CN109724738B - Tension measuring device for moving ropes in space on-orbit capturing process - Google Patents
Tension measuring device for moving ropes in space on-orbit capturing process Download PDFInfo
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- CN109724738B CN109724738B CN201811556404.3A CN201811556404A CN109724738B CN 109724738 B CN109724738 B CN 109724738B CN 201811556404 A CN201811556404 A CN 201811556404A CN 109724738 B CN109724738 B CN 109724738B
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Abstract
A tension measuring device of a moving rope in a space on-orbit capturing process comprises a structural main body and a force sensor, wherein the structural main body and the force sensor are installed on a space on-orbit aircraft; the force sensor is arranged in the structural main body, the structural main body transmits the rope tension at a specified angle to the force sensor for measurement, and the force sensor converts the rope tension transmitted by the structural main body into a differential voltage signal for output. The space on-orbit capturing process movement rope system measuring device has the characteristics of good linearity, high precision, strong stability, corrosion resistance, good temperature characteristics and the like, can be reliably applied in a wide temperature range of +/-150 ℃, and can realize accurate measurement of flexible rope system tension in a severe lunar environment and a space complex aerospace environment.
Description
Technical Field
The invention relates to a tension measuring device for a motion rope, belonging to the related technical fields of space attack and defense, mechanical engineering, electronic engineering and the like. The method is also suitable for identifying and extracting the tension of the flexible movement ropes of other deep space stars.
Background
The tether retraction device is an important component of the space flying net, achieves a target dragging function after the space flying net captures a target, and has a series of functions of tether retraction, tether retraction length and speed control, tether length measurement, tether angle measurement, tension measurement and control, tether cutting and the like.
Aiming at the problems that the motion state of a captured target is complex and changeable and is difficult to control stably in the space on-orbit capturing process, in order to reliably acquire the stress relation between the captured target and a satellite platform in the tether retraction device executing the on-orbit capturing process, the accuracy and the reliability of the dragging control work of the captured target are directly determined, so that the tether tension in the space on-orbit capturing process is required to be effectively identified and extracted, and the control strategy is convenient to adjust in real time.
In the space on-orbit capturing process of the tether retracting device, the motion state of the tether is complex and changeable, and the tension of the tether cannot be directly measured through a traditional force sensor.
Disclosure of Invention
The invention aims to solve the technical problems that: the tension measuring device for the moving ropes in the space on-orbit capturing process is used for solving the problem that the tension of the moving ropes in the space on-orbit capturing process is difficult to accurately and effectively identify and extract.
The technical scheme adopted by the invention is as follows:
a tension measuring device of a moving rope in a space on-orbit capturing process comprises a structural main body and a force sensor, wherein the structural main body and the force sensor are installed on a space on-orbit aircraft; the force sensor is arranged in the structural main body, the structural main body transmits the rope tension at a specified angle to the force sensor for measurement, and the force sensor converts the rope tension transmitted by the structural main body into a differential voltage signal for output.
The structure main body comprises a base, a rotating shaft, a rotating block, a rotary wheel and a pre-tightening assembly;
the base comprises an upper top surface, a support column and a lower bottom surface; the upper top surface and the lower bottom surface are in supporting connection through a plurality of support columns, and the force sensor is arranged at the centers of the plurality of support columns;
the rotary block is arranged on the upper top surface through the rotary shaft, the rotary wheel is arranged on the rotary block, the rotary block rotates around the rotary shaft and is fixed through the pre-tightening assembly after rotating in place, the bottom of the rotary block is pressed on the force sensor, and tension of the movement rope is transmitted to the rotary block through the rotary wheel and is further transmitted to the force sensor for measurement.
The structure main body further comprises a cable pressing piece which is arranged on the lower bottom surface and used for fixing the outgoing line of the force sensor.
The structure main body further comprises an anti-jumper assembly which is arranged on the rotating block and is positioned above the rotary wheel and used for preventing the movement rope from tripping when moving on the groove of the rotary wheel.
The gap between the jumper wire prevention component and the rotary wheel is 1/4-1/2 of the diameter of the motion rope.
The clearance fit is between the swiveling wheel and the rotating block, and is used for reducing friction force between the swiveling wheel and the rotating block.
The pre-tightening assembly comprises a limiting screw and a pre-tightening spring, wherein the pre-tightening spring is sleeved on the limiting screw and used for limiting the damping of the rotating block and providing pre-tightening force, and simultaneously, the pre-tightening assembly is also used for adjusting the tension measurement zero point by adjusting the compression amount of the pre-tightening spring.
The force sensor comprises a shell, a first circuit board, a second circuit board, a third circuit board, an elastomer, a sensor joint, a compression bar, a board sleeve and a protective cap;
the sensor connector and the elastic body are fixedly connected into an integrated structure, a guide hole of the pressure lever is arranged on the sensor connector, a sliding fit mode is adopted between the sensor connector and the pressure lever, and force transmission guide and axial limit of the pressure lever are provided; the compression bar applies the rope tension transmitted by the rotating block to the elastic body, and the elastic body is used for realizing linear conversion of the tension and deformation;
the first circuit board, the second circuit board and the third circuit board are all arranged in the force sensor, wherein the first circuit board completes the sensitivity and zero adjustment of the sensor; the second circuit board is used for completing the leading-out of the elastomer electrode and is electrically connected with the first circuit board through the conductive column; the third circuit board and the second circuit board have the same outline dimension and are used for isolating the elastic body electrode and the second circuit board so as to eliminate the influence of the descending of the conductive column on the elastic body in the electric installation process;
the first circuit board and the second circuit board are mechanically supported and fixed; the upper end of the board sleeve is provided with a supporting table surface for fixing the third circuit board on the upper part of the elastic body and keeping a safe distance with the elastic body; the lower end of the plate sleeve is fixedly connected with the sensor connector to support the lead plate, and a safety gap is reserved between the plate sleeve and the elastic body to avoid mutual friction and stress with the elastic body; the shell is integrally connected with the sensor joint; the protective cap is designed as a labyrinth to prevent the interior of the force sensor from entering the redundancy.
And carrying out gold plating treatment on the surface of the bonding pad of the second circuit board. The tension of the rope transmitted by the rotating block to the pressing rod is the same as the axial direction of the pressing rod, and the force applied by the pressing rod to the elastic body is perpendicular to the elastic body.
Compared with the prior art, the invention has the advantages that:
(1) The invention can accurately and effectively identify and extract the tension value of the motion ropes in the space in-orbit capturing process, and provides a measurement basis for realizing the closed-loop control of the system tension;
(2) The method is suitable for on-orbit capture tasks under different temperature environment conditions in an application environment with a larger space working temperature interval;
(3) The invention can accurately identify and extract the tension of the ropes under different motion states of the ropes;
(4) The invention has high measurement precision and can accurately reflect the effective value of the tension of the tether.
(5) By adopting a redundant design mode that the main and backup are mutually opposite, two sensor units are arranged, the success and failure of tasks are prevented from being influenced under the condition of single failure, and the requirement of high reliability of aerospace model products is effectively met.
Drawings
FIG. 1 is a schematic diagram of the whole system of a tethered tension measurement device of the present invention;
FIG. 2 is a schematic view of the structure of the tethered tension measurement device of the present invention;
FIG. 3 is a schematic diagram of a force sensor of a tethered tension measurement device according to the present invention;
fig. 4 is a schematic circuit diagram of a tethered tension measurement device according to the present invention.
Detailed Description
As shown in fig. 1, the invention proposes a space on-orbit capture process movement tether tension measurement device, comprising a structural body 1 and a force sensor 2 mounted on a space on-orbit aircraft; the force sensor 2 is arranged in the structural main body 1, and the structural main body 1 transmits the rope tension of a specified angle to the force sensor 2 for measurement, so that the stable and reliable bearing range and overload tension of the force sensor are ensured; the force sensor 2 converts the tension of the rope transmitted from the structural body 1 into a differential voltage signal and outputs the differential voltage signal.
As shown in fig. 2, the structural body 1 comprises a base 3, a rotating shaft 5, a rotating block 6, a rotary wheel 8 and a pre-tightening assembly 9;
the base 3 comprises an upper top surface, a support column and a lower bottom surface; the upper top surface and the lower bottom surface are in supporting connection through a plurality of support columns, and the force sensor 2 is arranged in the centers of the plurality of support columns;
the rotary block 6 is arranged on the upper top surface through the rotary shaft 5, the rotary wheel 8 is arranged on the rotary block 6, the rotary block 6 rotates around the rotary shaft 5 and is fixed through the pre-tightening assembly 9 after rotating in place, at the moment, the bottom of the rotary block 6 is pressed on the force sensor 2, and tension of a motion rope is transmitted to the rotary block 6 through the rotary wheel 8 and then transmitted to the force sensor 2 for measurement.
Further, in order to prevent relative movement between the lead-out wires of the force sensor 2 and the structural body 1, thereby damaging the skin of the lead, the structural body 1 is further designed with a cable presser 4 mounted on the lower bottom surface for fixing the lead-out wires of the force sensor 2.
Furthermore, the rope motion drives the swiveling wheel 8 to rotate, in order to ensure the contact between the rope and the swiveling wheel 8 and prevent the rope from moving at a high speed and separating from the swiveling wheel 8, the structural body 1 is further provided with an anti-jumper assembly 7 mounted on the rotating block 6 and located above the swiveling wheel 8 for preventing the movement rope from tripping when moving on the groove of the swiveling wheel 8. The two slender pressing rods of the jumper wire prevention assembly 7 are positioned at the tangential points of the ropes and the rotary wheel 8.
The gap between the jumper wire prevention component 7 and the rotary wheel 8 is 1/4-1/2 of the diameter of the motion rope. The rotary wheel 8 is in clearance fit with the rotary block 6, and is used for reducing friction force between the rotary wheel 8 and the rotary block 6.
The tethered tension measuring device needs to withstand space high temperature and low temperature and vacuum environment, in the process of high temperature and low temperature change, the force sensor 2 is subjected to deformation force due to different thermal expansion coefficients of materials, and a deformation buffer link is designed and arranged, and the pre-tightening assembly 9 comprises a limiting screw and a pre-tightening spring, wherein the pre-tightening spring is sleeved on the limiting screw and is used for damping limiting the rotation block 6 and providing pre-tightening force, and simultaneously, the pre-tightening spring is also used for adjusting the tension measurement zero point by adjusting the compression amount of the pre-tightening spring. It is mainly ensured that the force sensor 2 is not damaged during the launch, in-orbit and landing phases, etc.
As shown in fig. 3, the force sensor 2 includes a housing 10, a first circuit board 11, a second circuit board 12, a third circuit board 13, an elastic body 14, a sensor joint 15, a pressing rod 16, a plate cover 17, and a protective cap 18;
the sensor joint 15 and the elastic body 14 are fixedly connected into an integrated structure, a guide hole of the pressure lever 16 is arranged on the sensor joint 15, and a sliding fit mode is adopted between the sensor joint 15 and the pressure lever 16 to provide force transmission guide and axial limit of the pressure lever 16; the compression bar 16 applies the rope tension transmitted by the rotating block 6 to the elastic body 14, and the elastic body 14 is used for realizing linear conversion of tension and deformation; the deformation is accurately transmitted to a strain bridge, and the resistance is stimulated to generate change consistent with deflection;
the struts 16 provide a secure connection between the sensor and the rotating mass and convert forces from the loading end of the rotating mass in all directions into forces in a single direction perpendicular to the end of the elastomer 14. The component uses the same material as the elastomer 14, and the good matching characteristics of hardness and strength ensure the accuracy and stability of long-term testing.
The first circuit board 11, the second circuit board 12 and the third circuit board 13 are all arranged inside the force sensor 2, wherein the first circuit board 11 completes the sensor sensitivity and zero point adjustment; the second circuit board 12 is used for completing the extraction of the electrodes of the elastic body 14 and is electrically connected with the first circuit board 11 through the conductive posts; the third circuit board 13 and the second circuit board 12 have the same external dimensions and are used for isolating the electrode of the elastic body 14 from the second circuit board 12 so as to eliminate the influence of the descending of the conductive column on the elastic body 14 in the electric installation process;
the first circuit board 11 and the second circuit board 12 are mechanically supported and fixed; the upper end of the board sleeve 17 is provided with a supporting table surface for fixing the third circuit board 13 on the upper part of the elastic body 14 and keeping a safe distance from the elastic body 14; the lower end of the plate sleeve 17 is fixedly connected with the sensor joint 15 through laser welding so as to support the lead plate, a safety gap is reserved between the plate sleeve 17 and the elastic body 14, mutual friction and stress with the elastic body 14 are avoided, and the testing precision is reduced; the housing 10 is integrally connected with the sensor connector 15, protects the elastic body 14 and the bridge, minimizes the influence of external environment, and shields the external electromagnetic field environment; the protective cap 18 is designed as a labyrinth to prevent the interior of the force sensor 2 from entering the redundancy, affecting the measurement accuracy.
The surface of the bonding pad of the second circuit board 12 is subjected to gold plating treatment, so that ball bonding assurance is provided for gold wire interconnection of the electrode of the elastic body 14 and the circuit board b 12.
The tension of the rope transmitted by the rotating block 6 to the pressing rod 16 is the same as the axial direction of the pressing rod 16, and the force applied by the pressing rod 16 to the elastic body 14 is perpendicular to the elastic body 14.
As shown in fig. 4, the resistors R11, R12, R13, R14 form a main detection bridge, and the resistors R25, R26, R27, R28 form a backup detection bridge, where the main detection bridge and the backup detection bridge are two independent groups formed on one substrate, and the main detection bridge and the backup detection bridge are attached to the elastomer 14.
The sensor 2 is designed with a circuit board 11 for providing switching between zero compensation and signal input and output of the bridge, and the circuit board 11 is provided with: R3-R10 are used for compensating zero point deviation, and R1 and R2 are used for compensating sensor sensitivity. The circuit board 12 is provided with lead-out wires for lead-out of the electrodes of the elastic body 14. The circuit board 13 is an optical board, without circuitry, and is mainly used for isolation.
The bridge output signal Δu=Δr×u/R, where Δr is the bridge resistance change caused by strain, R is the bridge base value of the bridge arm, and U is the excitation voltage.
The invention passes the examination of the complete space model product thermal vacuum, thermal cycle, high-temperature storage, low-temperature storage, random vibration, sinusoidal vibration, acceleration, impact and other environmental tests, and has good performance indexes.
The invention, in part not described in detail, is within the skill of those skilled in the art.
Claims (6)
1. The utility model provides a space in-orbit catches process motion rope system tension measurement device which characterized in that: comprises a structural body (1) and a force sensor (2) which are arranged on a space on-orbit aircraft; the force sensor (2) is arranged in the structural main body (1), the structural main body (1) transmits the rope tension at a specified angle to the force sensor (2) for measurement, and the force sensor (2) converts the rope tension transmitted by the structural main body (1) into a differential voltage signal for output;
the structure main body (1) comprises a base (3), a rotating shaft (5), a rotating block (6), a rotary wheel (8) and a pre-tightening assembly (9);
the base (3) comprises an upper top surface, a support column and a lower bottom surface; the upper top surface and the lower bottom surface are in supporting connection through a plurality of support columns, and the force sensor (2) is arranged at the centers of the plurality of support columns;
the rotating block (6) is arranged on the upper top surface through the rotating shaft (5), the rotating wheel (8) is arranged on the rotating block (6), the rotating block (6) rotates around the rotating shaft (5), the rotating block is fixed through the pre-tightening assembly (9) after rotating in place, at the moment, the bottom of the rotating block (6) is pressed on the force sensor (2), and the tension of the movement rope is transmitted to the rotating block (6) through the rotating wheel (8) and then transmitted to the force sensor (2) for measurement;
the force sensor (2) comprises a shell (10), a first circuit board (11), a second circuit board (12), a third circuit board (13), an elastomer (14), a sensor connector (15), a compression bar (16), a board sleeve (17) and a protective cap (18);
the sensor connector (15) and the elastic body (14) are fixedly connected into an integrated structure, a guide hole of the pressure lever (16) is arranged on the sensor connector (15), and a sliding fit mode is adopted between the sensor connector and the pressure lever (16) to provide force transmission guide and axial limit of the pressure lever (16); the compression bar (16) applies the tension of the rope transmitted by the rotating block (6) to the elastic body (14), and the elastic body (14) is used for realizing linear conversion of the tension and deformation;
the first circuit board (11), the second circuit board (12) and the third circuit board (13) are all arranged inside the force sensor (2), wherein the first circuit board (11) completes the sensor sensitivity and zero point adjustment;
the second circuit board (12) is used for completing the extraction of the electrode of the elastomer (14) and is electrically connected with the first circuit board (11) through the conductive column; the third circuit board (13) and the second circuit board (12) have the same external dimensions and are used for isolating the electrode of the elastic body (14) and the second circuit board (12) so as to eliminate the influence of the descending of the conductive column on the elastic body (14) in the electric installation process;
the first circuit board (11) and the second circuit board (12) are mechanically supported and fixed; the upper end of the plate sleeve (17) is provided with a supporting table surface for fixing the third circuit board (13) on the upper part of the elastic body (14) and keeping a safe distance with the elastic body (14); the lower end of the plate sleeve (17) is fixedly connected with the sensor joint (15) so as to support the lead plate, and a safety gap is reserved between the plate sleeve (17) and the elastic body (14) to avoid mutual friction and stress with the elastic body (14); the shell (10) is integrally connected with the sensor joint (15); the protective cap (18) is designed to prevent the interior of the force sensor (2) from entering the redundancy by adopting a labyrinth;
the surface of the bonding pad of the second circuit board (12) is subjected to gold plating treatment;
the tension of the rope transmitted by the rotating block (6) to the pressing rod (16) is the same as the axial direction of the pressing rod (16), and the force applied by the pressing rod (16) to the elastic body (14) is perpendicular to the elastic body (14).
2. A space on-orbit capture process motion tether tension measurement device according to claim 1, wherein: the structure main body (1) further comprises a cable pressing sheet (4) which is arranged on the lower bottom surface and used for fixing the outgoing line of the force sensor (2).
3. A space on-orbit capture process motion tether tension measurement device according to claim 1, wherein: the structure main body (1) further comprises an anti-jumper assembly (7) which is arranged on the rotating block (6) and is positioned above the rotary wheel (8) and used for preventing the movement rope from tripping when moving on the groove of the rotary wheel (8).
4. A space on-orbit capture process motion tether tension measurement device as claimed in claim 3, wherein: the gap between the jumper wire prevention component (7) and the rotary wheel (8) is 1/4-1/2 of the diameter of the motion rope.
5. A space on-orbit capture process motion tether tension measurement device according to claim 1, wherein: the rotary wheel (8) is in clearance fit with the rotary block (6) and is used for reducing friction force between the rotary wheel (8) and the rotary block (6).
6. A space on-orbit capture process motion tether tension measurement device according to claim 1, wherein: the pre-tightening assembly (9) comprises a limiting screw and a pre-tightening spring, wherein the pre-tightening spring is sleeved on the limiting screw and is used for limiting the damping of the rotating block (6) and providing pre-tightening force, and simultaneously, the pre-tightening assembly is also used for adjusting the tension measurement zero point by adjusting the compression amount of the pre-tightening spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811556404.3A CN109724738B (en) | 2018-12-19 | 2018-12-19 | Tension measuring device for moving ropes in space on-orbit capturing process |
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| CN201811556404.3A CN109724738B (en) | 2018-12-19 | 2018-12-19 | Tension measuring device for moving ropes in space on-orbit capturing process |
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| CN109724738B true CN109724738B (en) | 2024-02-09 |
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| CN110723594B (en) * | 2019-10-14 | 2021-06-29 | 上海宇航系统工程研究所 | Rope tying tension control device and method |
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| CN101590825B (en) * | 2009-07-06 | 2011-08-31 | 浙江双友物流器械股份有限公司 | Force-measuring ratchet wheel type binder |
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|---|---|---|---|---|
| CN2665692Y (en) * | 2003-10-19 | 2004-12-22 | 魏勇超 | Single-wheel sensor |
| CN201527320U (en) * | 2010-03-08 | 2010-07-14 | 王顺 | Metal wire tension on-line automatic induction device |
| KR20120072079A (en) * | 2010-12-23 | 2012-07-03 | 삼성중공업 주식회사 | Wire tension control device of winch for transfer system using wire and wire tension control method |
| JP2013221776A (en) * | 2012-04-13 | 2013-10-28 | Toyota Central R&D Labs Inc | Pressure sensor |
| CN206623096U (en) * | 2017-04-12 | 2017-11-10 | 台州职业技术学院 | The control device of rope system jack |
| CN107356360A (en) * | 2017-06-01 | 2017-11-17 | 武汉船用机械有限责任公司 | A kind of pull rope tension measuring device |
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