Spacecraft mechanism deployment test automatic rigging method and rigging system

Abstract

The application relates to the technical field of spacecrafts, in particular to a spacecraft mechanism deployment test automatic assembly and adjustment method and an assembly and adjustment system. The assembly and adjustment system comprises a computer control device, a robot, a connecting tool, a spacecraft deployment mechanism, an inclination sensor, a gravity unloading device and a hanging device. The robot is mechanically connected with the spacecraft deployment mechanism to adjust the spatial pose of the spacecraft deployment mechanism. The inclination sensor measures the pitch and roll angle pose of the spacecraft deployment mechanism in real time. The computer control device acquires the inclination sensor data, calculates the expected pose of the spacecraft mechanism, controls the robot to automatically adjust the pose, and controls the unloading force of the hanging device. The assembly and adjustment system can decouple the six degrees of freedom of the spacecraft deployment mechanism, automatically adjust the pose of the spacecraft deployment mechanism through the cooperation of the robot and the sensor, avoid repeated adjustment and measurement, and greatly improve the spacecraft mechanism deployment test efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft, and particularly relates to a spacecraft mechanism deployment test automatic assembly and adjustment method and an assembly and adjustment system. BACKGROUND

[0002] The spacecraft deployment mechanism is a very important component of the spacecraft, is arranged in a small volume in a rocket, a satellite or other spacecraft space envelope in a launch state, is deployed to a preset working state through instruction control in orbit, and plays an important role in deep space exploration, communication, remote sensing and navigation satellites and other fields.

[0003] The spacecraft deployment mechanism needs to adapt to complex space environments, including mechanics, thermal environment and other space environment factors, in order to ensure the smooth deployment of the spacecraft deployment mechanism in orbit, it is particularly important to carry out deployment tests under simulated space environment conditions during the ground development phase of the spacecraft. When simulating the zero-gravity environment in orbit, a gravity unloading device needs to be built to unload the gravity of the mechanism moving parts. In order to ensure the stable and efficient unloading efficiency of the spacecraft deployment mechanism during the entire deployment process, the pose adjustment precision between the spacecraft deployment mechanism and the ground and the gravity unloading device is particularly important.

[0004] In the prior art, a precision measuring instrument such as a theodolite or a laser tracker is used to measure the precision of the spacecraft deployment mechanism, and then a telescopic fine adjustment mechanism at multiple connection positions is used to adjust the pose between the spacecraft deployment mechanism and the ground and the gravity unloading device. However, for relatively complex spacecraft deployment mechanisms, there are problems such as a complicated precision measurement process, coordinate coupling in the adjustment link, and repeated measurement and adjustment.

[0005] Therefore, the present application is proposed. SUMMARY

[0006] The present application aims to provide a spacecraft mechanism deployment test automatic assembly and adjustment method and an assembly and adjustment system. The spatial pose of the spacecraft deployment mechanism and the unloading force are obtained in real time through an inclination sensor, machine vision and a force feedback element. The pose of the spacecraft deployment mechanism is automatically adjusted by a robot, and the spacecraft mechanism deployment test automatic assembly and adjustment with the functions of universality, high precision and quantitative automatic adjustment of each degree of freedom are achieved. The present application is particularly suitable for ground tests and assembly and adjustment of large and complex spacecraft deployment mechanisms such as antennas and solar wings.

[0007] In one aspect, the application provides an automatic adjustment system for spacecraft mechanism deployment test, which comprises a computer control device, a robot, a connecting tool, a spacecraft deployment mechanism, an inclination sensor, a gravity unloading device and a hanging device; the computer control device is electrically connected with the robot, the inclination sensor and the hanging device, and is used to obtain the spatial pose and unloading force of the spacecraft deployment mechanism, control the robot to drive the spacecraft deployment mechanism to adjust the pitch, roll and yaw angles and the longitudinal, lateral and vertical positions, and then control the unloading force of the hanging device; the robot is mechanically connected with the spacecraft deployment mechanism through the connecting tool; the inclination sensor is aligned with the spacecraft deployment mechanism, and is used to measure the pitch and roll angle poses of the spacecraft deployment mechanism in real time; the gravity unloading device is connected with 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 comprises a fixed member, a movable member and a first motion joint; the movable member is connected with the fixed member in the form of a kinematic pair through the first motion joint; the fixed member is mechanically connected with the robot through the connecting tool, and a first reference feature is arranged on the fixed member 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 member; a laser point and a target point are arranged at the second reference feature and the third reference feature, and are used for visually detecting the yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism.

[0009] In some embodiments, the gravity unloading device comprises a fixed truss, a deployment frame and a second motion joint; the deployment frame is connected with the fixed truss in the form of a kinematic pair through the second motion joint; a fourth reference feature corresponding to the second reference feature is arranged on the second motion joint, and a fifth reference feature corresponding to the third reference feature is arranged on the fixed truss; a laser pen and a camera are arranged at the fourth reference feature and the fifth reference feature, the laser pen is used to emit laser light 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 hanging device comprises a connecting rope, a force feedback element and a telescopic adjusting element; the force feedback element is connected with the spacecraft deployment mechanism and the computer control device, and is used to detect the unloading force of the spacecraft deployment mechanism; the telescopic adjusting 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 adjusting element and the gravity unloading device.

[0011] In another aspect, the application provides an automatic adjustment method for spacecraft mechanism deployment test, comprising:

[0012] Calibrating the robot and the spacecraft deployment mechanism;

[0013] According to the deviation of the measured pitch and roll angles of the spacecraft deployment mechanism from the target pitch and roll angles, the robot is controlled to drive the spacecraft deployment mechanism to adjust the pitch and roll angles;

[0014] According to the deviation of the measured yaw angle, longitudinal position and lateral position information of the spacecraft deployment mechanism from 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;

[0015] 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 adjust the unloading force of the spacecraft deployment mechanism to the target unloading force to perform the deployment test.

[0016] In some embodiments, the calibration of the robot and the spacecraft deployment mechanism comprises:

[0017] The spacecraft deployment mechanism comprises a fixed member and a first motion joint, the fixed 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;

[0018] The calibration of the robot and the spacecraft deployment mechanism comprises:

[0019] According to the relative pose relationship between the first reference coordinate system corresponding to the robot and the first reference feature, a first workpiece coordinate system of the robot is established;

[0020] According to the relative pose relationship between the second reference coordinate system corresponding to the robot and the second reference feature, a second workpiece coordinate system of the robot is established.

[0021] In some embodiments, the control of the robot to drive the spacecraft deployment mechanism to adjust the pitch and roll angles according to the deviation of the measured pitch and roll angles of the spacecraft deployment mechanism from the target pitch and roll angles comprises:

[0022] The motion coordinate system of the robot is set as the first workpiece coordinate system;

[0023] The pitch and roll angle attitude of the spacecraft deployment mechanism is obtained;

[0024] determine a pitch and roll angle deviation 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 of the spacecraft deployment mechanism;

[0025] control the robot to drive the spacecraft deployment mechanism to adjust the pitch and roll angles based on the pitch and roll angle deviation of the spacecraft deployment mechanism.

[0026] In some embodiments, the control of the robot to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position based on the deviation of the measured yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism from the target yaw angle, longitudinal position, and lateral position comprises:

[0027] set the motion coordinate system of the robot as the second workpiece coordinate system;

[0028] obtain image information of all laser points and target points on the spacecraft deployment mechanism;

[0029] obtain the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism based on the image information of all laser points and target points on the spacecraft deployment mechanism;

[0030] determine the yaw angle, longitudinal position, and lateral position deviation 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;

[0031] control the robot to drive the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position, and lateral position based on the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism.

[0032] In some embodiments, the control of the robot to drive the spacecraft deployment mechanism to adjust the vertical position and the unloading force based on the measured unloading force of the spacecraft deployment mechanism comprises:

[0033] monitor the unloading force of the spacecraft deployment mechanism;

[0034] determine the unloading force deviation of the spacecraft deployment mechanism based on the measured unloading force of the spacecraft deployment mechanism and the target unloading force;

[0035] control the robot to drive the spacecraft deployment mechanism to move in the vertical direction;

[0036] when the monitored unloading force deviation of the spacecraft deployment mechanism is within the deviation allowable range, determine that the spacecraft deployment mechanism is in the vertical position.

[0037] Compared with the prior art, the application has the following beneficial effects.

[0038] 1、In the application, the spatial pose condition and unloading force of the spacecraft deployment mechanism are acquired in real time through the mode of the inclination sensor, the machine vision and the force feedback element; the pose of the spacecraft deployment mechanism is automatically adjusted by the industrial robot;

[0039] 2、In the application, the problem of coordinate coupling and repeated adjustment and measurement in the pose adjustment process of the spacecraft mechanism product connected by the traditional frame vehicle tool is solved, the degrees of freedom to be adjusted can be decoupled, and the efficiency and precision of the pose adjustment of the spacecraft deployment mechanism in the deployment test are improved;

[0040] 3、In the application, the proposed spacecraft mechanism deployment test automatic assembly and adjustment method and system apply the general interface of the robot, are suitable for the pose adjustment of various spacecraft mechanism products, and are a general adjustment method. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a flowchart of the ground deployment assembly and adjustment method of the spacecraft deployment mechanism in the embodiment of the application;

[0042] Figure 2 is a logic block diagram of the pitch and roll angle adjustment of the spacecraft deployment mechanism in the embodiment of the application;

[0043] Figure 3 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 application;

[0044] Figure 4 is a logic block diagram of the vertical position and unloading force adjustment of the spacecraft deployment mechanism in the embodiment of the application;

[0045] Figure 5 is a structural schematic diagram of the spacecraft mechanism deployment test automatic assembly and adjustment system in the embodiment of the application;

[0046] Figure 6 is a connection schematic diagram of the spacecraft deployment mechanism and the hanging device in the embodiment of the application;

[0047] Figure 7 is a connection schematic diagram of the gravity unloading device and the hanging device in the embodiment of the application.

[0048] In the figure: 100, spacecraft mechanism deployment test automatic adjustment system; 10, robot; 20, connecting tool; 30, spacecraft deployment mechanism; 31, first motion joint; 311, first reference feature; 32, fixed member; 321, second reference feature; 322, third reference feature; 33, movable member; 40, inclination 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

[0049] The technical solutions of the present application will be clearly and completely described below in combination with embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] In an aspect, the present application provides a spacecraft mechanism deployment test automatic adjustment system 100. The specific structure of the adjustment system can be referred to Figures 5 to 7 which comprises 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 with the robot 10, the inclination sensor 40 and the hanging device 60, used to obtain the space pose and unloading force of the spacecraft deployment mechanism 30, control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the three-direction angle of pitch, roll and yaw and the three-direction position of longitudinal, lateral and vertical, and then control the unloading force of the hanging device 60. The robot 10 is mechanically connected with the spacecraft deployment mechanism 30 through the connecting tool 20. The inclination sensor 40 is aligned with the spacecraft deployment mechanism 30, used to measure the pitch and roll angle pose of the spacecraft deployment mechanism 30 in real time. The gravity unloading device 50 is connected with the spacecraft deployment mechanism 30 through the hanging device 60, used to track the motion of the spacecraft deployment mechanism 30 and provide unloading force during the deployment test.

[0051] According to the spacecraft mechanism deployment test automatic adjustment system 100 of the present application, the functions of generality, high precision and quantitative automatic adjustment of each degree of freedom are integrated, and the problems of posture coupling, adjustment and measurement alternation and time-consuming and laborious in the process of adjusting the pose of the spacecraft deployment mechanism 30 by using the traditional frame tool and fine adjustment mechanism are solved, so as to improve the efficiency and precision of the pose adjustment of the spacecraft deployment mechanism 30 in the deployment test.

[0052] The specific structure of the spacecraft deployment mechanism 30 can be referred toFigure 5 and Figure 6 The spacecraft deployment mechanism 30 includes a fixed component 32, a movable component 33, and a first kinematic joint 31. The movable component 33 and the fixed component 32 are connected as a kinematic pair via the first kinematic joint 31. The fixed component 32 is mechanically connected to the robot 10 via a connecting fixture 20. A first reference feature 311 (O2X2Y2Z2) is provided on the fixed component 32 for mounting a tilt sensor 40 to measure pitch and roll angles. A second reference feature 321 (O1X1Y1Z1) is provided on the first kinematic joint 31, and a third reference feature 322 is also provided on the fixed component 32. Laser points and target points are set at the second reference feature 321 (O1X1Y1Z1) and the third reference feature 322 (O3X3Y3Z3) for visual detection of the yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism 30. By setting the tilt 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. The measurement accuracy is high and the real-time feedback speed is fast, thereby improving the response speed of the robot 10 and realizing the rapid adjustment of the spatial attitude of the spacecraft deployment mechanism 30.

[0053] For the specific structure of the gravity unloading device 50, please refer to [reference needed]. Figure 5 and Figure 7 It includes a fixed truss 51, a deployment frame 53, a second motion joint 52, and a guide rail slider 54; the deployment frame 53 is connected to the fixed truss 51 via the second motion joint 52 in the form of a kinematic pair; the second motion joint 52 is provided with a fourth reference feature 521 (O4X4Y4Z4) corresponding to the second reference feature 321 (O1X1Y1Z1), and the fixed truss 51 is provided with a fifth reference feature 522 (O5X5Y5Z5) corresponding to the third reference feature 322 (O3X3Y3Z3); a laser pointer 55 and a camera 56 are provided at the fourth reference feature 521 (O4X4Y4Z4) and the fifth reference feature 522 (O5X5Y5Z5), the laser pointer 55 is used to emit lasers vertically downwards, and the camera 56 is used to capture image information of all laser points and target points on the spacecraft deployment mechanism 30. The robot 10 is controlled by a computer control device to realize the angle adjustment and position adjustment of the spacecraft deployment mechanism 30 in the horizontal plane.

[0054] Please refer to the specific structure of the hanging device 60. Figures 5 to 7The force feedback element 61 is connected with the spacecraft deployment mechanism 30 and the computer control device, and is used for detecting the unloading force of the spacecraft deployment mechanism 30; the telescopic adjusting element 62 is connected in series with the force feedback element 61, and is used for adjusting the unloading force of the spacecraft deployment mechanism 30 to a target unloading force; the connecting rope 63 connects the telescopic adjusting element 62 and the gravity unloading device 50, and the adjustment of the vertical position and the unloading force of the spacecraft deployment mechanism 30 is realized by controlling the robot 10 and the telescopic adjusting element 62 through the computer control device.

[0055] In another aspect, as Figures 1 to 7 shown in the drawings, the embodiment of the present application provides a spacecraft mechanism deployment test automatic adjustment method, which comprises the following steps:

[0056] Step S100: calibrate the robot 10 and the spacecraft deployment mechanism 30;

[0057] Step S200: according to the deviation of the measured pitch and roll angles of the spacecraft deployment mechanism 30 from the target pitch and roll angles, control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the pitch and roll angles;

[0058] Step S300: according to the deviation of the measured yaw angle, longitudinal position and lateral position information of the spacecraft deployment mechanism 30 from the target yaw angle, longitudinal position and lateral position, control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the yaw angle, longitudinal position and lateral position;

[0059] Step S400: according to the measured unloading force of the spacecraft deployment mechanism 30, control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the vertical position and adjust the unloading force of the spacecraft deployment mechanism 30 to the target unloading force, so as to perform the deployment test.

[0060] According to the spacecraft mechanism deployment test automatic adjustment method of the present application, the coordinate coupling and repeated adjustment and measurement in the pose adjustment process are not required, the degrees of freedom to be adjusted can be decoupled, and the pose between the spacecraft deployment mechanism 30 and the ground and the gravity unloading device 50 can be accurately and quickly adjusted.

[0061] As Figure 5 shown in the drawings, in step S200, the pitch and roll angle poses 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, so that the response speed of the robot 10 is improved, and the spatial pose of the spacecraft deployment mechanism 30 is quickly adjusted.

[0062] As Figure 5 and Figure 6As shown, the spacecraft deployment mechanism 30 includes a fixed member and a first kinematic joint 31, the fixed member 32 is provided with a first reference feature 311 (O2X2Y2Z2) for mounting the inclination sensor 40, and the first kinematic 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:

[0063] Step S110: According to the relative pose relationship between the first reference coordinate system corresponding to the robot 10 and the first reference feature 311 (O2X2Y2Z2), a first workpiece coordinate system of the robot 10 is established.

[0064] Step S120: According to the relative pose relationship between the second reference coordinate system corresponding to the robot 10 and the second reference feature 321 (O1X1Y1Z1), a second workpiece coordinate system of the robot 10 is established.

[0065] 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 spatial pose of the spacecraft deployment mechanism 30 is quickly and accurately adjusted by the robot 10, thereby realizing efficient adjustment of the pose between the spacecraft deployment mechanism 30 and the ground and the gravity unloading device 50.

[0066] As shown, Figure 2 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 drives the spacecraft deployment mechanism 30 to adjust the pitch and roll angles, including the following steps:

[0067] Step S210: The motion coordinate system of the robot 10 is set as the first workpiece coordinate system;

[0068] Step S220: The pitch and roll angle attitude of the spacecraft deployment mechanism 30 is obtained;

[0069] Step S230: Based on the measured pitch and roll angles of the spacecraft deployment mechanism 30 and the target pitch and roll angles, the pitch and roll angle deviation of the spacecraft deployment mechanism 30 is determined.

[0070] Step S240: Based on the pitch and roll angle deviation of the spacecraft deployment mechanism 30, the robot 10 drives the spacecraft deployment mechanism 30 to adjust the pitch and roll angles.

[0071] In this embodiment, based on the measured pitch and roll angles of the spacecraft deployment mechanism 30 and the target pitch and roll angles, 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 realizing the adjustment of the pitch and roll angles of the spacecraft deployment mechanism 30.

[0072] like Figure 3 As shown, in this embodiment, in step S300, based on 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 its angle and position in the horizontal plane, including the following steps:

[0073] Step S310: Set the motion coordinate system of robot 10 to the second workpiece coordinate system;

[0074] Step S320: Acquire image information of all laser points and target points on the spacecraft deployment mechanism 30;

[0075] Step S330: Based on the image information of all laser points and target points on the spacecraft deployment mechanism 30, obtain the measured yaw angle, longitudinal position, and lateral position information of the spacecraft deployment mechanism 30;

[0076] Step S340: 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, determine the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism 30;

[0077] Step S350: Based on the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism 30, control the robot 10 to drive the spacecraft deployment mechanism 30 to adjust the yaw angle, longitudinal position, and lateral position.

[0078] In this embodiment, by using a laser pointer 55 to emit a laser vertically downward and a camera 56 to capture image information of all laser points and target points on the spacecraft deployment mechanism 30, the yaw angle, longitudinal position, and lateral position deviation of the spacecraft deployment mechanism 30 are determined, and the running trajectory of the robot 10 is controlled, thereby realizing the adjustment of the yaw angle, longitudinal position, and lateral position of the spacecraft deployment mechanism 30.

[0079] like Figure 4 As shown, in this embodiment, in step S400, based on the measured unloading force of the spacecraft deployment mechanism 30, the robot 10 is controlled to drive the spacecraft deployment mechanism 30 to adjust its vertical position, including the following steps:

[0080] Step S410: Monitor the unloading force of the spacecraft deployment mechanism 30;

[0081] Step S420: Based on the measured unloading force and target unloading force of the spacecraft deployment mechanism 30, determine the unloading force deviation of the spacecraft deployment mechanism 30;

[0082] Step S430: Control robot 10 to drive spacecraft deployment mechanism 30 to move vertically;

[0083] Step S440: When the detected unloading force deviation of the spacecraft deployment mechanism 30 is within the allowable deviation range, determine that the spacecraft deployment mechanism 30 is in the vertical position.

[0084] 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:

[0085] 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.

[0086] 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 vertically, thereby adjusting 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, thereby simulating the deployment test under space environment conditions in a targeted manner.

[0087] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0089] In this application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0090] In this application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0091] 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 limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An automatic set-up system for spacecraft mechanism deployment testing, characterized by, The assembly and adjustment system comprises a computer control device, a robot, a connecting tool, a spacecraft deployment mechanism, an inclination sensor, a gravity unloading device and a hanging device; the computer control device is electrically connected with the robot, the inclination sensor and the hanging device, is used for acquiring the spatial pose and unloading force of the spacecraft deployment mechanism, controlling the robot to drive the spacecraft deployment mechanism to perform three-direction angle adjustment of pitching, rolling and yawing and three-direction position adjustment of longitudinal, lateral and vertical directions, and then controlling the unloading force of the hanging device; the robot is mechanically connected with the spacecraft deployment mechanism through the connecting tool; the inclination sensor is aligned with the spacecraft deployment mechanism and is used for measuring the pitching and rolling angle postures of the spacecraft deployment mechanism in real time; The gravity unloading device is connected with the spacecraft deployment mechanism through the hanging device, is used for tracking the movement of the spacecraft deployment mechanism and providing unloading force during the deployment test; The spacecraft deployment mechanism comprises a fixed member, a movable member and a first motion joint; The movable member is connected with the fixed member in the form of a kinematic pair through the first motion joint; the fixed member is mechanically connected with the robot through the connecting tool, a first reference feature is arranged on the fixed member and is used for installing the inclination sensor to measure the pitching and rolling angles; a second reference feature is arranged on the first motion joint, and a third reference feature is further arranged on the fixed member, laser points and target points are arranged at the second reference feature and the third reference feature, and are used for visually detecting the yawing angle, longitudinal position and lateral position of the spacecraft deployment mechanism; The gravity unloading device comprises a fixed truss, a deployment frame and a second motion joint; the deployment frame is connected with the fixed truss in the form of a kinematic pair through the second motion joint; a fourth reference feature corresponding to the second reference feature is arranged on the second motion joint, and a fifth reference feature corresponding to the third reference feature is arranged on the fixed truss; A laser pen and a camera are arranged at the fourth reference feature and the fifth reference feature, the laser pen is used for vertically emitting laser light downward, and the camera is used for shooting image information of all laser points and target points on the spacecraft deployment mechanism.

2. The spacecraft mechanism deployment test automatic setup system of claim 1, wherein, The hanging device comprises a connecting rope, a force feedback element and a telescopic adjusting element; the force feedback element is connected with the spacecraft deployment mechanism and the computer control device, and is used for detecting the unloading force of the spacecraft deployment mechanism; The telescopic adjusting element is connected with the force feedback element in series, and is used for adjusting the unloading force of the spacecraft deployment mechanism to a target unloading force; The connecting rope connects the telescopic adjusting element and the gravity unloading device.

3. An automatic setup method for spacecraft mechanism deployment test, characterized in that, Comprise: Calibration is performed on the robot and the spacecraft deployment mechanism; According to the deviation of the measured pitching and rolling angles of the spacecraft deployment mechanism from target pitching and rolling angles, the robot is controlled to drive the spacecraft deployment mechanism to perform pitching and rolling angle adjustment; According to a deviation between a measured yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism and a target yaw angle, longitudinal position and lateral position, the robot drives the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position and lateral position; According to a measured unloading force of the spacecraft deployment mechanism, the robot drives the spacecraft deployment mechanism to adjust the vertical position and adjust the unloading force of the spacecraft deployment mechanism to a target unloading force to perform a deployment test; The spacecraft deployment mechanism comprises a fixed part and a first motion joint, the fixed part 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 comprises: According to a relative pose relationship between a first reference coordinate system corresponding to the robot and the first reference feature, a first workpiece coordinate system of the robot is established; According to a relative pose relationship between a second reference coordinate system corresponding to the robot and the second reference feature, a second workpiece coordinate system of the robot is established; According to a deviation between a measured pitch angle and roll angle of the spacecraft deployment mechanism and a target pitch angle and roll angle, the robot drives the spacecraft deployment mechanism to adjust the pitch angle and roll angle, comprising: The motion coordinate system of the robot is set as the first workpiece coordinate system; The pitch angle and roll angle of the spacecraft deployment mechanism are acquired; Based on the measured pitch angle and roll angle of the spacecraft deployment mechanism and the target pitch angle and roll angle, a pitch angle and roll angle deviation of the spacecraft deployment mechanism is determined; Based on the pitch angle and roll angle deviation of the spacecraft deployment mechanism, the robot drives the spacecraft deployment mechanism to adjust the pitch angle and roll angle.

4. The method of claim 3, wherein, According to a deviation between a measured yaw angle, longitudinal position and lateral position of the spacecraft deployment mechanism and a target yaw angle, longitudinal position and lateral position, the robot drives the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position and lateral position, comprising: The motion coordinate system of the robot is set as the second workpiece coordinate system; Image information of all laser points and target points on the spacecraft deployment mechanism is acquired; Based on the image information of all laser points and target points on the spacecraft deployment mechanism, measured yaw angle, longitudinal position and lateral position information of the spacecraft deployment mechanism is acquired; 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, a yaw angle, longitudinal position and lateral position deviation of the spacecraft deployment mechanism is determined; Based on the yaw angle, longitudinal position and lateral position deviation of the spacecraft deployment mechanism, the robot drives the spacecraft deployment mechanism to adjust the yaw angle, longitudinal position and lateral position.

5. The method of claim 3 or 4, wherein, According to a measured unloading force of the spacecraft deployment mechanism, the robot drives the spacecraft deployment mechanism to adjust the vertical position and unloading force, comprising: The unloading force of the spacecraft deployment mechanism is monitored; determining a deviation of the unloading force of the spacecraft deployment mechanism based on the measured unloading force and the target unloading force of the spacecraft deployment mechanism; controlling the robot to move the spacecraft deployment mechanism in a vertical direction; determining that the spacecraft deployment mechanism is in a vertical position when the monitored deviation of the unloading force of the spacecraft deployment mechanism is within a deviation allowable range.

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