Large-range multi-degree-of-freedom zero-gravity unloading method for space unfolding mechanism

Abstract

The invention provides a large-range multi-degree-of-freedom zero-gravity unloading method for a space unfolding mechanism, and provides a zero-gravity unloading system comprising a hanger, a six-degree-of-freedom intelligent following air floating vehicle, an adjustable tool simulation wall and other equipment. The six-degree-of-freedom intelligent following air floating vehicle with the height automatic compensation function replaces a traditional air floating platform, cost is greatly reduced, and economic benefits are improved. The six-degree-of-freedom intelligent following air floating vehicle can realize a gravity unloading function under six-degree-of-freedom movement, and perfectly meets the unfolding movement requirement of a complex space axis; finally, a tool simulation wall with an adjustable rotating shaft is designed and used, the space axis of the unfolding arm is rotated to be perpendicular to the ground as far as possible, the decomposition motion range in the vertical direction in the space axis joint on-load unfolding process is reduced, and the stability and reliability of the unfolding process are improved.

Description

TECHNICAL FIELD

[0001] The application relates to a large-range multi-degree-of-freedom zero-gravity unloading method of a space unfolding mechanism, and belongs to the field of spaceflight. BACKGROUND

[0002] In order to verify the unfolding performance of the space unfolding mechanism, such as unfolding to position accuracy and repeat accuracy, which is closer to the actual working condition, zero-gravity unloading followed by load unfolding test needs to be carried out on the ground. The common zero-gravity unloading method can adopt hanging, air floating support and the like, and unloading is carried out by means of a pulling force or a supporting force to offset the gravity of the space unfolding mechanism. However, with the development of the space unfolding mechanism towards larger scale and more degrees of freedom, the unfolding trajectory envelope range rapidly increases, and the air floating platform needs to be built to cover the super-large area air floating platform of the trajectory envelope, so that the assembly cost is sharply increased, and the economic benefit is low. In addition, the degrees of freedom of the movement mode increase, and the space unfolding mechanism appears six-degree-of-freedom movement around the space axis. During the zero-gravity unloading in the unfolding process, the air floating or hanging tool needs to be automatically and real-timely adjusted in the vertical direction. The traditional air floating or hanging can only complete the movement in the horizontal plane, and it is difficult to meet the demand.

[0003] For the large-range space unfolding mechanism unfolding test, the super-large area air floating platform is needed, the cost is high, the economic benefit is low, and for the new configuration of the six-degree-of-freedom space unfolding mechanism, the traditional air floating or hanging can only complete the movement in the horizontal plane, and cannot meet the demand of the automatic and real-time adjustment in the vertical direction. SUMMARY

[0004] The technical problem to be solved by the application is that, in view of the above problems, the application adopts the scheme of using hanging, six-degree-of-freedom intelligent following air floating vehicle and adjustable tool simulation wall and the like equipment, and unloading schemes are designed through various arrangements and combinations of the above equipment, so as to realize the zero-gravity unloading function of the large-range multi-degree-of-freedom space unfolding mechanism under static and dynamic following.

[0005] The technical scheme adopted by the application is that a large-range multi-degree-of-freedom zero-gravity unloading method of a space unfolding mechanism comprises the following steps.

[0006] S1: adjusting the adjustable tool simulation wall rotating shaft, so that the mounting surface interface of the adjustable tool simulation wall connected with the space unfolding mechanism is matched with the flange mounting surface of the space unfolding mechanism connected with a star body;

[0007] S2: zero-gravity unloading of the space unfolding mechanism;

[0008] S3: confirming the state before unfolding of the space unfolding mechanism;

[0009] S4: carry out the space unfolding mechanism unfolding test, verify whether the space unfolding mechanism can unfold.

[0010] Further, the space unfolding mechanism is an unfolding arm comprising two or more joints; the folding and unfolding mechanism refers to a joint; the joints are connected by arm rods;

[0011] One joint of the unfolding arm connected to the star body is called the root joint, and comprises several inter-arm joints parallel or perpendicular to the root joint axis, wherein the number of inter-arm joints can be 0, and the axis of the last end joint for connecting with the load is a spatial axis, the spatial axis and the root joint axis form a spatial angle;

[0012] In the unfolded state, the center axes of all arm rod structures of the unfolding arm coincide or are parallelly offset.

[0013] Further, the six-degree-of-freedom intelligent following air floating vehicle is used for zero-gravity unloading of the load, has two modes of active and passive following space unfolding mechanism unfolding, has the gravity unloading capacity under six-degree-of-freedom motion, the gravity compensation error is not more than 2%, can be used on self-leveling ground within the up-and-down fluctuation distance ±20mm, has the automatic height compensation function, the horizontal adjustment accuracy of itself is within 0.1 degrees, the steady-state displacement error is not more than 10mm when following the space unfolding mechanism unfolding, the tracking motion displacement error is not more than 20mm, the maximum tracking speed can reach 235mm / s, and the maximum motion range in the vertical direction can reach 680mm.

[0014] Further, the mounting surface of the adjustable tooling simulation wall connected with the space unfolding mechanism is adjusted in posture by a rotating shaft, and is used to drive the space unfolding mechanism to realize posture adjustment; the axis line of the rotating shaft of the adjustable tooling simulation wall is consistent with the direction of the center axis of the root arm rod mounted on the adjustable tooling simulation wall through the root joint of the space unfolding mechanism.

[0015] Further, the space unfolding mechanism is an unfolding arm comprising two or more joints; the folding and unfolding mechanism refers to a joint; the joints are connected by arm rods;

[0016] Determine the axis direction of the space unfolding mechanism in the current unfolding process, and take the state that the axis of the space unfolding mechanism in the current unfolding process is perpendicular to the horizontal plane as the theoretical position; if the adjustable tooling simulation wall rotating shaft cannot make the axis of the space unfolding mechanism in the current unfolding process perpendicular to the horizontal plane, take the state that the angle between the axis of the space unfolding mechanism in the current unfolding process and the vertical direction is the minimum value as the theoretical position;

[0017] Determine the posture of the flange mounting surface of the space unfolding mechanism connected with the star body at the theoretical position;

[0018] Adjust the adjustable tooling simulation wall rotating shaft, so that the mounting surface interface of the adjustable tooling simulation wall connected with the space unfolding mechanism matches the flange mounting surface of the space unfolding mechanism connected with the star body.

[0019] Further, the space unfolding mechanism zero-gravity unloading includes:

[0020] The space unfolding mechanism centroid is calculated, the weight is balanced, the space unfolding mechanism zero-gravity unloading hanging connection position and hanging tension size, the six-degree-of-freedom intelligent following air float car connection position and support force size are determined.

[0021] The space unfolding mechanism is connected and fixed with the adjustable tooling simulation wall; the space unfolding mechanism is hung by a rocker arm frame, the space unfolding mechanism is zero-gravity unloaded, the rocker arm frame hanging arm rod follows the arm rod unfolding; the end folding and unfolding mechanism of the space unfolding mechanism is connected with the load, the six-degree-of-freedom intelligent following air float car unloads the gravity of the load, and the load is supported and unfolded along the load unfolding path when the space unfolding mechanism unfolds around the axis in the unfolding process.

[0022] Further, the space unfolding mechanism pre-unfolding state confirmation includes:

[0023] Confirming that the hanging tool, the six-degree-of-freedom intelligent following air float car connection state meets the zero-gravity unloading efficiency requirement;

[0024] Confirming that there is no obstacle on the motion path of the space unfolding mechanism in the unfolding process;

[0025] Confirming that the folding and unfolding mechanism used by the space unfolding mechanism in the unfolding process can normally move and unfold and lock, and the zero-gravity unloading tool can follow the space unfolding mechanism to unfold.

[0026] Further, the space unfolding mechanism unfolding test includes:

[0027] Controlling the space unfolding mechanism to move and unfold by using the folding and unfolding mechanism in the unfolding process, observing the state of the hanging tool connected with the space unfolding mechanism of the rocker arm, and immediately stopping the unfolding test if there is an abnormality;

[0028] Operating the six-degree-of-freedom intelligent following air float car, supporting the load to follow the space unfolding mechanism to unfold, and observing the state of the six-degree-of-freedom intelligent following air float car in the process, and immediately stopping the unfolding test if there is an abnormality.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] (1) the six-degree-of-freedom intelligent following air floating vehicle proposed to be used can be used on self-leveling ground with a height fluctuation of ±20mm, has a height compensation function to eliminate the height error of the ground, avoids the construction of an air floating platform with an ultra-large area, reduces the requirement for the site environment, and improves the economic benefit;

[0031] (2) the six-degree-of-freedom intelligent following air floating vehicle proposed to be used has the ability of six-degree-of-freedom movement, can unload gravity with high precision for a complex space axis joint load expansion process, and can adapt to the expansion demand of a new configuration multi-degree-of-freedom space expansion mechanism;

[0032] (3) the adjustable tooling simulation wall proposed to be used can realize the posture adjustment of a complex movement mechanism with a space axis by rotating the simulation wall rotation shaft, make the space axis as perpendicular to the horizontal plane as possible, thereby making the expansion trajectory of the space expansion mechanism as close to plane rotation as possible, reducing the decomposition displacement range in the vertical direction, and making the expansion process more stable and controllable. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 FIG. 1 is a schematic diagram of a large-range multi-degree-of-freedom zero-gravity unloading method for a space expansion mechanism;

[0034] Figure 2 FIG. 2 is a schematic diagram of an adjustable tooling simulation wall;

[0035] Figure 3 FIG. 3 is a schematic diagram of a state in which an expansion arm is folded to the adjustable tooling simulation wall;

[0036] Figure 4 FIG. 4 is a schematic diagram of an expansion process of an inter-arm joint of an expansion arm;

[0037] Figure 5 FIG. 5 is a schematic diagram of an expansion process of a root joint of an expansion arm;

[0038] Figure 6 FIG. 6 is a schematic diagram of a posture adjustment mode of the adjustable tooling simulation wall;

[0039] Figure 7 FIG. 7 is a schematic diagram of a vertical direction decomposition process of an end joint of an expansion arm before and after the posture adjustment of the adjustable tooling simulation wall;

[0040] Figure 8 FIG. 8 is a schematic diagram of an expansion process of an end joint of an expansion arm. DETAILED DESCRIPTION

[0041] The application will be further described in detail below in combination with the drawings and specific examples, but the implementation of the application is not limited thereto.

[0042] The application provides a large-range multi-degree-of-freedom zero-gravity unloading method for a space unfolding mechanism, which is suitable for an unfolding arm with an unfolding track envelope reaching a size of thousands of square meters and a multi-degree-of-freedom complex motion process including rotation around a space axis, and is used for completing zero-gravity unloading in a ground loading unfolding test process of the unfolding arm.

[0043] The application uses a hanging device to unload the gravity of an arm assembly and an inter-arm joint moving in a horizontal plane; uses a six-degree-of-freedom intelligent following air floating vehicle to unload the gravity of a load connected with an end joint and rotating around a space axis, instead of a large-area air floating platform, and works on a self-leveling ground, thereby reducing the site precision requirement and economic cost, and realizing real-time self-adjustment in a vertical direction, and meeting the zero-gravity unloading requirement of the multi-degree-of-freedom space unfolding mechanism; and uses an adjustable tooling simulation wall to adjust the posture of a complex motion mechanism with a space axis, so that the space axis is as vertical to the horizontal plane as possible, the unfolding track of the space unfolding mechanism is as close to plane rotation as possible, the decomposition displacement range of the space unfolding mechanism in the vertical direction is reduced, and the unfolding process is more stable and controllable.

[0044] A large-range multi-degree-of-freedom zero-gravity unloading method for a space unfolding mechanism comprises the following steps.

[0045] Step one: adjusting a tooling simulation wall rotating shaft.

[0046] Determining the axis direction of the space unfolding mechanism in the unfolding process, taking the state that the axis is perpendicular to the horizontal plane as a theoretical position, and taking the state that the angle between the axis and the vertical direction is the minimum as the theoretical position if the tooling simulation wall rotating shaft cannot make the axis of the space unfolding mechanism perpendicular to the horizontal plane.

[0047] Determining the posture of a flange mounting surface connected with a star body when the space unfolding mechanism is in the above-mentioned theoretical position.

[0048] Adjusting the tooling simulation wall rotating shaft so that the mounting surface interface connected with the space unfolding mechanism is matched with the flange mounting surface connected with the star body.

[0049] Step two: zero-gravity unloading of the space unfolding mechanism.

[0050] Calculating the mass center of the space unfolding mechanism, balancing the weight, determining the hanging connection position and the hanging tension of the space unfolding mechanism in the static state, and determining the connection position and the supporting force of the six-degree-of-freedom intelligent following air floating vehicle.

[0051] Fixing the space unfolding mechanism to the tooling simulation wall.

[0052] Step three: confirming the state before unfolding of the space unfolding mechanism.

[0053] Confirm the connection state of the hanging, six-degree-of-freedom intelligent following air floatation vehicle, and the size of the unloading force meets the zero-gravity unloading efficiency requirement;

[0054] Confirm that there are no obstacles on the motion path of the space deployment mechanism during this deployment process;

[0055] Confirm that the space deployment mechanism folding and unfolding mechanism can move normally, unfold and lock, and the zero-gravity unloading tool can follow the space deployment mechanism to unfold normally;

[0056] Step four: space deployment mechanism deployment test;

[0057] Perform the space deployment mechanism motion deployment this time, and observe the hanging tool state during the process. If there is an abnormality, stop the deployment test immediately;

[0058] Operate the six-degree-of-freedom intelligent following air floatation vehicle to support the load following the space deployment mechanism to unfold, and observe the state of the six-degree-of-freedom intelligent following air floatation vehicle during the process. If there is an abnormality, stop the deployment test immediately.

[0059] A large-range multi-degree-of-freedom zero-gravity unloading method for a space deployment mechanism, using a hanging, six-degree-of-freedom intelligent following air floatation vehicle, and adjustable tooling simulation wall equipment, through various permutations and combinations of the above equipment to design an unloading scheme, realize the function of large-range multi-degree-of-freedom zero-gravity unloading of the space deployment mechanism under static and dynamic following, and assist in completing the space deployment mechanism load deployment experiment;

[0060] A large-range multi-degree-of-freedom zero-gravity unloading method for a space deployment mechanism, applicable to the following space deployment mechanisms:

[0061] A deployment arm containing two or more joints;

[0062] One joint of the deployment arm connected to the star body is called the root joint, in addition to a number of inter-arm joints (the number can be 0) parallel or perpendicular to the root joint axis, and the last end joint axis for connecting to the load is a space axis, that is, neither parallel nor perpendicular to the root joint axis;

[0063] In the unfolded state, all arm rod structures have coincident or parallelly offset center axes;

[0064] The hanging unloading method is applied to the zero-gravity unloading of the arm rod and inter-arm joint part with a motion trajectory in the horizontal plane;

[0065] The six-degree-of-freedom intelligent following air floatation vehicle is used for zero-gravity unloading of the load, has two modes of active and passive following space unfolding mechanism unfolding, has the zero-gravity unloading capability under six-degree-of-freedom motion, the gravity compensation error is not more than 2%, can be used on self-leveling ground within a ground up-and-down fluctuation distance of ±20 mm, has an automatic height compensation function, the self horizontal adjustment precision can reach within 0.1 degrees, the stable state displacement error of the following space unfolding mechanism unfolding is not more than 10 mm, the tracking motion displacement error is not more than 20 mm, the maximum tracking speed can reach 235 mm / s, and the maximum motion range in the vertical direction can reach 680 mm.

[0066] The adjustable tooling simulation wall is connected with the mounting surface of the space unfolding mechanism, the mounting surface can adjust the posture through the rotating shaft to drive the space unfolding mechanism to realize posture adjustment, and the axis of the rotating shaft is consistent with the central axis direction of the root arm rod installed on the simulation wall through the root joint.

[0067] Embodiment

[0068] A certain unfolding arm includes three joints, a root joint connected with a star body, an inter-arm joint parallel to the axis of the root joint, and an end joint with a space axis connected with a load, and the zero-gravity unloading method of the space unfolding mechanism is used for zero-gravity unloading during the unfolding test process.

[0069] A certain unfolding arm reaches a fully unfolded state after three unfolding processes, and the specific unfolding process and the corresponding zero-gravity unloading method operation are as follows:

[0070] As Figure 1 For the zero-gravity unloading method, the arm rod assembly and the inter-arm joint 1-1 of a certain unfolding arm are used for zero-gravity unloading in a hanging manner, and are implemented through the gantry 2 and the rocker arm frame 3.

[0071] The load 1-2 of a certain unfolding arm is subjected to zero-gravity unloading by using the six-degree-of-freedom intelligent following air floatation vehicle 4 (using the invention patent with the application number 202310249512.0, an intelligent following air floatation vehicle for a large space unfolding mechanism);

[0072] A certain unfolding arm is connected and fixed to the adjustable tooling simulation wall 6, and the adjustable tooling simulation wall 6 is placed on the support vehicle 5.

[0073] As Figure 3 A certain unfolding arm is retracted to the adjustable tooling simulation wall, that is, the initial state of the unfolding test;

[0074] The inter-arm joint unfolding test is performed in the first unfolding motion stage, and as Figure 4 For the inter-arm joint unfolding process diagram of a certain unfolding arm, the specific operation steps are as follows:

[0075] Step one: adjustable tooling analog wall rotation axis adjustment;

[0076] Inter-arm joint unfolding is performed, with the inter-arm joint axis 1-4 perpendicular to the horizontal plane as the theoretical position;

[0077] The attitude of the flange mounting surface connected to the star body when a certain unfolded arm is in the above-mentioned theoretical position is determined;

[0078] As shown in Figure 2 , the rotation axis 6-1 of the adjustable tooling analog wall 6 is rotated around the axis 6-3, so that the mounting surface interface 6-2 connected to the space unfolding mechanism matches the flange mounting surface connected to the space unfolding mechanism and the star body; the adjustable tooling analog wall 6 is a frame structure.

[0079] Step two: zero-gravity unloading of the space unfolding mechanism;

[0080] The center of mass of the space unfolding mechanism is calculated, the weight is balanced, and the hanging connection position and hanging tension of the space unfolding mechanism zero-gravity unloading, the connection position and support force of the six-degree-of-freedom intelligent following air floatation vehicle 4 are determined;

[0081] As shown in Figure 3 , the space unfolding mechanism is connected and fixed with the adjustable tooling analog wall 6;

[0082] Step three: confirmation of the pre-unfolding state of the space unfolding mechanism;

[0083] It is confirmed that the hanging and six-degree-of-freedom intelligent following air floatation vehicle 4 connection state meets the zero-gravity unloading efficiency requirements;

[0084] It is confirmed that there is no obstacle in the movement path of a certain unfolded arm during the unfolding process of the inter-arm joint;

[0085] It is confirmed that the inter-arm joint can normally move and unfold and lock, and the zero-gravity unloading tooling can follow the space unfolding mechanism to normally unfold;

[0086] Step four: space unfolding mechanism unfolding test;

[0087] As shown in Figure 4 , the inter-arm joint is unfolded by operating the controller, and during this unfolding process, the inter-arm joint axis 1-4 is perpendicular to the horizontal plane, and a certain unfolded arm only moves in the horizontal plane;

[0088] The zero-gravity unloading is performed by the rocker arm frame hanging arm rod, which follows the arm rod to unfold, and the state of the hanging tooling during the unfolding process is observed, and the unfolding test is immediately stopped if there is any abnormality;

[0089] The six-degree-of-freedom intelligent following air floatation vehicle 4 performs gravity unloading on the load 1-2, and supports the load to unfold along the unfolding path 4-1, and the state of the six-degree-of-freedom intelligent following air floatation vehicle 4 during the process is observed, and the unfolding test is immediately stopped if there is any abnormality.

[0090] The second expansion movement stage carries out the root joint expansion test, as shown in Figure 5 The second expansion movement stage carries out the root joint expansion test, as shown in

[0091] The root joint axis 1-3 is parallel to the inter-arm joint axis 1-4, and step one is omitted;

[0092] The space expansion mechanism zero-gravity unloading effect is good in the previous expansion test process, and is not changed, and step two is omitted;

[0093] Step three: Confirm the state of the space expansion mechanism before expansion;

[0094] Confirm the hanging, six-degree-of-freedom intelligent following air floatation vehicle connection state and the unloading force size meets the zero-gravity unloading efficiency requirement;

[0095] Confirm that there is no obstacle on the movement path of the certain expansion arm in the root joint expansion process;

[0096] Confirm that the root joint can normally move and expand and lock, and the zero-gravity unloading tool can follow the space expansion mechanism to normally expand;

[0097] Step four: Space expansion mechanism expansion test;

[0098] The second expansion movement stage carries out the root joint expansion test, as shown in Figure 5 , carries out the root joint expansion, and the root joint axis 1-3 is perpendicular to the horizontal plane in this expansion process, and the certain expansion arm only moves in the horizontal plane;

[0099] The rocker arm frame hanging arm rod carries out zero-gravity unloading, follows the arm rod to expand, and observes the state of the hanging tool during the expansion process. If there is an abnormality, stop the expansion test immediately;

[0100] The six-degree-of-freedom intelligent following air floatation vehicle 4 carries out gravity unloading on the load, supports the load to expand through the expansion path 4-2, and observes the state of the six-degree-of-freedom intelligent following air floatation vehicle during the process. If there is an abnormality, stop the expansion test immediately;

[0101] The third expansion movement stage carries out the end joint expansion test, and the specific operation steps are as follows:

[0102] Step one: Adjust the adjustable tooling simulation wall rotating shaft;

[0103] Carry out the space axis joint expansion, and the space axis 1-5 is perpendicular to the horizontal plane state as the theoretical position. After calculation, the adjustable tooling simulation wall rotating shaft 6-1 cannot make the space axis 1-5 perpendicular to the horizontal plane, so the state of the smallest angle between the axis 1-5 and the vertical direction is taken as the theoretical position;

[0104] The second expansion movement stage carries out the root joint expansion test, as shown in Figure 6, the adjustable tooling analog wall rotating shaft 6-1 rotates 46.4 degrees around the axis 6-3, at this time the space axis 1-5 and the vertical direction included angle is 2.3 degrees to reach the minimum value;

[0105] Determine the attitude of the flange mounting surface connected to the star body of the certain expansion arm at the above-mentioned theoretical position;

[0106] As Figure 7 For the load 1-2 of the certain expansion arm, after the rotation of the adjustable tooling analog wall rotating shaft, the motion range 4-4 of the space axis joint in the vertical direction is reduced from 3000mm to 500mm;

[0107] During the expansion test in the first two paragraphs, the zero-gravity unloading effect of the space expansion mechanism is good, no change occurs, and step two is omitted.

[0108] Step three: confirmation of the state before the expansion of the space expansion mechanism;

[0109] Confirm the hanging and the connection state of the six-degree-of-freedom intelligent following air floatation vehicle, and the unloading force meets the zero-gravity unloading efficiency requirement;

[0110] Confirm that there is no obstacle in the motion path of the load during the expansion of the space axis joint;

[0111] Confirm that the space axis joint can normally expand and lock, and the zero-gravity unloading tooling can follow the normal expansion of the space expansion mechanism;

[0112] Step four: space expansion mechanism expansion test;

[0113] As Figure 8 , the space axis joint is expanded, the space axis 1-5 and the vertical direction included angle is 2.3 degrees during this expansion process, and the load is in horizontal and vertical compound motion;

[0114] The six-degree-of-freedom intelligent following air floatation vehicle 4 performs gravity unloading on the load, supports the load to expand through the expansion path 4-3 in the horizontal direction, and expands through the expansion path 4-4 in the vertical direction, and observes the state of the six-degree-of-freedom intelligent following air floatation vehicle during the process. If there is an abnormality, stop the expansion test immediately.

[0115] The above detailed description further describes the purpose, technical scheme and beneficial effects of the application. It should be understood that the above description is only for specific implementation of the application and does not limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A large-range multi-degree-of-freedom zero-gravity unloading method for a space deployment mechanism, characterized by, The method comprises the following steps: S1: adjust the pivot of the adjustable tooling simulation wall (6) to match the mounting surface interface of the adjustable tooling simulation wall (6) connected with the space unfolding mechanism with the flange mounting surface of the space unfolding mechanism connected with the star body; S2: perform zero-gravity unloading of the space unfolding mechanism; S3: perform pre-unfolding state confirmation of the space unfolding mechanism; S4: perform unfolding test of the space unfolding mechanism to verify whether the space unfolding mechanism can be unfolded.

2. The large-range multi-degree-of-freedom zero-gravity unloading method of a space deployment mechanism according to claim 1, characterized in that, The space unfolding mechanism is an unfolding arm comprising two or more joints; the folding and unfolding mechanism refers to the joint; the arm links are connected between the joints; One joint of the unfolding arm connected with the star body is referred to as a root joint, and comprises a plurality of inter-arm joints parallel or perpendicular to the axis of the root joint, wherein the number of the inter-arm joints can be 0, and the axis of the last end joint for connecting with the load is a space axis, and the space axis and the axis of the root joint form a space angle; In the unfolded state, the central axes of all the arm link structures of the unfolding arm coincide or are parallelly offset.

3. The large-range multi-degree-of-freedom zero-gravity unloading method of a space deployment mechanism according to claim 2, characterized in that, The six-degree-of-freedom intelligent following air floatation vehicle (4) is used for zero-gravity unloading of the load, has two modes of active and passive following of the space unfolding mechanism unfolding, has the gravity unloading capacity under six-degree-of-freedom motion, the gravity compensation error is not more than 2%, can be used on the self-leveling ground within the up-and-down fluctuation distance of ±20 mm, has the automatic height compensation function, the horizontal adjustment accuracy of the vehicle itself is within 0.1 degrees, the stable state displacement error is not more than 10 mm when the vehicle follows the space unfolding mechanism unfolding, the tracking motion displacement error is not more than 20 mm, the maximum tracking speed can reach 235 mm / s, and the maximum motion range in the vertical direction can reach 680 mm.

4. The large-range multi-degree-of-freedom zero-gravity unloading method of a space deployment mechanism according to claim 3, characterized in that, The mounting surface of the adjustable tooling simulation wall connected with the space unfolding mechanism is adjusted in the posture through the pivot, and is used to drive the space unfolding mechanism to realize the posture adjustment; the axis of the pivot of the adjustable tooling simulation wall is consistent with the direction of the central axis of the root arm link mounted on the adjustable tooling simulation wall through the root joint of the space unfolding mechanism.

5. The method of claim 1, wherein, The pivot adjustment of the adjustable tooling simulation wall (6) comprises the following steps: Determine the axis direction of the space unfolding mechanism in the current unfolding process, and take the state that the axis of the space unfolding mechanism in the current unfolding process is perpendicular to the horizontal plane as the theoretical position; if the pivot of the adjustable tooling simulation wall (6) cannot make the axis of the space unfolding mechanism in the current unfolding process perpendicular to the horizontal plane, take the state that the angle between the axis of the space unfolding mechanism in the current unfolding process and the vertical direction is the minimum value as the theoretical position; Determine the posture of the flange mounting surface of the space unfolding mechanism connected with the star body when the space unfolding mechanism is in the theoretical position; Adjust the pivot of the adjustable tooling simulation wall (6) to match the mounting surface interface of the adjustable tooling simulation wall (6) connected with the space unfolding mechanism with the flange mounting surface of the space unfolding mechanism connected with the star body.

6. The large range multi-degree of freedom zero-gravity unloading method of a space deployment mechanism according to claim 5, wherein The zero-gravity unloading of the space unfolding mechanism comprises the following steps: Calculate the mass center of the space unfolding mechanism, balance the weight, determine the hanging connection position and the hanging tension of the space unfolding mechanism zero-gravity unloading, and determine the connection position and the support force of the six-degree-of-freedom intelligent following air floatation vehicle (4). The space unfolding mechanism is fixedly connected with the adjustable tooling simulation wall (6); the space unfolding mechanism is hung by a rocker arm frame (3) to unload the space unfolding mechanism in zero gravity, and the rocker arm frame hanging arm rod follows the arm rod to unfold; the end folding and unfolding mechanism of the space unfolding mechanism is connected with a load, and the six-degree-of-freedom intelligent following air floatation vehicle (4) unloads the load in gravity, supporting the load to unfold along the load unfolding path when the space unfolding mechanism unfolds around the axis in the unfolding process.

7. The large-range multi-degree-of-freedom zero-gravity unloading method of a space deployment mechanism according to claim 6, characterized in that, The space unfolding mechanism unfolding state confirmation before unfolding includes: Confirming the connection state of the hanging tooling and the six-degree-of-freedom intelligent following air floatation vehicle and the unloading force size meeting the zero gravity unloading efficiency requirement; Confirming that there is no obstacle on the motion path of the space unfolding mechanism in the unfolding process; Confirming that the folding and unfolding mechanism used by the space unfolding mechanism in the unfolding process can normally move and unfold and lock, and the zero gravity unloading tooling can follow the space unfolding mechanism to unfold.

8. The large-range multi-degree-of-freedom zero-gravity unloading method of a space deployment mechanism according to claim 7, characterized by, The space unfolding mechanism unfolding test includes: Controlling the space unfolding mechanism to move and unfold using the folding and unfolding mechanism in the unfolding process, observing the state of the hanging tooling connected with the space unfolding mechanism of the rocker arm frame (3), and immediately stopping the unfolding test if there is an abnormality; Operating the six-degree-of-freedom intelligent following air floatation vehicle (4) to support the load to follow the space unfolding mechanism to unfold, and observing the state of the six-degree-of-freedom intelligent following air floatation vehicle in the process, and immediately stopping the unfolding test if there is an abnormality.

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