Simulator for spacecraft low-gravity test

Abstract

The invention relates to the technical field of spacecraft ground environment test devices, in particular to a simulator for spacecraft low-gravity test, which is characterized in that a buffer mechanism is mounted on a chassis, one side of a fork shear mechanism is mounted on the buffer mechanism, and a counterweight mechanism is mounted on the other side of the fork shear mechanism and is used for simulating the mass and rotational inertia of a spacecraft; the multiple sets of wheel mechanisms are arranged on the side face of the chassis. Different numbers of balancing weights are added into a circumferentially-distributed balancing weight disc, the horizontal position of the mass center of the balancing weight mechanism is changed to be the same as the horizontal position of the mass center of the spacecraft, the height of the mass center is adjusted through a fork shear mechanism, and a first spring and a hydraulic telescopic rod in a buffer mechanism simulate the buffer working condition. The stroke of the first sliding block in the contraction process can be effectively adjusted through a baffle adjusted through a lead screw, the device can also be used for assisting stretching of the fork shear mechanism, and the working conditions of flat ground walking, climbing and in-situ steering can be achieved by driving a wheel mechanism in the device.

Description

Technical Field

[0001] The invention relates to the technical field of spacecraft ground environment test devices, and in particular to a simulator used for low-gravity testing of spacecraft. Background Art

[0002] The deep space gravity simulation system is a large-scale complex mechanical environment test system designed for the working environment of spacecraft. It can simulate the low gravity environment of the planet to be explored (such as the moon, Mars, etc.) for the spacecraft in the ground test laboratory, and maintain constant tension in various complex working conditions such as landing, separation, walking, and turning of the spacecraft structure, so as to test whether the various performances of this type of spacecraft in different working states meet the requirements. During the system debugging stage, a simulation device is required to simulate various motion states of the spacecraft to ensure the smooth progress of the spacecraft test. The test conditions include but are not limited to flat ground walking, climbing, turning in place, landing cushioning, etc. at different moving speeds.

[0003] The prior art usually only simulates the gravity environment, but does not disclose a simulation test device for the spacecraft itself to walk on the ground, climb a slope, turn on the spot, and land cushion in a low-gravity environment.

[0004] Therefore, the design of the simulation test device in the existing technology cannot meet the working condition requirements of the simulator to test the reliability and stability of the low-gravity system. The simulator that replaces the spacecraft for testing can obtain data such as the tension deviation of the low-gravity system, providing an important basis for model testing.

[0005] Therefore, how to provide a simulation test device that can simulate the working conditions of a spacecraft walking on the ground, climbing a slope, turning on the spot, and landing cushioning in a low-gravity environment is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0006] The present invention provides a simulator for low-gravity testing of a spacecraft, so as to solve the problem of how to provide a simulation test device which can simulate the working conditions of a spacecraft such as walking on the ground, climbing a slope, turning on the spot, and landing buffering in a low-gravity environment.

[0007] The present invention provides a simulator for low-gravity testing of a spacecraft, comprising: Chassis; A buffer mechanism is installed on the chassis; A fork-scissor mechanism; one side of which is mounted on the buffer mechanism; A counterweight mechanism; installed on the other side of the fork-scissor mechanism, used to simulate a spacecraft; The wheel mechanism is arranged on the side of the chassis, and multiple groups are arranged.

[0008] In some embodiments, the buffer mechanism comprises: A bottom plate is mounted on the chassis; A first spring, one end of which is connected to the upper surface of the base plate; The other end of the first spring is connected to the bottom surface of the top plate; There are multiple groups of the first springs, which are evenly arranged along the outer edges of the bottom plate and the top plate.

[0009] In some embodiments, it also includes: A hydraulic telescopic rod; one end of which is rotatably connected to the bottom plate, and the other end of which is rotatably connected to the top plate.

[0010] In some embodiments, the fork shear mechanism includes: a first blade, a second blade, a sliding mechanism and a mounting plate; the sliding mechanism is provided in multiple groups and is respectively arranged on the upper surface of the mounting plate and the lower surface of the counterweight mechanism, one end of the first blade is rotatably connected to the sliding mechanism on the mounting plate, and the other end is rotatably connected to the sliding mechanism on the counterweight mechanism, one end of the second blade is rotatably connected to the sliding mechanism on the mounting plate, and the other end is rotatably connected to the sliding mechanism on the counterweight mechanism, and the mounting plate is installed on the top plate.

[0011] In some embodiments, the sliding mechanism comprises: A first slide rail; mounted on the mounting plate; A first sliding block; slidably connected to the first sliding rail; A slide rail fixing plate; multiple groups are provided and are rotatably connected to one end of the first blade and the second blade respectively; A second sliding block is mounted on the slide rail fixing plate and is slidably connected to the bottom surface of the counterweight mechanism; The first slide rail and the first slider are both provided with multiple groups, and the other ends of the first blade and the second blade are both rotatably connected to the first slider.

[0012] In some embodiments, the method further comprises: A baffle plate; slidably connected to the mounting plate and abutting against the first sliding block; A fixing plate; mounted on the mounting plate; A screw rod; one end of which passes through the fixing plate, and the other end of which is threadedly connected to the baffle; A nut is installed on the baffle, and the screw rod is threadedly connected to the baffle through the nut; The turntable is installed on one side where the screw rod passes through the fixed plate.

[0013] In some embodiments, the weight balancing mechanism comprises: Weight plate; The counterweight bearing plates include a plurality of groups, and are all installed at the bottom of the counterweight plate, and the counterweight bearing plates are distributed circumferentially along the outer edge of the counterweight plate; A fixing rod, one end of which is fixed on the counterweight bearing plate; The counterweight block is slidably sleeved on the fixed rod.

[0014] In some embodiments, it also includes: A transfer bar is installed on the counterweight plate; An adapter plate is installed on the counterweight plate and is used for connecting an external traction rope.

[0015] In some embodiments, it also includes: The second slide rail is installed at the bottom of the counterweight plate, and the second slide rail is slidably connected to the second sliding block.

[0016] In some of the embodiments, the wheel mechanism is used to drive the simulator to steer and move.

[0017] The beneficial effects of the present invention are as follows: A simulator for low-gravity testing of spacecraft of the present invention changes the horizontal position of the center of mass of the counterweight mechanism by adding different numbers of counterweight blocks to the circumferentially distributed counterweight plate, making it the same as the horizontal position of the center of mass of the spacecraft, and adjusting the center of mass height by the fork-shear mechanism. The first spring and hydraulic telescopic rod in the buffer mechanism simulate the buffering condition. At the same time, the baffle that can be adjusted by the screw rod provided in the present invention can effectively adjust the stroke of the first slider during the contraction process, and can also be used to assist the extension of the fork-shear mechanism, that is, to adjust the stroke of the fork-shear mechanism in the vertical direction. For the conditions of walking on flat ground, climbing, and turning on the spot, it can be achieved by driving the wheel mechanism in the present invention. The purpose of the present invention is to solve the problem of lack of real spacecraft to verify the system performance during the debugging process of the low-gravity system, and invent a simulator with walking, mass and stiffness adjustable for low-gravity system testing to ensure the reliable operation of the system. Spacecraft are generally expensive. If they are directly used for the system test of the newly built low-gravity system, it may cause greater test risks. Simulators with parameters close to those of the spacecraft are relatively inexpensive and can fully verify whether the spacecraft's operating stability and test indicators meet the test requirements under conditions such as walking on flat ground, climbing slopes, turning on the spot, and landing cushioning in a low-gravity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of some specific embodiments of a simulator for low-gravity testing of spacecraft according to the present invention; Figure 2 It is a structural schematic diagram of some specific embodiments of a buffer mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention; Figure 3It is a structural schematic diagram of some specific embodiments of a fork-shear mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention; Figure 4 It is a structural schematic diagram of some specific embodiments of a counterweight mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention; Figure 5 It is a structural schematic diagram of some specific embodiments of a wheel mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention; Figure 6 It is a schematic structural diagram of some specific embodiments of wheels in a simulator for low-gravity testing of spacecraft according to the present invention; Figure 7 It is a structural schematic diagram of some specific embodiments of a wheel vibration reduction mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention; Figure 8 It is a partial enlarged view of a wheel vibration reduction mechanism in a simulator for low-gravity testing of a spacecraft according to the present invention.

[0019] In the attached drawings, 110, chassis; 120, buffer mechanism; 121, bottom plate; 122, first spring; 123, top plate; 124, hydraulic telescopic rod; 130, fork shear mechanism; 131, baffle; 132, fixing plate; 133, first blade; 134, second blade; 135, sliding mechanism; 1351, first slide rail; 1352, first slider; 1353, slide rail fixing plate; 1354, second slider; 136, screw rod; 137, nut; 138, turntable; 139, mounting plate; 140, counterweight mechanism; 141, counterweight plate; 142, counterweight block bearing plate; 143, fixing rod; 144, counterweight block; 145, 5. Transfer strip; 146. Transfer plate; 147. Second slide rail; 150. Wheel mechanism; 151. Bracket; 152. Wheel; 1521. Wheel hub; 1522. Rotor; 1523. Stator; 1524. Rotor base; 1525. Tire; 1526. Brake disc; 1527. Main shaft; 1528. End cover; 1529. Drive and control unit; 153. Motor; 154. Fixing frame; 155. Wheel damping mechanism; 1551. Upper support plate; 1552. First slide bar; 1553. Second spring; 1554. Lower support plate; 1555. Second slide bar; 1556. Connecting plate; 1557. Limit sleeve. DETAILED DESCRIPTION

[0020] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] As described in the background technology, the prior art usually only simulates the gravity environment, but does not disclose a simulation test device for the spacecraft itself in a low-gravity environment, such as walking on the ground, climbing a slope, turning on the spot, and landing cushioning. Therefore, the design of the simulation test device in the prior art cannot meet the working condition requirements of the simulator to test the reliability and stability of the low-gravity system, and the simulator that replaces the spacecraft to carry out the test can obtain data such as the tension deviation of the low-gravity system, providing an important basis for model testing. Therefore, how to provide a simulation test device that can simulate the working conditions of the spacecraft walking on the ground, climbing a slope, turning on the spot, and landing cushioning in a low-gravity environment is a technical problem that technical personnel in this field urgently need to solve. To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The present invention provides a simulator for low-gravity testing of spacecraft, including a chassis 110, a buffer mechanism 120, a fork-scissor mechanism 130, a counterweight mechanism 140 and a wheel mechanism 150. The buffer mechanism 120 is installed on the chassis 110, one side of the fork-scissor mechanism 130 is installed on the buffer mechanism 120, and the counterweight mechanism 140 is installed on the other side of the fork-scissor mechanism 130, for simulating a spacecraft; the wheel mechanism 150 is arranged on the side of the chassis 110, and multiple groups are arranged.

[0022] Preferably, the buffer mechanism 120 includes: a bottom plate 121, a first spring 122 and a top plate 123, the bottom plate 121 is installed on the chassis 110, one end of the first spring 122 is connected to the upper surface of the bottom plate 121, and the other end of the first spring 122 is connected to the bottom surface of the top plate 123, wherein the first springs 122 are provided in multiple groups and are evenly arranged circumferentially along the outer edges of the bottom plate 121 and the top plate 123.

[0023] Specifically, according to the compression amount and swing of the upper load through the buffer, 8 compression first springs with an elastic coefficient of 1 kg / mm ​​are selected, and the length of the first spring is 300 mm.

[0024] Preferably, it further comprises: a hydraulic telescopic rod 124 , one end of which is rotatably connected to the bottom plate 121 , and the other end of which is rotatably connected to the top plate 123 .

[0025] Preferably, the fork shear mechanism 130 includes: a first blade 133, a second blade 134, a sliding mechanism 135 and a mounting plate 139; the sliding mechanism 135 is provided in multiple groups and is respectively arranged on the upper surface of the mounting plate 139 and the lower surface of the counterweight mechanism 140, one end of the first blade 133 is rotatably connected to the sliding mechanism 135 on the mounting plate 139, and the other end is rotatably connected to the sliding mechanism 135 on the counterweight mechanism 140, one end of the second blade 134 is rotatably connected to the sliding mechanism 135 on the mounting plate 139, and the other end is rotatably connected to the sliding mechanism 135 on the counterweight mechanism 140, and the mounting plate 139 is installed on the top plate 123.

[0026] Furthermore, the middle portion of the first blade 133 is rotatably connected to the middle portion of the second blade 134 , thereby improving the stability of the fork-scissor mechanism 130 .

[0027] Preferably, the sliding mechanism 135 includes: a first sliding rail 1351, a first slider 1352, a sliding rail fixing plate 1353 and a second slider 1354, the first sliding rail 1351 is installed on the mounting plate 139, the first slider 1352 is slidably connected to the first sliding rail 1351, the sliding rail fixing plate 1353 is provided with multiple groups, and is respectively rotatably connected to one end of the first blade 133 and the second blade 134, the second slider 1354 is installed on the sliding rail fixing plate 1353, and is slidably connected to the bottom surface of the counterweight mechanism 140, wherein the first sliding rail 1351 and the first slider 1352 are both provided with multiple groups, and the other ends of the first blade 133 and the second blade 134 are both rotatably connected to the first slider 1352.

[0028] Specifically, the fork-scissor mechanism 130 is a superposition of planar linkage mechanisms, and telescoping is achieved by changing the angle of the linkage mechanisms.

[0029] The movement of the fork-scissor mechanism 130 can be divided into two processes: extension and contraction.

[0030] During the extension process, the hand-cranked turntable 138 drives the screw rod 136 to rotate, thereby causing the baffle 131 to move in the horizontal direction and causing the fork-scissor mechanism 130 to extend. The extension of the fork-scissor mechanism 130 causes the height of the lifting platform to gradually increase, and the counterweight mechanism 140 is lifted to the required height, thereby changing the center of mass position of the entire device.

[0031] During the retraction process, the hand-cranked turntable 138 rotates in the opposite direction to drive the screw rod 136 to rotate in the opposite direction, thereby causing the baffle 131 to move in the horizontal direction, causing the fork-scissor mechanism 130 to retract. The retraction of the fork-scissor mechanism 130 gradually reduces the height of the lifting platform, and the counterweight mechanism 140 is lowered to the desired position.

[0032] Advantages of fork shear mechanism 130: 1. The stroke can be enlarged. Just turn the dial 138 by hand to enlarge the ascending stroke by a corresponding multiple.

[0033] 2. The fork-scissor mechanism 130 is retracted and has a smaller volume.

[0034] 3. Strong load capacity: The fork-scissor mechanism 130 can bear a large load and can lift the counterweight mechanism 140 to a certain height.

[0035] 4. Smooth lifting: The structural design of the fork-scissor mechanism 130 makes the lifting process smooth and vibration-free, ensuring the safe transportation of objects.

[0036] 5. The height of the lifting platform of the fork-scissor mechanism 130 can be adjusted as needed, and can simulate the center of mass position platform of different heights.

[0037] Preferably, the baffle 131 also includes: a baffle 131, a fixing plate 132, a screw rod 136, a nut 137 and a turntable 138. The baffle 131 is slidably connected to the mounting plate 139 and abuts against the first slider 1352. The fixing plate 132 is installed on the mounting plate 139. One end of the screw rod 136 passes through the fixing plate 132, and the other end is threadedly connected to the baffle 131. The nut 137 is installed on the baffle 131. The screw rod 136 is threadedly connected to the baffle 131 through the nut 137. The turntable 138 is installed on the side where the screw rod 136 passes through the fixing plate 132.

[0038] Preferably, the counterweight mechanism 140 includes: a counterweight disc 141, a counterweight block bearing plate 142, a fixing rod 143 and a counterweight block 144. The counterweight block bearing plate 142 includes multiple groups and are all installed at the bottom of the counterweight disc 141. The counterweight block bearing plate 142 is distributed circumferentially along the outer edge of the counterweight disc 141. One end of the fixing rod 143 is fixed on the counterweight block bearing plate 142, and the counterweight block 144 is slidably mounted on the fixing rod 143.

[0039] Specifically, by changing the number of the counterweight blocks 144 on each counterweight block bearing plate 142, the horizontal position of the center of mass of the counterweight plate 141 can be changed.

[0040] Preferably, it further comprises: a transfer bar 145 and a transfer plate 146, wherein the transfer bar 145 is mounted on the counterweight disc 141, and the transfer plate 146 is mounted on the counterweight disc 141 for externally connecting a traction rope.

[0041] Specifically, the simulator subsystem for low-gravity testing has an independent adapter connection, and the counterweight plate 141 is a 12mm thick steel plate with hollow weight-reducing holes. It has a connection interface with the parallel hanger, and the lifting interface is located at the adapter bar 145 and the adapter plate 146. Four screw holes can be reserved at appropriate positions of the counterweight plate 141 for lifting in a non-working state.

[0042] Furthermore, the lifting of the counterweight plate 141 in the present invention is divided into two working conditions: vertical lifting and flip lifting, which can be achieved by using different screw holes.

[0043] Preferably, it also includes: a second slide rail 147 installed at the bottom of the counterweight plate 141 , and the second slide rail 147 is slidably connected to the second slider 1354 .

[0044] Preferably, the wheel mechanism 150 is used to drive the simulator to turn and move.

[0045] In a preferred embodiment, the wheel mechanism 150 includes: a bracket 151, a wheel 152, a motor 153 and a fixing frame 154, wherein the bracket 151 is mounted on both sides of the wheel 152 and is rotatably connected to the wheel 152, and the motor is arranged on the upper side of the bracket 151 to drive the bracket 151 to change direction, thereby driving the wheel 152 to turn. One end of the fixing frame 154 is connected to the bracket 151, and the other end is connected to the chassis 110.

[0046] Furthermore, the wheel 152 includes: a wheel hub 1521, a rotor 1522, a stator 1523, a rotor base 1524, a tire 1525, a brake disc 1526, a main shaft 1527, an end cover 1528 and a drive and control unit 1529, wherein the rotor 1522, the stator 1523 and the rotor base 1524 are all installed on the inner ring of the wheel hub 1521 and sealed by the end cover 1528, the tire 1525 is sleeved on the outer ring of the wheel hub 1521, the brake disc 1526 is mounted on the end cover 1528, and the main shaft 15 27 is located at the center of the wheel hub 1521, and the drive and control unit 1529 is installed on the inner ring of the wheel hub 1521 and is electrically connected to the external controller to receive signals and drive the main shaft 1527 to rotate. The wheel 152 in the present invention adopts the principle of electromagnetic induction, and the drive structure is arranged inside the wheel 152. The main shaft 1527 is directly driven to rotate through the drive structure to realize the rotation and movement of the entire wheel 152. It can be coordinated with the motor 153 to realize steering during movement, simulating working conditions such as walking on flat ground, climbing and turning on the spot.

[0047] Specifically, for the steering system, a speed reducer can be added to cooperate with the motor 153 in the present invention to achieve more precise and accurate steering.

[0048] As in the present invention, the vehicle mass m=477kg The friction coefficient between the tire and the ground is μ=0.4 Driving radius r=30mm

[0049]

[0050] Based on the above technology, it can be concluded that 7.1N•m of torque is required to drive the wheels to steer.

[0051] Therefore, a P022 specification reduction motor is selected.

[0052] Motor power P=370W, output allowable torque 21.7nm, output speed 143.1r / min, output shaft allowable radial force F=1530N.

[0053] Specifically, the driving structure in the wheel 152 of the present invention is a hub motor, which is a device that converts electrical energy into mechanical energy, and is mainly composed of a motor, a reducer, a hub 1521 and a tire 1525. Its working principle is as follows: Power supply: The hub motor is powered by a power supply, which inputs DC power into the motor; Motor rotation: After receiving electrical energy, the motor converts the electrical energy into rotational force through the magnetic field generated by the power supply. The magnetic fields between the stator 1523 and the rotor 1522 inside the motor interact with each other, causing the motor to start rotating; Reducer device: In order to provide sufficient torque and traction, the wheel hub motor is usually equipped with a reducer device. The reducer will reduce the speed of the motor output and increase the torque to meet the driving needs of the vehicle; Power transmission to tires: After the motor rotates, the power is transmitted to the wheel hub 1521 through the reducer, and the wheel hub 1521 is directly connected to the tire. Under the action of the motor force, the wheel hub 1521 starts to rotate, thereby driving the vehicle forward. The wheel hub motor has the advantages of compact structure, high efficiency, and fast response, so it is widely used in electric vehicles and hybrid vehicles; Since the wheel hub motor has the characteristic of driving a single wheel independently, it can be easily realized whether it is front-wheel drive, rear-wheel drive or four-wheel drive. Full-time four-wheel drive is very easy to realize on vehicles driven by wheel hub motors. The walking speed is adjustable in multiple gears, including 0.05\0.1\0.2\0.3\0.4\0.6m / s.

[0054] In another preferred embodiment, for the landing buffer condition, considering that the single-layer spring buffer makes the landing instantaneous acceleration value larger, which seriously affects the stability of the low-gravity system, a two-layer spring structure is designed as a landing buffer module. In order to achieve secondary vibration reduction, the present invention is provided with a wheel vibration reduction mechanism 155, an end of the fixing frame 154 away from the chassis 110 and an upper support plate 1551, and a sliding sleeve is provided on the upper support plate 1551 with one end of a first slide bar 1552, and the other end of the first slide bar 1552 is fixedly connected to the lower support plate 155. 4, a second spring 1553 is sleeved on the outside of the first sliding rod 1552, and one end of the second spring 1553 abuts against the upper support plate 1551, and the other end abuts against the lower support plate 1554, and at the same time, one end of the first sliding rod 1552 passes through the upper support plate 1551 and is connected to one end of the connecting piece 1556, and the other end of the connecting piece 1556 is connected to one end of the second sliding rod 1555, and the other end of the second sliding rod 1555 is slidably connected to the upper support plate 1551 and passes through the upper support plate 1551 to extend to the other side of the support plate 1551.

[0055] When conducting a landing cushioning test, the secondary vibration reduction condition can be fully simulated. At the moment the simulator lands, vibration reduction is first performed through the second spring 1553. When the second spring 1553 reaches the contraction limit, under the action of inertia, the first spring 122 continues to perform subsequent vibration reduction. After the vibration reduction is completed, the first spring 122 and the second spring 1553 are reset to complete the simulation of the entire secondary vibration reduction condition.

[0056] Furthermore, a limiting sleeve 1557 is installed on the side of the second slide bar 1555 away from the connecting piece 1556, and the limiting sleeve 1557 abuts against the upper support plate 1551. By adjusting the position of the limiting sleeve 1557 on the second slide bar 1555, the length of the first slide bar 1552 and the second slide bar 1555 extending to the upper side of the upper support plate 1551 can be adjusted, thereby achieving the effect of changing the vibration reduction stroke and vibration reduction elastic force of the second spring 1553, so that the device of the present invention can flexibly adjust the second spring 1553 according to different vibration reduction tests.

[0057] In the description of the present invention, it is to 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”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention 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 limiting the present invention.

[0058] 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 the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, 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 one; 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 the present invention can be understood according to specific circumstances.

[0060] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", 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 invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics 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.

[0061] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A simulator for low gravity testing of spacecraft, characterized in that: include: chassis (110); A buffer mechanism (120) is mounted on the chassis (110); A fork-scissor mechanism (130); one side of which is mounted on the buffer mechanism (120); A counterweight mechanism (140) is installed on the other side of the fork-scissor mechanism (130) and is used to simulate the mass and moment of inertia of the spacecraft; A wheel mechanism (150) is arranged on the side of the chassis (110), and a plurality of wheels are provided.

2. A simulator for low gravity testing of spacecraft according to claim 1, characterized in that: The buffer mechanism (120) comprises: A bottom plate (121) is mounted on the chassis (110); A first spring (122), one end of which is connected to the upper surface of the bottom plate (121); A top plate (123); the other end of the first spring (122) is connected to the bottom surface of the top plate (123); The first springs (122) are provided in multiple groups and are evenly arranged along the outer edges of the bottom plate (121) and the top plate (123) in the circumferential direction.

3. A simulator for low gravity testing of spacecraft according to claim 2, characterized in that: Also includes: A hydraulic telescopic rod (124); one end of which is rotatably connected to the bottom plate (121), and the other end of which is rotatably connected to the top plate (123).

4. A simulator for low gravity testing of spacecraft according to claim 2, characterized in that: The fork shear mechanism (130) comprises: a first blade (133), a second blade (134), a sliding mechanism (135) and a mounting plate (139); the sliding mechanism (135) is provided in multiple groups and is respectively provided on the upper surface of the mounting plate (139) and the lower surface of the counterweight mechanism (140); one end of the first blade (133) is rotatably connected to the sliding mechanism (135) on the mounting plate (139), and the other end is rotatably connected to the sliding mechanism (135) on the counterweight mechanism (140); one end of the second blade (134) is rotatably connected to the sliding mechanism (135) on the mounting plate (139), and the other end is rotatably connected to the sliding mechanism (135) on the counterweight mechanism (140); the mounting plate (139) is mounted on the top plate (123).

5. A simulator for low gravity testing of spacecraft according to claim 4, characterized in that: The sliding mechanism (135) comprises: A first slide rail (1351) is mounted on the mounting plate (139); A first sliding block (1352) slidably connected to the first sliding rail (1351); A plurality of slide rail fixing plates (1353) are provided, and are rotatably connected to one end of the first blade (133) and the second blade (134) respectively; A second sliding block (1354) is mounted on the slide rail fixing plate (1353) and is slidably connected to the bottom surface of the counterweight mechanism (140); The first slide rail (1351) and the first sliding block (1352) are both provided with multiple groups, and the other ends of the first blade (133) and the second blade (134) are both rotatably connected to the first sliding block (1352).

6. A simulator for low gravity testing of spacecraft according to claim 4, characterized in that: Said also includes: A baffle (131) slidably connected to the mounting plate (139) and abutting against the first sliding block (1352); A fixing plate (132) mounted on the mounting plate (139); A screw rod (136), one end of which passes through the fixing plate (132) and the other end of which is threadedly connected to the baffle plate (131); A nut (137) is mounted on the baffle (131), and the screw rod (136) is threadedly connected to the baffle (131) via the nut (137); A rotating disk (138) is mounted on a side of the screw rod (136) passing through the fixing plate (132).

7. A simulator for low gravity testing of spacecraft according to claim 5, characterized in that: The counterweight mechanism (140) comprises: Counterweight plate (141); A counterweight bearing plate (142); comprising a plurality of groups, and all mounted on the bottom of the counterweight plate (141), the counterweight bearing plates (142) being distributed circumferentially along the outer edge of the counterweight plate (141); A fixing rod (143) having one end fixed to the counterweight bearing plate (142); A counterweight block (144) is slidably sleeved on the fixing rod (143).

8. A simulator for low gravity testing of spacecraft according to claim 7, characterized in that: Also includes: A transfer bar (145) is mounted on the counterweight plate (141); An adapter plate (146) is mounted on the counterweight plate (141) and is used for externally connecting a traction rope.

9. A simulator for low gravity testing of spacecraft according to claim 7, characterized in that: Also includes: A second slide rail (147) is installed at the bottom of the counterweight plate (141), and the second slide rail (147) is slidably connected to the second sliding block (1354).

10. A simulator for low gravity testing of spacecraft according to claim 1, characterized in that: The wheel mechanism (150) is used to drive the simulator to turn and move.

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