provide unloading force during the deployment test.

[0022] The automatic assembly and adjustment system 100 for the deployment test of the spacecraft mechanism according to the present application realizes the functions of versatility, high precision, and quantitative automatic adjustment of each degree of freedom in one, solves the problems of the traditional use of a crane tooling and a fine-tuning mechanism to connect the spacecraft deployment mechanism 30, and the posture adjustment process being posture coupling, alternating adjustments and measurements, and being time-consuming and labor-intensive, thereby improving the efficiency and accuracy of the posture adjustment of the deployment test of the spacecraft deployment mechanism 30.

[0023] For the specific structure of the spacecraft deployment mechanism 30, please refer to Figure 5 and Figure 6 , which includes a spacecraft deployment mechanism 30 including a fixed component 32, a movable component 33 and a first motion joint 31; the movable component 33 and the fixed component 32 are connected in the form of a kinematic pair through the first motion joint 31; the fixed component 32 is mechanically connected to the robot 10 through the connecting tool 20, and a first reference feature 311 (O2X2Y2Z2) is set on the fixed component 32 for installing the inclination sensor 40 to measure the pitch and roll angles; a second reference feature 321 (O1X1Y1Z1) is set on the first motion joint 31, and a third reference feature 322 is also set on the fixed component 32 (O3X3Y3Z3), laser points and target points are arranged at the second reference feature 321 (O1X1Y1Z1) and the third reference feature 322 (O3X3Y3Z3), which are used for visually detecting the yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism 30. By arranging the inclination sensor 40 at the first reference feature 311 (O2X2Y2Z2), the pitch and roll angle attitude of the spacecraft deployment mechanism 30 can be measured in real time with high measurement accuracy and fast real-time feedback speed, thereby improving the response speed of the robot 10 and realizing rapid adjustment of the spatial posture of the spacecraft deployment mechanism 30.

[0024] The specific structure of the gravity unloading device 50 can be found in Figure 5 and Figure 7 , which includes a fixed truss 51, an unfolding frame 53, a second motion joint 52 and a guide rail slider 54; the unfolding frame 53 is connected to the fixed truss 51 in the form of a kinematic pair through the second motion joint 52; a fourth reference feature 521 (O4X4Y4Z4) corresponding to the second reference feature 321 (O1X1Y1Z1) is arranged on the second motion joint 52, and a fifth reference feature 522 (O5X5Y5Z5) corresponding to the third reference feature 322 (O3X3Y3Z3) is arranged on the fixed truss 51; a laser pen 55 and a camera 56 are arranged at the fourth reference feature 521 (O4X4Y4Z4) and the fifth reference feature 522 (O5X5Y5Z5), the laser pen 55 is used to emit laser vertically downward, and the camera 56 is used to capture image information of all laser points and target points on the spacecraft unfolding mechanism 30, and the robot 10 is controlled by a computer control device to realize angle adjustment and position adjustment of the spacecraft unfolding mechanism 30 in the horizontal plane.

[0025] For the specific structure of the hanging device 60, please refer to Figures 5 to 7 , which includes a connecting rope 63, a force feedback element 61 and a telescopic adjustment element 62; the force feedback element 61 is connected to the spacecraft deployment mechanism 30 and the computer control device, and is used to detect the unloading force of the spacecraft deployment mechanism 30; the telescopic adjustment element 62 is connected in series with the force feedback element 61, and is used to adjust the unloading force of the spacecraft deployment mechanism 30 to the target unloading force; the connecting rope 63 connects the telescopic adjustment element 62 and the gravity unloading device 50, and the robot 10 and the telescopic adjustment element 62 are controlled by the computer control device to realize the adjustment of the vertical position and unloading force of the spacecraft deployment mechanism 30.

[0026] On the other hand, Figures 1 to 7 As shown, an embodiment of the present application provides a method for automatic adjustment of a spacecraft mechanism deployment test, comprising the following steps: Step S100: calibrating the robot 10 and the spacecraft deployment mechanism 30; Step S200: According to the deviation between the measured pitch and roll angles of the spacecraft deployment mechanism 30 and the target pitch and roll angles, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the pitch and roll angles; Step S300: Control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the yaw angle, longitudinal position, and lateral position according to the deviation between the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism 30 and the target yaw angle, longitudinal position, and lateral position; Step S400: According to the measured unloading force of the spacecraft deployment mechanism 30, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the vertical position, and the unloading force of the spacecraft deployment mechanism 30 is adjusted to the target unloading force to perform a deployment test.

[0027] According to the automatic assembly and adjustment method for the spacecraft mechanism deployment test of the present application, there is no need for coordinate coupling and repeated adjustments in the posture adjustment process. The degrees of freedom that need to be adjusted can be decoupled, and the posture between the spacecraft deployment mechanism 30 and the ground and gravity unloading device 50 can be accurately and quickly adjusted.

[0028] like Figure 5 As shown, in this embodiment, in step S200, the pitch and roll angle postures of the spacecraft deployment mechanism 30 are measured in real time by the inclination sensor 40. The inclination sensor 40 has high measurement accuracy and fast real-time feedback speed, thereby improving the response speed of the robot 10 and realizing rapid adjustment of the spatial posture of the spacecraft deployment mechanism 30.

[0029] like Figure 5 and Figure 6 As shown, the spacecraft deployment mechanism 30 includes a fixing member and a first motion joint 31, the fixing member 32 is provided with a first reference feature 311 (O2X2Y2Z2) for installing the tilt sensor 40, and the first motion joint 31 is provided with a second reference feature 321 (O1X1Y1Z1). In this embodiment, in step S100, the robot 10 and the spacecraft deployment mechanism 30 are calibrated, including the following steps: Step S110: establishing a first workpiece coordinate system of the robot 10 according to a relative posture relationship between the robot 10 and a first reference coordinate system corresponding to the first reference feature 311 (O2X2Y2Z2); Step S120 : establishing a second workpiece coordinate system of the robot 10 according to the relative position and posture relationship between the robot 10 and the second reference coordinate system corresponding to the second reference feature 321 ( O1X1Y1Z1 ).

[0030] In this embodiment, based on the geometric reference coordinate system on the spacecraft deployment mechanism 30, the first workpiece coordinate system and the second workpiece coordinate system of the robot 10 are established, and the robot 10 is used to quickly and accurately adjust the spatial posture of the spacecraft deployment mechanism 30, thereby achieving efficient adjustment of the posture between the spacecraft deployment mechanism 30 and the ground and the gravity unloading device 50.

[0031] like Figure 2 As shown, in this embodiment, in step S200, according to the measured pitch and roll angles of the spacecraft deployment mechanism 30 and the target pitch and roll angles, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the pitch and roll angles, including the following steps: Step S210: setting the motion coordinate system of the robot 10 as the first workpiece coordinate system; Step S220: obtaining the pitch and roll angle attitude of the spacecraft deployment mechanism 30; Step S230: determining the pitch and roll angle deviations of the spacecraft deployment mechanism 30 based on the measured pitch and roll angles and the target pitch and roll angles of the spacecraft deployment mechanism 30; Step S240: Based on the pitch and roll angle deviations of the spacecraft deployment mechanism 30 , control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the pitch and roll angles.

[0032] In this embodiment, based on the measured pitch and roll angles and target pitch and roll angles of the spacecraft deployment mechanism 30, the pitch and roll angle deviations of the spacecraft deployment mechanism 30 are determined, and the running trajectory of the robot 10 is controlled, thereby achieving pitch and roll angle adjustment of the spacecraft deployment mechanism 30.

[0033] like Figure 3 As shown, in this embodiment, in step S300, according to the measured angle, measured position information, target angle and target position information of the spacecraft deployment mechanism 30 in the horizontal plane, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the angle and position in the horizontal plane, including the following steps: Step S310: setting the motion coordinate system of the robot 10 as the second workpiece coordinate system; Step S320: acquiring image information of all laser points and target points on the spacecraft deployment mechanism 30; Step S330: Based on the image information of all laser points and target points on the spacecraft deployment mechanism 30, the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism 30 are obtained; Step S340: Determine the deviation of the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism 30 based on the measured yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism 30 and the target yaw angle, longitudinal position, and lateral position; Step S350: Based on the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism 30, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the yaw angle, longitudinal position, and lateral position.

[0034] In this embodiment, the laser pen 55 emits laser vertically downward, and the camera 56 captures image information of all laser points and target points on the spacecraft deployment mechanism 30, so as to determine the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism 30, and control the running trajectory of the robot 10, thereby realizing the adjustment of the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism 30.

[0035] like Figure 4As shown, in this embodiment, in step S400, according to the measured unloading force of the spacecraft deployment mechanism 30, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust the vertical position, including the following steps: Step S410: monitoring the unloading force of the spacecraft deployment mechanism 30; Step S420: determining the unloading force deviation of the spacecraft deployment mechanism 30 based on the measured unloading force and the target unloading force of the spacecraft deployment mechanism 30; Step S430: Control the robot 10 to drive the spacecraft deployment mechanism 30 to move in a vertical direction; Step S440: When the monitored unloading force deviation of the spacecraft deployment mechanism 30 is within the allowable deviation range, it is determined that the spacecraft deployment mechanism 30 is in the vertical position.

[0036] like Figure 4 As shown, in this embodiment, in step S400, adjusting the unloading force of the spacecraft deployment mechanism 30 to the target unloading force includes the following steps: Step S450: After determining the vertical position information of the spacecraft deployment mechanism 30, adjust the unloading force of the spacecraft deployment mechanism 30 to the target unloading force.

[0037] In this embodiment, based on the unloading force deviation of the spacecraft deployment mechanism 30, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to move in the vertical direction, so as to adjust the vertical position of the spacecraft deployment mechanism 30. When the monitored unloading force deviation of the spacecraft deployment mechanism 30 is within the allowable deviation range, the unloading force of the spacecraft deployment mechanism 30 is adjusted to the target unloading force through the telescopic element, so as to simulate the deployment test under space environment conditions in a targeted manner.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An automatic adjustment system for a spacecraft mechanism deployment test, characterized in that: The assembly and adjustment system includes a computer control device, a robot, a connecting tool, a spacecraft deployment mechanism, a tilt sensor, a gravity unloading device and a hanging device; the computer control device is electrically connected to the robot, the tilt sensor and the hanging device, and is used to obtain the spatial posture and unloading force of the spacecraft deployment mechanism, and control the robot to drive the spacecraft deployment mechanism to perform pitch, roll and yaw angle adjustment and longitudinal, lateral and vertical position adjustment, thereby controlling the unloading force of the hanging device; the robot is mechanically connected to the spacecraft deployment mechanism through the connecting tool; the tilt sensor is aligned with the spacecraft deployment mechanism, and is used to measure the pitch and roll angle posture of the spacecraft deployment mechanism in real time; The gravity unloading device is connected to the spacecraft deployment mechanism through the suspension device, and is used to track the movement of the spacecraft deployment mechanism and provide unloading force during the deployment test.

2. The automatic adjustment system for the deployment test of a spacecraft mechanism according to claim 1, characterized in that: The spacecraft deployment mechanism includes a fixed component, a movable component and a first motion joint; the movable component is connected to the fixed component in the form of a kinematic pair through the first motion joint; the fixed component is mechanically connected to the robot through the connecting tooling, and a first reference feature is arranged on the fixed component for installing the inclination sensor to measure the pitch and roll angles; a second reference feature is arranged on the first motion joint, and a third reference feature is also arranged on the fixed component, and laser points and target points are arranged at the second reference feature and the third reference feature for visually detecting the yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism.

3. The automatic adjustment system for the deployment test of a spacecraft mechanism according to claim 2, characterized in that: The gravity unloading device comprises a fixed truss, an expansion frame and a second motion joint; the expansion frame is connected to the fixed truss in a kinematic pair form through the second motion joint; the second motion joint is provided with a fourth reference feature corresponding to the second reference feature, and the fixed truss is provided with a fifth reference feature corresponding to the third reference feature; A laser pen and a camera are provided at the fourth reference feature and the fifth reference feature. The laser pen is used to emit laser vertically downward, and the camera is used to capture image information of all laser points and target points on the spacecraft deployment mechanism.

4. The automatic adjustment system for the deployment test of a spacecraft mechanism according to any one of claims 1 to 3, characterized in that: The hanging device includes a connecting rope, a force feedback element and a telescopic adjustment element; the force feedback element is connected to the spacecraft deployment mechanism and the computer control device, and is used to detect the unloading force of the spacecraft deployment mechanism; The telescopic adjustment element is connected in series with the force feedback element and is used to adjust the unloading force of the spacecraft deployment mechanism to a target unloading force; The connecting rope connects the telescopic adjustment element and the gravity unloading device.

5. A method for automatic adjustment of a spacecraft mechanism deployment test, characterized in that: include: Calibrate robot and spacecraft deployment mechanisms; According to the deviation between the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles, the robot is controlled to drive the spacecraft deployment mechanism to adjust the pitch and roll angles; According to the deviation between the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position, the robot is controlled to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position; According to the measured unloading force of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the vertical position, and the unloading force of the spacecraft deployment mechanism is adjusted to the target unloading force to perform a deployment test.

6. The automatic adjustment method for the spacecraft mechanism deployment test according to claim 5, characterized in that: The spacecraft deployment mechanism comprises a fixing member and a first motion joint, the fixing member is provided with a first reference feature for mounting an inclination sensor, and the first motion joint is provided with a second reference feature; The calibration of the robot and the spacecraft deployment mechanism includes: Establishing a first workpiece coordinate system of the robot according to a relative posture relationship between the robot and a first reference coordinate system corresponding to the first reference feature; A second workpiece coordinate system of the robot is established according to a relative posture relationship between the robot and a second reference coordinate system corresponding to the second reference feature.

7. The automatic adjustment method for the spacecraft mechanism deployment test according to claim 6, characterized in that: The step of controlling the robot to drive the spacecraft deployment mechanism to adjust the pitch and roll angles according to the deviation between the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles includes: Setting the motion coordinate system of the robot to a first workpiece coordinate system; Obtaining the pitch and roll angle attitude of the spacecraft deployment mechanism; Determining an angular deviation of the pitch and roll angles of the spacecraft deployment mechanism based on the measured pitch and roll angles of the spacecraft deployment mechanism and the target pitch and roll angles; Based on the pitch and roll angle deviations of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the pitch and roll angles.

8. The automatic adjustment method for the spacecraft mechanism deployment test according to claim 7, characterized in that: The method of controlling the robot to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position based on the deviation between the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position includes: Setting the motion coordinate system of the robot to a second workpiece coordinate system; Acquiring image information of all laser points and target points on the spacecraft deployment mechanism; Based on the image information of all laser points and target points on the spacecraft deployment mechanism, the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism are obtained; Determining deviations of the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism based on the measured yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism and the target yaw angle, longitudinal position, and lateral position; Based on the yaw angle, longitudinal position and lateral position deviation of the spacecraft deployment mechanism, the robot is controlled to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position and lateral position.

9. The automatic adjustment method for a spacecraft mechanism deployment test according to any one of claims 5 to 8, characterized in that: The controlling the robot to drive the spacecraft deployment mechanism to adjust the vertical position and the unloading force according to the measured unloading force of the spacecraft deployment mechanism comprises: monitoring an unloading force of the spacecraft deployment mechanism; determining an unloading force deviation of the spacecraft deployment mechanism based on a measured unloading force and a target unloading force of the spacecraft deployment mechanism; Controlling the robot to drive the spacecraft deployment mechanism to move in a vertical direction; When the monitored unloading force deviation of the spacecraft deployment mechanism is within the allowable deviation range, it is determined that the spacecraft deployment mechanism is in the vertical position.

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