Zero-gravity follow-up tool suitable for spiral unfolding equipment on spacecraft

Abstract

The utility model provides a zero-gravity follow-up tool suitable for spiral unfolding equipment on a spacecraft. The zero-gravity follow-up tool is used for counteracting the gravity influence of the spiral unfolding equipment on the spacecraft in the ground unfolding test process. A follow-up rotating system is added on the basis of a previous testing tool used for one-dimensional linear expansion motion so as to adapt to the working condition that a tested object needs to rotate around a straight line while moving in a one-dimensional linear mode, and the anti-interference capacity of the testing system is improved through reasonable configuration of a mass unit on the rotating system. According to the utility model, a rotational degree of freedom can be added on the basis of a previous one-dimensional or two-dimensional or three-dimensional translation zero-gravity test system, and the test capability of the system is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mechanical design, concretely relates to a zero gravity follow-up tool suitable for spiral unfolding equipment on a spacecraft. BACKGROUND

[0002] With the continuous expansion of human deep space exploration activities, more in-depth exploration of extraterrestrial bodies through launching spacecraft will become increasingly frequent, and the types of exploration instruments carried by these spacecraft are also becoming more and more diverse. Some instruments are in a folded state during the launch of the spacecraft, and when they reach the appropriate position of the target celestial body, they need to be extended to a position far from the spacecraft body and maintained at a specific angle to better carry out work. Currently, most of the zero gravity tools suitable for testing deployable equipment on spacecraft only match the capabilities of one-dimensional linear deployment (only linear motion in the horizontal plane), two-dimensional linear deployment (horizontal translation), three-dimensional translation, and single-axis rotation deployment (rotation around a fixed axis in the horizontal plane). There is currently no zero gravity follow-up tool that matches the requirements of equipment that needs to move in a straight line in the horizontal plane while also needing to rotate around the straight line. SUMMARY

[0003] To solve the above technical problems, the utility model provides a zero gravity follow-up tool suitable for spiral deployment equipment on a spacecraft, which is used to offset the influence of gravity on the spiral deployment equipment on the spacecraft during ground deployment testing. Based on the past test tool for one-dimensional linear deployment motion, a set of follow-up rotation system is added to adapt to the working condition of the test object rotating around the straight line while moving in a straight line, and the anti-interference ability of the test object during the spiral deployment motion is improved through the reasonable configuration of the mass unit on the rotation system. In addition, the utility model can also be improved based on two-dimensional linear motion and three-dimensional linear motion.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The zero-gravity servo tool for the spiral deployment device on the spacecraft comprises a main bearing frame, a test wall, a tested object, a suspension system and a rotating system; the test wall is installed on one side of the short side of the main bearing frame, the tested object is installed on the test wall, and the axis is coincident with the rolling bearing in the rotating system; the flange at the end of the rotating shaft is connected with the instrument box at the head of the tested object; the tested object is compressed and contracted on one side of the test wall, the two ends of the circular guide rod in the suspension system are connected with the center of the crossbeam at the top of the main bearing frame, so that the axis of the circular guide rod is in a horizontal state and parallel to the path to be stretched by the tested object, and the plane formed by the two is perpendicular to the horizontal plane; the rotating system is suspended below the suspension system, and one end of the rotating shaft in the rotating system is fixedly connected with the instrument box at the top of the tested object, so that the rotating shaft is coincident with the path to be stretched by the tested object.

[0006] Further, the suspension system comprises a circular guide rod, a Y-shaped sliding block, a basket bolt, a tension meter and a connecting bolt; the Y-shaped sliding block is internally designed with a pair of 45° inclined rolling bearings, the circular guide rod is nested in the Y-shaped sliding block, so that the Y-shaped sliding block can slide along the circular guide rod with low friction, one end of the basket bolt passes through the through hole on the bottom lug of the Y-shaped sliding block and is suspended below the Y-shaped sliding block, and the tension meter is suspended at the other end of the basket bolt.

[0007] Further, the circular guide rod is fixedly connected with the two short sides of the main bearing frame through the connecting bolts at the two ends; the Y-shaped sliding block is internally provided with bearings, so that the whole suspension system can smoothly slide on the circular guide rod; the basket bolt is used for adjusting the extension amount of the suspension system, so that the rotating shaft of the tested object is in a horizontal state; and the tension meter is used for measuring the mass of the bearing object, assisting the basket bolt in adjustment and providing a hook for suspending the rotating system.

[0008] Further, the bottom flange surface of the tested object is connected with the test wall, and the instrument box at the top is connected with one end of the rotating shaft in the rotating system.

[0009] Further, the motion trajectory of the tested object is obtained according to the straight line mark on the instrument box at the top.

[0010] 1) moving along a horizontal straight line as a whole;

[0011] 2) rotating the instrument box at the top around the horizontal straight line in 1).

[0012] Further, the rotating system comprises a stepped form rotating shaft, a rolling bearing, an outer circle frame, a counterweight and an inertia adjustment block; the rotating shaft is fixedly connected with the inner ring of the rolling bearing through interference fit; the outer circle frame is fixedly connected with the outer ring of the rolling bearing through interference fit, after the connection is completed, the outer circle frame is connected with the hook at the lower end of the tension gauge of the suspension system through any one of the hole supporting ears; the flange surface at the left side of one end of the rotating shaft is used for being connected with the instrument box at the top of the tested object, and the right side of the other end is used for being connected with the counterweight.

[0013] Further, the counterweight is used for balancing the mass centers on both sides of the rotating shaft, so that the mass center of the whole small system composed of the rotating shaft, the instrument box at the top of the tested object and the counterweight is located within the left and right two end faces of the rolling bearing, i.e. vertically below the suspension system.

[0014] Further, the outer circle frame adopts an axisymmetric design, the outer ring of the outer circle frame is uniformly distributed with the same hole supporting ears, and the symmetry plane of the supporting ears passes through the axis of the rolling bearing.

[0015] Further, the outer ring of the outer circle frame is also uniformly distributed with the mounting planes with screw holes, which are used for mounting a pair of inertia adjustment blocks, in the case of increasing the rotational inertia of the outer circle frame along the axis direction, the inertia adjustment block adopts a "I-shaped" symmetric design, so as to further improve the rotational inertia of the whole rotating system around the axis direction of the basket bolt; according to the state of the tested object, different numbers of inertia adjustment blocks are used.

[0016] Further, in the spiral expansion process of the tested object, the rolling bearing of the rotating system adapts to the rotational displacement, and the Y-shaped sliding block of the suspension system adapts to the translational displacement, so as to realize the zero gravity requirement in the process of linear motion in the horizontal plane and rotary motion around the straight line.

[0017] Beneficial effects:

[0018] The utility model can also be improved on the basis of two-dimensional linear motion and three-dimensional linear motion. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the system general layout of the zero gravity follow-up tooling suitable for the spiral expansion equipment on the spacecraft of the utility model;

[0020] Figure 2 It is the schematic view of the suspension system;

[0021] Figure 3 It is the first motion state schematic view of the tested object (test starts);

[0022] Figure 4 Fig. 2 is a schematic view of the second motion state of the tested object (during the test);

[0023] Figure 5 Fig. 3 is a schematic view of the third motion state of the tested object (at the end of the test);

[0024] Figure 6 Fig. 4 is a schematic view of the rotating system; wherein a is a front view and b is a sectional view;

[0025] Figure 7 Fig. 5 is a schematic view of the installation of the inertia adjustment block.

[0026] Wherein, the reference signs are: main bearing frame 1, test wall 2, tested object 3, suspension system 4, rotating system 5, circular guide rod 41, Y-shaped sliding block 42, basket bolt 43, tension meter 44, connecting bolt 45, rotating shaft 51, rolling bearing 52, outer circle frame 53, counterweight 54, inertia adjustment block 55. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will combine with the drawings and examples, and make the utility model further detailed description. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0028] As Figure 1As shown, the zero-gravity follow-up tooling for spiral deployment equipment on spacecraft of this utility model includes a main load-bearing frame 1, a test wall 2, a suspension system 4, and a rotation system 5. The main load-bearing frame 1, test wall 2, and suspension system 4 operate on the same principle as the zero-gravity tooling required for traditional one-dimensional linear deployment. The test wall 2 is installed on one side of the short side of the main load-bearing frame 1, and the test object 3 is mounted on the test wall 2, with its axis coinciding with the rolling bearing 52 in the rotation system 5. The instrument body at the top of the test object 3 is connected to the end of the rotating shaft 51 in the rotation system 5 that is close to it. The main load-bearing frame 1 is placed in a suitable location within the laboratory. The test wall 2 is bolted to two support columns on the -X side of the main load-bearing frame 1. Then, the flange at the base of the test object 3 is bolted to the test wall 2, compressing the test object 3 into the +X side of the test wall 2. Bolts are then used to connect both ends of the circular guide rod 41 in the suspension system 4 to the center of the crossbeam in the ±X direction at the top of the main load-bearing frame 1, ensuring the axis of the circular guide rod 41 is horizontal and parallel to the path of the test object 3's extension, with the plane formed by both perpendicular to the horizontal plane. A perforated lug on the outer circular frame 53 of the rotation system 5 is hung on a hook below the tension gauge 44 in the suspension system 4. One end of the rotating shaft 51 in the rotation system 5 is then bolted to the instrument box on top of the test object, ensuring the axis of the rotating shaft 51 coincides with the path of the test object 3's extension. The test object 3 is the experimental object whose gravity needs to be eliminated during the experiment, and its extension and rotation are assessed to ensure successful execution.

[0029] like Figure 2 As shown, the suspension system 4 mainly consists of a circular guide rod 41, a Y-shaped slider 42, a turnbuckle 43, a force gauge 44, and connecting bolts 45. The circular guide rod 41 features a low coefficient of friction, high straightness, and high rigidity, and is fixed to the two short sides of the main load-bearing frame 1 via the connecting bolts 45 at both ends. The Y-shaped slider 42 has internal bearings, allowing the entire suspension system 4 to slide smoothly on the circular guide rod 41. The turnbuckle 43 is used to adjust the extension and retraction of the suspension system, ensuring that the rotation axis of the test object 3 is horizontal. The axis of the turnbuckle 43 remains within the XZ symmetry plane of the Y-shaped slider 42, and the axis of the force gauge 44 coincides with the axis of the turnbuckle 43. The force gauge 44 measures the mass of the load-bearing object, assists in the adjustment of the turnbuckle 43, and provides a hook to suspend the rotating system 5.

[0030] like Figure 3 The diagram shows the state at the start of the test. The test object 3 is gathered and pressed against the test wall 2. The end of the rotating shaft 51 of the rotating system 5 with the flange is close to the top instrument box of the test object 3. The axis of the rotating shaft 51 is horizontal and coincides with the axis of rotation of the test object 3. The suspension system 4 follows the rotating system 5 and is positioned close to the test wall 2, keeping the Z-axis perpendicular to the horizontal plane.

[0031] like Figure 4 The diagram shows the state during the test. The test object 3 gradually unfolds, and the instrument box on top of it begins to spiral forward away from the test wall 2, driving the "rotor" part of the rotating system 5 to rotate 90° along the straight line (+X direction) (the engraving on the instrument box on top of the test object 3 in the figure is for reference and easy for the viewer to understand). During this process, the end of the rotating shaft 51 with the flange of the rotating system 5 is always in close contact with the instrument box on top of the test object 3. The rotating system 5 and the suspension system 4 as a whole are pushed to move in the +X direction, and the Z-axis of the suspension system 4 is always perpendicular to the horizontal plane.

[0032] like Figure 5 The diagram shows the state at the end of the test. The instrument box on top of the test object 3 spirals forward to a position away from the test wall 2, and drives the "rotor" part of the rotating system 5 to rotate 180° along the straight line (+X direction). During this process, the flanged end of the rotating shaft 51 of the rotating system 5 is always in close contact with the top of the instrument box of the test object 3. The rotating system 5 and the suspension system 4 as a whole are pushed to move in the +X direction. The Z-axis of the suspension system 4 is always perpendicular to the horizontal plane.

[0033] pass Figures 3-5 It can be seen that the test object 3 has the following characteristics: (These two characteristics are used to describe the test object 3, which is not included in the scope of the tooling of this utility model)

[0034] 1) The middle part is a lightweight, rotatable, and unfoldable structure, which is lightweight, highly elastic, and highly rigid;

[0035] 2) The top is the main body of the test object 3, where the main scientific instruments are installed, and it is heavy.

[0036] The bottom flange of the test object 3 is connected to the test wall 2, and the top instrument box (where the main mass is located) is connected to one end of the rotating shaft 51 in the rotating system 5. The trajectory of the test object 3 can be seen from the straight line markings on the top instrument box.

[0037] 1) The whole is along a horizontal straight line ( Figures 3-5 Movement in the middle + X direction;

[0038] 2) The instrument box at the top rotates around the line in 1). Figures 3-5 (Middle + Rx direction).

[0039] like Figure 6 , Figure 7 As shown, the rotating system 5 mainly consists of five parts, including a stepped rotating shaft 51, a rolling bearing 52, an outer circular frame 53, a counterweight 54, and an inertia adjusting block 55. Figure 6 a,Figure 6 As shown in FIG. 5b, the rotating shaft 51 is fixed with the inner ring of the rolling bearing 52 by interference fit; the outer circular frame 53 is connected with the outer ring of the rolling bearing 52 by interference fit, and after the connection is completed, the hook at the lower end of the tension meter 44 of the suspension system 4 is connected with the selected hole and lug of the outer circular frame. The flange surface at the -X direction end of the rotating shaft 51 is used to connect with the instrument box at the top of the tested object 3, and the +X direction end is used to connect with the counterweight 54. Among them, Figure 6 FIG. 5a is a front view of a, and Figure 6 FIG. 5b is a sectional view of b.

[0040] The counterweight 54 is used to balance the mass center of the rolling bearing 52 at both ends, to ensure that the mass center of the whole system composed of the rotating shaft 51, the instrument box at the top of the tested object 3, and the counterweight 54 is within the two end faces of the rolling bearing 52 (equivalent to being directly below the suspension system 4 in the vertical direction). At the same time, considering that the counterweight 54 will increase the rotational inertia in the rotating direction of the tested object 3, and the rolling bearing 52 will always be subjected to rolling friction caused by gravity, which brings more "resistance" to the rotation of the tested object 3, therefore, in the design process of the counterweight 54, the principle of "reducing the rotational inertia as much as possible under the premise of a certain mass" should be followed.

[0041] The whole rotating system 5 can be divided into "stator" and "rotor" two parts, wherein the "rotor" is composed of the small system composed of the rotating shaft 51, the instrument box at the top of the tested object 3, the counterweight 54, and the inner ring of the rolling bearing 52, and the "stator" is mainly composed of the outer circular frame 53 and the outer ring of the rolling bearing 52. Although the rolling friction of the rolling bearing 52 is small, it still exists, if the rotational inertia of the "stator" part around the +X axis direction is small, the "rotor" part may drive the "stator" part to rotate around the +X axis direction in the rotating process, which requires increasing the rotational inertia of the "stator" part around the +X axis direction. In addition, since the mass center of the "rotor" part cannot be adjusted to be directly below the central axis of the flower basket bolt 43, it will cause the whole rotating system 5 to shake around the +Y axis direction in the straight advancing process of the tested object 3, affecting the stability of the movement of the tested object 3.

[0042] Therefore, considering the needs of increasing the rotational inertia of the "stator" part around the +X axis direction and the rotational inertia of the rotating system 5 around the +Y axis direction, a certain number of "I-shaped" inertia adjusting blocks are symmetrically installed on the circumference of the outer circular frame 53 by bolts, and the inertia adjusting blocks are designed to be symmetrical with thin middle and thick ends, so that the mass center position of the rotating system 5 on the horizontal plane is not affected after installation.

[0043] The installation and use process of the zero-gravity follow-up tool suitable for the spiral unfolding equipment on the spacecraft is as follows: firstly, the cuboid form main bearing frame 1 is built through the section bar, which is used for bearing the mass of the whole system and providing the movement space required by the movement component; secondly, the suspension system 4 is installed at the middle position of the upper side of the main bearing frame 1, the flower basket bolt 43 and the tension meter 44 can slide along the axial direction of the circular guide rod 41 in a large range with the Y-shaped sliding block 42, the design of the above parts is consistent with the principle of the suspension system required by the traditional one-dimensional linear unfolding, and is not the innovation point of the utility model; the rotary system 5 is hung below the suspension system 4, the rotary system 5 takes the rolling bearing 52 as the core, the axial direction of the rolling bearing 52 is consistent with the linear motion direction of the tested object 3, the outer ring is clamped through the outer circle frame 53, the inner ring is fixed with the rotating shaft with the diameter step change and the mechanical interface on both sides, one end of the rotating shaft 51 is connected with the tested object 3, and the other end is connected with the counterweight 54 with a proper size, so that the barycenter of the combination of the tested object 3, the rotating shaft 51 and the counterweight 54 is located directly below the suspension system tension machine. In the spiral unfolding process of the tested object 3, the rolling bearing 52 of the rotary system 5 is adapted to the rotary displacement, and the Y-shaped sliding block 42 of the suspension system 4 is adapted to the translation displacement, so that the zero-gravity requirement in the linear motion in the horizontal plane and the rotary motion around the linear motion is realized.

Claims

1. A zero-gravity follower tooling suitable for spiral deployment equipment on spacecraft, characterized in that, The test wall is installed on one side of the short side of the main bearing frame, the tested object is installed on the test wall, and the axis is coincident with the rolling bearing in the rotating system; the flange at the end of the rotating shaft is connected with the instrument box at the head of the tested object; the tested object is compressed and contracted on one side of the test wall, the two ends of the circular guide rod in the suspension system are connected with the center of the crossbeam at the top of the main bearing frame, so that the axis of the circular guide rod is in a horizontal state and parallel to the path to be stretched by the tested object, and the plane formed by the two is perpendicular to the horizontal plane; the rotating system is suspended below the suspension system, and one end of the rotating shaft in the rotating system is fixedly connected with the instrument box at the top of the tested object, so that the rotating shaft is coincident with the path to be stretched by the tested object.

2. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 1, wherein, The suspension system comprises a circular guide rod, a Y-shaped sliding block, a basket bolt, a tension meter and a connecting bolt; the Y-shaped sliding block is internally designed with a pair of 45° obliquely installed rolling bearings, the circular guide rod is nested in the rolling bearings, so that the Y-shaped sliding block can slide along the circular guide rod with low friction, one end of the basket bolt passes through the through hole on the bottom lug of the Y-shaped sliding block and is suspended below the Y-shaped sliding block, and the tension meter is suspended at the other end of the basket bolt.

3. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 2, wherein, The circular guide rod is fixedly connected with the two short sides of the main bearing frame through the connecting bolts at the two ends; the Y-shaped sliding block is internally provided with bearings, so that the whole suspension system can slide on the circular guide rod smoothly; the basket bolt is used for adjusting the extension amount of the suspension system, so that the rotating shaft of the tested object is in a horizontal state; and the tension meter is used for measuring the mass of the bearing object, assisting the basket bolt in adjustment and providing a hook for suspending the rotating system.

4. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 1, wherein, The bottom flange surface of the tested object is connected with the test wall, and the instrument box at the top is connected with one end of the rotating shaft in the rotating system.

5. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 1, wherein, The rotating system comprises a stepped rotating shaft, rolling bearings, an outer circle frame, a counterweight and an inertia adjustment block; the rotating shaft is fixedly connected with the inner ring of the rolling bearing through interference fit; the outer circle frame is fixedly connected with the outer ring of the rolling bearing through interference fit, after the connection is completed, any one lug with a hole of the outer circle frame is connected with the hook at the lower end of the tension meter of the suspension system; the flange surface at one end of the left side of the rotating shaft is used for being connected with the instrument box at the top of the tested object, and the flange surface at one end of the right side is used for being connected with the counterweight.

6. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 5, wherein, The counterweight is used for balancing the mass centers on both sides of the rotating shaft, so as to ensure that the mass center of the whole small system composed of the rotating shaft, the instrument box at the top of the tested object and the counterweight is within the two end faces of the rolling bearing, i.e. vertically below the suspension system.

7. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 5, wherein, The outer circle frame adopts axisymmetric design, the outer ring is uniformly distributed with lugs with the same size and the symmetry plane of the lugs passes through the axis of the rolling bearing.

8. A zero-gravity follower tool for use with a helical deployment apparatus on a spacecraft as defined in claim 7, wherein, The outer ring of the outer circle frame is also uniformly distributed with mounting planes with screw holes, which are used for mounting a pair of inertia adjustment blocks, and in the case of increasing the rotational inertia of the outer circle frame along the axis direction, the inertia adjustment block adopts "I-shaped” symmetric design.

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