CN103278267B - Spacecraft force exertion measurement mechanism - Google Patents

Abstract

The invention provides a space vehicle force measuring device, comprising: an upper protective cover, a first output shaft, an angular position sensor, a second output shaft, a scroll spring, a deep groove ball bearing, an end cover and a lower protective cover, the upper protective cover The cover is connected with the lower protective cover, the end cover is connected with the lower protective cover; the first output shaft is connected with the upper protective cover, the angular position sensor is respectively connected with the first output shaft and the lower protective cover, and one end of the second output shaft is connected with the first output shaft The other end of the connection passes through the end cover, the deep groove ball bearing is sleeved to the outside of the second output shaft and connected to the end cover, and the scroll spring is sleeved to the outside of the second output shaft and connected to the lower protective cover. The invention solves the problem of accurate force and moment measurement on some space vehicles. At the same time, the device also has the characteristics of light weight, adjustable initial moment, small size and good compatibility, which effectively ensures the accuracy and stability of force measurement. Reliability and broad application prospects.

Description

space vehicle force measuring device

technical field

The invention relates to a force measuring device, in particular to a space vehicle force measuring device.

Background technique

With the development of spacecraft technology, the moving parts used in spacecraft are becoming more and more extensive, and the mechanisms that require precise control of force or torque are also produced. However, general commercial force sensors at home and abroad mainly have the following problems:

1) Most of the force sensors require more complex conditioning circuits, with large weight and volume;

2) Generally, it is used as the ground, and the reliability of space use and the influence of the environment on it need special test verification.

The above technical problems limit the use of force measurement technology on space vehicles such as space vehicles, and even limit the use of related moving parts on space vehicles and spacecraft. With the development trend of lightweight spacecraft, the weight of each load on the spacecraft is required to be smaller and smaller, and the method used by general force measurement technology cannot meet the needs of spacecraft due to its large weight and resources.

For this reason, the present invention designs a force measurement device applied to space vehicles from the perspectives of product applicability, temperature adaptability, product weight, and connection and use methods.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide a space vehicle force measuring device.

According to one aspect of the present invention, a space vehicle force measuring device is provided, comprising: an upper shield, a first output shaft, an angular position sensor, a second output shaft, a scroll spring, a deep groove ball bearing, an end cover and a lower shield Cover, the upper protective cover is connected with the lower protective cover, the end cover is connected with the lower protective cover; the first output shaft is connected with the upper protective cover, the angular position sensor is respectively connected with the first output shaft and the lower protective cover, and one end of the second output shaft is connected with the The other end of the first output shaft is connected through the end cover, the deep groove ball bearing is sleeved to the outside of the second output shaft and connected to the end cover, and the scroll spring is sleeved to the outside of the second output shaft and connected to the lower protective cover.

Preferably, the space vehicle force measuring device also includes a spring sleeve and a screw, the spring sleeve is arranged between the scroll spring outer ring and the lower protective cover, the lower protective cover is provided with a threaded hole, and the screw passes through the spring sleeve and the lower protective cover. Threaded hole screw connection.

Preferably, the lower protective cover is provided with a limiting boss for one-way limiting the second output shaft.

Preferably, the spacecraft force measuring device further includes a circlip, and the circlip is arranged between the deep groove ball bearing and the end cover to limit the position of the deep groove ball bearing.

Preferably, a square hole is provided on the upper protective cover corresponding to the position of the angular position sensor, for leading out the power supply line and the signal line of the angular position sensor.

Preferably, the upper protective cover is integrally made with the first output shaft.

Preferably, the screws are hexagonal screws.

Preferably, the scroll spring is wound by an Archimedes spiral.

Preferably, the scroll spring is made of 55CrMnA spring steel strip, the cross-sectional size of the scroll spring is 9mm×0.8mm, the number of effective turns is 6 turns, the maximum output torque is 4N·m, and the minimum output torque is 0.1N m.

Preferably, the angular position sensor adopts a resistive angular position measuring sensor, the weight is not more than 100g, and the total mechanical stroke is 360°.

The working process and principle of the present invention are as follows: when the second output shaft rotates an angle relative to the first output shaft, the scroll spring and the extension shaft of the angular position sensor both rotate the same angle, according to the angle θ measured by the angular position sensor and the coil spring stiffness K can be calculated to obtain the torque T=K·θ between the second output shaft and the first output shaft.

On the basis of realizing the precise measurement of the force or moment of aerospace products, the invention reduces the weight of the product, improves the application range of the product, thereby improving the reliability of the product and achieving the effect of improving the performance of the spacecraft. Compared with the prior art, the present invention has the following beneficial effects: the space vehicle force measuring device of the present invention uses a planar scroll spring made of Archimedes helical winding as the elastic element, and measures the external input through the angular position sensor. The rotation angle of the inner ring of the coil spring under the action of the torque, and thus calculate the external torque. Compared with the prior art, the present invention solves the problem of accurate force and moment measurement on some space vehicles. At the same time, the device also has the characteristics of light weight, adjustable initial moment, small volume and good compatibility, effectively ensuring It improves the accuracy and reliability of force measurement and has broad application prospects.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the structural representation of space vehicle force measuring device of the present invention;

Fig. 2 is a schematic diagram of the connection relationship between the lower protective cover, the angular position sensor and the scroll spring;

In the figure: 1 is the upper protective cover, 2 is the angular position sensor, 3 is the second output shaft, 4 is the scroll spring, 5 is the deep groove ball bearing, 6 is the end cover, 7 is the lower protective cover, 8 is the spring sleeve Tube, 9 is a hexagonal screw, 10 is a limiting boss, and 11 is a first output shaft.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Please refer to Figure 1 and Figure 2 at the same time, a space vehicle force measurement device, including: upper protective cover 1, first output shaft 11, angular position sensor 2, second output shaft 3, scroll spring 4, deep groove ball bearing 5. The end cover 6 is connected to the lower protective cover 7, the upper protective cover 1 is connected to the lower protective cover 7, the end cover 6 is connected to the lower protective cover 7; the first output shaft 11 is connected to the upper protective cover 1, and the angular position sensor 2 is connected to the upper protective cover 1 respectively. The first output shaft 11 is connected to the lower protective cover 7, one end of the second output shaft 3 is connected to the first output shaft 11 and the other end passes through the end cover 6, and the deep groove ball bearing 5 is sleeved to the outside of the second output shaft 3 and connected to the second output shaft 3. The end cover 6 is connected, and the scroll spring 4 is sleeved to the outside of the second output shaft 3 and connected to the lower protective cover 7 .

The elastic element of the device, that is, the scroll spring 4, adopts a coil spring wound by an Archimedes helix. According to the relevant standards of the machinery industry, the size parameter selection and performance calculation of the planar scroll spring are carried out. The material selection is 55CrMnA spring steel strip, and the design data of the coil spring is obtained: the cross-sectional size is 9mm×0.8mm, and the number of effective turns is 6 turns. The maximum output torque is 4N·m, and the minimum output torque is 0.1N·m. The inner ring of the coil spring is connected with the second output shaft 3 and can be rotated by the second output shaft 3 , and the outer ring is fixed on the lower protective cover 7 .

The angular position sensor 2 is a resistive angular position measuring sensor that can be used in the space environment. Its weight does not exceed 100g, the total mechanical stroke is 360°, and the insulation resistance and withstand voltage values meet the requirements for use on space vehicles.

The lower protective cover 7 provides an interface for the installation of the angular position sensor 2 and the end cover 6, and provides an interface for fixing the outer ring of the scroll spring 4. The outer ring of the scroll spring 4 is positioned by the spring sleeve 8, and the hexagonal screw 9 passes through the spring. The sleeve pipe 8 is screwed into the screw hole of the lower protective cover 7 at the end. At the same time, the lower protective cover 7 is processed with a limit boss 10, which can carry out one-way limit to the second output shaft 3, so that the second output shaft 3 can not drive the scroll spring 4 to rotate in the opposite direction at the initial position.

The end cover 6 provides packaging for one side of the second output shaft 3, on which a deep groove ball bearing 5 is installed to support the second output shaft 3, and the two ends of the bearing are limited by elastic circlips. The upper protective cover 1 also has a sealing function, and is integrated with the first output shaft 11 . A square hole is processed on the upper protective cover 1 for the signal line and power supply line of the angular position sensor 2 to protrude.

The design concept of the present invention, that is, the working process and principle are: when the second output shaft 3 rotates an angle relative to the first output shaft 11, the scroll spring 4 and the angular position sensor 2 extension shafts all rotate the same angle, according to the angle The angle θ measured by the position sensor 2 and the coil spring stiffness K can be calculated to obtain the torque T=K·θ between the output shaft 2 and the output shaft 1 .

At present, the force measuring device has been applied to the frequency-increasing mechanism of a space vehicle, and its function meets the requirements of use and reaches the design index.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (6)

1. a spacecraft force exertion measurement mechanism, comprise: upper protective cover, the first output shaft, angular position pick up, the second output shaft, scroll spring, deep groove ball bearing, end cap, low protection cover, pogo barrel and screw, described upper protective cover is connected with low protection cover, and described end cap is connected with described low protection cover, described first output shaft is connected with described upper protective cover, described angular position pick up is connected with described first output shaft and low protection cover respectively, described second output shaft one end is connected the other end through described end cap with described first output shaft, described deep groove ball bearing cover to be connected to outside described second output shaft and to be connected with described end cap, described scroll spring cover is connected to outside described second output shaft and is connected with described low protection cover, it is characterized in that, pogo barrel is arranged between described scroll spring outer ring and low protection cover, described low protection cover is provided with threaded hole, described screw is connected with described screw hole through described spring spool, wherein, described scroll spring adopts spiral of Archimedes coiling to form, and described scroll spring adopts 55CrMnA spring steel band to make, the cross sectional dimensions of described scroll spring is 9mm × 0.8mm, number of active coils is 6 circles, and maximum output torque is 4Nm, and minimum Driving Torque is 0.1Nm, described angular position pick up adopts resistance-type angular position measurement sensor, and weight is no more than 100g, and total mechanical travel is 360 °.

2. spacecraft force exertion measurement mechanism according to claim 1, is characterized in that, described low protection cover is provided with in order to carry out unidirectional spacing positive stop lug boss to described second output shaft.

3. spacecraft force exertion measurement mechanism according to claim 1, is characterized in that, also comprise circlip, and described circlip is arranged between described deep groove ball bearing and end cap and carries out spacing to described deep groove ball bearing.

4. spacecraft force exertion measurement mechanism according to claim 1, is characterized in that, on described upper protective cover, the position corresponding with described angular position pick up is provided with square hole, draws with for the supply lines of described angular position pick up and signal wire.

5. spacecraft force exertion measurement mechanism according to claim 1, is characterized in that, described upper protective cover and described first output shaft are made into integration.

6. spacecraft force exertion measurement mechanism according to claim 1, is characterized in that, described screw is hex screw.