High-precision large-antenna microgravity balance unfolding test device and use method thereof

Abstract

The invention provides a high-precision large-antenna microgravity balance unfolding test device and a using method. The high-precision large-antenna microgravity balance unfolding test device comprises a following mechanism adjusting platform, a support, a product adjusting platform, a two-dimensional active following mechanism, a constant-tension hanging structure and a control system. The large antenna is installed at the bottom of the support through the product adjusting platform, the two-dimensional active following mechanism is installed at the top of the support through the following mechanism adjusting platform and connected with the large antenna through the constant-tension hanging structure, and accurate gravity unloading in the large antenna unfolding process is achieved through the control system. According to the invention, the problem of difficult unfolding of the large satellite antenna in a simulated space environment in a ground gravity environment is solved, the defects of low gravity unloading precision, clamping stagnation, poor safety and the like in the prior art are overcome, the functions of accurate gravity unloading, following movement and the like of the large antenna are realized, and a new high-precision solution is provided for the ground unfolding test of the large antenna.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite technology, in particular to a high-precision large antenna microgravity balance deployment test device and a use method thereof. BACKGROUND

[0002] The large antenna is an important payload in the field of satellites. The large antenna needs to be deployed in the on-orbit environment according to the program after the satellite is launched into orbit. These deployments are the key to the success of the satellite mission, so it is necessary to conduct sufficient and effective ground environment microgravity balance deployment test verification to simulate the on-orbit environment of the large antenna. The design of the large antenna microgravity balance deployment test device is particularly important.

[0003] In the above deployment test verification, the realization of on-orbit microgravity environment simulation is the most important part of the deployment test. At present, the microgravity simulation methods in China include hanging and air floating. The large antenna has a complex structure and has a pitch motion, so the air floating type is not convenient to realize. The hanging type includes passive pure mechanical and active motion types. The passive pure mechanical hanging type mainly follows passively, and the stroke lag is serious, and the precision is poor. The microgravity translation deployment test of high-precision large antenna products mainly uses the active motion type.

[0004] With the continuous development of China's space industry, large antenna type payloads are changing towards larger size and higher precision. The traditional active motion type hanging has the following shortcomings: 1. The traditional active motion type hanging is actively driven, and the hanging and the large antenna move simultaneously. The driving force of the hanging may affect the motion state of the large antenna, thereby reducing the test reliability of the test and causing insufficient test verification; 2. The traditional active motion type hanging is operated by the control system. If a misoperation occurs, a large external force will be generated autonomously, which will damage the product.

[0005] 3. The traditional active motion type hanging is directly driven, and the precision is low. For the increasing precision of large antenna products, it gradually cannot adapt.

[0006] 4. The hanging position of the traditional active motion type hanging is fixed relative to the reflector, and the adjustment of the hanging force to the mass center position of the large antenna cannot be realized, which affects the deployment test precision.

[0007] 5. The steel wire rope of the traditional active motion type hanging is directly connected to the related components. Frequent movement will increase the risk of jamming of the moving parts of the test product. In order to solve the above problems, the application provides a high-precision large antenna micro-gravity balance deployment test device and a use method, solves the deployment problem of a satellite large antenna in a ground gravity environment simulating a space environment, overcomes the low gravity unloading precision, clamping, poor safety and other problems in the prior art, has the functions of large antenna gravity precise unloading and following movement, and provides a new high-precision solution for large antenna ground deployment test. SUMMARY

[0008] The application aims to overcome the above technical problems, and provides a high-precision large antenna micro-gravity balance deployment test device and a use method.

[0009] In order to overcome the above problems in the prior art, the application provides a high-precision large antenna micro-gravity balance deployment test device, characterized in that the high-precision large antenna micro-gravity balance deployment test device comprises a following mechanism adjustment platform 1, a support 2, a product adjustment platform 3, a two-dimensional active following mechanism 4, a constant tension hanging structure 5 and a control system, wherein The product adjustment platform 3 is installed at the bottom of the support 2 and is used for fixing the large antenna and adjusting the attitude of the large antenna; The two-dimensional active following mechanism 4 is installed at the top of the support 2 through the following mechanism adjustment platform 1; The large antenna is connected with the two-dimensional active following mechanism 4 through the constant tension hanging structure 5 to realize gravity unloading; The two-dimensional active following mechanism 4 drives the constant tension hanging structure 5 to follow the large antenna to perform deployment movement, and the large antenna is deployed in two directions of pitching and rotating around a center point.

[0010] Preferably, the following mechanism adjustment platform 1 comprises a support tripod 101, a two-dimensional active following mechanism adapter plate 102, an adjustment sliding block 103, an adjustment bolt 104, an adjustment table 105 and a bottom plate 106, wherein The following mechanism adjustment platform 1 realizes front and rear and horizontal adjustment of the two-dimensional active following mechanism through the adjustment table 105 on the bottom plate 106 and the adjustment sliding block 103 on the support tripod 101, realizes pitching adjustment through the adjustment bolt 104, and connects the two-dimensional active following mechanism 4 through the two-dimensional active following mechanism adapter plate 102.

[0011] Preferably, the support 2 is a steel structure, and the attitude coarse adjustment of the horizontal degree and the vertical degree is realized through an adjustment supporting leg screw.

[0012] Preferably, the product adjustment platform 3 comprises a support tripod 301, a product adapter plate 302, an adjustment sliding block 303, an adjustment bolt 304, an adjustment table 305, a bottom plate 306 and a prism 307, wherein The product adjustment platform 3 is measured by the prism 307, and front and rear and horizontal adjustment of the product is realized by the adjustment table 305 on the bottom plate 306 and the adjustment sliding block 303 on the supporting tripod 301, the pitch adjustment is realized by the adjusting bolt 304, and the adapter plate 302 is connected with the large antenna product.

[0013] Preferably, the two-dimensional active following mechanism 4 comprises a slewing motor reducer 401, a mounting base 402, a slewing frame 403, a pitch motor reducer 404, a pitch frame 405, and a limit protection device 406. The two-dimensional active following mechanism 4 is driven by the slewing motor reducer 401 on the mounting base 402 and the pitch motor reducer 404 on the slewing frame 403, has the same slewing and pitch degrees of freedom as the large antenna, ensures that the two-dimensional active following mechanism 4 is consistent with the motion height of the large antenna, the limit protection device 406 limits the slewing angle, and the pitch frame 405 is used for fixing the high-precision electric cylinder 511, the reversing wheel set 512, and the speed reduction wheel set 519. The limit protection device 406 limits the slewing angle of the slewing frame 403 by mechanical position, so that the slewing angle is not greater than the slewing motion angle of the large antenna, prevents damage to the large antenna caused by excessive slewing angle due to misoperation, and improves the safety of the deployment test process.

[0014] Preferably, the constant tension hanging structure 5 comprises a high-precision electric cylinder 511, a reversing wheel set 512, an inner shaft high-precision force sensor 513, an inner shaft blue screw 514, an inner shaft steel wire rope 515, a pulley assembly 516, a gyroscope 517, an inner shaft hanging adapter tool 518, a speed reduction wheel set 519, an outer shaft hanging fixing block 521, an outer shaft steel wire rope 522, an outer shaft high-precision force sensor 523, an outer shaft blue screw 524, and an outer shaft hanging connection tool 525. The outer shaft hanging fixing block 521 is connected with the mounting base 402 in the two-dimensional active following mechanism 4, the outer shaft hanging connection tool 525 is connected with the large antenna base, the outer shaft steel wire rope 522 is connected in series, the outer shaft blue screw 524 is adjusted, and the value of the outer shaft high-precision force sensor 523 feedback control system reaches the required value. The high-precision electric cylinder 511, the reversing wheel set 512, and the speed reduction wheel set 519 are fixed to the pitch frame 405 in the two-dimensional active following mechanism 4, the inner shaft hanging adapter tool 518 is connected with the large antenna reflector, the inner shaft steel wire rope 515 is connected in series, the inner shaft blue screw 514 is adjusted, and the value of the inner shaft high-precision force sensor 513 feedback control system reaches the required value. In the large antenna deployment test process, the control system feeds back data through the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523 and the gyroscope 517 in the constant tension hanging structure 5, controls the rotary motor reducer 401, the pitching motor reducer 404 in the two-dimensional active following mechanism 4 and the high-precision electric cylinder 511 in the constant tension hanging structure 5, and realizes the microgravity balance deployment test of the large antenna; The pulley assembly 516 moves according to the force direction of the lower steel wire rope, finds and reaches the coaxial state of the hanging point and the center of mass of the rotating part; The inner shaft hanging adapter tool 518 adjusts the center of mass by adjusting the hole position, so that the center of mass passes through the hanging point.

[0015] Preferably, the speed reducer wheel set 519 comprises a small speed reducer wheel 5191 and a large speed reducer wheel 5192; the high-precision electric cylinder 511 is connected with the large speed reducer wheel 5192 through the inner shaft steel wire rope 515, the speed ratio of the large speed reducer wheel 5192 to the small speed reducer wheel 5191 is 3, the control system controls the high-precision electric cylinder 511 to realize the unloading force control, the stroke of the high-precision electric cylinder 511 is enlarged by the speed reducer wheel set 519 when the inner shaft steel wire rope 515 passes through the speed reducer wheel set 519, and then the unloading force is accurately controlled, and the unloading force accuracy is improved.

[0016] Preferably, the reversing wheel set 512 comprises two fixed pulleys, which change the direction of the inner shaft steel wire rope 515 and mechanically limit the inner shaft steel wire rope 515, so as to prevent the inner shaft steel wire rope 515 from sliding out of the pulley track during movement and avoid movement jamming.

[0017] Preferably, the gyroscope 517 is used to measure the movement information of the large antenna reflecting surface, the two-dimensional active following mechanism 4 makes corresponding following movement according to the measurement information, the hanging point realizes real-time following of the center of mass change of the test product, meanwhile, the control system controls the high-precision electric cylinder 511 in the constant tension hanging structure 5 to make extension and retraction movement, accurately controls the unloading force through the large amplification of the speed reducer wheel set 519, and improves the accuracy.

[0018] The application also provides a use method suitable for the high-precision large antenna microgravity balance deployment test device. Step 1: install the constant tension hanging structure 5 on the two-dimensional active following mechanism 4, after the attitude of the theodolite coarse adjustment support 2 reaches the required levelness and perpendicularity, combine the two-dimensional active following mechanism 4 and the constant tension hanging structure 5 through the following mechanism adjustment platform 1 and install them on the top of the support 2; Step 2: adopt the theodolite fine measurement and adjust the following mechanism adjustment platform 1, so that the two-dimensional active following mechanism 4 reaches the required perpendicularity; Step 3: The compact large antenna is installed on the bracket 2 bottom through the product adjustment platform 3, and the laser tracker and the surveying instrument are used to measure and adjust the levelness, perpendicularity and coaxiality of the center of the large antenna and the center of the two-dimensional active following mechanism 4 to reach the required value; Step 4: The outer shaft hanging adapter tool 525 in the constant tension hanging structure 5 is connected with the large antenna base, the inner shaft hanging adapter tool 518 in the constant tension hanging structure 5 is connected with the large antenna reflector, and the adjustment hole position of the inner shaft hanging adapter tool 518 is adjusted to ensure that the outer shaft hanging steel wire rope passes through the mass center of the rotating part; Step 5: The inner shaft blue screw 514 and the outer shaft blue screw 524 in the constant tension hanging structure 5 are adjusted to make the two high-precision force sensor readings reach the required value; Step 6: After the attitude accuracy adjustment is completed, the control system feeds back the data of the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523 and the gyroscope 517 in the constant tension hanging structure 5, controls the rotary motor reducer 401, the pitch motor reducer 404 in the two-dimensional active following mechanism 4 and the high-precision electric cylinder 511 in the constant tension hanging structure 5, and realizes the large antenna micro-gravity balance deployment test.

[0019] Compared with the prior art, the present application has the following advantages: 1. The present application provides a large antenna installation fixing interface and deployment test space based on a steel structure support, and the deployment test can be carried out without other equipment, the test can be carried out at any position, the site conflict is avoided, the site flexibility is achieved while the bearing capacity requirement is met, and the large antenna ground simulation deployment test problem is effectively solved.

[0020] 2. The present application increases multiple limiting designs to ensure the smooth deployment test, avoid the damage to the product, and reduce the risk of jamming of the movable part.

[0021] 3. The present application improves the adaptability of the hanging force to the mass center position of the large antenna by setting the pulley assembly and the adjustment hole, and improves the deployment test precision.

[0022] 4. The present application uses the speed reducer set to amplify the stroke of the high-precision electric cylinder, and then realizes the precise control of the unloading force and improves the unloading force precision.

[0023] 5. The present application measures the motion information of the large antenna reflector by setting the gyroscope, the two-dimensional active following mechanism and the high-precision electric cylinder make corresponding following motion according to the measurement information, the hanging point follows the mass center change of the test product in real time, and the test credibility is improved.

[0024] The application provides a high-precision large antenna micro-gravity balance deployment test device and a use method, and has the advantages of good structural rigidity, strong site flexibility, high safety, flexible centroid adjustment, high-precision unloading and the like. BRIEF DESCRIPTION OF DRAWINGS

[0025] Other features, objects and advantages of the application will become more apparent with the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1 The application is a high-precision large antenna micro-gravity balance deployment test device structure diagram Figure 1 In the center: follow-up mechanism adjustment platform (1), support (2), product adjustment platform (3), two-dimensional active follow-up mechanism (4), constant tension hanging structure (5) Figure 2 The application is a follow-up mechanism adjustment platform structure diagram Figure 2 In the center: support tripod (101), two-dimensional active follow-up mechanism adapter plate (102), adjustment sliding block (103), adjustment bolt (104), adjustment table (105), bottom plate (106) Figure 3 The application is a two-dimensional adjustment platform structure diagram Figure 3 In the center: support tripod (301), product adapter plate (302), adjustment sliding block (303), adjustment bolt (304), adjustment table (305), bottom plate (306), prism (307) Figure 4 The application is a two-dimensional active follow-up mechanism structure diagram Figure 4 In the center: rotary motor reducer (401), mounting base (402), rotary frame (403), pitch motor reducer (404), pitch frame (405), limit protection device (406) Figure 5 The application is a constant tension hanging structure diagram Figure 5 In the center: high-precision electric cylinder (511), reversing wheel set (512), inner shaft high-precision force sensor (513), inner shaft blue screw (514), inner shaft steel wire rope (515), pulley assembly (516), gyroscope (517), inner shaft hanging adapter tool (518), speed reduction wheel set (519), outer shaft hanging fixed block (521), outer shaft steel wire rope (522), outer shaft high-precision force sensor (523), outer shaft blue screw (524), outer shaft hanging connection tool (525) Figure 6 The application is a speed reduction wheel set structure diagram Figure 6 Medium: small reduction wheel (5191), large reduction wheel (5192) Figure 7 For the enlarged view of the outer shaft hanging connection tool of the application Figure 8 For the unloaded force accuracy block diagram DETAILED DESCRIPTION

[0026] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These are within the scope of the application.

[0027] The application provides a kind of high-precision large antenna microgravity balance deployment test device, as shown in Figure 1 High-precision large antenna microgravity balance deployment test device includes following mechanism adjustment platform 1, support 2, product adjustment platform 3, two-dimensional active following mechanism 4, constant tension hanging structure 5 and control system. When using, support 2 is placed to deployment test area, and attitude coarse adjustment of horizontal degree and vertical degree is realized by adjusting support screw. Make it meet the requirements. High-precision electric cylinder 511, reversing wheel group 512, pulley assembly 516 are installed on pitch frame 405, outer shaft hanging fixed block 521 is installed on installation base 402, then two-dimensional active following mechanism 4 and constant tension hanging structure 5 are combined through following mechanism adjustment platform 1 and are installed to the top of support 2. The following mechanism adjustment platform 1 is measured and adjusted using theodolite, so that the two-dimensional active following mechanism 4 reaches the required vertical degree, and the large antenna in the compressed state is installed on the bottom of support 2 through product adjustment platform 3. Theodolite and laser tracker are used to measure and adjust the level, verticality and coaxiality of the center of the large antenna to the center of the two-dimensional active following mechanism 4 to reach the required value; outer shaft hanging adapter 525 is connected with the base of large antenna, inner shaft hanging adapter 518 is connected with the reflector of large antenna, and the position of adjusting hole of inner shaft hanging adapter 518 is adjusted to ensure that the outer shaft hanging steel wire rope passes through the mass center of the rotating part. Before formal deployment, adjust inner shaft blue screw 514 and outer shaft blue screw 524 so that the values of inner shaft high-precision force sensor 513 and outer shaft high-precision force sensor 523 fed back to the control system reach the requirements. After the above accuracy adjustment is in place, the large antenna is unlocked, and the large antenna microgravity balance deployment can be realized, and the pitch and rotation two-direction motion can be realized.

[0028] As Figure 2As shown, the following mechanism adjustment platform 1 is composed of a support tripod 101, a two-dimensional active following mechanism adapter plate 102, an adjustment slider 103, an adjustment bolt 104, an adjustment table 105, and a bottom plate 106. The following mechanism adjustment platform 1 realizes front and rear and horizontal adjustment of the two-dimensional active following mechanism through the adjustment table 105 on the bottom plate 106 and the adjustment slider 103 on the support tripod 101, realizes pitch adjustment through the adjustment bolt 104, and connects the two-dimensional active following mechanism 4 through the two-dimensional active following mechanism adapter plate 102. The posture adjustment of the two-dimensional active following mechanism 4 can be effectively realized, and the horizontal and vertical degrees thereof are ensured.

[0029] As shown in Figure 3 The product adjustment platform 3 is composed of a support tripod 301, a product adapter plate 302, an adjustment slider 303, an adjustment bolt 304, an adjustment table 305, a bottom plate 306, and a prism 307. The product adjustment platform 3 is measured through the prism 307, realizes front and rear and horizontal adjustment of the product through the adjustment table 305 on the bottom plate 306 and the adjustment slider 303 on the support tripod 301, realizes pitch adjustment through the adjustment bolt 304, and is connected with the large antenna product through the adapter plate 302. The posture adjustment of the large antenna can be effectively realized, the horizontal and vertical degrees thereof and the coaxiality with the hanging point are ensured, and the resistance brought to the product by the coaxiality deviation is avoided.

[0030] As shown in Figure 4 The two-dimensional active following mechanism 4 is composed of a rotary motor reducer 401, a mounting base 402, a rotary frame 403, a pitch motor reducer 404, a pitch frame 405, and a limit protection device 406. The two-dimensional active following mechanism 4 is driven by the rotary motor reducer 401 on the mounting base 402 and the pitch motor reducer 404 on the rotary frame 403 to have the same rotary and pitch degrees of freedom as the large antenna, so as to ensure that the two-dimensional active following mechanism 4 and the large antenna have the same movement height. The limit protection device 406 limits the rotary angle, and the pitch frame 405 is used for fixing a high-precision electric cylinder 511, a reversing wheel set 512, and a speed reducer wheel set 519. The limit protection device 406 limits the rotary angle of the rotary frame 403 by mechanical position, so that the rotary angle is not greater than the rotary movement angle of the large antenna, thereby preventing the large antenna from being damaged by a too large rotary angle caused by misoperation and improving the safety during the unfolding test.

[0031] As shown in Figure 5As shown, the constant tension hanging structure 5 is composed of a high-precision electric cylinder 511, a reversing pulley set 512, an inner shaft high-precision force sensor 513, an inner shaft blue screw 514, an inner shaft steel wire rope 515, a pulley assembly 516, a gyroscope 517, an inner shaft hanging adapter tool 518, a speed reducer set 519, an outer shaft hanging fixed block 521, an outer shaft steel wire rope 522, an outer shaft high-precision force sensor 523, an outer shaft blue screw 524, and an outer shaft hanging connection tool 525. The outer shaft hanging fixed block 521 is connected with the mounting base 402, the outer shaft hanging connection tool 525 is connected with the large antenna base, the outer shaft steel wire rope 522 is connected in series, the outer shaft blue screw 524 is adjusted, the outer shaft high-precision force sensor 523 feedback control system value reaches the required value. The high-precision electric cylinder 511, the reversing pulley set 512, and the speed reducer set 519 are fixed to the pitch frame 405, the inner shaft hanging adapter tool 518 is connected with the large antenna reflector, the inner shaft steel wire rope 515 is connected in series, the inner shaft blue screw 514 is adjusted, and the inner shaft high-precision force sensor 513 feedback control system value reaches the required value. During the large antenna deployment test, the control system controls the rotary motor reducer 401, the pitch motor reducer 404, and the high-precision electric cylinder 511 through the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523, and the gyroscope 517 feedback data, and realizes the large antenna microgravity balance deployment test.

[0032] As shown, Figure 6 The reversing pulley set 512 is composed of two fixed pulleys, which changes the direction of the inner shaft steel wire rope 515 and mechanically limits it to prevent it from slipping out of the pulley track during movement and to avoid movement jamming. The speed reducer set 519 is composed of a small speed reducer 5191 and a large speed reducer 5192. The high-precision electric cylinder 511 is connected with the large speed reducer 5192 through the inner shaft steel wire rope 515, as shown, Figure 8 The speed reducer set 519 realizes the amplification of the stroke of the inner shaft steel wire rope 515 by setting different radius ratios, and the amplification factor is When the radius ratio is 3, the control precision is amplified by 3 times. The control system controls the unloading force through the high-precision electric cylinder 511. When the inner shaft steel wire rope 515 passes through the speed reducer set 519, the stroke of the high-precision electric cylinder 511 is amplified by the speed reducer set 519, and then the unloading force is precisely controlled, and the unloading force precision is improved. As shown, Figure 7As shown, the inner shaft hanging adapter 518 can adjust the center of mass by adjusting the hole position, so that the hanging point and the pulley assembly 516 move according to the force direction of the steel wire below, find and reach the coaxial center of mass of the hanging point and the rotating part, and ensure the unloading precision. The gyroscope 517 is used to measure the motion information of the large antenna reflector, and the two-dimensional active following mechanism 4 makes corresponding following motion according to the measurement information, realizes real-time following of the hanging point to the center of mass change of the test product, and simultaneously controls the high-precision electric cylinder 511 in the constant tension hanging structure 5 to realize extension and retraction motion, realizes accurate control of the unloading force through the large amplification of the speed reducer set 519, and improves the precision. Through the following motion of the measurement information, instead of moving with the large antenna at the same time, the influence of the hanging driving force on the motion state of the large antenna is avoided, and the test reliability is increased.

[0033] The application also provides a use method of the high-precision large antenna microgravity balance deployment test device. Step 1: install the constant tension hanging structure 5 on the two-dimensional active following mechanism 4, and after the attitude of the theodolite coarse adjustment support 2 reaches the required levelness and perpendicularity, combine the two-dimensional active following mechanism 4 and the constant tension hanging structure 5 through the following mechanism adjustment platform 1 and install them on the top of the support 2; Step 2: adopt the theodolite to accurately measure and adjust the following mechanism adjustment platform 1, so that the two-dimensional active following mechanism 4 reaches the required perpendicularity; Step 3: install the large antenna in a compressed state on the support 2 through the product adjustment platform 3, and adopt the laser tracker and the theodolite to accurately measure and adjust the levelness, perpendicularity and coaxiality of the center of the large antenna and the center of the two-dimensional active following mechanism 4 to reach the required value; Step 4: connect the outer shaft hanging adapter 525 in the constant tension hanging structure 5 with the large antenna base, connect the inner shaft hanging adapter 518 in the constant tension hanging structure 5 with the large antenna reflector, and adjust the hole position of the inner shaft hanging adapter 518 to ensure that the outer shaft hanging steel wire passes through the center of mass of the rotating part; Step 5: adjust the inner shaft blue screw 514 and the outer shaft blue screw 524 in the constant tension hanging structure 5 to make the readings of the two high-precision force sensors reach the required value; Step 6: after the attitude precision adjustment is completed, the control system controls the rotary motor reducer 401, the pitching motor reducer 404 in the two-dimensional active following mechanism 4 and the high-precision electric cylinder 511 in the constant tension hanging structure 5 through the feedback data of the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523 and the gyroscope 517, and realizes the large antenna microgravity balance deployment test.

[0034] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" 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 purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that they do not conflict.

Claims

1. A high-precision large antenna microgravity balance deployment test device, characterized in that, The high-precision large antenna microgravity balance deployment test device comprises a following mechanism adjustment platform (1), a support (2), a product adjustment platform (3), a two-dimensional active following mechanism (4), a constant tension hanging structure (5) and a control system, wherein The product adjustment platform (3) is installed at the bottom of the support (2) and is used for fixing the large antenna and adjusting the attitude thereof; The two-dimensional active following mechanism (4) is installed at the top of the support (2) through the following mechanism adjustment platform (1); The large antenna is connected with the two-dimensional active following mechanism (4) through the constant tension hanging structure (5) to realize gravity unloading; The two-dimensional active following mechanism (4) drives the constant tension hanging structure (5) to follow the large antenna to perform deployment movement, and the large antenna is deployed in two directions of pitching and rotating around a center point.

2. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The following mechanism adjustment platform (1) comprises a supporting tripod (101), a two-dimensional active following mechanism adapter plate (102), an adjustment sliding block (103), an adjustment bolt (104), an adjustment table (105) and a bottom plate (106), wherein The following mechanism adjustment platform (1) realizes front and rear and horizontal adjustment of the two-dimensional active following mechanism through the adjustment table (105) on the bottom plate (106) and the adjustment sliding block (103) on the supporting tripod (101), realizes pitching adjustment through the adjustment bolt (104), and connects the two-dimensional active following mechanism (4) through the two-dimensional active following mechanism adapter plate (102).

3. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The support (2) is a steel structure, and the attitude is coarsely adjusted in horizontal and vertical directions through adjustment of support leg screws.

4. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The product adjustment platform (3) comprises a supporting tripod (301), a product adapter plate (302), an adjustment sliding block (303), an adjustment bolt (304), an adjustment table (305), a bottom plate (306) and a prism (307), wherein The product adjustment platform (3) is measured through the prism (307), realizes front and rear and horizontal adjustment of the product through the adjustment table (305) on the bottom plate (306) and the adjustment sliding block (303) on the supporting tripod (301), realizes pitching adjustment through the adjustment bolt (304), and is connected with the large antenna product through the adapter plate (302).

5. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The two-dimensional active following mechanism (4) comprises a rotating motor reducer (401), a mounting base (402), a rotating frame (403), a pitching motor reducer (404), a pitching frame (405) and a limit protection device (406), wherein The two-dimensional active following mechanism (4) is driven by the rotating motor reducer (401) on the mounting base (402) and the pitching motor reducer (404) on the rotating frame (403), has the same rotating and pitching degrees of freedom as the large antenna, ensures that the two-dimensional active following mechanism (4) and the large antenna have the same movement height, the limit protection device (406) limits the rotating angle, and the pitching frame (405) is used for fixing a high-precision electric cylinder (511), a reversing wheel set (512) and a speed reduction wheel set (519); The limit protection device (406) limits the rotation angle of the rotation frame (403) by using a mechanical position, so that the rotation angle is not greater than the rotation movement angle of the large antenna, and the large antenna is prevented from being damaged by a too large rotation angle caused by misoperation, and the safety of the deployment test process is improved.

6. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The constant tension hanging structure (5) comprises a high-precision electric cylinder (511), a reversing wheel set (512), an inner shaft high-precision force sensor (513), an inner shaft blue screw (514), an inner shaft steel wire rope (515), a pulley assembly (516), a gyroscope (517), an inner shaft hanging adapter tool (518), a speed reduction wheel set (519), an outer shaft hanging fixing block (521), an outer shaft steel wire rope (522), an outer shaft high-precision force sensor (523), an outer shaft blue screw (524), and an outer shaft hanging connecting tool (525). The outer shaft hanging fixing block (521) is connected with the mounting base (402) in the two-dimensional active following mechanism (4), and the outer shaft hanging connecting tool (525) is connected with the large antenna base in series through the outer shaft steel wire rope (522), and the outer shaft blue screw (524) is adjusted to make the outer shaft high-precision force sensor (523) reach the required value of the feedback control system value. The high-precision electric cylinder (511), the reversing wheel set (512), and the speed reduction wheel set (519) are fixed to the pitching frame (405) in the two-dimensional active following mechanism (4), the inner shaft hanging adapter tool (518) is connected with the large antenna reflector in series through the inner shaft steel wire rope (515), and the inner shaft blue screw (514) is adjusted to make the inner shaft high-precision force sensor (513) reach the required value of the feedback control system value. In the large antenna deployment test process, the control system controls the rotation motor reducer (401), the pitching motor reducer (404) in the two-dimensional active following mechanism (4) and the high-precision electric cylinder (511) in the constant tension hanging structure (5) through the feedback data of the inner shaft high-precision force sensor (513), the outer shaft high-precision force sensor (523) and the gyroscope (517) in the constant tension hanging structure (5), to realize the micro-gravity balance deployment test of the large antenna. The pulley assembly (516) moves according to the stress direction of the lower steel wire rope, finds and reaches the coaxial center of the hanging point and the rotating part. The inner shaft hanging adapter tool (518) realizes the center of mass adjustment through the adjusting hole position, so that it passes through the hanging point.

7. The high-precision large antenna microgravity balance deployment test device according to claim 6, characterized in that, The speed reduction wheel set (519) comprises a small speed reduction wheel (5191) and a large speed reduction wheel (5192). The high-precision electric cylinder (511) is connected with the large speed reduction wheel (5192) through the inner shaft steel wire rope (515), the speed ratio of the large speed reduction wheel (5192) to the small speed reduction wheel (5191) is 3, the control system controls the unloading force control through the high-precision electric cylinder (511), the stroke of the high-precision electric cylinder (511) is amplified by the speed reduction wheel set (519) when the inner shaft steel wire rope (515) passes through the speed reduction wheel set (519), and then the precise control of the unloading force is realized, and the unloading force precision is improved.

8. The use of a high-precision large antenna microgravity balance deployment test device according to claim 6, characterized in that, The reversing wheel group (512) includes two fixed pulleys, which mechanically limit the inner shaft steel wire rope (515) while changing its direction, prevent it from slipping out of the pulley track during movement, and avoid movement jamming.

9. The use of a high-precision large antenna microgravity balance deployment test device according to claim 6, characterized in that, The gyro (517) is used to measure the movement information of the large antenna reflector, and the two-dimensional active following mechanism (4) makes corresponding following movement according to the measurement information, realizes real-time following of the hanging point to the mass center change of the test product, and at the same time, the control system controls the high-precision electric cylinder (511) in the constant tension hanging structure (5) to perform extension and contraction movement, realizes accurate control of the unloading force through the speed reducer group (519) large amplification, and improves the accuracy.

10. A method of using a high-precision large antenna microgravity balance deployment test device according to any one of claims 1-9, characterized in that, The method comprises the following steps: Step 1: Install the constant tension hanging structure (5) on the two-dimensional active following mechanism (4), and after the attitude of the theodolite coarse adjustment support (2) reaches the required levelness and perpendicularity, combine the two-dimensional active following mechanism (4) and the constant tension hanging structure (5) through the following mechanism adjustment platform (1) and install them on the top of the support (2); Step 2: Use the theodolite to measure and adjust the following mechanism adjustment platform (1) to make the two-dimensional active following mechanism (4) reach the required perpendicularity; Step 3: Install the compressed large antenna on the bottom of the support (2) through the product adjustment platform (3), and use the laser tracker and the theodolite to measure and adjust the levelness, perpendicularity and coaxiality of the center of the large antenna and the center of the two-dimensional active following mechanism (4) to reach the required value; Step 4: Connect the outer shaft hanging adapter tool (525) in the constant tension hanging structure (5) with the large antenna base, connect the inner shaft hanging adapter tool (518) in the constant tension hanging structure (5) with the large antenna reflector, and adjust the position of the adjusting hole of the inner shaft hanging adapter tool (518) to ensure that the outer shaft hanging steel wire rope passes through the center of mass of the rotating part; Step 5: Adjust the inner shaft flower blue screw (514) and the outer shaft flower blue screw (524) in the constant tension hanging structure (5) to make the readings of the two high-precision force sensors reach the required value; Step 6: After the attitude accuracy is adjusted, the control system feeds back data through the inner shaft high-precision force sensor (513), the outer shaft high-precision force sensor (523) and the gyro (517) in the constant tension hanging structure (5), controls the rotary motor reducer (401), the pitch motor reducer (404) in the two-dimensional active following mechanism (4) and the high-precision electric cylinder (511) in the constant tension hanging structure (5), and realizes the microgravity balance and deployment test of the large antenna.

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