A space repeatable tolerance docking ground simulation test device

Abstract

A space-based repeatable tolerance-tolerant docking ground simulation test device is disclosed. This invention addresses the limitations of existing ground simulation technologies in accurately simulating docking errors, faithfully reproducing microgravity environments, and simulating tunnel conditions. The invention includes a ball-joint servo-oscillating frame. A six-degree-of-freedom attitude adjustment component is located at the bottom of the ball-joint servo-oscillating frame. A standardized interface prototype is mounted on the six-degree-of-freedom attitude adjustment component, and a servo component is mounted on the standardized interface prototype. One end of a steel wire rope is connected to the servo component, and the other end of the steel wire rope passes through a pulley system fixed to the ball-joint servo-oscillating frame and is connected to a counterweight. This invention belongs to the field of aerospace engineering ground simulation test technology.

Description

Technical Field

[0001] This invention relates to a ground simulation test device, belonging to the field of ground simulation test technology for aerospace engineering. Background Technology

[0002] On-orbit docking of spacecraft is a critical step in space missions, and its reliability needs to be verified in advance through ground simulation tests. Ground tests need to focus on simulating three core scenarios: first, the posture errors (including positional and attitude angle deviations) generated when the robotic arm grasps the spacecraft for docking; second, the microgravity environment in space (eliminating the interference of gravity on the docking process); and third, the servo characteristics of the robotic arm during docking (adapting to the dynamic attitude changes of the docking target). Therefore, developing an integrated ground simulation system that can accurately simulate docking errors and faithfully reproduce the microgravity environment and servo states is a key requirement for improving the reliability of spacecraft docking ground tests. Summary of the Invention

[0003] To address the challenges of existing ground simulation technologies in accurately simulating docking errors, faithfully reproducing microgravity environments, and tunnel conditions, this invention proposes a space-based repeatable tolerance docking ground simulation test device.

[0004] The technical solution adopted by the present invention to solve the above problems is as follows: The present invention includes a ball joint follower swing frame, and a six-degree-of-freedom attitude adjustment component is provided at the bottom of the ball joint follower swing frame. A standardized interface principle prototype is provided on the six-degree-of-freedom attitude adjustment component, and a follower component is provided on the standardized interface principle prototype. One end of a steel wire rope is connected to the follower component, and the other end of the steel wire rope passes through a pulley block fixed on the ball joint follower swing frame and is connected to a counterweight.

[0005] Furthermore, the accompanying components include a ball joint, which is connected to one end of a steel wire rope. Four adjusting bolts are also connected to the ball joint, and the four adjusting bolts are arranged in a rectangle on the upper surface of the standardized interface prototype.

[0006] Furthermore, a pressure sensor is installed on the ball joint.

[0007] Furthermore, the pulley block includes multiple fixed pulleys and pulleys; the multiple fixed pulleys are fixed to the top of the ball joint follower swing frame, and the pulleys are fixed to the lower part of one side of the ball joint follower swing frame. The other end of the wire rope passes through the multiple fixed pulleys and pulleys in sequence and is connected to the counterweight.

[0008] Furthermore, the six-degree-of-freedom attitude adjustment assembly includes a base with three electric actuators on it, and a platform on each of the three electric actuators.

[0009] The beneficial effects of this invention are:

[0010] This invention has wide adaptability: through a multi-point distributed configurable connection structure, it is compatible with modules of different sizes and adapts to the flexibility requirements of on-orbit dynamic reconfiguration. This invention features strong tolerance for capture performance: the synergistic effect of guide cone surface mating and six-degree-of-freedom pose adjustment can adapt to ±20mm position deviation and ±1° attitude angle deviation, increasing the docking success rate to over 99%. This invention features high repeatability and accuracy: the combination of zero-position calibration and "sliding shaft-sleeve" accuracy verification mechanism maintains a position accuracy of ±0.1mm and an attitude accuracy of ±0.01° after multiple dockings, meeting the requirements of high-precision on-orbit missions. This invention features multi-functional integration and high efficiency: the integrated design of mechanical, electrical, and hydraulic interfaces enables "multiple functions to be completed with a single docking", greatly shortening the on-orbit operation time and reducing the complexity of robotic arm operation; This invention features high reliability and repeatability: the locking force is stable at 10000N±500N, and it supports ≥50 repeated docking / separation cycles, adapting to the frequent operation requirements of long-term on-orbit service. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a ground-based capture simulation test platform; Figure 1 In the middle, 1-fixed pulley, 2-steel wire rope, 3-pressure sensor, 4-ball joint, 5-adjusting bolt, 6-pulley, 7-counterweight, 8-follower component, 9-standardized interface prototype, 10-six-degree-of-freedom attitude adjustment component, 11-base, 12-electric push rod, 13-platform; Figure 2 This is a schematic diagram of a six-degree-of-freedom pose adjustment component; Figure 3 This is a schematic diagram of a ball joint oscillating frame. Detailed Implementation

[0012] Specific implementation method one: as follows Figure 1 As shown, a space repeatable tolerance docking ground simulation test device includes a ball-joint follower swing frame. A six-degree-of-freedom attitude adjustment component 10 is set at the bottom of the ball-joint follower swing frame. A standardized interface prototype 9 is provided on the upper surface of the six-degree-of-freedom attitude adjustment component 10. The upper surface of the standardized interface prototype 9 is rectangular and has four adjusting bolts 5. The lower end of each adjusting bolt 5 is connected to the upper surface of the standardized interface prototype 9, and the upper end of each adjusting bolt 5 is connected to the lower end of the ball joint 4. The upper end of the ball joint 4 is connected to one end of the steel wire rope 2. The lower surface of the top crossbeam of the ball-joint follower swing frame is provided with two fixed pulleys 1. A pulley 6 is provided on the lower part of the side of the ball-joint follower swing frame. The other end of the steel wire rope 2 passes through the two fixed pulleys 1 and the pulley 6 in sequence and is connected to the counterweight 7.

[0013] In some embodiments, a pressure sensor 3 is installed on the ball joint 4, and the ball joint 4 is connected to one end of the wire rope 2 through the pressure sensor 3.

[0014] The ball-joint servo swing frame includes a frame body, ball-joint connectors, adjusting bolts, and an angle detection module. The frame body is a rectangular aluminum alloy frame (its dimensions match the simulated module); the ball-joint connector adopts a single ball-joint structure (maximum swing angle ±5°, meeting the requirements for servo attitude adjustment), with one end rigidly connected to the frame body and the other end connected to the steel wire rope of the suspended microgravity simulation system; there are four adjusting bolts, installed at the four corners of the frame body, used for fine-tuning the initial attitude of the frame and real-time acquisition of the frame swing angle.

[0015] When the six-degree-of-freedom error simulation platform simulates docking errors, the simulated module flexibly swings with the target posture through the ball joint connector to simulate the follow-up characteristics of the robotic arm; the adjusting bolt can pre-calibrate the initial levelness of the frame (error ≤ ±0.05°) to achieve coordinated control of the follow-up state and error simulation.

[0016] Specific implementation method two: such as Figure 2 As shown, the six-degree-of-freedom attitude adjustment component 10 includes a base 11, on which three electric push rods 12 are provided. The lower end of each electric push rod 12 is hinged to the upper surface of the base 11, and the upper end of each electric push rod 12 is hinged to the lower surface of the platform 13. The standardized interface prototype 9 is set on the upper surface of the platform 13.

[0017] The six-degree-of-freedom (DOF) pose adjustment assembly mainly consists of a six-DOF platform. The platform base is fixed to the tooling frame, and the upper end of the platform is connected to the active end. The six-DOF platform can provide positional errors of x=±20mm and y=±20mm and attitude angle errors of α=±1°, β=±1°, and γ=±1°, simulating the errors generated by the robotic arm during docking. The microgravity system mainly consists of a counterweight, pulleys, wire ropes, and fixed pulleys. The counterweight is placed on one side of the frame, and one end of the wire rope is connected to the counterweight, passes through the pulley, and goes around the fixed pulley. The other end of the wire rope is connected to the top lifting ring of the ball joint. The servo assembly consists of adjusting bolts, ball joints, and pressure sensors. The pressure sensors are connected to the ball joints, and the four corners of the passive end are connected to adjusting bolts and suspended by wire ropes, simulating the servo mode of the robotic arm. The data acquisition and control system mainly records pressure sensor data and related experimental controls.

[0018] Working principle The total mass of the counterweight 7 is configured according to the total mass of the simulated spacecraft module; the force balance is achieved through the pulley system; the pressure sensor 3 monitors the tension of the steel wire rope 2 in real time, and when the tension deviation exceeds ±1%, the position of the counterweight 7 is finely adjusted to ensure that the net force on the simulated module is close to zero, simulating a microgravity environment; one end of the steel wire rope 2 is connected to the top of the test frame, and the other end is connected to the suspension point of the simulated module through the pulley system to avoid the interference of rope twisting on the module's attitude.

[0019] The experimental steps of this invention are as follows: System Installation and Calibration: Fix the base of the six-degree-of-freedom platform to a horizontal ground, install the six-degree-of-freedom motion mechanism and drive components, and connect the posture detection module and control system; install a fixed pulley on the top of the test frame, fix one end of the steel wire rope to the test frame, pass it through the movable pulley and the fixed pulley in sequence, and connect the other end to the load-bearing tray; according to the simulated module and tooling, place counterweights on the tray, and adjust the length of the steel wire rope to make the module suspend in the air; connect one end of the ball hinge connector to the top suspension point of the module, and the other end to the movable pulley; adjust the adjusting bolts at the four corners of the frame, and calibrate the levelness of the frame with a level to ensure that the initial attitude angles α=0° and β=0°; start the control system and complete the zero-position calibration of the six-degree-of-freedom platform: control the platform to move to x=0, y=0, z=0, adjust α=0°, β=0°, γ=0° through the feedback of the tilt sensor, and save the zero-position parameters.

[0020] Error simulation settings: Input the target pose deviation into the control system operation interface to start the six-degree-of-freedom platform. The control system sends drive commands to the six servo motors according to the target deviation to drive the extension and retraction of the branches. The pose detection module collects the platform pose data in real time and feeds it back until the platform stabilizes at the target pose.

[0021] Microgravity and servo simulation: The tension adjustment module of the suspension system is activated, and the tension sensor monitors the tension of the wire rope in real time. When the tension deviation exceeds a certain threshold, the electromagnetic brake finely adjusts the position of the counterweight to maintain tension stability. Based on the target posture, the six-degree-of-freedom platform performs small posture changes according to the preset trajectory (simulating the dynamic operation of the robotic arm). The ball joint servo swing frame flexibly swings with the module's posture changes through the ball joint connector. The gyroscope collects the swing angle data in real time and uploads it to the control system.

[0022] Data acquisition and verification: The control system synchronously acquires data from the pose detection module (x, y, z displacements, α, β, γ attitude angles), the tension sensor (wire rope tension), and analyzes the acquired data.

[0023] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A spatially repeatable tolerance docking ground simulation test apparatus, characterized in that, The system includes a ball joint follower swing frame. A six-degree-of-freedom attitude adjustment component (10) is provided at the bottom of the ball joint follower swing frame. A standardized interface prototype (9) is provided on the six-degree-of-freedom attitude adjustment component (10). A follower component (8) is provided on the standardized interface prototype (9). One end of a steel wire rope (2) is connected to the follower component (8). The other end of the steel wire rope (2) passes through the pulley group fixed on the ball joint follower swing frame and is connected to the counterweight (7).

2. The space repeatable tolerance docking ground simulation test device according to claim 1, characterized in that, The accompanying components include a ball joint (4), which is connected to one end of a wire rope (2). Four adjusting bolts (5) are also connected to the ball joint (4), which are arranged in a rectangular shape on the upper surface of the standardized interface prototype (9).

3. The space repeatable tolerance docking ground simulation test device according to claim 2, characterized in that, A pressure sensor (3) is installed on the ball joint (4).

4. The space repeatable tolerance docking ground simulation test device according to claim 1, characterized in that, The pulley system includes multiple fixed pulleys (1) and pulleys (6); multiple fixed pulleys (1) are fixed on the top of the ball joint follower swing frame, and pulleys (6) are fixed on the lower part of one side of the ball joint follower swing frame. The other end of the wire rope (2) passes through multiple fixed pulleys (1) and pulleys (6) in sequence and is connected to the counterweight (7).

5. The space repeatable tolerance docking ground simulation test device according to claim 1, characterized in that, The six-degree-of-freedom attitude adjustment component (10) includes a base (11), three electric push rods (12) on the base (11), and a platform (13) on the three electric push rods (12).

Images