Follow-up unloading device of two-dimensional rotating mechanism

Abstract

The invention provides a two-dimensional rotating mechanism follow-up unloading device. The two-dimensional rotating mechanism follow-up unloading device comprises a truss supporting device; a swing rod main body is rotationally installed on the truss supporting device, a swing rod guide rail is arranged below the swing rod main body, and a sliding block is arranged on the swing rod guide rail in a sliding mode; according to the constant-tension pulley unloading device, a plurality of pulley blocks are arranged at corresponding mounting interfaces of a truss supporting device and a swing rod guide rail device respectively, one end of a steel wire rope is located outside a test space, and the other end of the steel wire rope penetrates through a plurality of pulley blocks to extend into the test space; the end, located outside the test space, of the steel wire rope vertically extends downwards and is fixedly connected with the balancing weight. Through the double-degree-of-freedom design of'sliding block linear motion + guide rail rotation around a shaft 'of the swing rod guide rail device, a three-dimensional space rotation track of a satellite-borne two-dimensional rotation mechanism can be followed in the whole process, it is ensured that the unloading tension direction is always vertical, extra lateral force is prevented from being generated on the mechanism, and the three-dimensional follow-up adaptability is high.

Description

Technical Field

[0001] This invention relates to the field of satellite engineering technology, specifically to a follow-up unloading device for a two-dimensional rotating mechanism. It is particularly suitable for solving the technical problem of spaceborne two-dimensional rotating mechanisms being unable to start rotating normally due to the resistance torque generated by their own gravity under ground gravity conditions, and enables precise ground verification of the on-orbit motion function of such mechanisms. Background Technology

[0002] In the field of satellite engineering, onboard two-dimensional rotation mechanisms, as key space payloads, are typically installed on the satellite's top plate and undertake core tasks such as on-orbit camera tracking and pointing. These mechanisms are in a retracted and compressed state during launch, and after entering orbit, they are unlocked and perform ground target observation tasks. Their reliability and motion accuracy during on-orbit operation directly determine the success or failure of the satellite mission; therefore, thorough functional and performance verification tests must be conducted on the ground.

[0003] However, the spaceborne two-dimensional rotation mechanism has a large mass. Under ground gravity, its motor driving torque is difficult to overcome the additional resistance torque generated by its own gravity, which makes the mechanism unable to meet the power requirements of direct ground testing. If the gravity interference problem is not solved, ground verification tests cannot be carried out effectively.

[0004] In existing technologies, ground deployment and rotation tests for structural products such as satellite antennas and cameras mainly employ two unloading methods: truss suspension and helium balloon suspension. However, both methods have significant drawbacks. 1. Truss suspension method: Traditional truss suspension devices can only realize motion constraints and unloading in two-dimensional plane, which cannot meet the three-dimensional space rotation requirements of the spaceborne two-dimensional rotating mechanism in the verification test. The unloading tension direction is prone to deviate with the rotation of the mechanism, resulting in unloading failure or generating additional lateral force on the mechanism, making it difficult to meet the test accuracy requirements.

[0005] 2. Helium balloon suspension method: Although it can achieve gravity unloading in three-dimensional space to a certain extent, it has several limitations: First, the balloon inflation operation is complex and has high requirements for inflation equipment and environment; second, the unloading force is limited by the buoyancy of the balloon and cannot be flexibly adjusted according to the mass of the mechanism, and the maximum unloading force is limited, making it difficult to adapt to large-mass two-dimensional rotating mechanisms; third, it has strict requirements for the height of the test plant and needs to provide sufficient suspension space; fourth, airflow disturbances inside the plant can easily cause the balloon to sway, which in turn causes fluctuations in unloading force and follow-up lag. At the same time, the follow-up resistance between the balloon and the mechanism is large, which seriously affects the smoothness of the mechanism's rotation and the accuracy of the test data.

[0006] In summary, existing unloading technologies cannot resolve the core contradiction between "three-dimensional spatial rotation adaptability" and "constant unloading force maintenance" in ground verification tests of spaceborne two-dimensional rotating mechanisms. There is an urgent need for a new type of follow-up unloading device to meet the technical requirements of ground verification tests. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a two-dimensional rotating mechanism follow-up unloading device.

[0008] A two-dimensional rotating mechanism follow-up unloading device according to the present invention includes: Truss support device: provides test space and provides installation interfaces for both the pendulum guide rail device and the constant tension pulley unloading device; The swing arm guide rail device includes a swing arm body, a swing arm guide rail, and a slider. The swing arm body is rotatably mounted on the truss support device, the swing arm guide rail is located below the swing arm body, and the slider is slidably mounted on the swing arm guide rail. A constant tension pulley unloading device includes a steel wire rope, a counterweight, and multiple pulley blocks. The multiple pulley blocks are respectively installed at the corresponding mounting interfaces of the truss support device and the swing rod guide rail device. One end of the steel wire rope is located outside the test space, and the other end of the steel wire rope extends through the multiple pulley blocks into the test space. The steel wire rope forms a vertical part below the slider that connects to the two-dimensional rotation mechanism used in the test, providing a vertical unloading tension to the two-dimensional rotation mechanism. The end of the steel wire rope located outside the test space extends vertically downward and is fixedly connected to the counterweight.

[0009] Preferably, the truss support device includes four truss columns, two truss beams, and one truss support beam; The four truss columns are located at the four corners of the rectangle, and the two truss beams are located on opposite sides of the rectangle. Each truss beam is fixedly connected to the top of the contacting truss column, and the two ends of the truss support beam are fixedly connected to the middle of the length of the two truss beams. The test space consists of the four truss columns, two truss beams, one truss support beam, and the space enclosed by the ground.

[0010] Preferably, the bottom of any of the truss columns is equipped with a caster wheel with brakes and a positioning lifting bolt.

[0011] Preferably, the rocker arm guide rail device further includes a rocker arm mounting bracket and a rocker arm support base; The swing arm mounting bracket is fixedly installed at the corresponding mounting interface on the truss support device, and the swing arm body is rotatably mounted on the swing arm mounting bracket through the swing arm support seat; The length direction of the swing arm guide rail is perpendicular to the axial direction of the swing arm body's rotation axis, and the rotation axis of the swing arm body is a vertical line.

[0012] Preferably, the constant tension pulley unloading device further includes a wire rope fixing bracket, and the plurality of pulley groups include a fixed pulley group, a guide pulley group, a fixed pulley, and a movable pulley; The wire rope fixing bracket fixes one end of the wire rope that extends into the test space to the main body of the pendulum and / or the pendulum guide rail. The fixed pulley group is fixedly installed below the slider. The fixed pulley is installed on the truss support device located outside the test space. The guide pulley group is installed at the turning point of the wire rope. One end of the wire rope passes through the fixed pulley and the guide pulley group in sequence and extends to the bottom of the swing arm guide rail. The wire rope extends along the length of the swing arm guide rail to the fixed pulley group below the slider. The wire rope extends vertically downward, passes around the movable pulley, and then extends vertically upward, and then passes through the fixed pulley group and is fixedly connected to the wire rope fixing bracket.

[0013] Preferably, the guide pulley group includes a first guide pulley group and a second guide pulley group, the first guide pulley group being fixed to the swing arm support seat, and the second guide pulley group being fixed to the truss support device.

[0014] Preferably, the first guide pulley group includes a first pulley group bracket and two small V-groove rollers. The two small V-groove rollers are rotatably mounted on the first pulley group bracket, and the channel formed between the two small V-groove rollers can pass through a steel wire rope. The second guide pulley group includes a second pulley group bracket and two small V-groove rollers. The two small V-groove rollers are rotatably mounted on the second pulley group bracket, and the channel formed between the two small V-groove rollers can pass through a steel wire rope.

[0015] Preferably, the fixed pulley assembly consists of a pulley assembly bracket, two V-groove pulleys, and mounting screws, with the two V-groove pulleys rotatably mounted on the pulley assembly bracket by the mounting screws.

[0016] Preferably, the movable pulley includes a movable pulley bracket, a V-groove pulley, a lifting ring, and an annular buckle. The V-groove pulley is rotatably mounted on the movable pulley bracket, and the movable pulley bracket is connected to the suspension point on the spaceborne two-dimensional rotation mechanism through the lifting ring and the annular buckle.

[0017] Preferably, a tubular force gauge is installed between one end of the wire rope outside the test space and the counterweight, with one end of the tubular force gauge connected to the wire rope and the other end of the tubular force gauge connected to the counterweight.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention, through the dual-degree-of-freedom design of "slider linear motion + guide rail rotation around axis" of the swing rod guide rail device, can follow the three-dimensional spatial rotation trajectory of the spaceborne two-dimensional rotation mechanism throughout the entire process, solving the technical pain point that traditional truss suspension cannot adapt to three-dimensional rotation, ensuring that the unloading tension direction is always vertical, avoiding the generation of additional lateral force on the mechanism, and has strong three-dimensional follow-up adaptability.

[0019] 2. This invention uses a constant-force pulley unloading device. Through the cooperation of the counterweight and the pulley group, the magnitude of the unloading force can be accurately controlled and kept constant throughout the process. The tubular force gauge can monitor the force value in real time, which is convenient for testers to adjust according to their needs. This overcomes the defects of the unloading force fluctuation and difficulty in adjustment of the helium balloon suspension method, and the unloading force is constant and controllable.

[0020] 3. The present invention adopts a grid structure through a truss support device, which has high strength and small deformation. It is also equipped with casters and lifting bolts, which can realize horizontal movement, height adjustment and level calibration, adapt to the installation requirements of different test scenarios, and is easy to operate, balancing structural stability and flexibility.

[0021] 4. All components of the device of this invention are mechanical structures, eliminating risks associated with inflation and high pressure, ensuring a safe and controllable testing process. Compared to helium balloon suspension, it eliminates the need for specialized inflation equipment and tall factory buildings, reducing testing costs and environmental requirements. Furthermore, the components are reusable, resulting in significant economic benefits. The device offers superior safety and cost-effectiveness.

[0022] 5. This invention effectively eliminates the interference of ground gravity on the rotation of the mechanism by using constant unloading force and precise follow-up, making the ground test state closer to the on-orbit working state. The test data can better reflect the true performance of the mechanism, providing an accurate basis for the reliability verification of the spaceborne two-dimensional rotating mechanism. The test data is accurate and reliable. Attached Figure Description

[0023] 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 illustrating the unloading test of the spaceborne two-dimensional rotating mechanism, which is the main feature of this invention. Figure 2 This is a schematic diagram illustrating the follow-up unloading device of the spaceborne two-dimensional rotation mechanism, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the main swing arm guide rail device of the present invention; Figure 4 This is a schematic diagram illustrating the constant tension pulley unloading device of the present invention; Figure 5 This is a schematic diagram illustrating the main fixed pulley system of the present invention; Figure 6 This is a schematic diagram illustrating the first guide pulley block of the present invention; Figure 7 This is a schematic diagram illustrating the second guide pulley block, which is the main feature of this invention. Figure 8 This is a schematic diagram illustrating the main features of the fixed pulley in this invention; Figure 9 This is a schematic diagram illustrating the movable pulley, which is the main feature of this invention.

[0024] As shown in the figure: Detailed Implementation

[0025] 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.

[0026] like Figure 1 As shown, a follow-up unloading device for a two-dimensional rotating mechanism 3 according to the present invention includes a truss support device 4, a rocker arm guide rail 504 device 5, and a constant tension pulley unloading device 6. The truss support device 4 provides mounting interfaces for the constant tension pulley unloading device 6 and the rocker arm guide rail 504 device 5. The rocker arm guide rail 504 device 5 ensures that the unloading force of the constant tension pulley unloading device 6 on the two-dimensional rotating mechanism 3 remains vertical by constantly following the rotation of the two-dimensional mechanism. The constant tension pulley unloading device 6 is used to provide a constant unloading force during the rotation of the two-dimensional rotating mechanism 3 along two axes after unlocking.

[0027] When the two-dimensional rotation mechanism 3 (i.e. the test product) of the star body 2 is subjected to a ground unlocking rotation test, the star body 2 is placed on the star body support fixture 1, and the two-dimensional rotation mechanism 3 is loaded on the star body 2. This example is applicable to the connection between the two-dimensional rotation mechanism 3 follow-up unloading device and the two-dimensional rotation mechanism 3.

[0028] Specifically, the device includes a truss support device 4, which provides the test space and an installation interface for both the pendulum guide rail device 5 and the constant tension pulley unloading device 6. The pendulum guide rail device 5 includes a pendulum body, a pendulum guide rail 504, and a slider 501. The pendulum body is rotatably mounted on the truss support device 4, the pendulum guide rail 504 is located below the pendulum body, and the slider 501 is slidably mounted on the pendulum guide rail 504. The constant tension pulley unloading device 6 includes a wire rope 607, a counterweight 609, and multiple pulley blocks. The multiple pulley blocks are respectively installed at the corresponding installation interfaces of the truss support device 4 and the swing rod guide rail device 5. One end of the wire rope 607 is located outside the test space, and the other end of the wire rope 607 extends through the multiple pulley blocks into the test space. The wire rope 607 forms a vertical part below the slider 501 that is connected to the two-dimensional rotation mechanism 3 used for the test, providing a vertical unloading tension for the two-dimensional rotation mechanism 3. The end of the wire rope 607 located outside the test space extends vertically downward and is fixedly connected to the counterweight 609.

[0029] More specifically, the truss support device 4 includes four truss columns, two truss beams, and one truss support beam. The four truss columns are located at the four corners of a rectangle, and the two truss beams are located on opposite sides of the rectangle. Each truss beam is fixedly connected to the top of the contacting truss column, and both ends of the truss support beam are fixedly connected to the middle of the lengths of the two truss beams. The space enclosed by the four truss columns, two truss beams, one truss support beam, and the ground constitutes the test space. Each truss column is equipped with a braked caster wheel and a positioning lifting bolt at its bottom.

[0030] In one feasible implementation, the truss support device 4 serves as the installation foundation and load-bearing frame for the entire unloading device, providing a stable installation interface and support for the swing arm guide rail device 5 and the constant tension pulley unloading device 6. It also possesses flexible position adjustment capabilities to adapt to the installation requirements of different test scenarios. The truss support device 4 is composed of stainless steel round tubes and stainless steel ball joints forming a grid shape. Four casters with brakes and positioning lifting bolts are installed at the bottom of the truss columns, allowing the entire truss to move freely in the horizontal direction and adjust its height and horizontal position. The entire truss can be locked at any position by adjusting the lifting bolts.

[0031] More specifically, the rocker arm guide rail device 5 also includes a rocker arm mounting bracket 503 and a rocker arm support seat 502. The rocker arm mounting bracket 503 is fixedly installed on the corresponding mounting interface on the truss support device 4, and the rocker arm body is rotatably mounted on the rocker arm mounting bracket 503 via the rocker arm support seat 502. The length direction of the rocker arm guide rail 504 is perpendicular to the axial direction of the rotation axis of the rocker arm body, and the rotation axis of the rocker arm body is a vertical line.

[0032] In one feasible implementation, the core function of the rocker arm guide rail device 5 is to achieve "follow-up guidance." By following the three-dimensional rotation trajectory of the onboard two-dimensional rotating mechanism 3 in real time, it constrains the direction of the tension of the constant tension pulley unloading device 6, ensuring that the unloading tension always remains vertically upward and preventing the tension direction from deviating due to the rotation of the mechanism. The rocker arm guide rail device 5 includes a rocker arm mounting bracket 503, a rocker arm guide rail 504, a slider 501, and a rocker arm support seat 502. The rocker arm guide rail device 504 is fixed to the truss support device 4 via the rocker arm mounting bracket 503. The rocker arm mounting bracket 503 is welded from rectangular steel pipes and provides the interface between the entire rocker arm guide rail device 5 and the truss support device 4, as well as the interfaces between the two rocker arm support seats 502. The slider 501 includes a slider 501 bracket and four deep groove ball bearings. The deep groove ball bearings are rotatably embedded in the slider 501 bracket and are in rotatable contact with the rocker arm guide rail 504, allowing the slider 501 to slide linearly on the rocker arm guide rail 504. The rocker arm support 502 consists of a deep groove ball bearing, a bearing housing, and a retaining ring. The retaining ring is fixedly connected to the bearing housing by fasteners, and the deep groove ball bearing is rotatably installed within the space formed by the bearing housing and the retaining ring. The rocker arm body is vertically rotatably engaged with the rocker arm mounting bracket 503 via the upper and lower rocker arm support 502. This further enables the rocker arm guide rail 504 to rotate around the axis of the rocker arm bearing housing, carrying the slider 501.

[0033] More specifically, the constant tension pulley unloading device 6 also includes a wire rope fixing bracket 601, and multiple pulley groups including a fixed pulley group 602, a guide pulley group, a fixed pulley 605, and a movable pulley 606. The wire rope fixing bracket 601 fixes one end of the wire rope 607, which extends into the test space, to the main body of the pendulum and / or the pendulum guide rail 504. The fixed pulley group 602 is fixedly installed below the slider 501. The fixed pulley 605 is installed on the truss support device 4 located outside the test space. The guide pulley group is installed at the turning point of the wire rope 607. One end of the wire rope 607 passes through the fixed pulley 605 and the guide pulley group in sequence and extends to the bottom of the pendulum guide rail 504. The wire rope 607 extends along the length of the pendulum guide rail 504 to the fixed pulley group 602 below the slider 501. The wire rope 607 extends vertically downward, passes around the movable pulley 606, and then extends vertically upward, passing through the fixed pulley group 602 and being fixedly connected to the wire rope fixing bracket 601.

[0034] In one feasible implementation, the guide pulley group includes a first guide pulley group 603 and a second guide pulley group 604. The first guide pulley group 603 is fixed to the rocker arm support 502, and the second guide pulley group 604 is fixed to the truss support device 4. The first guide pulley group 603 includes a first pulley group bracket 6031 and two small V-groove rollers 6032. The two small V-groove rollers 6032 are rotatably mounted on the first pulley group bracket 6031, and the channel formed between the two small V-groove rollers 6032 allows the steel wire rope 607 to pass through, ensuring that the steel wire rope 607 passes through this channel without getting stuck. The second guide pulley block 604 includes a second pulley block bracket 6041 and two small V-groove rollers 6032. The two small V-groove rollers 6032 are rotatably mounted on the second pulley block bracket 6041, and the channel formed between the two small V-groove rollers 6032 can pass through the wire rope 607, and can ensure that the wire rope 607 passes through this channel without getting stuck.

[0035] In one feasible implementation, the fixed pulley block 602 consists of a pulley block bracket 6022, two V-groove pulleys 6021 and mounting screws. The two V-groove pulleys 6021 are respectively rotatably mounted on the pulley block bracket 6022 by mounting screws.

[0036] In one feasible embodiment, the movable pulley 606 includes a movable pulley bracket 6061, a V-groove pulley 6021, a lifting ring 6062, and an annular buckle 6063. The V-groove pulley 6021 is rotatably mounted on the movable pulley bracket 6061, and the movable pulley bracket 6061 is connected to the hanging point on the spaceborne two-dimensional rotation mechanism 3 through the lifting ring 6062 and the annular buckle 6063.

[0037] In one feasible implementation, a tubular force gauge 608 is provided between one end of the wire rope 607 located outside the test space and the counterweight 609. One end of the tubular force gauge 608 is connected to the wire rope 607, and the other end of the tubular force gauge 608 is connected to the counterweight 609.

[0038] In one feasible implementation, the fixed pulley 605 consists of a fixed pulley bracket 6051 and a V-groove pulley 6021, with the fixed pulley bracket 6051 having an installation interface with the truss support device 4.

[0039] In a preferred embodiment: The core function of the constant-tension pulley unloading device 6 is to provide a "constant unloading force". Through the cooperation of the pulley block and the counterweight 609, the gravity of the counterweight is converted into a vertically upward unloading force on the spaceborne two-dimensional rotating mechanism 3, and the magnitude of the force remains constant throughout the entire rotation of the mechanism. The constant-tension pulley unloading device 6 includes a wire rope fixing bracket 601, a fixed pulley block 602, a first guide pulley block 603, a second guide pulley block 604, a fixed pulley 605, a movable pulley 606, a wire rope 607, a tubular force gauge 608, and a counterweight 609. The entire device is installed on the truss support device 4 and the swing rod guide rail device 5. The movable pulley 606 is connected to the onboard two-dimensional rotation mechanism 3. The fixed pulley group 602 is fixed to the slider 501. The first guide pulley group 603 is fixed to the swing rod support seat 502. The second guide pulley group 604 is fixed to the truss support device 4. The fixed pulley 605 is fixed to the truss support device 4. One end of the tubular force gauge 608 is connected to the counterweight 609, and the other end is connected to the wire rope 607. The wire rope 607 is a 2mm diameter stainless steel wire rope. One end of the wire rope 607 is connected to the tubular force gauge 608, and the other end passes sequentially through the fixed pulley 605, the second guide pulley group 604, the first guide pulley group 603, the fixed pulley group 602, the movable pulley 606, and the fixed pulley group 602 before being connected to the wire rope fixing bracket 601.

[0040] Working principle Initial assembly and debugging: Install the spaceborne two-dimensional rotation mechanism 3 onto the satellite body 2 simulation fixture, which is then fixed to the test bench. Move the truss support device 4 to align the movable pulley 606 of the constant tension pulley unloading device 6 with the hanging point of the two-dimensional rotation mechanism 3. Adjust the truss level and height using lifting bolts to ensure precise connection between the movable pulley 606 and the hanging point. Select a counterweight 609 of corresponding mass according to the unloading requirements of the mechanism, and confirm that the unloading tension reaches the preset value using a tubular force gauge 608.

[0041] Follow-up and unloading process: When the spaceborne two-dimensional rotating mechanism 3 unlocks and begins to rotate along the two axes, the swing rod guide rail 504 device 5 responds to the mechanism's movement in real time: when the mechanism rotates in a certain direction, it drives the movable pulley 606 to move synchronously. The movable pulley 606 pulls the slider 501 along the swing rod guide rail 504 through the wire rope 607. At the same time, the swing rod guide rail 504 rotates around the axis of the swing rod support seat 502, realizing full-process tracking of the mechanism's three-dimensional movement and ensuring that the movable pulley 606 always maintains a relatively fixed positional relationship with the mechanism's suspension point. During this process, the constant tension pulley unloading device 6 transmits the force through the wire rope 607 and the pulley block, stably converting the gravity of the counterweight 609 into a vertically upward unloading force. The tubular force gauge 608 monitors the magnitude of the tension in real time to ensure that the unloading force is constant, effectively offsetting the resistance torque generated by the mechanism's own gravity, so that the mechanism motor only needs to provide the driving torque required for on-orbit operation to rotate smoothly.

[0042] End of test and reset: After the mechanism completes the full-stroke rotation test, it stops moving and returns to the initial state. The test personnel turn off the power source of the mechanism, disconnect the connection between the movable pulley 606 and the suspension point of the mechanism, remove the counterweight 609, adjust the truss support device 4 to the storage position, and complete the test reset.

[0043] 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.

[0044] 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 two-dimensional rotating mechanism follow-up unloading device, characterized in that, include: Truss support device: provides test space and provides installation interfaces for both the pendulum guide rail device and the constant tension pulley unloading device; The swing arm guide rail device includes a swing arm body, a swing arm guide rail, and a slider. The swing arm body is rotatably mounted on the truss support device, the swing arm guide rail is located below the swing arm body, and the slider is slidably mounted on the swing arm guide rail. A constant tension pulley unloading device includes a steel wire rope, a counterweight, and multiple pulley blocks. The multiple pulley blocks are respectively installed at the corresponding mounting interfaces of the truss support device and the swing rod guide rail device. One end of the steel wire rope is located outside the test space, and the other end of the steel wire rope extends through the multiple pulley blocks into the test space. The steel wire rope forms a vertical part below the slider that connects to the two-dimensional rotation mechanism used in the test, providing a vertical unloading tension to the two-dimensional rotation mechanism. The end of the steel wire rope located outside the test space extends vertically downward and is fixedly connected to the counterweight.

2. The two-dimensional rotating mechanism follow-up unloading device as described in claim 1, characterized in that, The truss support device includes four truss columns, two truss beams, and one truss support beam. The four truss columns are located at the four corners of the rectangle, and the two truss beams are located on opposite sides of the rectangle. Each truss beam is fixedly connected to the top of the contacting truss column, and the two ends of the truss support beam are fixedly connected to the middle of the length of the two truss beams. The test space consists of the four truss columns, two truss beams, one truss support beam, and the space enclosed by the ground.

3. The two-dimensional rotating mechanism follow-up unloading device as described in claim 2, characterized in that, Each of the aforementioned truss columns is equipped with a braked caster wheel and a positioning lifting bolt at its bottom.

4. The two-dimensional rotating mechanism follow-up unloading device as described in claim 1, characterized in that, The rocker arm guide rail device also includes a rocker arm mounting bracket and a rocker arm support base; The swing arm mounting bracket is fixedly installed at the corresponding mounting interface on the truss support device, and the swing arm body is rotatably mounted on the swing arm mounting bracket through the swing arm support seat; The length direction of the swing arm guide rail is perpendicular to the axial direction of the swing arm body's rotation axis, and the rotation axis of the swing arm body is a vertical line.

5. The two-dimensional rotating mechanism follow-up unloading device as described in claim 4, characterized in that, The constant tension pulley unloading device also includes a wire rope fixing bracket, and the multiple pulley groups include a fixed pulley group, a guide pulley group, a fixed pulley, and a movable pulley; The wire rope fixing bracket fixes one end of the wire rope that extends into the test space to the main body of the pendulum and / or the pendulum guide rail. The fixed pulley group is fixedly installed below the slider. The fixed pulley is installed on the truss support device located outside the test space. The guide pulley group is installed at the turning point of the wire rope. One end of the wire rope passes through the fixed pulley and the guide pulley group in sequence and extends to the bottom of the swing arm guide rail. The wire rope extends along the length of the swing arm guide rail to the fixed pulley group below the slider. The wire rope extends vertically downward, passes around the movable pulley, and then extends vertically upward, and then passes through the fixed pulley group and is fixedly connected to the wire rope fixing bracket.

6. The two-dimensional rotating mechanism follow-up unloading device as described in claim 5, characterized in that, The guide pulley group includes a first guide pulley group and a second guide pulley group. The first guide pulley group is fixed to the swing arm support seat, and the second guide pulley group is fixed to the truss support device.

7. The two-dimensional rotating mechanism follow-up unloading device as described in claim 6, characterized in that, The first guide pulley group includes a first pulley group bracket and two small V-groove rollers. The two small V-groove rollers are rotatably mounted on the first pulley group bracket, and the channel formed between the two small V-groove rollers can pass through a steel wire rope. The second guide pulley group includes a second pulley group bracket and two small V-groove rollers. The two small V-groove rollers are rotatably mounted on the second pulley group bracket, and the channel formed between the two small V-groove rollers can pass through a steel wire rope.

8. The two-dimensional rotating mechanism follow-up unloading device as described in claim 5, characterized in that, The fixed pulley assembly consists of a pulley assembly bracket, two V-groove pulleys, and mounting screws. The two V-groove pulleys are rotatably mounted on the pulley assembly bracket by the mounting screws.

9. The two-dimensional rotating mechanism follow-up unloading device as described in claim 5, characterized in that, The movable pulley includes a movable pulley bracket, a V-groove pulley, a lifting ring, and an annular buckle. The V-groove pulley is rotatably mounted on the movable pulley bracket, and the movable pulley bracket is connected to the suspension point on the spaceborne two-dimensional rotation mechanism through the lifting ring and the annular buckle.

10. The two-dimensional rotating mechanism follow-up unloading device as described in claim 1, characterized in that, A tubular force gauge is installed between one end of the wire rope outside the test space and the counterweight. One end of the tubular force gauge is connected to the wire rope, and the other end of the tubular force gauge is connected to the counterweight.

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