Double-mechanical-arm on-orbit assembly air floating type ground microgravity test device

Abstract

The invention discloses a double-mechanical-arm in-orbit assembly air floating type ground microgravity test device, and relates to the field of aircraft ground zero-gravity simulation, the double-mechanical-arm in-orbit assembly air floating type ground microgravity test device comprises a test bed, and a measurement camera array, an air floating table, a control console and a truss supporting device which are arranged on the test bed, and the control console and the truss supporting device are respectively arranged on two sides of the air floating table; the air floating table and the truss supporting device are arranged in the measuring camera array, two three-degree-of-freedom air floating simulators are symmetrically arranged on the air floating table, UR5 mechanical arms are arranged at the tops of the two three-degree-of-freedom air floating simulators, and the console is connected with the truss supporting device, the three-degree-of-freedom air floating simulators and the UR5 mechanical arms through electrical circuits; the double-mechanical-arm floating base ground test simulation can be achieved, a zero-friction condition is provided for a truss on-orbit assembly ground test, low-friction translation and rotation within a certain range can be achieved in the horizontal direction, and a ground microgravity test condition is provided for truss on-orbit assembly.

Description

Technical Field

[0001] This invention relates to the field of zero-gravity simulation of aircraft on the ground, and in particular to a dual-robotic-arm on-orbit assembly air-floating ground microgravity test device. Background Technology

[0002] With the continuous improvement of the ability to conduct space research, exploration, development and application, countries have successively developed and launched a large number of spacecraft for various missions. The structure and composition of spacecraft are becoming increasingly complex. In order to ensure that spacecraft can operate more persistently, stably and with high quality in complex space environments, on-orbit assembly technology has become an important solution.

[0003] In existing technologies, both domestically and internationally, the methods used for vertical zero gravity simulation include suspension, drop tower, and constant force cylinder. Among these, the active control scheme used in the suspension method has a low response frequency and is easily interfered with due to the size of the robotic arm. The simulation time of the drop tower method is too short, while the constant force cylinder cannot meet the needs of robotic arm simulation due to the high compressibility of gas.

[0004] In addition, compared with the assembly truss of the robotic arm on the ground, the on-orbit assembly in space is more complex in terms of dynamic coupling, control coupling and impact force between the base satellite and the robotic arm itself because the size and weight of the robotic arm base satellite are similar. However, traditional testing methods are limited to theoretical analysis and numerical simulation, and there is a lack of corresponding microgravity simulation test equipment for on-orbit assembly on the ground.

[0005] Therefore, a dual-robotic arm on-orbit assembly air-floating ground microgravity test device is provided to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-arm on-orbit assembly air-floating ground microgravity test device to solve the problem of simulating zero gravity on-orbit assembly of the truss-mounted robotic arm base coupled with the ground, and to realize zero gravity simulation of the robotic arm base to meet the simulation requirements of dynamics and control coupling of the floating base of the robotic arm.

[0007] To achieve the above objectives, the present invention provides a dual-manipulator on-orbit assembly air-floating ground microgravity test device, including a test platform and a measuring camera array, an air-floating platform, a control console, and a truss support device mounted on the test platform. The control console and the truss support device are respectively located on both sides of the air-floating platform, and the air-floating platform and the truss support device are located inside the measuring camera array. Two three-degree-of-freedom air-floating simulators are symmetrically arranged on the air-floating platform. UR5 manipulators are mounted on the top of each of the two three-degree-of-freedom air-floating simulators. The control console is connected to the truss support device, the three-degree-of-freedom air-floating simulators, and the UR5 manipulators respectively through electrical lines.

[0008] Preferably, the three-degree-of-freedom air-floating simulator includes a three-degree-of-freedom simulator frame and two isolation plates disposed inside the three-degree-of-freedom simulator frame. The two isolation plates divide the three-degree-of-freedom simulator frame into three parts: upper, middle and lower. A robotic arm interface is provided at the top of the three-degree-of-freedom simulator frame, and two air feet are symmetrically arranged at the bottom of the three-degree-of-freedom simulator frame.

[0009] Preferably, high-pressure nozzles are symmetrically arranged on both sides of the three-degree-of-freedom simulator frame, and two high-pressure gas cylinders are symmetrically arranged at the bottom of the three-degree-of-freedom simulator frame. The high-pressure gas cylinders are connected to the high-pressure nozzles and the gas foot through high-pressure gas lines, respectively. A controller is arranged in the middle of the three-degree-of-freedom simulator frame, and the controller is connected to the control console and the high-pressure nozzles through electrical lines, respectively.

[0010] Preferably, the UR5 robotic arm is fixedly connected to the three-degree-of-freedom simulator frame via a robotic arm interface. The UR5 robotic arm includes a base and a main robotic arm, a slave robotic arm, and an operating head mounted on the base. The main robotic arm is connected to the base via a first rotary joint, the slave robotic arm is connected to the main robotic arm via a second rotary joint, and the operating head is connected to the slave robotic arm via a third rotary joint.

[0011] Preferably, the truss support device includes a truss support and a truss to be assembled disposed on the truss support. The top of the truss support is provided with a truss interface, and the truss to be assembled is fixedly connected to the truss support through the truss interface.

[0012] Preferably, a high-rigidity air film is provided between the air foot and the air-floating platform, and the air foot is made of a porous material.

[0013] Preferably, the measuring camera array includes multiple measuring cameras, which are fixed to the test bench by a telescopic bracket, which includes a telescopic rod and a tripod set at the bottom of the telescopic rod.

[0014] Therefore, the present invention employs the above-mentioned dual-robotic arm on-orbit assembly of an air-floating ground microgravity test device, which has the following beneficial effects: (1) This scheme uses high-pressure gas lubrication to realize the floating and zero-gravity simulation of the robot arm base, eliminates the friction of the robot arm base in the horizontal direction, and at the same time gives the base three degrees of freedom of movement in the horizontal direction. (2) This scheme realizes the coupled simulation of the movement of the robotic arm and the drift of the base by using the linkage design of the air-floating simulator and the UR5 robotic arm. It can simulate the complex dynamic interaction between the base and the robotic arm in the space on-orbit assembly, and make up for the shortcomings of the traditional method that only relies on theoretical analysis and numerical simulation. (3) This solution integrates a measurement camera array, an adjustable attitude truss support device and a modular robotic arm interface, supporting real-time monitoring and attitude adjustment for various assembly tasks. It is not only suitable for on-orbit assembly of trusses, but can also be extended to ground simulation verification for disassembly and repair tasks.

[0015] The method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to the present invention; Figure 2 This is a structural diagram of the three-degree-of-freedom air-float simulator of the present invention.

[0017] The components include: 1. Test bench; 2. Measurement camera array; 201. Measurement camera; 202. Telescopic support; 212. Telescopic rod; 222. Tripod; 3. Air-floating platform; 4. Control console; 5. Truss support device; 501. Truss support; 502. Truss to be assembled; 503. Truss interface; 6. Three-degree-of-freedom air-floating simulator; 601. Three-degree-of-freedom simulator frame; 602. Isolation plate; 603. Robotic arm interface; 604. Air supply; 605. High-pressure nozzle; 606. High-pressure gas cylinder; 607. Controller; 7. High-rigidity air film; 8. UR5 robotic arm; 801. Base; 802. Main robotic arm; 803. Slave robotic arm; 804. Operating head; 805. First rotary joint; 806. Second rotary joint; 807. Third rotary joint. Detailed Implementation

[0018] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Unless otherwise defined, the methodological or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0020] The terms "comprising" or "including" as used in this invention mean that the element preceding the term encompasses the element listed after the term, and do not exclude the possibility of encompassing other elements. Terms such as "inner," "outer," "upper," and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention 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 the invention. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. In this invention, unless otherwise explicitly specified and limited, the term "attached" and similar terms should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] Example like Figure 1 As shown, the present invention provides a dual-arm on-orbit assembly air-floating ground microgravity test device, including a test bench 1 and a measuring camera array 2, an air-floating platform 3, a control console 4, and a truss support device 5 set on the test bench 1. The measuring camera array 2 is a measuring device that can collect the position information of the UR5 robotic arm 8 and the three-degree-of-freedom air-floating simulator 6. The control console 4 is a control device that is connected to the UR5 robotic arm 8, the three-degree-of-freedom air-floating simulator 6, and the truss support 501 through electrical lines to control their position, attitude, and movement speed.

[0022] The measuring camera array 2 includes multiple measuring cameras 201. The measuring cameras 201 are fixed on the test bench 1 by telescopic brackets 202. The telescopic brackets 202 include telescopic rods 212 and tripods 222 set at the bottom of the telescopic rods 212.

[0023] The control console 4 and the truss support device 5 are respectively located on both sides of the air-floating platform 3. The air-floating platform 3 and the truss support device 5 are located inside the measuring camera array 2. The truss support device 5 includes a truss support 501 and a truss to be assembled 502 located on the truss support 501. A truss interface 503 is provided on the top of the truss support 501. The truss to be assembled 502 is fixedly connected to the truss support 501 through the truss interface 503. The truss support 501 has the function of adjusting the attitude of the truss interface 503.

[0024] like Figure 2As shown, two three-degree-of-freedom air-float simulators 6 are symmetrically arranged on the air-float platform 3. The three-degree-of-freedom air-float simulator 6 includes a three-degree-of-freedom simulator frame 601 and two isolation plates 602 disposed inside the three-degree-of-freedom simulator frame 601. The two isolation plates 602 divide the three-degree-of-freedom simulator frame 601 into three parts: upper, middle and lower. A robotic arm interface 603 is provided at the top of the three-degree-of-freedom simulator frame 601. Two air feet 604 are symmetrically arranged at the bottom of the three-degree-of-freedom simulator frame 601. The air feet 604 are made of porous material and are filled with high-pressure gas. A high-rigidity air film 7 is provided between the air feet 604 and the air-float platform 3. The high-rigidity air film 7 eliminates the friction between the three-degree-of-freedom air-float simulator 6 and the air-float platform 3.

[0025] High-pressure nozzles 605 are symmetrically arranged on both sides of the three-degree-of-freedom simulator frame 601. Two high-pressure gas cylinders 606 are symmetrically arranged at the bottom of the three-degree-of-freedom simulator frame 601. The high-pressure gas cylinders 606 are connected to the high-pressure nozzles 605 and the air foot 604 through high-pressure gas circuits, respectively, to provide high-pressure gas to the high-pressure nozzles 605 and the air foot 604, further ensuring zero friction between the three-degree-of-freedom air-floating simulator 6 and the air-floating platform 3. The high-pressure nozzles 605 have the function of adjusting the high-pressure gas ejection, and can control the ejection time of the high-pressure gas to perform autonomous attitude adjustment of the three-degree-of-freedom air-floating simulator 6. A controller 607 is arranged in the middle of the three-degree-of-freedom simulator frame 601. The controller 607 is connected to the control console 4 and the high-pressure nozzles 605 through electrical circuits.

[0026] Both three-degree-of-freedom air-float simulators 6 are equipped with UR5 robotic arms 8 on their tops. The UR5 robotic arms 8 are fixedly connected to the three-degree-of-freedom simulator frame 601 through robotic arm interfaces 603. The UR5 robotic arms 8 include a base 801 and a main robotic arm 802, a slave robotic arm 803, and an operating head 804 mounted on the base 801. The main robotic arm 802 is connected to the base 801 through a first rotary joint 805, the slave robotic arm 803 is connected to the main robotic arm 802 through a second rotary joint 806, and the operating head 804 is connected to the slave robotic arm 803 through a third rotary joint 807.

[0027] The horizontal transformation of the center of mass generated by the movement of the UR5 robotic arm 8 is transmitted to the three-degree-of-freedom air-floating simulator 6. According to the principle of mass conservation, the three-degree-of-freedom air-floating simulator 6 will move in the horizontal direction according to the movement of the UR5 robotic arm 8, realizing the motion simulation function of the floating base robotic arm for on-orbit assembly in space.

[0028] Therefore, the present invention employs the above-mentioned dual-manipulator on-orbit assembly air-floating ground microgravity test device, which can realize the simulation of dual-manipulator floating base test, provide zero-friction conditions for truss on-orbit assembly ground test, and realize a certain range of low-friction translation and rotation in the horizontal direction, providing ground microgravity test conditions for truss on-orbit assembly, and is suitable for ground simulation of truss space on-orbit assembly, disassembly and repair.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the method of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the method of the present invention, and these modifications or equivalent substitutions should not cause the modified method to deviate from the spirit and scope of the method of the present invention.

Claims

1. A dual-robotic arm on-orbit assembly of an air-floating ground microgravity test device, characterized in that, The system includes a test bench and a measuring camera array, an air-bearing platform, a control console, and a truss support device mounted on the test bench. The control console and the truss support device are located on opposite sides of the air-bearing platform, which is located inside the measuring camera array. Two three-degree-of-freedom air-bearing simulators are symmetrically arranged on the air-bearing platform. Each of the two three-degree-of-freedom air-bearing simulators is equipped with a UR5 robotic arm on its top. The control console is connected to the truss support device, the three-degree-of-freedom air-bearing simulators, and the UR5 robotic arms via electrical wiring.

2. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 1, characterized in that, The three-degree-of-freedom air-floating simulator includes a three-degree-of-freedom simulator frame and two isolation plates set inside the three-degree-of-freedom simulator frame. The two isolation plates divide the three-degree-of-freedom simulator frame into three parts: upper, middle and lower. The top of the three-degree-of-freedom simulator frame is provided with a robotic arm interface, and the bottom of the three-degree-of-freedom simulator frame is symmetrically provided with two air feet.

3. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 2, characterized in that, High-pressure nozzles are symmetrically arranged on both sides of the three-degree-of-freedom simulator frame. Two high-pressure gas cylinders are symmetrically arranged at the bottom of the three-degree-of-freedom simulator frame. The high-pressure gas cylinders are connected to the high-pressure nozzles and the gas foot through high-pressure gas lines. A controller is arranged in the middle of the three-degree-of-freedom simulator frame. The controller is connected to the control console and the high-pressure nozzles through electrical lines.

4. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 2, characterized in that, The UR5 robotic arm is fixedly connected to the three-degree-of-freedom simulator frame via a robotic arm interface. The UR5 robotic arm includes a base and a main robotic arm, a slave robotic arm, and an operating head mounted on the base. The main robotic arm is connected to the base via a first rotary joint, the slave robotic arm is connected to the main robotic arm via a second rotary joint, and the operating head is connected to the slave robotic arm via a third rotary joint.

5. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 1, characterized in that, The truss support device includes a truss support and a truss to be assembled, which is mounted on the truss support. The top of the truss support is provided with a truss interface, and the truss to be assembled is fixedly connected to the truss support through the truss interface.

6. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 2, characterized in that, A high-rigidity air film is installed between the air foot and the air-floating platform, and the air foot is made of porous material.

7. The dual-robotic arm on-orbit assembly air-floating ground microgravity test device according to claim 1, characterized in that, The measuring camera array includes multiple measuring cameras, which are fixed to the test bench by a telescopic bracket. The telescopic bracket includes a telescopic rod and a tripod set at the bottom of the telescopic rod.

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