CN-116513485-B - Star inspection device transfer device and transfer characteristic test evaluation method

CN116513485BCN 116513485 BCN116513485 BCN 116513485BCN-116513485-B

Abstract

The invention provides a planet inspection device transfer device and a transfer characteristic test evaluation method, and belongs to the technical field of planet inspection device transfer and test. So as to meet the transfer requirement of the existing inspection device. The planet inspection device transferring and releasing device comprises a slow-release rope, a hanging rod, a swinging rod and an attitude control rope, wherein one end of the swinging rod is rotatably connected with the side wall of the lander, the other end of the swinging rod is provided with an attitude control hinge, one end of the hanging rod is connected with the attitude control hinge, the other end of the swinging rod is connected with the inspection device, one end of the attitude control rope is connected with the lander, the other end of the attitude control rope bypasses the attitude control hinge, the slow-release rope is wound on a slow-release rope wheel, the slow-release rope wheel is arranged on the side wall of the lander, and the slow-release rope is connected with the hanging rod. The device is mainly used for testing the transfer device and the transfer characteristics of the star inspection device.

Inventors

JIANG SHENGYUAN
WANG YINCHAO
ZHANG WEIWEI
TANG JUNYUE
JIANG CHUNYING
LU ZIXIAO
YE CHANGLONG
WANG WENLONG
LI XINLI

Assignees

哈尔滨工业大学
沈阳航空航天大学
北京空间飞行器总体设计部

Dates

Publication Date: 20260512
Application Date: 20230414

Claims (9)

1. The planet inspection device transferring and releasing device is characterized by comprising a slow-release rope (3), a hanging rod (6), a swinging rod (9) and an attitude control rope (10), wherein one end of the swinging rod (9) is rotatably connected with the side wall of a lander (11), the other end of the swinging rod (9) is provided with an attitude control hinge (4), one end of the hanging rod (6) is connected with the attitude control hinge (4), the other end of the hanging rod is connected with an inspection device (8), one end of the attitude control rope (10) is connected with the lander (11), the other end bypasses the attitude control hinge (4), the slow-release rope (3) is wound on a slow-release rope wheel (2), the slow-release rope wheel (2) is arranged on the side wall of the lander (11), and the slow-release rope (3) is connected with the hanging rod (6); The inspection device is characterized in that the inspection device (8) is connected with the side wall of the lander (11) through a first locking mechanism (1), the number of the first locking mechanisms (1) is multiple, the first locking mechanisms (1) are respectively located at a plurality of corner points of the inspection device (8), the first locking mechanisms (1) are electromagnetic locking mechanisms, the inspection device (8) is connected with a hanging rod (6) through a second locking mechanism (5), the second locking mechanism (5) is a mechanical locking mechanism, the mechanical locking mechanism is of a C-shaped structure with two mutually enveloped positions, the hanging rod (6) is connected with the inspection device (8) through a damping hanging hinge (7), the hanging rod (6) is of an L-shaped structure, the inspection device (8) is arranged on the inner side of the L-shaped structure, a groove-shaped cam structure is arranged on the gesture control hinge (4), and the bottom of the rope wheel (2) is provided with an elastic holding structure.
2. A transfer release method of a planet inspection device transfer release device according to claim 1 is characterized in that in an initial transfer state, an inspection device (8) and a swinging rod (9) are locked on the side wall of a lander (11), when transfer starts, the swinging rod (9) is released through a slow-release rope (3), the swinging rod (9) carries the inspection device (8) to swing, the inspection device (8) is not rotated around a centroid due to mechanical locking of the inspection device (8) and the hanging rod (6), after the inspection device (8) and the hanging rod (6) are unlocked, the inspection device (8) rotates around a damping hanging hinge (7) under the action of centroid gravity moment, and under the action of damping and limiting, the inspection device (8) and the hanging rod (6) after the rotation gesture are in a relative static position, and the swinging rod (9) continues to rotate, so that the inspection device (8) is transferred to the surface of a planet.
3. A wireless test acquisition and evaluation system for the planet inspection device transfer release device of claim 1, wherein the system comprises a sensor acquisition module, a wireless transmission module and an upper computer PC system; The sensor acquisition module is used for acquiring test data of the transfer mechanism and comprises a plurality of sensors which are respectively arranged at corresponding parts of the transfer mechanism; The wireless transmission module is used for realizing wireless transmission of signals and data between the PC system of the upper computer and the sensor acquisition module; The upper computer PC system is used for controlling the sensor, the transmission system and the transfer mechanism, and collecting, processing and evaluating the data and test results, and concretely comprises initializing and state monitoring, test process selection and parameter setting, data collecting, data analysis and evaluation and experiment log and report; The initialization and state monitoring are used for realizing the joint communication of the plurality of sensors and judging the state of the transfer mechanism for prompting and alarming; The test process selection and parameter setting are used for selecting to finish different process stages of unlocking, lifting, lowering, releasing or retracting, and carrying out independent or combined test on each process; The data acquisition is used for completing channel calibration, data self-adaptive sampling processing, graphic and data display and setting of data parameters; The data analysis and evaluation are used for completing analysis of related test data and giving conclusions based on theoretical analysis and reference simulation data, and concretely comprise the steps of obtaining a single factor rule result of a single variable of a transfer mechanism experimental condition and a working condition on a key measurement parameter, generating a parameter coupling orthogonal test table according to the transfer mechanism key test parameter and the working condition test parameter, providing a multi-factor orthogonal test scheme, obtaining a combined parameter of the measured maximum possible influence condition in a transfer mechanism test process through multi-factor orthogonal test, and obtaining data rationality of the transfer mechanism test, the measured influence condition of a single factor in the experimental process and the evaluation of the measured maximum possible influence condition of multiple factors through comparison analysis with the simulation data and analysis of the single factor multi-factor test result.
4. The wireless test acquisition and evaluation system for a planet inspection device transfer release device according to claim 3, wherein the sensor acquisition module comprises a patch type strain sensor, a tension sensor, an angle sensor and a torque sensor, the test data comprise stress, strain, tension, pressure and angle, the plurality of sensors are respectively arranged at corresponding positions of a transfer mechanism, and the tension sensor is respectively used for acquiring the tension of a slow release rope of a suspension transfer mechanism in the transfer mechanism and the tension of an attitude adjustment rope for adjusting the attitude of the inspection device, and is respectively arranged at the joint of the slow release rope and a swing arm of a turnover mechanism and at the midpoint of the attitude adjustment rope between a rotary hinge of the transfer mechanism and the linkage mechanism; the patch type strain sensor is respectively used for acquiring the strain of key positions of a transfer mechanism structure, is respectively arranged at the middle point between a rotary hinge and a linkage mechanism on a main body swing frame, at a connecting support of a lower rotary hinge and a lander, at a connecting position of a locking mechanism and the lander and at the middle point of a swing arm, the angle sensor is respectively used for acquiring the pitching attitude angle of a patrol device, the attitude angle of the lander and the overturning angle of the transfer mechanism, is respectively arranged at the side surface of the lander, which is not provided with the transfer mechanism, at the upper horizontal plane of the patrol device and at the non-interference position of the transfer mechanism, the torque sensor is respectively used for acquiring the torque of key positions of the transfer mechanism structure, is respectively arranged at the hinge shaft and the swing shaft of the upper overturning mechanism below the transfer mechanism, the wireless transmission of signals and data between the PC system of the upper computer and the sensor acquisition module is realized, the multichannel synchronous acquisition communication method is specifically established according to the number and the types of the sensors in the sensor acquisition module, the method comprises the steps of establishing a wireless transmission module group IP address information and an acquisition channel information database, obtaining a corresponding relation between the wireless transmission module group IP address information and the acquisition channel information database, establishing multi-channel synchronous acquisition communication with the wireless transmission module, wherein the database establishing step comprises the steps of establishing a database file table, inputting the IP address of each wireless transmission module and the corresponding acquisition channel number to finish data warehousing, finishing registration of all acquisition channels, finishing registration of specific acquisition quantity information of each channel, reading address and channel names into two enumerations, selecting a wireless transmission module, a channel corresponding to the address, inputting specific information of the channel corresponding to the channel to finish data warehousing, wherein one channel can only select one IP, finishing channel calibration, data self-adaptive sampling processing, graph and data display and setting of data parameters, and particularly comprises the steps of calibrating the channels, obtaining calibration correction relation of each channel sensor through comparison calculation of a plurality of groups of actual values and test values, recording and storing, adaptively setting the data according to the pre-input simulation data, analyzing data characteristics, adaptively adjusting the self-sampling processing and storing the self-adaptive sampling parameters in the stored data in the storage channels, and setting the data in the storage process.
5. A wireless test acquisition and evaluation method for a planet inspection machine transfer release device based on the system of claim 3 or 4, characterized in that the method comprises: S1, operating an upper computer PC system, and completing initializing system hardware and communication test; s2, powering up a slow-release driving device of the transfer mechanism to finish lander preparation, powering off and locking a slow-release driver and an electromagnetic locking device of the inspection device and preparing the quality of the inspection device model; S3, parameter setting is carried out according to test requirements, wherein the set parameters comprise working condition control parameters, input ranges and test key parameters, and the working conditions of the transfer mechanism are adjusted and monitored; s4, testing in real time, recording data, monitoring the angle state and displaying the data in real time; S5, storing data tables, curve display data and recording experiment logs; s6, data analysis, test evaluation and experiment report.
6. The method for wireless test acquisition and evaluation of a transfer release device of a star patrol machine according to claim 5, wherein S1 specifically comprises: s1.1, newly creating tdms a database file table IPAdress, and inputting the IP address of each current group of wireless transmission modules and the corresponding number of sensor acquisition channels; S1.2, finishing registration of all channels; S1.3, finishing the registration of specific information of each channel, reading an IP address and a channel name into two enumerations, selecting a channel corresponding to the IP address, and inputting the specific information of the channel corresponding to the channel; S1.4, the upper software system and the wireless transmission module TCP interception are established, and multi-address TCP synchronous connection is established through the wireless transmission modules IP registered by S1.1, S1.2 and S1.3 and the acquisition channel information.
7. The method for wireless test acquisition and evaluation of a planet inspection device transfer release device according to claim 6, wherein S4 specifically comprises: s4.1, finishing key parameter simulation calculation according to sensor arrangement; S4.2, extracting simulation data characteristics through simulation data, and establishing conventional acquisition frequency; Judging key step points in the acquisition process, wherein the key step points concretely comprise that the acquisition density in the neighborhood of the extreme point position is far greater than that in other positions and the neighborhood of the slope abrupt change position, and the acquisition frequency is controlled to be simultaneously adjusted by the multichannel synchronous communication established by S1; S4.3, setting working condition parameters, test key parameters and input ranges thereof according to the S3, dividing working conditions in the working condition parameter input ranges according to one of equal intervals, equal interval, golden section intervals and fibonacci intervals, and automatically generating a single factor test scheme and a table for each working condition parameter; S4.4, determining the factor quantity and the horizontal quantity of working condition parameters and key parameters according to the single-factor test scheme generated in the S4.3, establishing an orthogonal relation, and generating a related orthogonal table L n (a p according to the calculation of orthogonality), wherein P is the number of orthogonal table columns, n is the number of orthogonal table columns, and a is the horizontal number; S4.5, reading all the sensor acquisition channels in the S1, extracting channel specific information, completing channel calibration test, inputting the actual values and the test values of a plurality of groups of sensors into a software system data acquisition module, calculating actual values and test value curve coefficients K and B, and inputting the results into a database; s4.6, inputting simulation data according to the name of the registration channel, and adaptively adjusting the acquisition frequency of the sensor according to the curve characteristics of the simulation data.
8. A star-patrol equivalent-mass simulation device for a star-patrol transfer release device according to claim 1, which is characterized by comprising a frame structure (12), a wheel system (14) and a counterweight system (13), wherein the counterweight system (13) is fixed inside the frame structure (12), the counterweight system (13) comprises a counterweight, the counterweight and the mass center position are simulated by adjusting the weight and the position of the counterweight, the wheel system (14) is fixed on the frame structure (12), and the wheel system can adjust the height and respectively simulate the mass center.
9. A star patrol equivalent mass simulation device for a star patrol transfer release device according to claim 8, wherein the wheel system (14) comprises a plurality of wheels (25) and a frame, the frame is connected with the wheels (25), the frame comprises a plurality of square bars, connecting pieces and a rotary joint, the square bars are connected to the rotary joint through the connecting pieces, the square bars are connected with the wheels (25), the wheel system (14) further comprises fastening bolts (26), the fastening bolts (26) are mounted on wheel mounting seats (27), the wheel mounting seats (27) are provided with a plurality of gears, the gears are adjusted through the fastening bolts (26) so as to adjust the height of the wheel system, the weight system (13) further comprises a weight mounting rod (20), a weight mounting plate (21) and a plurality of weight mounting bolts (22), the weight mounting rod (20) is fixed at the upper part of a frame structure (12), the weight (21) is fixed on the weight mounting plate (21), the weight mounting plate (21) is provided with a plurality of nominal weight blocks (22), each nominal weight block (21) is provided with a plurality of waist-shaped weight bolts (1, a nominal weight block (2) and a plurality of waist-shaped weight mounting bolts (1, a nominal weight block) is provided with a plurality of waist-shaped weight bolts (1, a nominal weight block (1, a waist-shaped weight 1, and a nominal weight block (2) are respectively) are mounted on the weight mounting plate (1), the frame structure (12) is formed by connecting aluminum alloy square bars and connecting pieces, a cross reinforcing rod is arranged in a bottom frame of the frame structure (12) to prevent bottom deformation, the counterweight system (13) further comprises a supporting column (17), the top of the supporting column (17) is connected with a supporting plate (16) arranged on a counterweight installation rod (20), and the bottom of the supporting column is connected with the cross reinforcing rod.

Description

Star inspection device transfer device and transfer characteristic test evaluation method Technical Field The invention belongs to the technical field of transferring and testing of star inspection devices, and particularly relates to a star inspection device transferring device and a transferring characteristic testing and evaluating method. Background The transfer mechanism is a component for transferring and releasing the inspection device carried by the lander to the surface of the planet, and has important application in the field of extraterrestrial celestial body detection. The transfer release technology represented by the transfer mechanism is one of the key technologies in the technical system required by the whole celestial body detection task, and is a key ring for determining success or failure of the detection task. The transfer mechanism is various in form according to different landing modes and inspection device quality. Taking the transfer work of the lunar rover as an example, the lunar rover and the transfer mechanism are required to be reliably pressed on the side wall of the lander in the flying process of a ground-moon transfer section, a surrounding moon section, a power descent section and the like, and can bear transverse and longitudinal acceleration loads, and after the lander safely lands on the lunar surface, the lunar rover is reliably transferred to the lunar surface and is reliably separated under the action of the transfer mechanism. The lunar vehicle and the transfer mechanism are safely and reliably pressed and installed on the lander in the flying stage and before lunar transfer, the transfer mechanism and the lunar vehicle realize separation and unlocking with the lander after lunar transfer, and meanwhile, the lander has various working conditions such as rolling, pitching and the like, so that the transfer mechanism can reliably transfer the lunar vehicle to the lunar surface under various landing working conditions, the lunar vehicle falling position has a certain selectable range so as to avoid lunar surface pits and bulges, and the lunar vehicle is separated from the transfer mechanism after lunar vehicle stably falls to realize free lunar surface running of the lunar vehicle. The requirements of other inspection devices are basically the same as those of lunar vehicles, so that a scheme capable of meeting the transfer of the star inspection device at the present stage needs to be provided. The patrol device transfer mechanism is a space mechanism for executing the transfer release task of the patrol device in the extraterrestrial space environment, and whether the transfer mechanism accords with strict engineering constraint, design index and whether the expansion transfer is stable and reliable in the non-definite environment is a key of whether the patrol device can successfully complete the task in the design stage and the execution stage. Therefore, the experimental test of the mechanism is particularly important in the design execution stage, and the current test acquisition evaluation system for the inspection device transfer mechanism has little research. When the ground simulation experiment of the lunar rover is carried out, the simulation part is required to have the parameters of corresponding mass, mass center, rotational inertia and the like under the same condition as the lunar surface, for example, the lunar gravity is about 1/6 of the earth, so the mass simulated on the ground should be 1/6 of the lunar surface. In the ground simulation experiment, the workload of directly manufacturing the simulation piece and then adjusting is large, and the cost is high. Disclosure of Invention In view of the above, the present invention is directed to a star inspection device transfer device and a transfer characteristic test evaluation method, so as to meet the transfer requirement of the existing inspection device. The planet inspection device comprises a slow-release rope, a hanging rod, a swinging rod and an attitude control rope, wherein one end of the swinging rod is rotatably connected with the side wall of the lander, the other end of the swinging rod is provided with the attitude control hinge, one end of the hanging rod is connected with the attitude control hinge, the other end of the hanging rod is connected with the inspection device, one end of the attitude control rope is connected with the lander, the other end of the attitude control rope bypasses the attitude control hinge, the slow-release rope is wound on a slow-release rope wheel, the slow-release rope wheel is arranged on the side wall of the lander, and the slow-release rope is connected with the hanging rod. Still further, the inspection device is connected with the landing device side wall through first locking mechanism, the quantity of first locking mechanism is a plurality of, and a plurality of first locking mechanisms are located a plurality of angular points of inspection device r