A high-precision large antenna microgravity balance deployment test device and a use method thereof

Abstract

The application provides a high-precision large antenna microgravity balance deployment test device and a use method, which comprise 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, is connected with the large antenna through the constant tension hanging structure, and realizes accurate gravity unloading in the large antenna deployment process through the control system. The application solves the deployment problem of the satellite large antenna in the ground gravity environment to simulate the space environment, overcomes the low gravity unloading precision, the sticking, the poor safety and other defects in the prior art, has the functions of accurate gravity unloading of the large antenna, following movement and the like, and provides a new high-precision solution for the large antenna ground deployment test.

Description

Technical Field

[0001] This invention relates to the field of satellite technology, specifically to a high-precision large antenna microgravity balance deployment test device and its usage method. Background Technology

[0002] Large antennas are an important type of payload in the satellite field. After the satellite enters orbit, the large antennas need to be deployed in the on-orbit environment according to the program. These deployments are the key to the success or failure of the satellite mission. Therefore, it is necessary to conduct sufficient and effective microgravity balance deployment tests on the ground to simulate the on-orbit environment of the large antennas. The design of the microgravity balance deployment test device for large antennas is particularly important.

[0003] In the aforementioned deployment test verification, simulating the microgravity environment in orbit is the most crucial step. Currently, domestic microgravity simulation methods include two types: suspended and air-floating. Large antennas have complex structures and pitch motions, making air-floating methods inconvenient. Suspended methods include passive purely mechanical and active motion types. Passive purely mechanical suspensions primarily rely on passive following, resulting in significant travel lag and poor accuracy. For microgravity translational deployment tests of high-precision large antenna products, active motion is the primary method.

[0004] With the continuous development of my country's aerospace industry, large antenna payloads are evolving towards larger sizes and higher precision. Currently, traditional active motion-type pylons have the following shortcomings: 1. Traditional active motion mounts are driven by active forces, and the mount moves simultaneously with the large antenna. The driving force of the mount may affect the motion state of the large antenna, thus reducing the reliability of the test and resulting in insufficient test verification. 2. Traditional active motion suspension systems are controlled by a control system. If a misoperation occurs, it may generate a large external force on its own, damaging the product.

[0005] 3. Traditional active motion-type suspenders are directly driven, resulting in lower accuracy. They are gradually becoming incompatible with the increasing accuracy requirements of large antenna products.

[0006] 4. The position of the sling in traditional active motion type suspenders is fixed relative to the reflector, which cannot achieve adaptive adjustment of the sling force to the position of the center of mass of the large antenna, thus affecting the accuracy of the deployment test.

[0007] 5. Traditional active motion suspension systems use steel wire ropes that are directly connected to relevant components. Frequent movement increases the risk of jamming of moving parts in the test product. To address the aforementioned shortcomings, this invention provides a high-precision large antenna microgravity balance deployment test device and its usage method. This device solves the problem of deploying satellite large antennas under simulated space environment in ground gravity conditions, and overcomes the deficiencies of existing technologies such as low gravity unloading accuracy, jamming, and poor safety. It has functions such as precise gravity unloading and motion following of large antennas. This invention provides a new high-precision solution for ground deployment tests of large antennas. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the above-mentioned technologies and provide a high-precision large antenna microgravity balance deployment test device and its usage method.

[0009] To overcome the aforementioned problems of the prior art, this invention proposes a high-precision large antenna microgravity balance deployment test device, characterized in that the high-precision large antenna microgravity balance deployment test device includes a following mechanism adjustment platform 1, a support 2, a product adjustment platform 3, a two-dimensional active following mechanism 4, a constant tension suspension structure 5, and a control system; wherein... The product adjustment platform 3 is installed at the bottom of the bracket 2 and is used to fix the large antenna and adjust its attitude. The two-dimensional active following mechanism 4 is installed on the top of the bracket 2 via the following mechanism adjustment platform 1; The large antenna is connected to the two-dimensional active following mechanism 4 via a constant tension suspension structure 5 to achieve gravity unloading; The two-dimensional active following mechanism 4 drives the constant tension suspension structure 5 to follow the large antenna in its unfolding motion, and the large antenna unfolds in both pitch and rotation directions around the center point.

[0010] Preferably, the following mechanism adjustment platform 1 includes a supporting tripod 101, a two-dimensional active following mechanism adapter plate 102, an adjusting slider 103, an adjusting bolt 104, an adjusting table 105, and a base plate 106; wherein, The following mechanism adjustment platform 1 realizes the front-to-back and horizontal adjustment of the two-dimensional active following mechanism through the adjustment platform 105 on the base plate 106 and the adjustment slider 103 on the support tripod 101, and realizes the pitch adjustment through the adjustment bolt 104. The two-dimensional active following mechanism 4 is connected through the two-dimensional active following mechanism adapter plate 102.

[0011] Preferably, the bracket 2 is a steel structure, and the horizontal and vertical orientation can be coarsely adjusted by adjusting the support screws.

[0012] Preferably, the product adjustment platform 3 includes a supporting tripod 301, a product adapter plate 302, an adjustment slider 303, an adjustment bolt 304, an adjustment table 305, a base plate 306, and a prism 307; wherein, The product adjustment platform 3 measures using a prism 307, and adjusts the product's front-to-back and horizontal positions using an adjustment table 305 on a base plate 306 and an adjustment slider 303 on a support tripod 301. It also adjusts the pitch using an adjustment bolt 304 and connects to the large antenna product via an adapter plate 302.

[0013] Preferably, the two-dimensional active following mechanism 4 includes 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; wherein, 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. It has the same rotation and pitch degrees of freedom as the large antenna, ensuring that the two-dimensional active following mechanism 4 moves at the same height as the large antenna. The limit protection device 406 limits the rotation angle. The pitch frame 405 is used to fix the high-precision electric cylinder 511, the reversing wheel group 512 and the reduction wheel group 519. The limiting protection device 406 uses mechanical position to limit the rotation angle of the rotating frame 403, ensuring that it does not exceed the rotation angle of the large antenna, thus preventing damage to the large antenna caused by excessive rotation angle due to misoperation and improving the safety of the deployment test process.

[0014] Preferably, the constant tension suspension structure 5 comprises a high-precision electric cylinder 511, a reversing wheel assembly 512, an inner shaft high-precision force sensor 513, an inner shaft turnbuckle 514, an inner shaft wire rope 515, a pulley assembly 516, a gyroscope 517, an inner shaft suspension adapter 518, a reduction wheel assembly 519, an outer shaft suspension fixing block 521, an outer shaft wire rope 522, an outer shaft high-precision force sensor 523, an outer shaft turnbuckle 524, and an outer shaft suspension connection fixture 525; wherein, The outer shaft hanging fixing block 521 is connected to the mounting base 402 in the two-dimensional active following mechanism 4, the outer shaft hanging connecting fixture 525 is connected to the large antenna base, and is connected in series with the outer shaft steel wire rope 522. The outer shaft is adjusted by the outer shaft turnbuckle 524 so that the feedback control system value of the outer shaft high-precision force sensor 523 reaches the required value. The high-precision electric cylinder 511, reversing wheel set 512, and reduction wheel set 519 are fixed to the pitch frame 405 in the two-dimensional active following mechanism 4. The inner shaft hanging adapter 518 is connected to the large antenna reflector and is connected in series by the inner shaft steel wire rope 515. The inner shaft is adjusted by the inner shaft turnbuckle 514 so that the feedback control system value of the inner shaft high-precision force sensor 513 reaches the required value. During the large antenna deployment test, the control system uses the feedback data from the inner axis high-precision force sensor 513, the outer axis high-precision force sensor 523 and the gyroscope 517 in the constant tension suspension structure 5 to control 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 suspension structure 5 to achieve the microgravity balance deployment test of the large antenna. The pulley assembly 516 moves automatically according to the direction of force on the lower wire rope, and finds and achieves the coaxiality of the lifting point and the center of mass of the rotating part. The inner shaft suspension adapter 518 adjusts the center of gravity by adjusting the position of the adjustment hole, so that it passes through the lifting point.

[0015] Preferably, the reduction gear set 519 includes a small reduction gear 5191 and a large reduction gear 5192; the high-precision electric cylinder 511 is connected to the large reduction gear 5192 via an inner shaft steel wire rope 515, and the acceleration ratio between the large reduction gear 5192 and the small reduction gear 5191 is 3. The control system controls the unloading force by controlling the high-precision electric cylinder 511. When the inner shaft steel wire rope 515 passes through the reduction gear set 519, the stroke of the high-precision electric cylinder 511 is amplified by the reduction gear set 519, thereby achieving precise control of the unloading force and improving the unloading force accuracy.

[0016] Preferably, the reversing wheel assembly 512 includes two fixed pulleys, which mechanically limit the inner shaft wire rope 515 while changing its direction, preventing it from slipping out of the pulley track during the movement of the inner shaft wire rope 515 and avoiding movement jamming.

[0017] Preferably, the gyroscope 517 is used to measure the motion information of the large antenna reflector. The two-dimensional active following mechanism 4 performs corresponding following motion according to the measurement information, so that the hanging point follows the change of the center of mass of the test product in real time. At the same time, the control system controls the high-precision electric cylinder 511 in the constant tension hanging structure 5 to perform telescopic motion. The unloading force is accurately controlled by the reduction wheel group 519, which greatly amplifies the unloading force and improves the accuracy.

[0018] The present invention also provides a method for using a high-precision large antenna microgravity balance deployment test device, characterized in that the method includes the following steps: Step 1: Install the constant tension suspension structure 5 onto the two-dimensional active following mechanism 4. After coarsely adjusting the posture of the support 2 with a theodolite to achieve the required horizontality and verticality, combine the two-dimensional active following mechanism 4 with the constant tension suspension structure 5 and install it on the top of the support 2 through the following mechanism adjustment platform 1. Step 2: Use a theodolite to precisely measure and adjust the platform 1 of the following mechanism to ensure that the two-dimensional active following mechanism 4 achieves the required verticality; Step 3: Install the compressed large antenna onto the bottom of the bracket 2 via the product adjustment platform 3. Use a laser tracker and a calibrator to precisely measure and adjust the horizontality, verticality, and coaxiality of the large antenna with the center of the two-dimensional active following mechanism 4 to meet the required values. Step 4: Connect the outer shaft suspension adapter 525 in the constant tension suspension structure 5 to the large antenna base, and connect the inner shaft suspension adapter 518 in the constant tension suspension structure 5 to the large antenna reflector. By adjusting the position of the adjustment hole of the inner shaft suspension adapter 518, ensure that the outer shaft suspension wire rope passes through the center of mass of the rotating part. Step 5: Adjust the inner shaft turnbuckle 514 and outer shaft turnbuckle 524 in the constant tension suspension structure 5 to make the readings of the two high-precision force sensors reach the required values; Step 6: After the attitude accuracy is adjusted to the correct position, the control system uses the feedback data from the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523, and the gyroscope 517 in the constant tension suspension structure 5 to control 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 suspension structure 5 to achieve the microgravity balance deployment test of the large antenna.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention is based on a steel structure support, providing a large antenna installation and fixing interface and a space for deployment testing. Deployment testing can be carried out without other equipment, and testing can be conducted at any location, avoiding site conflicts. While meeting the load-bearing capacity requirements, it has the advantages of small footprint and flexible site, effectively solving the problem of ground simulation deployment testing of large antennas.

[0020] 2. This invention incorporates multiple limiting designs to ensure the smooth progress of the deployment test, avoid accidental damage to the product, and reduce the risk of jamming of moving parts.

[0021] 3. By setting up pulley components and adjustment holes, this invention improves the adaptability of the hanging force to the position of the center of mass of the large antenna and enhances the accuracy of the deployment test.

[0022] 4. This invention, by setting up a reduction gear set, amplifies the stroke of the high-precision electric cylinder, thereby achieving precise control of the unloading force and improving the accuracy of the unloading force.

[0023] 5. This invention uses a gyroscope to measure the motion information of the large antenna reflector. The two-dimensional active following mechanism and the high-precision electric cylinder perform corresponding following movements based on the measurement information, so that the suspension point follows the change of the center of mass of the test product in real time, rather than moving simultaneously with the large antenna. This avoids the influence of the suspension driving force on the motion state of the large antenna and increases the reliability of the test.

[0024] This invention provides a high-precision microgravity balance deployment test device and method for large antennas, which has advantages such as good structural rigidity, strong site flexibility, high safety, flexible center of gravity adjustment, and high-precision unloading. This invention provides a new solution for microgravity balance deployment tests of large antennas. Attached Figure Description

[0025] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the high-precision large antenna microgravity balance deployment test device of the present invention. Figure 1 In the middle: Follower mechanism adjustment platform (1), bracket (2), product adjustment platform (3), two-dimensional active follower mechanism (4), constant tension suspension structure (5) Figure 2 This is a schematic diagram of the platform structure adjustment mechanism of the present invention. Figure 2 In the middle: support tripod (101), two-dimensional active following mechanism adapter plate (102), adjusting slider (103), adjusting bolt (104), adjusting platform (105), base plate (106) Figure 3 This is a schematic diagram of the two-dimensional adjustment platform structure of the present invention. Figure 3 In the middle: support tripod (301), product adapter plate (302), adjusting slider (303), adjusting bolt (304), adjusting platform (305), base plate (306), prism (307). Figure 4 This is a schematic diagram of the two-dimensional active following mechanism structure of the present invention. Figure 4 In the middle: rotary motor reducer (401), mounting base (402), rotary frame (403), pitch motor reducer (404), pitch frame (405), limit protection device (406). Figure 5 This is a schematic diagram of the constant tension suspension structure of the present invention. Figure 5 Middle: High-precision electric cylinder (511), reversing wheel assembly (512), inner shaft high-precision force sensor (513), inner shaft turnbuckle (514), inner shaft wire rope (515), pulley assembly (516), gyroscope (517), inner shaft hanging adapter (518), reduction wheel assembly (519), outer shaft hanging fixing block (521), outer shaft wire rope (522), outer shaft high-precision force sensor (523), outer shaft turnbuckle (524), outer shaft hanging connection fixture (525) Figure 6 This is a schematic diagram of the reduction gear assembly structure of the present invention. Figure 6 Medium: Small reduction gear (5191), large reduction gear (5192) Figure 7 This is an enlarged view of the external shaft suspension connection tooling of the present invention. Figure 8 Schematic diagram of unloading force precision amplification Detailed Implementation

[0026] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0027] This invention provides a method for using a high-precision large antenna microgravity balance deployment test device, such as... Figure 1 As shown, the high-precision large antenna microgravity balance deployment test device includes a following mechanism adjustment platform 1, a support 2, a product adjustment platform 3, a two-dimensional active following mechanism 4, a constant tension suspension structure 5, and a control system. In use, the support 2 is placed in the deployment test area, and the horizontal and vertical attitudes are coarsely adjusted by adjusting the support foot screws to meet the requirements. The high-precision electric cylinder 511, the reversing wheel group 512, and the pulley assembly 516 are installed on the pitch frame 405, and the outer shaft suspension fixing block 521 is installed on the mounting base 402. Then, the two-dimensional active following mechanism 4 and the constant tension suspension structure 5 are combined and installed on top of the support 2 via the following mechanism adjustment platform 1. Using a theodolite, the adjustment platform 1 of the following mechanism is precisely measured and adjusted to ensure the two-dimensional active following mechanism 4 achieves the required verticality. The compressed large antenna is then installed at the bottom of the bracket 2 via the product adjustment platform 3. A laser tracker and a theodolite are used to precisely measure and adjust the horizontality, verticality, and coaxiality of the large antenna's center with the center of the two-dimensional active following mechanism 4 to meet the required values. The outer shaft suspension adapter 525 is connected to the large antenna base, and the inner shaft suspension adapter 518 is connected to the large antenna reflector. By adjusting the position of the adjustment hole in the inner shaft suspension adapter 518, it is ensured that the outer shaft suspension wire rope passes through the center of gravity of the rotating part. Before formal deployment, the inner shaft turnbuckle 514 and outer shaft turnbuckle 524 are adjusted to ensure that the values ​​fed back to the control system by the inner shaft high-precision force sensor 513 and outer shaft high-precision force sensor 523 meet the requirements. After the above precision adjustments are in place, the large antenna is unlocked, enabling microgravity-balanced deployment and movement in both pitch and rotation directions.

[0028] like Figure 2As shown, the following mechanism adjustment platform 1 consists of a supporting tripod 101, a two-dimensional active following mechanism adapter plate 102, an adjusting slider 103, adjusting bolts 104, an adjusting platform 105, and a base plate 106. The following mechanism adjustment platform 1 achieves forward and backward and horizontal adjustment of the two-dimensional active following mechanism through the adjusting platform 105 on the base plate 106 and the adjusting slider 103 on the supporting tripod 101, and pitch adjustment through the adjusting bolts 104. The two-dimensional active following mechanism 4 is connected through the two-dimensional active following mechanism adapter plate 102. This effectively allows for attitude adjustment of the two-dimensional active following mechanism 4, ensuring its horizontal and vertical alignment.

[0029] like Figure 3 As shown, the product adjustment platform 3 consists of a supporting tripod 301, a product adapter plate 302, an adjusting slider 303, an adjusting bolt 304, an adjusting table 305, a base plate 306, and a prism 307. The product adjustment platform 3 uses the prism 307 for measurement, and the adjusting table 305 on the base plate 306 and the adjusting slider 303 on the supporting tripod 301 to achieve forward and horizontal adjustment of the product. The adjusting bolt 304 achieves pitch adjustment, and the adapter plate 302 connects to the large antenna product. This effectively achieves the attitude adjustment of the large antenna, ensuring its horizontality, verticality, and coaxiality with the suspension point, avoiding resistance caused by coaxiality deviations.

[0030] like Figure 4 As shown, the two-dimensional active following mechanism 4 consists 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, possessing the same rotation and pitch degrees of freedom as the large antenna, ensuring that the two-dimensional active following mechanism 4 moves at the same height as the large antenna. The limit protection device 406 restricts the rotation angle, and the pitch frame 405 is used to fix the high-precision electric cylinder 511, the reversing wheel group 512, and the reduction wheel group 519. The limit protection device 406 uses mechanical positioning to limit the rotation angle of the rotary frame 403, ensuring it does not exceed the rotation angle of the large antenna, preventing damage to the large antenna from excessive rotation angle caused by misoperation, and improving the safety of the deployment test process.

[0031] like Figure 5As shown, the constant tension suspension structure 5 consists of a high-precision electric cylinder 511, a reversing wheel assembly 512, an inner shaft high-precision force sensor 513, an inner shaft turnbuckle 514, an inner shaft steel wire rope 515, a pulley assembly 516, a gyroscope 517, an inner shaft suspension adapter 518, a reduction wheel assembly 519, an outer shaft suspension fixing block 521, an outer shaft steel wire rope 522, an outer shaft high-precision force sensor 523, an outer shaft turnbuckle 524, and an outer shaft suspension connecting fixture 525. The outer shaft suspension fixing block 521 is connected to the mounting base 402, and the outer shaft suspension connecting fixture 525 is connected to the large antenna base. The outer shaft steel wire rope 522 is connected in series, and the outer shaft turnbuckle 524 is adjusted to ensure that the feedback control system value of the outer shaft high-precision force sensor 523 reaches the required value. The high-precision electric cylinder 511, reversing wheel assembly 512, and reduction wheel assembly 519 are fixed to the pitch frame 405. The inner shaft suspension adapter 518 is connected to the large antenna reflector and is connected in series by the inner shaft steel wire rope 515. The inner shaft is adjusted by the inner shaft turnbuckle 514 so that the feedback control system value of the inner shaft high-precision force sensor 513 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 based on the feedback data from the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523, and the gyroscope 517 to achieve the microgravity balance deployment test of the large antenna.

[0032] like Figure 6 As shown, the reversing pulley assembly 512 consists of two fixed pulleys. While changing the direction of the inner shaft wire rope 515, it also mechanically limits its movement, preventing the inner shaft wire rope 515 from slipping off the pulley track and avoiding jamming. The reduction pulley assembly 519 consists of a small reduction pulley 5191 and a large reduction pulley 5192. The high-precision electric cylinder 511 is connected to the large reduction pulley 5192 via the inner shaft wire rope 515. Figure 8 As shown, the reduction gear set 519 amplifies the stroke of the inner shaft wire rope 515 by setting different radius ratios, with an amplification factor of [missing value]. When the radius ratio is 3, the control precision is amplified to 3 times the original. The control system achieves unloading force control by controlling the high-precision electric cylinder 511. When the inner shaft wire rope 515 passes through the reduction gearbox 519, the reduction gearbox 519 amplifies the stroke of the high-precision electric cylinder 511, thereby achieving precise control of the unloading force and improving the unloading force accuracy. Figure 7As shown, the inner shaft suspension adapter 518 can adjust its center of gravity through the adjustment hole position, allowing it to pass through the suspension point. The pulley assembly 516 moves automatically according to the force direction of the lower steel wire rope, finding and achieving coaxiality between the suspension point and the center of gravity of the rotating part, ensuring unloading accuracy. The gyroscope 517 is used to measure the motion information of the large antenna reflector. The two-dimensional active following mechanism 4 performs corresponding following motion based on the measurement information, realizing real-time tracking of the center of gravity change of the test product by the suspension point. At the same time, the control system controls the high-precision electric cylinder 511 in the constant tension suspension structure 5 to perform telescopic motion, and the unloading force is precisely controlled by the reduction wheel group 519 to improve accuracy. By following the motion based on the measurement information, rather than moving simultaneously with the large antenna, the influence of the suspension driving force on the motion state of the large antenna is avoided, increasing the reliability of the test.

[0033] This invention also proposes a method for using a high-precision large antenna microgravity balance deployment test device, comprising the following steps: Step 1: Install the constant tension suspension structure 5 onto the two-dimensional active following mechanism 4. After coarsely adjusting the posture of the support 2 with a theodolite to achieve the required horizontality and verticality, combine the two-dimensional active following mechanism 4 with the constant tension suspension structure 5 and install it on the top of the support 2 through the following mechanism adjustment platform 1. Step 2: Use a theodolite to precisely measure and adjust the platform 1 of the following mechanism to ensure that the two-dimensional active following mechanism 4 achieves the required verticality; Step 3: Install the compressed large antenna onto the bottom of the bracket 2 via the product adjustment platform 3. Use a laser tracker and a calibrator to precisely measure and adjust the horizontality, verticality, and coaxiality of the large antenna with the center of the two-dimensional active following mechanism 4 to meet the required values. Step 4: Connect the outer shaft suspension adapter 525 in the constant tension suspension structure 5 to the large antenna base, and connect the inner shaft suspension adapter 518 in the constant tension suspension structure 5 to the large antenna reflector. By adjusting the position of the adjustment hole of the inner shaft suspension adapter 518, ensure that the outer shaft suspension wire rope passes through the center of mass of the rotating part. Step 5: Adjust the inner shaft turnbuckle 514 and outer shaft turnbuckle 524 in the constant tension suspension structure 5 to make the readings of the two high-precision force sensors reach the required values; Step 6: After the attitude accuracy is adjusted to the correct position, the control system uses the feedback data from the inner shaft high-precision force sensor 513, the outer shaft high-precision force sensor 523, and the gyroscope 517 in the constant tension suspension structure 5 to control 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 suspension structure 5 to achieve the microgravity balance deployment test of the large antenna.

[0034] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

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 includes a following mechanism adjustment platform (1), a support (2), a product adjustment platform (3), a two-dimensional active following mechanism (4), a constant tension suspension structure (5), and a control system; among which, The product adjustment platform (3) is installed at the bottom of the bracket (2) to fix the large antenna and adjust its attitude; The two-dimensional active following mechanism (4) is installed on the top of the bracket (2) by adjusting the platform (1) through the following mechanism; The large antenna is connected to the two-dimensional active following mechanism (4) through a constant tension suspension structure (5) to achieve gravity unloading; The two-dimensional active following mechanism (4) drives the constant tension suspension structure (5) to follow the large antenna in unfolding motion, and the large antenna unfolds in both pitch and rotation directions around the center point; The constant tension suspension structure (5) comprises a high-precision electric cylinder (511), a reversing wheel assembly (512), an inner shaft high-precision force sensor (513), an inner shaft turnbuckle (514), an inner shaft wire rope (515), a pulley assembly (516), a gyroscope (517), an inner shaft suspension adapter (518), a reduction wheel assembly (519), an outer shaft suspension fixing block (521), an outer shaft wire rope (522), an outer shaft high-precision force sensor (523), an outer shaft turnbuckle (524), and an outer shaft suspension connection fixture (525); wherein, The outer shaft hanging fixing block (521) is connected to the mounting base (402) in the two-dimensional active following mechanism (4), the outer shaft hanging connecting fixture (525) is connected to the large antenna base, and is connected in series by the outer shaft steel wire rope (522). The outer shaft is adjusted by the outer shaft turnbuckle (524) so ​​that the feedback control system value of the outer shaft high-precision force sensor (523) reaches the required value. The high-precision electric cylinder (511), reversing wheel group (512), and reduction wheel group (519) are fixed to the pitch frame (405) in the two-dimensional active following mechanism (4). The inner shaft hanging adapter (518) is connected to the large antenna reflector and connected in series with the inner shaft steel wire rope (515). The inner shaft turnbuckle (514) is adjusted so that the value of the feedback control system of the inner shaft high-precision force sensor (513) reaches the required value. During the large antenna deployment test, the control system uses the feedback data from the inner shaft high-precision force sensor (513), outer shaft high-precision force sensor (523) and gyroscope (517) in the constant tension suspension structure (5) to control the rotary motor reducer (401), pitch motor reducer (404) in the two-dimensional active following mechanism (4) and the high-precision electric cylinder (511) in the constant tension suspension structure (5) to realize the microgravity balance deployment test of the large antenna; The pulley assembly (516) moves automatically according to the direction of force on the lower wire rope, and finds and achieves the coaxiality of the lifting point and the center of mass of the rotating part; The inner shaft suspension adapter (518) adjusts the center of gravity by adjusting the position of the adjustment hole, so that it passes through the lifting 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) includes a first support tripod (101), a two-dimensional active following mechanism adapter plate (102), a first adjustment slider (103), a first adjustment bolt (104), a first adjustment table (105), and a first base plate (106); wherein, The following mechanism adjustment platform (1) realizes the front-to-back and horizontal adjustment of the two-dimensional active following mechanism through the first adjustment platform (105) on the first base plate (106) and the first adjustment slider (103) on the first support triangle (101), realizes the pitch adjustment through the first 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 bracket (2) is a steel structure, and the horizontal and vertical orientation can be roughly adjusted by adjusting the support screws.

4. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The product adjustment platform (3) includes a second support tripod (301), a product adapter plate (302), a second adjustment slider (303), a second adjustment bolt (304), a second adjustment table (305), a second base plate (306), and a prism (307); wherein, The product adjustment platform (3) measures by prism (307), adjusts the product front and back and horizontally by second adjustment platform (305) on second base plate (306) and second adjustment slider (303) on second support tripod (301), adjusts the pitch by second adjustment bolt (304), and connects to large antenna product by 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) includes 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); wherein, 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). It has the same rotation and pitch degrees of freedom as the large antenna, ensuring that the two-dimensional active following mechanism (4) moves at the same height as the large antenna. The limit protection device (406) limits the rotation angle. The pitch frame (405) is used to fix the high-precision electric cylinder (511), the reversing wheel group (512) and the reduction wheel group (519). The limiting protection device (406) uses mechanical position to limit the rotation angle of the rotating frame (403) so that it is not greater than the rotation angle of the large antenna, preventing damage to the large antenna caused by excessive rotation angle due to misoperation, and improving the safety of the deployment test process.

6. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The reduction gear set (519) includes a small reduction gear (5191) and a large reduction gear (5192); the high-precision electric cylinder (511) is connected to the large reduction gear (5192) through an inner shaft steel wire rope (515). The acceleration ratio between the large reduction gear (5192) and the small reduction gear (5191) is 3. The control system controls the unloading force by controlling the high-precision electric cylinder (511). When the inner shaft steel wire rope (515) passes through the reduction gear set (519), the stroke of the high-precision electric cylinder (511) is amplified by the reduction gear set (519), thereby achieving precise control of the unloading force and improving the unloading force accuracy.

7. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The reversing wheel assembly (512) includes two fixed pulleys, which mechanically limit the direction of the inner shaft wire rope (515) while changing its direction, preventing the inner shaft wire rope (515) from slipping out of the pulley track during the movement process and avoiding movement jamming.

8. The high-precision large antenna microgravity balance deployment test device according to claim 1, characterized in that, The gyroscope (517) is used to measure the motion information of the large antenna reflector. The two-dimensional active following mechanism (4) performs corresponding following motion according to the measurement information, so that the hanging point follows the change of the center of mass of the test product in real time. At the same time, the control system controls the high-precision electric cylinder (511) in the constant tension hanging structure (5) to perform telescopic motion. The unloading force is accurately controlled by the reduction wheel group (519) to improve the accuracy.

9. A method of using the high-precision large antenna microgravity balance deployment test device according to any one of claims 1-8, characterized in that, The method includes the following steps: Step 1: Install the constant tension suspension structure (5) onto the two-dimensional active following mechanism (4). After the theodolite is used to coarsely adjust the posture of the support (2) to achieve the required horizontality and verticality, combine the two-dimensional active following mechanism (4) with the constant tension suspension structure (5) and install it on the top of the support (2) through the following mechanism adjustment platform (1). Step 2: Use a theodolite to precisely measure and adjust the platform (1) of the following mechanism so that the two-dimensional active following mechanism (4) achieves the required verticality; Step 3: Install the compressed large antenna on the bottom of the bracket (2) through the product adjustment platform (3), and use a laser tracker and a Jingwei instrument to measure and adjust the horizontality, verticality and coaxiality of the center of the large antenna with the center of the two-dimensional active following mechanism (4) to meet the required values; Step 4: Connect the outer shaft suspension connecting fixture (525) in the constant tension suspension structure (5) to the large antenna base, and connect the inner shaft suspension adapter (518) in the constant tension suspension structure (5) to the large antenna reflector. By adjusting the position of the adjustment hole of the inner shaft suspension adapter (518), ensure that the outer shaft suspension wire rope passes through the center of mass of the rotating part. Step 5: Adjust the inner shaft turnbuckle (514) and outer shaft turnbuckle (524) in the constant tension suspension structure (5) to make the readings of the two high-precision force sensors reach the required values; Step 6: After the attitude accuracy is adjusted to the correct position, the control system uses the feedback data from the inner shaft high-precision force sensor (513), outer shaft high-precision force sensor (523) and gyroscope (517) in the constant tension suspension structure (5) to control the rotary motor reducer (401), pitch motor reducer (404) in the two-dimensional active following mechanism (4) and the high-precision electric cylinder (511) in the constant tension suspension structure (5) to realize the microgravity balance deployment test of the large antenna.

Images