CN-117818913-B - Ground three-dimensional motion testing device and testing method for space folding and unfolding mechanism

CN117818913BCN 117818913 BCN117818913 BCN 117818913BCN-117818913-B

Abstract

The invention discloses a ground three-dimensional motion testing device and a ground three-dimensional motion testing method for a space folding and unfolding mechanism, wherein the ground three-dimensional motion testing device comprises a supporting frame, guide rails, sliding units, fixed pulleys, lifting ropes and balancing weights, wherein 5 groups of guide rails are arranged on the supporting frame, a group of sliding units are arranged on each group of guide rails, fixed pulleys are arranged on each group of sliding units, one end of each lifting rope is connected with the space folding and unfolding mechanism, and the other end of each lifting rope is connected with the balancing weights after winding around a set pulley; the middle lifting rope is connected with the end part of the folding arm of the space folding and unfolding mechanism, two groups of lifting ropes adjacent to the middle guide rail are connected with the second joint of the space folding and unfolding mechanism, and the two groups of lifting ropes at the outermost side are connected with the third joint of the space folding and unfolding mechanism. The invention has the advantages that the lifting ropes connected with the second joint and the third joint are set to be different in width, so that the movement track between the joint lifting points is ensured not to be crossed and interfered, and the continuous movement test of the space folding and unfolding mechanism from the folded state to the different stretched states is realized.

Inventors

LIANG BIN
JIANG XINKUAN
WEI ZHAOLIANG
LIU HOUDE
LIANG LUNFEI

Assignees

江淮前沿技术协同创新中心

Dates

Publication Date: 20260512
Application Date: 20231229

Claims (8)

1. The ground three-dimensional motion testing device of the space folding and unfolding mechanism is characterized in that the space folding and unfolding mechanism comprises a yaw joint, a first folding and unfolding arm, a second folding and unfolding arm, a first joint, a second joint, a third joint and an end lifting appliance, the yaw joint is hinged with the first folding and unfolding arm capable of rotating in the vertical direction through the first joint, the first folding and unfolding arm is hinged with two ends of the second folding and unfolding arm through the second joint and the third joint respectively, the first folding and unfolding arm and the second folding and unfolding arm are arranged in parallel, and the end part of the second folding and unfolding arm far away from the yaw joint is hinged with the end lifting appliance; the testing device comprises a supporting frame, guide rails, sliding units, fixed pulleys, lifting ropes and balancing weights, wherein 5 groups of guide rails are arranged on the supporting frame, a group of sliding units capable of moving along the length direction of the guide rails are correspondingly arranged on each group of guide rails, the fixed pulleys are arranged on each group of sliding units, one end of each lifting rope is connected with a space folding and unfolding mechanism, and the other end of each lifting rope is connected with the balancing weights after winding around a set pulley; The lifting ropes on the middle guide rails are connected with the end lifting appliance hinged to the end of the second folding arm of the space folding and unfolding mechanism along the vertical direction, the lifting ropes on the two adjacent guide rails are respectively connected with the two sides of the second joint of the space folding and unfolding mechanism along the vertical direction, and the lifting ropes on the two outermost guide rails are connected with the two sides of the third joint of the space folding and unfolding mechanism along the vertical direction, so that the distance between the lifting ropes on the two adjacent guide rails is smaller than the distance between the lifting ropes on the two outermost guide rails.
2. The device for testing the ground three-dimensional motion of the space folding and unfolding mechanism according to claim 1, further comprising a connecting plate, wherein two ends of the 5 groups of guide rails are connected through the connecting plate.
3. The device for testing the ground three-dimensional motion of the space folding and unfolding mechanism is characterized in that the support frame is connected with the connecting plate through a tensioning rope.
4. The device for testing the ground three-dimensional motion of the space folding and unfolding mechanism of claim 1, wherein the top of the supporting frame is further provided with a connecting flange.
5. The device for testing the ground three-dimensional motion of the space folding and unfolding mechanism according to claim 1, wherein the support frame is further provided with a reinforcing rib.
6. The device for testing the three-dimensional motion of the ground of the space folding and unfolding mechanism as set forth in claim 5, wherein the reinforcing ribs are provided with lightening holes.
7. The device for testing the ground three-dimensional motion of the space folding and unfolding mechanism according to claim 1, wherein the sliding unit comprises a sliding block and a connecting piece, the sliding block can be arranged on the guide rail in a sliding mode, and the bottom of the sliding block is connected with the fixed pulley through the connecting piece.
8. The testing method of the ground three-dimensional motion testing device adopting the space folding and unfolding mechanism according to any one of claims 1 to 7 is characterized by comprising the following steps: the first step is that the space folding and unfolding mechanism is arranged at a position coaxially rotating with the supporting frame; Folding the space folding and unfolding mechanism, connecting the lifting ropes on the middle group of guide rails with the end parts of folding and unfolding arms of the space folding and unfolding mechanism along the vertical direction, connecting the lifting ropes on the two groups of guide rails adjacent to the middle guide rail with the second joint of the space folding and unfolding mechanism along the vertical direction, and connecting the lifting ropes on the two groups of guide rails at the outermost side with the third joint of the space folding and unfolding mechanism along the vertical direction; step three, matching the weight of each section of lifting rope with the space folding and unfolding mechanism of the corresponding section; And step four, setting a motion track of the space folding and unfolding mechanism and starting joints of the space folding and unfolding mechanism so as to realize free motion of the space folding and unfolding mechanism in a three-dimensional space under a gravity compensation state.

Description

Ground three-dimensional motion testing device and testing method for space folding and unfolding mechanism Technical Field The invention relates to the technical field of space motion testing, in particular to a device and a method for testing ground three-dimensional motion of a space folding and unfolding mechanism. Background The space folding and unfolding mechanism is in a folded and folded state before ground emission, is unlocked and unfolded after in-orbit, and is widely applied to the field of space. The use environment of the space folding and unfolding mechanism is a microgravity environment, and gravity compensation is needed when the functional performance of the space folding and unfolding mechanism is tested under the ground gravity environment. The ground simulation space microgravity environment test system mainly comprises a hanging wire counterweight system, a plane air floatation system, a water floatation system and a free falling system. The gravity compensation effect of the plane air floatation system is good, but the space mechanism can only move in the plane, and the three-dimensional space multi-degree-of-freedom linkage test cannot be realized, the water floatation system and the free falling system have the common problems of high cost and high maintenance cost, the water floatation system and the free falling system are required to ensure the tightness of the system during the test, and the water floatation system and the free falling system are not suitable for the test operation of the space mechanism although the gravity compensation effect is good. Currently, the elevator counterweight systems are classified into (semi) active and passive types. The (semi) active suspension wire system has at least 1 driving source in the motion direction, such as the precision analysis of single degree of freedom suspension wire counterweight gravity compensation mechanism [ J ]. Jiang Jianjian, huang Zhilai, zhou Huiming, etc. university of Hebei engineering university (Nature science edition), 2023,40 (01): 104-112. The suspension wire system can only realize horizontal plane rotation or yaw movement, but cannot realize pitching movement. The passive wire hanging system has no driving source and generally consists of two longitudinal guide rails, a plurality of transverse guide rails, and sliding blocks, fixed pulleys, wires, balancing weights and hanging rings on the transverse guide rails. For example, chinese patent publication No. CN107160377a discloses a device and method for testing three-dimensional space motion of a space manipulator ground, in which a passive suspension system is disclosed, and although pitch motion is achieved, the suspension point motion trajectories are cross-interfered due to the cross-interference of motion trajectories between the transverse guide rails, so that the device does not support continuous motion of the folding mechanism from a folded state to a plurality of extended states. Disclosure of Invention The invention aims to solve the technical problem of ensuring that the motion trail of the lifting point does not cross interference. In order to solve the technical problems, the invention provides the following technical scheme: The ground three-dimensional motion testing device of the space folding and unfolding mechanism comprises a support frame, guide rails, sliding units, fixed pulleys, lifting ropes and balancing weights, wherein 5 groups of guide rails are arranged on the support frame, a group of sliding units capable of moving along the length direction of the guide rails are correspondingly arranged on each group of guide rails, fixed pulleys are arranged on each group of sliding units, one end of each lifting rope is connected with the space folding and unfolding mechanism, and the other end of each lifting rope is connected with the balancing weights after winding the set pulleys; The lifting ropes on the middle guide rail are connected with the end parts of the folding and unfolding arms of the space folding and unfolding mechanism along the vertical direction, the lifting ropes on the two guide rails adjacent to the middle guide rail are connected with the second joint of the space folding and unfolding mechanism along the vertical direction, and the lifting ropes on the two guide rails on the outermost side are connected with the third joint of the space folding and unfolding mechanism along the vertical direction. According to the invention, the lifting ropes connected with the second joint and the third joint are set to be different in width, so that the movement track between the joint lifting points is ensured not to be crossed and interfered, and the continuous movement test of the space folding and unfolding mechanism from the folded state to different stretched states is realized. Preferably, the guide rail assembly further comprises a connecting plate, and two ends of the 5 groups of guide rails are connected through the conn