A simulator for spacecraft low gravity testing

Abstract

The present application relates to spacecraft ground environment test device technical field, especially to a kind of simulator for spacecraft low gravity test, buffer mechanism is installed on chassis, one side of fork shear mechanism is installed on buffer mechanism, counterweight mechanism is installed on the other side of fork shear mechanism, for simulating spacecraft mass and moment of inertia;Wheel mechanism is arranged on the side of chassis, and is provided with multiple groups. By adding different number of counterweight block to the circumferentially distributed counterweight disc, the mass center horizontal position of counterweight mechanism is changed, so that it is the same as the horizontal position of spacecraft mass center, the mass center height is adjusted by fork shear mechanism, the first spring and hydraulic telescopic rod in buffer mechanism simulate buffer working condition, the stroke of first sliding block in contraction process can be effectively adjusted by stop plate adjusted by screw rod, and it can also be used to assist the extension of fork shear mechanism, for flat ground walking, climbing, in situ steering working condition, wheel mechanism in the present application can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft ground environment test device, and particularly relates to a simulator for spacecraft low-gravity test. BACKGROUND

[0002] The deep space gravity simulation system is a large-scale complex mechanical environment test system designed for the working environment of a spacecraft, which can simulate the low-gravity environment (such as the moon, Mars, etc.) of a planet to be explored for the spacecraft on the ground in a test room, maintain a constant tension under various complex working conditions such as landing, separation, walking, turning of the spacecraft structure, so as to test whether the performance of the spacecraft in different working states meets the requirements. During the system debugging stage, a simulation device is needed to simulate various motion states of the spacecraft to ensure the smooth development of the spacecraft test. The working conditions of the test include but are not limited to walking on a flat ground at different speeds, climbing a slope, turning in place, landing cushioning, etc.

[0003] In the prior art, only the gravity environment is simulated, and no simulation test device for the working conditions such as walking on a flat ground, climbing a slope, turning in place, landing cushioning, etc. of the spacecraft in a low-gravity environment is disclosed.

[0004] Therefore, the simulation test device of the prior art cannot meet the requirements of the simulator for simulating the working conditions to test the reliability and stability of the low-gravity system, and the simulator for replacing the spacecraft to carry out the test can obtain the data such as the tension deviation of the low-gravity system, which provides an important basis for the type test.

[0005] Therefore, how to provide a simulation test device that can simulate the working conditions such as walking on a flat ground, climbing a slope, turning in place, landing cushioning, etc. of the spacecraft in a low-gravity environment is a technical problem that those skilled in the art need to solve. SUMMARY

[0006] The present application provides a simulator for spacecraft low-gravity test to solve the problem of how to provide a simulation test device that can simulate the working conditions such as walking on a flat ground, climbing a slope, turning in place, landing cushioning, etc. of the spacecraft in a low-gravity environment.

[0007] The present application provides a simulator for spacecraft low-gravity test, comprising:

[0008] a chassis;

[0009] a buffer mechanism mounted on the chassis;

[0010] a fork shear mechanism mounted on one side of the buffer mechanism;

[0011] a counterweight mechanism mounted on the other side of the fork shear mechanism for simulating the spacecraft;

[0012] Wheel mechanism; provided on the side of the chassis, and provided with multiple groups.

[0013] In some embodiments, the buffer mechanism comprises:

[0014] Bottom plate; mounted on the chassis;

[0015] First spring; one end connected to the upper surface of the bottom plate;

[0016] Top plate; the other end of the first spring is connected to the bottom surface of the top plate;

[0017] Wherein the first spring is provided with multiple groups, and is evenly arranged along the outer edge of the bottom plate and the top plate.

[0018] In some embodiments, further comprising:

[0019] Hydraulic telescopic rod; one end rotatably connected to the bottom plate, and the other end rotatably connected to the top plate.

[0020] In some embodiments, the fork mechanism comprises: a first blade, a second blade, a sliding mechanism, and a mounting plate; the sliding mechanism is provided with 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 mounted on the top plate.

[0021] In some embodiments, the sliding mechanism comprises:

[0022] First slide rail; mounted on the mounting plate;

[0023] First sliding block; slidingly connected to the first slide rail;

[0024] Slide rail fixing plate; provided with multiple groups, and rotatably connected to one end of the first blade and the second blade;

[0025] Second sliding block; mounted on the slide rail fixing plate, and slidingly connected to the bottom surface of the counterweight mechanism;

[0026] Wherein the first slide rail and the first sliding block are both provided with multiple groups, and the other end of the first blade and the second blade is rotatably connected to the first sliding block.

[0027] In some embodiments, the further comprising:

[0028] Baffle; slidingly connected to the mounting plate, and abutting against the first sliding block;

[0029] A fixed plate; mounted on the mounting plate;

[0030] A screw rod; one end passing through the fixed plate, and the other end being threadedly connected with the baffle plate;

[0031] A nut; mounted on the baffle plate, and the screw rod being threadedly connected with the baffle plate through the nut;

[0032] A rotating disc; mounted on the side of the screw rod passing through the fixed plate.

[0033] In some embodiments, the counterweight mechanism comprises:

[0034] A counterweight disc;

[0035] A counterweight block carrier plate; comprising a plurality of groups, and each being mounted on the bottom of the counterweight disc, and the counterweight block carrier plates being distributed circumferentially along the outer edge of the counterweight disc;

[0036] A fixed rod; one end being fixed on the counterweight block carrier plate;

[0037] A counterweight block; slidingly sleeved on the fixed rod.

[0038] In some embodiments, further comprising:

[0039] An adapter strip; mounted on the counterweight disc;

[0040] An adapter plate; mounted on the counterweight disc; for externally connecting a traction rope.

[0041] In some embodiments, further comprising:

[0042] A second sliding rail; mounted on the bottom of the counterweight disc, and the second sliding rail being slidingly connected with a second sliding block.

[0043] In some embodiments, the wheel mechanism is used to drive the simulator to steer and move forward.

[0044] The beneficial effects of the present application are as follows: the simulator for spacecraft low-gravity test of the present application changes the horizontal position of the mass center of the counterweight mechanism by adding different amounts of counterweight blocks to the circumferentially distributed counterweight disc, so that the horizontal position of the mass center is the same as that of the spacecraft mass center, adjusts the height of the mass center through the fork shear mechanism, and simulates the buffering working condition through the first spring and the hydraulic telescopic rod in the buffering mechanism. Meanwhile, the baffle adjusted through the lead screw in the present application can effectively adjust the stroke of the first sliding block during the contraction process, and can also be used to assist the extension of the fork shear mechanism, that is, adjust the stroke of the fork shear mechanism in the vertical direction. For the walking on flat ground, climbing and turning in place working conditions, the wheel mechanism in the present application can be driven to realize. The purpose of the present application is to solve the problem that the real spacecraft is lacking in the low-gravity system debugging process to verify the system performance, and a simulator with adjustable walking, mass and stiffness is invented for low-gravity system test to ensure the reliable operation of the system. The spacecraft generally has a high cost, and if it is directly used for system test of the low-gravity system just completed, a large test risk may be generated. The simulator with parameters close to those of the spacecraft has a relatively low cost, and can fully verify the running stability and test indexes of the spacecraft in the low-gravity environment under the working conditions of walking on flat ground, climbing, turning in place and landing buffering. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a structure schematic view of some specific embodiments of the simulator for spacecraft low-gravity test of the present application;

[0046] Figure 2 is a structure schematic view of some specific embodiments of the buffering mechanism in the simulator for spacecraft low-gravity test of the present application;

[0047] Figure 3 is a structure schematic view of some specific embodiments of the fork shear mechanism in the simulator for spacecraft low-gravity test of the present application;

[0048] Figure 4 is a structure schematic view of some specific embodiments of the counterweight mechanism in the simulator for spacecraft low-gravity test of the present application;

[0049] Figure 5 is a structure schematic view of some specific embodiments of the wheel mechanism in the simulator for spacecraft low-gravity test of the present application;

[0050] Figure 6 is a structure schematic view of some specific embodiments of the wheel in the simulator for spacecraft low-gravity test of the present application;

[0051] Figure 7 is a structure schematic view of some specific embodiments of the wheel damping mechanism in the simulator for spacecraft low-gravity test of the present application;

[0052] Figure 8 Figure 1 is a partial enlarged view of a wheel damping mechanism in a simulator for low-gravity testing of a spacecraft.

[0053] In the drawings, 110 is a chassis; 120 is a damping mechanism; 121 is a bottom plate; 122 is a first spring; 123 is a top plate; 124 is a hydraulic telescopic rod; 130 is a fork mechanism; 131 is a baffle; 132 is a fixed plate; 133 is a first blade; 134 is a second blade; 135 is a sliding mechanism; 1351 is a first sliding rail; 1352 is a first sliding block; 1353 is a sliding rail fixed plate; 1354 is a second sliding block; 136 is a lead screw; 137 is a nut; 138 is a turntable; 139 is a mounting plate; 140 is a counterweight mechanism; 141 is a counterweight plate; 142 is a counterweight carrier plate; 143 is a fixed rod; 144 is a counterweight; 145 is an adapter strip; 146 is an adapter plate; 147 is a second sliding rail; 150 is a wheel mechanism; 151 is a support; 152 is a wheel; 1521 is a wheel hub; 1522 is a rotor; 1523 is a stator; 1524 is a rotor base; 1525 is a tire; 1526 is a brake disc; 1527 is a main shaft; 1528 is an end cover; 1529 is a drive and control unit; 153 is a motor; 154 is a fixed frame; 155 is a wheel damping mechanism; 1551 is an upper support plate; 1552 is a first sliding rod; 1553 is a second spring; 1554 is a lower support plate; 1555 is a second sliding rod; 1556 is a connecting piece; and 1557 is a limiting sleeve. DETAILED DESCRIPTION

[0054] The technical solutions of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are only some 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.

[0055] As described in the background, the prior art generally only simulates the gravity environment, and does not disclose a simulation test device for simulating the flat walking, climbing, in-place turning, and landing damping of a spacecraft in a low-gravity environment. Therefore, the design of the simulation test device of the prior art cannot satisfy the simulator for simulating the working conditions to test the reliability and stability of a low-gravity system, and the simulation test device can obtain the tension deviation of the low-gravity system to provide an important basis for type testing. Therefore, how to provide a simulation test device for simulating the flat walking, climbing, in-place turning, and landing damping of a spacecraft in a low-gravity environment is a technical problem to be solved by those skilled in the art

[0056] To solve the above problems, refer toFigure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 The application provides a simulator for low-gravity test of a spacecraft, which comprises a chassis 110, a buffer mechanism 120, a fork-shear 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-shear mechanism 130 is installed on the buffer mechanism 120, the counterweight mechanism 140 is installed on the other side of the fork-shear mechanism 130, and the wheel mechanism 150 is arranged on the side of the chassis 110 and is provided with multiple groups.

[0057] Preferably, the buffer mechanism 120 comprises 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 with the upper surface of the bottom plate 121, and the other end of the first spring 122 is connected with the bottom surface of the top plate 123, wherein the first spring 122 is provided with multiple groups and is arranged uniformly along the outer edge of the bottom plate 121 and the top plate 123.

[0058] Specifically, according to the compression amount and swing condition of the upper load through the buffer, eight compression first springs with an elastic coefficient of 1 kg / mm and a length of 300 mm are selected.

[0059] Preferably, the buffer mechanism 120 further comprises a hydraulic telescopic rod 124, one end of which is rotatably connected with the bottom plate 121 and the other end of which is rotatably connected with the top plate 123.

[0060] Preferably, 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 with multiple groups and is arranged on the upper surface of the mounting plate 139 and the lower surface of the counterweight mechanism 140 respectively, one end of the first blade 133 is rotatably connected with the sliding mechanism 135 on the mounting plate 139 and the other end is rotatably connected with the sliding mechanism 135 on the counterweight mechanism 140, one end of the second blade 134 is rotatably connected with the sliding mechanism 135 on the mounting plate 139 and the other end is rotatably connected with the sliding mechanism 135 on the counterweight mechanism 140, and the mounting plate 139 is installed on the top plate 123.

[0061] Further, the middle part of the first blade 133 is rotatably connected with the middle part of the second blade 134, so that the stability of the fork-shear mechanism 130 is improved.

[0062] Preferably, the sliding mechanism 135 comprises a first sliding rail 1351, a first sliding block 1352, a plurality of sliding rail fixing plates 1353, and a second sliding block 1354. The first sliding rail 1351 is mounted on the mounting plate 139. The first sliding block 1352 is slidably connected to the first sliding rail 1351. The sliding rail fixing plates 1353 are rotatably connected to one end of the first blade 133 and the second blade 134, respectively. The second sliding block 1354 is mounted on the sliding rail fixing plates 1353 and slidably connected to the bottom surface of the counterweight mechanism 140. The first sliding rail 1351 and the first sliding block 1352 are provided with a plurality of groups. The other end of the first blade 133 and the second blade 134 is rotatably connected to the first sliding block 1352.

[0063] Specifically, the fork mechanism 130 is a superposition of a planar linkage mechanism, and the extension and contraction are achieved by the angle change of the linkage mechanism.

[0064] The movement of the fork mechanism 130 can be divided into two processes: extension and contraction.

[0065] During the extension process, the hand-operated rotary disc 138 drives the screw rod 136 to rotate, thereby causing the baffle 131 to move horizontally and the fork mechanism 130 to extend. The extension of the fork mechanism 130 gradually increases the height of the lifting platform, and the counterweight mechanism 140 is lifted to the required height, thereby changing the center of mass position of the entire device.

[0066] During the contraction process, the hand-operated rotary disc 138 reversely rotates to drive the screw rod 136 to reversely rotate, thereby causing the baffle 131 to move horizontally and the fork mechanism 130 to contract. The contraction of the fork mechanism 130 gradually reduces the height of the lifting platform, and the counterweight mechanism 140 is lowered to the required position.

[0067] Advantages of the fork mechanism 130:

[0068] 1. The stroke can be amplified, and the hand-operated rotary disc 138 can amplify the lifting stroke by a corresponding multiple.

[0069] 2. The fork mechanism 130 can be contracted to have a small volume.

[0070] 3. Strong load capacity: the fork mechanism 130 can bear a large load and can lift the counterweight mechanism 140 to a certain height.

[0071] 4. Stable lifting: the structural design of the fork mechanism 130 ensures stable lifting without vibration, ensuring the safe transportation of objects.

[0072] 5. The height of the lifting platform of the fork mechanism 130 can be adjusted as needed, and different height center of mass position platforms can be simulated.

[0073] Preferably, the still further comprises: a baffle plate 131, a fixed plate 132, a lead screw 136, a nut 137 and a rotating disc 138, the baffle plate 131 is slidingly connected to the mounting plate 139 and abuts against the first sliding block 1352, the fixed plate 132 is installed on the mounting plate 139, the lead screw 136 passes through the fixed plate 132 at one end and is threadedly connected to the baffle plate 131 at the other end, the nut 137 is installed on the baffle plate 131, the lead screw 136 is threadedly connected to the baffle plate 131 through the nut 137, and the rotating disc 138 is installed on the side of the lead screw 136 passing through the fixed plate 132.

[0074] Preferably, the counterweight mechanism 140 comprises: a counterweight disc 141, a counterweight block bearing plate 142, a fixed rod 143 and a counterweight block 144, the counterweight block bearing plate 142 comprises multiple groups and is installed at the bottom of the counterweight disc 141, the counterweight block bearing plate 142 is distributed along the outer edge of the counterweight disc 141 in the circumferential direction, the fixed rod 143 is fixed at one end on the counterweight block bearing plate 142, and the counterweight block 144 is slidingly sleeved on the fixed rod 143.

[0075] Specifically, by changing the number of counterweight blocks 144 on each counterweight block bearing plate 142, the horizontal position of the centroid of the counterweight disc 141 can be changed.

[0076] Preferably, it further comprises: an adapter strip 145 and an adapter plate 146, the adapter strip 145 is installed on the counterweight disc 141, and the adapter plate 146 is installed on the counterweight disc 141 and used for externally connecting a traction rope.

[0077] Specifically, the low-gravity test simulator subsystem has an independent adapter connection, the counterweight disc 141 is a 12mm-thick steel plate with hollow weight-reducing holes. It has a connection interface with a parallel hanger, the hanger interface is located at the adapter strip 145 and the adapter plate 146, and four screw holes can be left at appropriate positions of the counterweight disc 141 for hoisting in a non-working state.

[0078] Further, the counterweight disc 141 in the present application has two working conditions of vertical hoisting and overturning hoisting, which can be achieved by using different screw holes.

[0079] Preferably, it further comprises: a second sliding rail 147 installed at the bottom of the counterweight disc 141, and the second sliding rail 147 is slidingly connected with a second sliding block 1354.

[0080] Preferably, the wheel mechanism 150 is used for driving the simulator to steer and move forward.

[0081] In a preferred embodiment, the wheel mechanism 150 comprises a bracket 151, a wheel 152, a motor 153 and a fixing bracket 154, wherein the bracket 151 is arranged on both sides of the wheel 152 and is rotationally connected with the wheel 152, the motor is arranged on the upper side of the bracket 151 and is used to drive the bracket 151 to change direction, thereby driving the wheel 152 to steer. One end of the fixing bracket 154 is connected with the bracket 151, and the other end is connected with the chassis 110.

[0082] Further, the wheel 152 comprises a 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 driving and control unit 1529, wherein the rotor 1522, the stator 1523 and the rotor base 1524 are all mounted on the inner ring of the hub 1521 and are sealed by the end cover 1528, the tire 1525 is sleeved on the outer ring of the hub 1521, the brake disc 1526 is arranged on the end cover 1528, the main shaft 1527 is located at the center of the hub 1521, and the driving and control unit 1529 is mounted on the inner ring of the hub 1521 and is electrically connected with an external controller to receive signals and drive the main shaft 1527 to rotate. The wheel 152 in the present application adopts the principle of electromagnetic induction, and the driving structure is arranged in the interior of the wheel 152 to directly drive the main shaft 1527 to rotate, thereby realizing the rotation and travel of the entire wheel 152. In cooperation with the motor 153, the wheel 152 can realize steering during travel and simulate the working conditions of walking on flat ground, climbing and steering in place.

[0083] Specifically, for the steering system, a speed reducer can be added to cooperate with the motor 153 in the present application to realize more precise and accurate steering.

[0084] As the whole vehicle mass m = 477 kg in the present application

[0085] The friction coefficient μ between the tire and the ground is 0.4

[0086] The driving radius r is 30 mm

[0087]

[0088]

[0089] According to the above technology, it is obtained that 7.1 N•m of torque is required to drive the wheel to steer.

[0090] Therefore, a P022 specification speed reducer is selected.

[0091] The motor power P is 370 W, the output allowable torque is 21.7 nm, the output speed is 143.1 r / min, and the output shaft allowable radial force F is 1530 N.

[0092] Specifically, the driving structure in the wheel 152 of the present application is the wheel hub motor, which is a device that converts electrical energy into mechanical energy, mainly composed of a motor, a reducer, a wheel hub 1521 and a tire 1525. Its working principle is as follows:

[0093] Power supply: the wheel hub motor is powered by a power supply, which inputs direct current electrical energy into the motor;

[0094] Motor rotation: after receiving electrical energy, the motor converts electrical energy into rotational force through the magnetic field generated by electrification. The magnetic field interaction between the stator 1523 and the rotor 1522 inside the motor makes the motor start to rotate;

[0095] Reducer device: in order to provide sufficient torque and traction, the wheel hub motor is usually equipped with a reducer device. The reducer reduces the rotational speed of the motor output and increases the torque to adapt to the driving needs of the vehicle;

[0096] Power transmission to the tire: 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 to move 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;

[0097] Because the wheel hub motor has the characteristics of single wheel independent drive, whether it is front drive, rear drive or four-wheel drive, it can easily realize all-weather four-wheel drive on the wheel hub motor driven vehicle;

[0098] Walking speed multi-gear adjustable, gear position includes 0.05\0.1\0.2\0.3\0.4\0.6m / s.

[0099] In another preferred embodiment, for the landing buffer working condition, considering that single-layer spring buffer makes the landing moment acceleration value large, which seriously affects the stability of the low-gravity system, therefore, a two-layer spring structure is designed as the landing buffer module, in order to realize two-stage damping, the application is provided with a wheel damping mechanism 155, one end of the fixed frame 154 away from the chassis 110 is connected with the upper support plate 1551, one end of the first slide rod 1552 sleeved on the upper support plate 1551 is slidably arranged, the other end of the first slide rod 1552 is fixedly connected on the lower support plate 1554, the second spring 1553 is sleeved on the outside of the first slide rod 1552, one end of the second spring 1553 is abutted with the upper support plate 1551, the other end is abutted with the lower support plate 1554, meanwhile, one end of the first slide rod 1552 passes through the upper support plate 1551 and is connected with one end of the connecting piece 1556, the other end of the connecting piece 1556 is connected with one end of the second slide rod 1555, the other end of the second slide rod 1555 is slidably connected with the upper support plate 1551 and passes through the upper support plate 1551 and extends to the other side of the support plate 1551.

[0100] When the landing buffer test is carried out, the two-stage damping working condition can be fully simulated, when the simulator lands, first, the second spring 1553 is used for damping, when the second spring 1553 reaches the contraction limit, under the action of inertia, the first spring 122 continues to carry out subsequent damping, after the damping is completed, the first spring 122 and the second spring 1553 reset, and the simulation of the entire two-stage damping working condition is completed.

[0101] Further, the second slide rod 1555 is provided with a limiting sleeve 1557 away from the connecting piece 1556, the limiting sleeve 1557 is abutted with the upper support plate 1551, by adjusting the position of the limiting sleeve 1557 on the second slide rod 1555, the length of the first slide rod 1552 and the second slide rod 1555 extending to the upper side of the upper support plate 1551 is adjusted, the damping stroke and damping force of the second spring 1553 are changed, so that the device can flexibly adjust the second spring 1553 for different damping tests.

[0102] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0103] In addition, the terms "first", "second", etc. are used only to describe the purpose and are not to be interpreted as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0104] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it 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 the present application can be understood according to the specific circumstances.

[0105] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 the present specification, the illustrative description of the above terms does 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 present specification and the features of the different embodiments or examples without contradiction.

[0106] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed 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. 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 forklift mechanism (130); one side is mounted on the buffer mechanism (120); A counterweight mechanism (140) is installed on the other side of the forklift mechanism (130) to simulate the mass and moment of inertia of a spacecraft. Wheel mechanism (150); disposed on the side of the chassis (110), and multiple sets thereof are provided; The buffer mechanism (120) includes: Base plate (121); mounted on the chassis (110); A first spring (122); one end of which is connected to the upper surface of the base plate (121); Top plate (123); the other end of the first spring (122) is connected to the bottom surface of the top plate (123); The first spring (122) is provided in multiple sets and is evenly arranged along the outer circumferential direction of the bottom plate (121) and the top plate (123); The forklift 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 sets, 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); The counterweight mechanism (140) includes: Counterweight plate (141); The counterweight support plate (142) includes multiple sets, all of which are installed at the bottom of the counterweight disk (141), and the counterweight support plate (142) is distributed circumferentially along the outer edge of the counterweight disk (141); Fixed rod (143); one end is fixed to the counterweight bearing plate (142); Counterweight (144); slidably sleeved on the fixed rod (143); By changing the number of counterweights (144) on each counterweight bearing plate (142), the horizontal position of the center of mass of the counterweight disk (141) is changed.

2. The simulator for low-gravity testing of spacecraft according to claim 1, characterized in that, Also includes: Hydraulic telescopic rod (124); one end is rotatably connected to the base plate (121), and the other end is rotatably connected to the top plate (123).

3. A simulator for low-gravity testing of spacecraft according to claim 1, characterized in that, The sliding mechanism (135) includes: First slide rail (1351); mounted on the mounting plate (139); The first slider (1352) is slidably connected to the first slide rail (1351); Slide rail fixing plate (1353); multiple sets are provided, and are respectively rotatably connected to one end of the first blade (133) and the second blade (134); The second slider (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 slider (1352) are provided with multiple sets, and the other ends of the first blade (133) and the second blade (134) are rotatably connected to the first slider (1352).

4. A simulator for low-gravity testing of spacecraft according to claim 3, characterized in that, The sliding mechanism further includes: A baffle (131) is slidably connected to the mounting plate (139) and abuts against the first slider (1352). Fixing plate (132); mounted on the mounting plate (139); A lead screw (136); one end passes through the fixed plate (132), and the other end is threaded to the baffle (131); Nut (137); mounted on the baffle (131), the lead screw (136) is threadedly connected to the baffle (131) via nut (137); Turntable (138); mounted on the side where the lead screw (136) passes through the fixed plate (132).

5. A simulator for low-gravity testing of spacecraft according to claim 1, characterized in that, Also includes: Adapter bar (145); installed on the counterweight plate (141); Adapter plate (146); mounted on the counterweight plate (141); used for connecting an external traction rope.

6. A simulator for low-gravity testing of spacecraft according to claim 5, characterized in that, Also includes: The second slide rail (147) is installed at the bottom of the counterweight plate (141) and is slidably connected to the second slider (1354).

7. 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 steer and move.

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