Performance test and defect detection integrated device and method for elastic extension rod for spacecraft

Abstract

The invention belongs to the technical field of spacecraft component testing, and particularly relates to a spacecraft elastic extension rod performance testing and defect detecting integrated device and method.The method comprises the steps that firstly, a self-centering uncoiling mechanism is used for synchronously adjusting the inner diameters of four sets of positioning clamping jaws and the preset outer diameter of an elastic extension rod furling coiling layer; a take-up and driving force measuring mechanism is adopted to draw the top end of the rod piece to compress and close up the rod piece, a rotating platform is matched to rotate to uncoil a bottom-end coil layer, the deformation internal stress of the coil layer is measured and calculated by a strain field method, and a three-pulley tension mechanism is utilized to measure the driving force in real time; and after uncoiling, the coiling layer is pulled by a coiling mechanism to reach a complete unfolding state, and cleaning, drying and full-surface defect detection are carried out. According to the invention, the performance and defects of the elastic extension rod are detected by using an automatic device, the problems that the detection is difficult due to inner rolling layer shielding and interlayer extrusion caused by a spiral laminated structure of the elastic extension rod and the elastic extension rod is easily damaged by manual operation are effectively solved, and the detection consistency, comprehensiveness and detection efficiency are improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of spacecraft component testing, in particular to a performance test and defect detection integrated device and method for an elastic stretch rod for a spacecraft. BACKGROUND

[0002] The elastic stretch rod is a core component of a stretch rod mechanism of a satellite and the like, is used for stretching a detection load to a position far from a body, and has functions of in-orbit support and signal transmission and the like, and the performance of the elastic stretch rod directly determines the success or failure of a detection task. The elastic stretch rod is only 50-150 mm in the compressed state, and can reach more than ten meters after being stretched, has a series of advantages such as self-driving, light weight and high energy storage ratio, and becomes a development trend of the stretch rod mechanism application. In recent years, more than 800 elastic stretch rods have been applied to satellite detection tasks and play an important role in the field of aerospace.

[0003] The elastic stretch rod is usually made of high-elasticity alloy strip material through a continuous stretch bending method, has a spiral shape, and the rear side of the spiral is covered by the front side, so that the whole component has a small-angle cone shape. Because the elastic stretch rod has a small diameter, has large elastic deformation and internal stress during work, and is prone to creep or deformation exceeding the strength limit during long-term storage and space service, the shape precision is difficult to maintain, and the mechanical properties are reduced. When there are surface defects or micro-cracks on the winding layer, there is even a risk of cracking failure. Therefore, the mechanical property measurement and surface defect detection of the elastic stretch rod are of great significance.

[0004] Because the elastic stretch rod has a complex geometric structure with high spiral overlap rate, and the winding layer has an extremely thin thickness of only 0.05-0.2 mm, the storage spring cylinder and the winding layer are closely attached to each other and are blocked during the detection, so that the defects in the overlapping area are difficult to directly observe, forming a detection blind area. The diameter and shape control of the elastic stretch rod in the coiled state is difficult, and further human intervention is prone to damage the winding layer and even cause the component to fail, resulting in difficulties in mechanical property test operation, high parameter control difficulty, large result error, and the evaluation of the performance of the component under different parameter states is difficult to effectively carry out, which affects the service reliability of the elastic stretch rod in the space environment. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the application provides an elastic stretch rod performance test and defect detection integrated device and method for a spacecraft, which has the advantages of simple performance test and defect detection operation, comprehensive detection, high precision and the like, and solves the problems of the prior art, such as many manual interventions, difficult operation implementation, low detection precision and efficiency, and insufficient safety.

[0006] To solve the above technical problems, the technical scheme adopted by the application is:

[0007] The utility model provides an aerospace elastic stretch rod performance test and defect detection integrated device, including frame and bottom plate, self centering unwinding mechanism, take up and driving force measurement mechanism, winding layer cleaning mechanism, camera detection component, winding mechanism of setting on the frame, the frame left end is equipped with self centering unwinding mechanism, the frame downside is equipped with take up and driving force measurement mechanism, take up and driving force measurement mechanism sets up in self centering unwinding mechanism right side below, winding layer cleaning mechanism sets up in self centering unwinding mechanism right side, camera detection component sets up in winding layer cleaning mechanism right side, the winding mechanism is equipped with in the frame right end.

[0008] Preferably, the self centering unwinding mechanism includes four sets of positioning clamps, which are arranged concentrically to accommodate the wound layers of the elastic stretch rod and keep the wound layers in a regular circular shape; preferably, the positioning clamps include an inner core shaft, an outer polyurethane sleeve, and an arc-shaped connecting rod, the polyurethane sleeve is freely rotatable on the inner core shaft to prevent the wound layers of the elastic stretch rod from being scratched by friction; the arc-shaped connecting rod is connected to the inner core shaft, and a planetary wheel driving structure is arranged on the lower side of the arc-shaped connecting rod to realize synchronous rotation driving of the four sets of positioning clamps, which are used to adjust the clamping diameter of the positioning clamps and the outer diameter of the wound layers of the elastic stretch rod; the positioning clamps are positioned and supported by a hollow positioning plate on the lower side; a rotating platform is arranged in the middle of the hollow positioning plate to drive unwinding of the wound layers of the elastic stretch rod; an elastic clamping assembly is arranged at the unwound position of the elastic stretch rod to support the elastic stretch rod and prevent it from rotating during unwinding.

[0009] Preferably, the take-up and driving force measurement mechanism includes a steel wire, a guide wheel, a driving force measurement assembly, a take-up wheel, and a take-up drive motor, the steel wire is connected to the top end of the elastic stretch rod, and sequentially passes through the inner hole of the elastic stretch rod, the central hole of the hollow positioning plate, and the inner hole of the rotating platform transmission gear; the guide wheel is used to ensure the running direction of the steel wire and prevent it from being scratched by the self centering unwinding mechanism; the driving force measurement assembly is arranged between the guide wheel and the take-up wheel, and a three-pulley tension sensor is arranged in the driving force measurement assembly to measure the driving force of the elastic stretch rod; the take-up wheel is arranged to the right of the guide wheel to provide traction to the elastic stretch rod through the steel wire, realizing compression and winding of the elastic stretch rod.

[0010] Preferably, the winding layer cleaning mechanism includes a cleaning roller set, a drying strip assembly, and a cleaning driving mechanism, the cleaning roller set is arranged to the right of the self centering unwinding mechanism, and is composed of two adjacent cleaning wheels through which the strip passes after being unwound by the self centering unwinding mechanism; the cleaning wheels rotate in the opposite direction relative to the strip, and are driven by a gear set engaged on the lower side and a servo motor connected thereto; the drying strip assembly is arranged to the right of the cleaning roller set to wipe off the residual alcohol after cleaning.

[0011] Preferably, the camera detection assembly comprises a camera device and a fixing frame, the camera detection assembly is arranged on the right side of the roll layer cleaning mechanism, and is used for detecting and recording defects such as scratches, wrinkles and edge cracks on the inner and outer surfaces of the roll layer; the camera device is fixed to the fixing frame, and the fixing frame is fixed to the rack.

[0012] Preferably, the winding mechanism comprises a winding shaft, a driving gear set and a servo motor, the winding shaft is arranged on the right side of the camera detection assembly, and is used for collecting the unwound strip material, so that the strip material is in the form of a strip roll after being collected, thereby reducing the volume of the equipment; the driving gear set and the servo motor are arranged on the lower side of the bottom plate, and are used for providing driving force for the winding shaft.

[0013] The application provides a method for testing the performance and defects of an elastic extension rod for a spacecraft, and the method comprises the following steps of using the above-mentioned integrated device for testing the mechanical performance and surface quality of the elastic extension rod to integrally test the performance and defects of the elastic extension rod.

[0014] Preparation: prepare the elastic extension rod to be tested, and pre-mark strain field measurement points on the deformation stress testing position of the elastic extension rod.

[0015] Loading: fix the end of the elastic extension rod to the self-centering unwinding mechanism, connect the steel wire with the top end of the elastic extension rod, and start the clamping driving device to adjust the inner diameter of the four sets of positioning clamps.

[0016] Lead wire: sequentially pass the steel wire through the inner hole of the elastic extension rod, the self-centering unwinding mechanism, the guide wheel, the three-pulley tension sensor, and fix the steel wire to the take-up wheel.

[0017] Lead belt: pre-roll the steel wire to compress the elastic extension rod, pull the outer layer of the end of the elastic extension rod through the roll layer cleaning mechanism, and fix the end of the roll layer to the winding mechanism.

[0018] Unwinding of the roll layer: start the take-up and driving force measuring mechanism, pull the steel wire to compress the elastic extension rod, rotate the platform to expand the diameter of the bottom end of the roll layer and make the bottom end of the roll layer adhere to the inner wall of the positioning clamp, the winding mechanism provides tension to the strip material, and the roll layer is pulled out between the positioning clamps to realize unwinding.

[0019] Stress measurement: use the 3D strain field method to identify the image of the displacement field of the measured scattered points after the roll layer is rolled up, calculate the strain field and the stress field, detect the stress in each plane of the elastic extension rod in the winding process, and evaluate the safety of the elastic extension rod.

[0020] Driving force measurement: in the process of collecting the steel wire, the three-pulley tension sensor is used to measure the tension of the steel wire, and then the axial stress of the roll layer when entering the positioning clamp is indirectly calculated, and the value is compared with the corresponding direction stress value obtained by the 3D strain field method for verification.

[0021] Cleaning: add alcohol on the cleaning wheel, adjust the cleaning wheel speed, control the relative motion speed between the cleaning wheel and the surface of the elastic extension rod, remove the impurities on the surface of the elastic extension rod, and remove the residual alcohol through the drying strip.

[0022] Surface detection: adjust the angle of the camera detection device, and in the fully expanded state of the layer, real-time test and record the defects such as edge cracks, surface wrinkles and scratches of the cleaned strip.

[0023] Winding: drive the winding shaft through the servo motor to make the elastic extension rod winding layer wound on the winding shaft to complete the winding.

[0024] Device reset: release the cleaning device, reverse rotate the rotating platform at the end of the elastic extension rod and the winding shaft, drive the release of the steel wire from the driving force measurement mechanism, and make the strip run in reverse, and the elastic extension rod is expanded from the inside of the clamp jaw until reset.

[0025] Preferably, the single-layer thickness of the elastic extension rod winding layer is 0.05mm-0.3mm, the spiral angle is 10°-70°, and the diameter is 5mm-50mm. The preset inner diameter value of the four positioning clamps of the self-centering unwinding mechanism is 20mm-70mm. The line speed of the self-centering unwinding mechanism and the winding mechanism is consistent, which is 0m / min-3m / min.

[0026] Preferably, after the detection step is completed, the inner diameter of the four positioning clamps of the self-centering unwinding mechanism is adjusted, the outer wall diameter of the elastic extension rod winding layer is changed, the detection step operation process is repeated, and the internal stress, driving force measurement and defect detection of the elastic extension rod in different winding states are realized.

[0027] The beneficial effects produced by the above technical scheme are that: through the self-centering unwinding mechanism, the four groups of self-centering positioning clamps can synchronously change the winding inner diameter of the elastic extension rod, conveniently realize the displacement field measurement of the winding deformation of the winding layer with different diameters, and obtain the strain and stress state of the elastic extension rod under different winding service conditions. The top of the elastic extension rod is connected to the three-pulley tension sensor through the lead wire, and the synchronous test of the driving force is realized during the winding process. The test results can be compared and verified with the internal stress test data to ensure the test accuracy. The four-clamp structure replaces the traditional spring winding cylinder structure, the bottom rotating platform is separated from the four-clamp structure, and is matched with the right secondary winding mechanism, so that the elastic extension rod winding layer is completely expanded in a flat state, effectively solving the problems of internal winding layer shielding, layer extrusion and difficulty in detecting mechanical properties and defects caused by the spiral layer structure of the elastic extension rod. Compared with the traditional manual turning type surface cleaning and state detection method of the elastic extension rod, the safety of the operator is ensured, the detection accuracy and efficiency are greatly improved, and the problems of incomplete detection and damage to the elastic extension rod caused by manual operation are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0028] The application will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Figure 1 is a schematic view of the front structure of the application;

[0030] Figure 2 is a schematic view of the top structure of the application;

[0031] Figure 3 is a schematic view of the bottom structure of the application;

[0032] Figure 4 is a schematic view of the front structure of the self-centering unwinding mechanism of the application;

[0033] Figure 5 is a schematic view of the top structure of the self-centering unwinding mechanism of the application;

[0034] Figure 6 is a schematic view of the structure of the take-up and driving force measuring mechanism of the application;

[0035] Figure 7 is a schematic view of the structure of the positioning gripper assembly of the application;

[0036] In the figure: 01 - elastic extension rod, 02 - camera detection assembly; 100 - workbench, 101 - rack, 102 - bottom plate; 200 - self-centering unwinding mechanism, 201 - positioning gripper, 202 - hollow positioning plate, 203 - rotating platform, 204 - positioning gripper driving mechanism, 205 - planetary pinion, 206 - transmission worm gear, 207 - transmission worm, 208 - arc top connecting plate, 209 - bearing seat, 210 - synchronous pulley assembly, 211 - transmission gear, 212 - driving motor, 213 - elastic clamping assembly, 2011 - mandrel, 2012 - polyurethane sleeve, 2013 - arc connecting rod, 2131 - elastic roller, 2132 - U-shaped support frame, 2133 - compression spring; 300 - take-up and driving force measuring mechanism, 301 - steel wire, 302 - guide wheel, 303 - driving force measuring assembly, 304 - take-up wheel, 305 - take-up driving motor; 400 - winding layer cleaning mechanism, 401 - cleaning wheel roller set, 402 - drying strip assembly, 403 - cleaning driving mechanism; 500 - winding mechanism, 501 - winding shaft, 502 - servo motor, 503 - driving gear set. DETAILED DESCRIPTION

[0037] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] Please refer to Figure 1 The spacecraft elastic stretch rod performance test and defect detection integrated device provided by the embodiments of the present application comprises a workbench 100, the workbench comprises a rack 101 and a bottom plate 102 serving as a work platform arranged on the rack 101, the bottom plate 102 is provided with a self-centering unwinding mechanism 200, a winding and driving force measuring mechanism 300, a winding layer cleaning mechanism 400, a camera detection assembly 02 and a winding mechanism 500. The self-centering unwinding mechanism 200 is used to adjust the winding inner diameter of the winding layer of the elastic stretch rod 01, and then the winding and driving force measuring mechanism 300 is used to axially compress the elastic stretch rod 01, so that the elastic stretch rod 01 enters the self-centering unwinding mechanism 200, realizes layer-by-layer winding and unwinding, and strain and stress measurement, after the unwound winding layer is cleaned and detected in all directions by the winding layer cleaning mechanism 400 and the camera detection assembly 02, the winding mechanism 500 is used for winding. In the specific design, the self-centering unwinding mechanism 200 is arranged on the left side of the top of the bottom plate 102, the winding and driving force measuring mechanism 300 is arranged at the lower right of the self-centering unwinding mechanism 200, the winding layer cleaning mechanism 400 is arranged on the right side of the self-centering unwinding mechanism 200, the camera detection assembly 02 is arranged on the right side of the winding layer cleaning mechanism 400, and the winding mechanism 500 is arranged on the right side of the camera detection assembly 02.

[0039] In a specific embodiment of the present application, as Figure 2 , Figure 4 , Figure 5 , Figure 7As shown, the self-centering opening mechanism 200 includes 4 sets of positioning clamping jaws 201 arranged concentrically, the positioning clamping jaws 201 adapt to the opening and closing range of the diameter of the coiled layer of 20-100mm, and the extension length is slightly higher than the width of the coiled layer of the elastic extension rod 01 by 2-6mm; the positioning clamping jaws 201 are positioned and supported by the hollow positioning plate 202 on the lower side, the hollow positioning plate 202 is provided with 4 concentric bearing holes, and bearings are installed inside to ensure the free rotation of the vertical rod; the positioning clamping jaws include an inner core shaft 2011, an outer polyurethane sleeve 2012, and an arc-shaped connecting rod 2013, the polyurethane sleeve 2012 is in clearance fit with the inner core shaft 2011 to ensure the free rotation of the polyurethane sleeve 2012 and prevent the coiled layer of the elastic extension rod 01 from being scratched; one end of the 4 arc-shaped connecting rods 2013 is connected with the inner core shaft 2011, and the other end is respectively pinned with 4 planetary pinions 205 through the vertical rod, the 4 planetary pinions 205 are in mesh with the inner tooth shape of the transmission worm gear 206 arranged on the outer side thereof to form a planetary wheel driving structure; the outer side of the transmission worm gear 206 is a worm gear structure, the transmission worm gear 206 and the transmission worm 207 cooperate to form a transmission structure, the transmission worm 207 is fixed on the bottom plate 102 through a bearing seat 209, the transmission worm 207 and the transmission worm gear 206 are driven to rotate by a synchronous belt wheel assembly 210 of a servo motor, thereby driving the synchronous rotation of the 4 planetary pinions 205 and the 4 positioning clamping jaws 201, so as to adjust the clamping diameter d of the 4 positioning clamping jaws 201 and realize the clamping and positioning of the elastic extension rod 01; the hollow positioning plate 202 is fixed on the lower arc-shaped connecting plate 208, the arc-shaped connecting plate 208 is in a semicircular structure, and the opening part is used for driving the transmission worm 207 to drive the transmission worm gear 206 inside, and the lower end of the arc-shaped connecting plate 208 is connected with the bottom plate 102; the middle part of the hollow positioning plate 202 is provided with an inner hole for accommodating the rotating platform 203, and the driving motor 212 below the rotating platform 203 can drive the rotating platform 203 to rotate through the transmission gear 211, thereby driving the coiled layer diameter of the elastic extension rod 01 to contract and expand.

[0040] The elastic clamping assembly 213 is arranged at the position where the elastic extension rod 01 is not contracted, the elastic clamping assembly 213 includes 4 sets of elastic rollers 2131, a U-shaped support frame 2132, and a compression spring 2133, the 4 sets of elastic rollers 2131 are uniformly arranged along the circumference of the elastic extension rod 01, the elastic rollers 2131 are fixed with the U-shaped support frame, and the rear side is provided with the compression spring 2133 for maintaining the pressure between the elastic rollers 2131 and the elastic extension rod 01, the elastic rollers 2131 can freely rotate in the compression process of the elastic extension rod 01, thereby playing a supporting role on the elastic extension rod 01 and limiting the rotation freedom degree of the elastic extension rod 01 and the steel wire 301 when the coiled layer is driven to contract and open on the rotating platform 203, so that the elastic extension rod realizes linear compression. Preferably, when the elastic extension rod 01 is longer, two sets of elastic clamping assemblies 213 arranged above and below can be used to maintain the rigidity thereof.

[0041] In one embodiment of the present application, as shown in Figure 3 With Figure 6 the wire and driving force measuring mechanism 300 is installed below the bottom plate 102, the wire and driving force measuring mechanism 300 includes a wire winding wheel 304, a wire winding driving motor 305, a driving force measuring assembly 303, a guide wheel 302, and a steel wire 301; one end of the steel wire 301 is fixed to the top end of the elastic extension rod 01 through a top rod, vertically passes through the inner hole of the elastic extension rod 01 and the self-centering unwinding mechanism 200, passes through the guide wheel 302, and then passes through the driving force measuring assembly 303 in an M shape and is connected with the wire winding wheel 304; the guide wheel 302 is installed on the motor support of the driving motor 212, changes the movement direction of the steel wire 301 from vertical to horizontal to facilitate winding, and ensures the running direction of the steel wire 301 to prevent the steel wire 301 from being scratched by the equipment structure; the driving force measuring assembly 303 is located on the right side of the guide wheel 302 and is fixed below the bottom plate 102 through screws, three pulley tension sensors are arranged on the driving force measuring assembly 303 for real-time measurement of the driving force of the steel wire 301 winding the elastic extension rod; the wire winding wheel 304 and the wire winding driving motor 305 are installed on the right side of the driving force measuring assembly 303, the wire winding wheel 304 is installed on the bottom plate 102 through fixed plates on both sides of the wire winding wheel 304, and rolling bearings are arranged between the wire winding wheel 304 and the fixed plates; the wire winding driving motor 305 is connected with the wire winding wheel 304 through a synchronous wheel and a synchronous belt, and the wire winding driving motor 305 is used to provide driving force for the rotation of the wire winding wheel 304 and the winding of the steel wire 301.

[0042] In one embodiment of the present application, as shown in Figure 1 、 Figure 2 With Figure 3As shown, the roll layer cleaning mechanism 400 includes a cleaning roller group 401, a drying strip assembly 402, and a cleaning drive mechanism 403. The cleaning roller group 401 is arranged on the right side of the self-centering unwinding mechanism 200. The cleaning roller group 401 is composed of two adjacent cleaning rollers. The cleaning roller includes an inner supporting shaft and an outer layer of velvet wrapped around the shaft. Bearings are installed at the ends of the supporting shaft, and the supporting shaft is fixed to the cleaning roller group support to ensure the stability of the rotation of the cleaning roller group 401. Synchronous pulleys are arranged between the two groups of bearings. The cleaning roller group 401 is connected to the cleaning drive mechanism 403 through the synchronous pulleys. The outer layer of velvet on the cleaning roller is fixed to the shaft by flat head screws, so that the cleaning roller group 401 can rotate synchronously as a whole. The outer layer of velvet can be easily replaced when it is worn out. The velvet is sprayed with organic solvents such as alcohol to clean the surface of the elastic extension rod 01. The drying strip assembly 402 includes a drying strip support and a drying cotton strip. The drying strip support has grooves for the drying cotton strip. The drying cotton strip can be directly installed on the drying strip support. Rectangular grooves are provided on the bottom plate 102. The drying support is inserted into the grooves to complete the installation. The grooves are designed for quick release to facilitate the replacement of the drying cotton strip. During the cleaning process, the cleaning roller group 401 and the drying strip assembly 402 apply frictional resistance to the strip, so that the strip is kept taut between the roll layer cleaning mechanism 400 and the winding mechanism 500, while it is relatively relaxed between the self-centering unwinding mechanism 200 and the roll layer cleaning mechanism 400, ensuring smooth unwinding and stable winding of the strip.

[0043] In one embodiment of the present application, as shown in Figure 1 and Figure 2 As shown, the camera detection assembly 02 includes a camera and a fixing frame. The fixing frame is used to fix the camera and is connected to the bottom plate 102. The camera can be adjusted at a certain angle to adapt to the detection of elastic extension rods 01 of different sizes. The camera detection assembly 02 is arranged on the right side of the roll layer cleaning mechanism. After the cleaning of the roll layer of the elastic extension rod 01 is completed, the detection is carried out. This can avoid the interference of impurities on the surface of the elastic extension rod 01 and accurately observe and record the defect status such as surface scratches, wrinkles, and edge cracks.

[0044] In one embodiment of the present application, as shown in Figure 1 and Figure 3 As shown, the winding mechanism 500 includes a winding shaft 501, a servo motor 502, and a drive gear set 503. The winding shaft 501 is connected to the bottom plate 102 through bearings. The bottom plate 102 has bearing mounting holes at the corresponding positions. The bottom end of the winding shaft 501 is provided with the drive gear set 503 and the servo motor 502. The winding shaft 501 is arranged on the right side of the camera detection assembly 02 and is used to collect the collected strip. After the strip is collected, it is in the form of a strip roll, which can greatly reduce the size of the equipment.

[0045] The application provides a method for testing performance and detecting defects of an elastic stretch rod for a spacecraft, and the method comprises the following steps of:

[0046] Preparation: prepare the elastic stretch rod 01 to be tested, the single-layer thickness of the measured elastic stretch rod 01 is 0.05mm-0.3mm, the spiral angle is 10°-80°, the diameter is 5mm-50mm, and a displacement field measurement scatter point is pre-marked at the stress position to be measured of the elastic stretch rod 01.

[0047] Loading: the elastic stretch rod 01 is threaded through the elastic clamping assembly 213 of the self-centering uncoiling mechanism 200, and is placed on the rotating platform 203; the wire 301 of the take-up and driving force measuring mechanism 300 is connected to the elastic stretch rod 01 through the top end of the top rod; the inner diameters of the four positioning clamps 201 are synchronously adjusted to the preset value by the planetary wheel driving mechanism, and the preset value of the inner diameter is 20mm-70mm.

[0048] Leading: the wire 301 is threaded through the inner hole of the elastic stretch rod 01, the center hole of the hollow positioning plate 202, the inner hole of the transmission gear 211, the guide wheel 302 and the three-pulley tension sensor, and the end of the wire 301 is fixed to the take-up wheel 304; the positions of the wire 301 are detected to prevent the wire 301 from being scratched by the equipment structure.

[0049] Leading: the take-up and driving force measuring mechanism 300 is pre-started to pull the wire 301 and compress the elastic stretch rod 01, the outer coil layer of the end of the elastic stretch rod 01 is sequentially threaded through the coil cleaning mechanism 400 and the camera detection assembly 02, and the end of the coil layer is fixed to the winding shaft 501 of the winding mechanism 500; the cleaning wheel roller group 401 and the drying strip assembly 402 are tightened to keep the unwound coil layer at a certain tension between the winding shaft 501 and the coil cleaning mechanism 400.

[0050] Coil uncoiling: the take-up and driving force measuring mechanism 300 is started to pull the wire 301 and compress the elastic stretch rod 01 to make the bottom coil layer of the elastic stretch rod 01 be pressed to the rotating platform 203; under the driving of the rotating platform 203, the bottom coil layer of the elastic stretch rod 01 expands to adhere to the inner walls of the four positioning clamps 201; the polyurethane sleeve 2012 on the outside of the positioning clamp 201 is driven to rotate under the action of friction, and the coil layer is pulled out from between the clamps to be uncoiled. The preset take-up speed, the rotating speed of the rotating platform and the winding speed are matched with each other, the running speed of the coil layer is 0-3m / min, and the coil layer runs stably under the damping action of the coil cleaning mechanism 400.

[0051] Stress measurement: when the measured layer of the coil is gathered to the outer layer of the inner wall of the positioning clamp 201, the 3D strain field method is used to identify the displacement field of the scattered points, the collected image data is imported into the software, the initial state and the final state data of the scattered points are compared, the displacement field of the measured surface of the coil layer is calculated, and the strain field and stress field are further calculated to complete the stress detection of the elastic extension rod 01 in the winding process.

[0052] Driving force measurement: during the winding process of the steel wire 301, the tension of the steel wire 301 is measured by using a three-pulley tension sensor, and the measured value is read. Further, the axial stress of the coil layer when the coil layer is received into the positioning clamp 201 is calculated by the driving force, and the axial stress value obtained by the 3D strain field method is compared and verified.

[0053] Cleaning: add alcohol on the cleaning wheel, start the servo motor of the coil layer cleaning mechanism 400, adjust the rotating speed of the cleaning wheel roller group 401, control the relative motion speed of the cleaning wheel roller group 401 and the surface of the elastic extension rod 01, remove the impurities on the surface of the elastic extension rod 01, and further scrape the residual alcohol through the drying strip assembly 402.

[0054] Surface detection: start the camera detection assembly 02 and adjust the observation angle, so that the upper and lower edges of the surface of the elastic extension rod 01 are in the detection range, detect the surface and edge of the cleaned strip, and observe whether the strip has edge cracks, surface scratches, wrinkles and other defects.

[0055] Winding: drive the winding shaft 501 through the servo motor 502 of the winding mechanism 500, so that the coil layer of the elastic extension rod 01 is wound on the winding shaft 501 to complete the winding. After winding, the coil layer is still in the form of a coil, which can greatly reduce the size of the equipment.

[0056] Device reset: open the cleaning wheel roller group 401 and the drying strip assembly 402, release the constraint of the coil layer cleaning mechanism 400 on the coil layer, reversely drive the rotating platform 203 at the end of the elastic extension rod 01 and the winding shaft 501 of the winding mechanism 500, drive the winding and the driving force measurement mechanism 300 to release the steel wire, so that the strip runs reversely, and the elastic extension rod 01 is unfolded from the inside of the four positioning clamps 201 until it is reset.

[0057] Repeated measurement: adjust the inner diameter of the four positioning clamps 201 to change the outer wall diameter of the coil layer gathered by the elastic extension rod 01, repeat the above action process, and realize the mechanical property and defect detection of the elastic extension rod 01 under different winding diameters.

[0058] The above is only an embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection range of the present application.

Claims

1. An integrated device for performance testing and defect detection of elastic struts used in spacecraft, characterized in that: The device includes a frame (101) and a base plate (102) mounted on the frame (101), a self-centering unwinding mechanism (200), a take-up and driving force measuring mechanism (300), a roll cleaning mechanism (400), a camera detection component (02), and a take-up mechanism (500). The self-centering unwinding mechanism (200) is located at the left end of the frame (101), and the take-up and driving force measuring mechanism (300) is located at the lower side of the frame (101). The take-up and driving force measuring mechanism (300) is located below the right side of the self-centering unwinding mechanism (200), the roll cleaning mechanism (400) is located to the right of the self-centering unwinding mechanism (200), the camera detection component (02) is located to the right of the roll cleaning mechanism (400), and the take-up mechanism (500) is located at the right end of the frame (101).

2. The integrated device for testing the performance and detecting defects of an elastic strut according to claim 1, characterized in that: The self-centering unwinding mechanism (200) includes four sets of positioning jaws (201), which are concentrically arranged to accommodate the coiled elastic extension rod (01) and maintain its circular shape. Preferably, each positioning jaw (201) includes an inner mandrel (2011), an outer polyurethane sleeve (2012), and an arc-shaped connecting rod (2013). The polyurethane sleeve (2012) can rotate freely on its inner mandrel (2011) to prevent the elastic extension rod (01) from being scratched by friction. The arc-shaped connecting rod (2013) is connected to the inner mandrel (2011). A planetary gear drive structure is provided on the lower side of the connecting rod (2013) to realize the synchronous rotation drive of the four sets of positioning grippers (201), which is used to synchronously adjust the clamping diameter of the positioning grippers (201) and the outer diameter of the elastic extension rod to retract the roll layer; the positioning grippers (201) are positioned and supported by the lower hollow positioning plate (202); the hollow positioning plate (202) is provided with a rotating platform (203) in the middle, which is used to drive the retracted roll layer of the elastic extension rod (01) to unwind; the unwound position of the elastic extension rod (01) is provided with an elastic clamping component (213), which is used to support the elastic extension rod (01) and prevent it from rotating during the unwinding process.

3. The integrated device for testing the performance and detecting defects of an elastic strut according to claim 2, characterized in that: The take-up and driving force measuring mechanism (300) includes a steel wire (301), a guide wheel (302), a driving force measuring component (303), a take-up wheel (304), and a take-up drive motor (305). The steel wire (301) is connected to the top end of the elastic extension rod (01). The steel wire (301) passes sequentially through the inner hole of the elastic extension rod (01), the center hole of the hollow positioning plate (202), and the inner hole of the rotating platform transmission gear (211). The guide wheel (302) is used to ensure that the steel wire (301) is secure to the top end of the elastic extension rod (01). 1) The running direction is to prevent it from rubbing against the self-centering unwinding mechanism (200); the driving force measuring component (303) is arranged between the guide wheel (302) and the take-up wheel (304), and the driving force measuring component (303) is equipped with a three-pulley tension sensor to measure the driving force of the elastic extension rod (01); the take-up wheel (304) is arranged on the right side of the guide wheel (302) and provides traction force to the elastic extension rod (01) through the steel wire (301) to realize the compression and retraction of the elastic extension rod (01).

4. The integrated device for testing the performance and detecting defects of an elastic strut according to claim 3, characterized in that: The roll cleaning mechanism (400) includes a cleaning roller assembly (401), a drying strip assembly (402), and a cleaning drive mechanism (403). The cleaning roller assembly (401) is arranged on the right side of the self-centering unwinding mechanism (200). The cleaning roller assembly (401) consists of two adjacent cleaning rollers. After the strip is unwound by the self-centering unwinding mechanism (200), it passes through the gap between the two cleaning rollers. The cleaning rollers rotate in the opposite direction to the strip and are driven by a gear set meshing on the lower side and a servo motor connected thereto. The drying strip assembly (402) is arranged on the right side of the cleaning roller assembly (401) and is used to scrape off residual alcohol after cleaning.

5. The integrated device for testing the performance and detecting defects of an elastic strut according to claim 2, characterized in that: The camera detection component (02) includes a camera device and a mounting frame. The camera detection component (02) is arranged on the right side of the roll cleaning mechanism (400) and is used to detect and record defects such as scratches, wrinkles, and edge cracks on the inner and outer surfaces of the roll. The camera device is fixed to the mounting frame, and the mounting frame is fixed to the frame (101).

6. The integrated device for testing the performance and detecting defects of an elastic strut according to claim 3, characterized in that: The winding mechanism (500) includes a winding shaft (501), a servo motor (502), and a drive gear set (503). The winding shaft (501) is arranged on the right side of the camera detection component 02 and is used to collect the unfolded tape. After the tape is collected, it is in the form of a roll to reduce the size of the equipment. The servo motor (502) and the drive gear set (503) are arranged on the underside of the base plate (102) and are used to provide driving force for the winding shaft (501).

7. A method for testing the performance and detecting defects of an elastic strut used in spacecraft, characterized in that, The mechanical performance testing and defect detection of the elastic extension rod using the integrated performance testing and defect detection device as described in any one of claims 1 to 6 includes the following steps: Material preparation: Prepare the elastic extension rod to be tested, and pre-mark the strain field measurement points at the location where the deformation stress of the elastic extension rod is to be measured. Loading: Fix the end of the elastic extension rod to the self-centering uncoiling mechanism, connect the steel wire to the top of the elastic extension rod, and start the clamping drive device to adjust the inner diameter of the four sets of positioning jaws. Lead wire: Pass the steel wire sequentially through the inner hole of the elastic extension rod, the self-centering unwinding mechanism, the guide wheel, and the three pulley tension sensor, and fix it to the take-up reel. Lead belt: The pre-wound steel wire compresses the elastic extension rod, pulls the outer layer of the end of the elastic extension rod through the winding cleaning mechanism, and fixes the end of the winding to the winding mechanism. Unwinding: The take-up and driving force measuring mechanism is activated, the traction steel wire compresses the elastic extension rod, the rotating platform rotates to expand the diameter of the roll at the bottom of the elastic extension rod and put it against the inner wall of the positioning gripper, the take-up mechanism provides tension to the strip, and the roll is pulled out between the positioning gripper to achieve unwinding. Stress measurement: The 3D strain field method is used to perform image recognition of the displacement field of the scattered points to be measured after the roll is rolled up, calculate the strain field and stress field, detect the plane stress in each direction of the elastic rod during the winding process, and evaluate the safety of the elastic rod in use. Driving force measurement: During the wire take-up process, the tension of the wire is measured using a three-pulley tension sensor, and the axial stress of the roll section when it is taken in by the positioning gripper is indirectly calculated and verified by comparison with the corresponding stress value obtained by the 3D strain field method. Cleaning: Add alcohol to the cleaning wheel, adjust the speed of the cleaning wheel, control the relative movement speed between the cleaning wheel and the surface of the elastic extension rod, remove impurities from the surface of the elastic extension rod, and scrape off the residual alcohol on the surface with a drying strip. Surface inspection: Adjust the angle of the camera inspection device to inspect and record defects such as edge cracks, surface wrinkles and scratches on the cleaned strip in real time when the roll is fully unfolded. Rewinding: The rewinding shaft is driven by a servo motor, which causes the elastic extension rod and the material roll to be wound around the rewinding shaft to complete the winding. Equipment reset: Release the cleaning device, rotate the end of the elastic extension rod and the winding shaft in the opposite direction, drive the winding and the driving force measuring mechanism to release the steel wire, so that the strip runs in the opposite direction, and the elastic extension rod unfolds from the inside of the gripper until it is reset.

8. The method for testing the performance and detecting defects of an elastic extension rod according to claim 7, characterized in that: The elastic extension rod (01) has a single-layer thickness of 0.05mm to 0.3mm, a helix angle of 10° to 70°, and a diameter of 5mm to 50mm. The preset inner diameter range of the four positioning jaws of the self-centering unwinding mechanism (200) is 20mm to 70mm. The linear speed of the self-centering unwinding mechanism (200) and the winding mechanism (500) is the same, which is 0m / min to 3m / min.

9. The method for testing the performance and detecting defects of an elastic extension rod according to claim 7, characterized in that: After the detection steps are completed, the inner diameter of the four positioning jaws (201) of the self-centering unwinding mechanism (200) is adjusted, the outer diameter of the elastic extension rod retracting the roll layer is changed, and the detection steps are repeated to realize the measurement of internal stress and driving force and defect detection of the elastic extension rod (01) under different retracting states.

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