CN104118581B - Lander attitude-simulating stage apparatus - Google Patents
Lander attitude-simulating stage apparatus Download PDFInfo
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- CN104118581B CN104118581B CN201410369258.9A CN201410369258A CN104118581B CN 104118581 B CN104118581 B CN 104118581B CN 201410369258 A CN201410369258 A CN 201410369258A CN 104118581 B CN104118581 B CN 104118581B
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- top board
- hanging ladder
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Abstract
The invention discloses a kind of lander attitude-simulating stage apparatus, comprise: top board, frame, attitude angle analog module, mobile subsystem interface, attitude angle analog module is connected between top board and frame, attitude angle analog module, top board and frame rotate mutually in the mode of homocentric three bearings, three degree of freedom is adopted to obtain required direction of tilt, sensing and angle of inclination, subsystem interface is connected to the end face of top board, moves subsystem in order to locking/release one; Attitude angle analog module comprises: upper wedge dish and hyposphene dish, and the wedge surface of upper wedge dish and the wedge surface of hyposphene dish are rotatably connected, and bottom surface and the top board of upper wedge dish are rotatably connected, and bottom surface and the frame of hyposphene dish are rotatably connected; Wherein, three degree of freedom comprises: hyposphene dish relative to the direction of tilt of gantry rotation in order to controlroof, top board relative to the rotation of upper wedge dish in order to the sensing of controlroof, the angle of inclination relatively rotated in order to controlroof of upper wedge dish and hyposphene dish.
Description
Technical field
The present invention relates to space technology field, particularly a kind of device for simulating lander mode of operation.
Background technology
In the celestial body heuristic process in cosmic space, rover (for whole login system, being also referred to as mobile subsystem) is equipment ideal at present.When rover arrives at target celestial body surface, be after completing landing by lander, then carry out being separated of rover and lander, thus celestial body surface could be set foot on smoothly.Just as the Jade Hare number arrives at the moon, be complete moonfall by lander equally.
The travelling performance of rover on lander is the important prerequisite that rover is transferred to celestial body surface, usually need to detect its maximum moving velocity, attitude angle adaptive capacity, static hold facility, braking potential, towability, to learn its performance figure under various operating mode.But the cost of lander is very high, be simultaneously also difficult to simulation test, therefore, need a kind of cheap and the analog machine of various landing attitude controlling functions can be realized.
Summary of the invention
The present invention is directed to prior art above shortcomings, provide a kind of lander attitude-simulating stage apparatus.The present invention is achieved through the following technical solutions:
A kind of lander attitude-simulating stage apparatus, comprise: top board, frame, attitude angle analog module, mobile subsystem interface, attitude angle analog module is connected between top board and frame, attitude angle analog module, top board and frame rotate mutually in the mode of homocentric three bearings, three degree of freedom is adopted to obtain required direction of tilt, sensing and angle of inclination, subsystem interface is connected to the end face of top board, moves subsystem in order to locking/release one;
Attitude angle analog module comprises: upper wedge dish and hyposphene dish, and the wedge surface of upper wedge dish and the wedge surface of hyposphene dish are rotatably connected, and bottom surface and the top board of upper wedge dish are rotatably connected, and bottom surface and the frame of hyposphene dish are rotatably connected;
Wherein, three degree of freedom comprises: hyposphene dish relative to the direction of tilt of gantry rotation in order to controlroof, top board relative to the rotation of upper wedge dish in order to the sensing of controlroof, the angle of inclination relatively rotated in order to controlroof of upper wedge dish and hyposphene dish.
Preferably, mobile subsystem interface comprises: mobile subsystem support and some compression release gears, and mobile subsystem support, is arranged on the end face of top board, in order to support mobile subsystem, some locking releasing devices removably connect with the wheel of mobile subsystem respectively;
Compression release gear comprises:
One end wheel shaft lock that elasticity is connected on the wheel of mobile subsystem respectively strains at bar;
Pull bar sear fork, top connects a pull bar sear bearing, and wheel shaft lock strains at bar and to removably connect the other end of pull bar sear bearing;
Push rod, the side of one end cylinder lever connecting rod sear fork, the other end is fixedly connected with an elastic component;
Electromagnet, is arranged on the other end of push rod;
Wherein, in the locked condition, electromagnet magnetic connects and compression elastic piece, and the other end that wheel shaft lock strains at bar is connected with pull bar sear bearing; In the released state, electromagnet disconnects and being connected with the magnetic of elastic component, and elastic component promotes push rod under elastic force effect, and push rod pushing drawing rod sear fork sidesway, makes wheel shaft lock strain at bar and pull bar sear bearing disconnects.
Preferably, electromagnet comprises magnet coil, two ends cross-over connection one diode of magnet coil, accelerates loss of excitation in order to make magnet coil after a loss of power.
Preferably, also comprise a hanging ladder module, the movable side being connected to top board, hanging ladder module comprises: hanging ladder, hanging ladder leverage hinge seat, fork and expansion link;
One end of fork is hinged on hanging ladder leverage hinge seat, and the other end is hinged on hanging ladder one end near top board, and fork adjusts hanging ladder and extends by swing around one end that it is connected with hanging ladder leverage hinge seat and shrink;
The expansion link other end is hinged on hanging ladder, and the other end is hinged on the downside of hanging ladder, and expansion link controls the angle of inclination of hanging ladder by shrinking.
Preferably, also comprise cable pulling separation simulation module, be arranged on top board, measure in order to the tractive force of simulating mobile subsystem.
Preferably, cable pulling separation simulation module comprises:
Socket installing frame, is arranged in mobile subsystem;
Can plug be departed from, gang socket erecting frame can be departed from;
Sensor, is fixed on a force measuring support frame;
Tractive force power transmission rope, connection can depart from plug and sensor, in order to be passed on sensor by the tractive force of mobile subsystem;
Plug protection suspension cable, is connected to the upside that can depart from plug, damages in order to prevent departing from plug.
Preferably, top board, frame, between upper wedge dish and hyposphene dish, be respectively arranged with motor, in order to drive top board, frame, relative rotation between upper wedge dish and hyposphene dish.
Preferably, the angle of inclination relative gravity line of top board is at 0 to 42 degree.
Preferably, upper wedge dish is identical with the angle of wedge of hyposphene dish, is 21 degree.
Locking/release the simulation of the simulation of lander attitude angle, mobile subsystem can be realized by the present invention, and the measure analog of tractive force, and with low cost, solve the problem that current simulated cost is large.
Accompanying drawing explanation
Shown in Fig. 1 is structural representation of the present invention;
Shown in Fig. 2 is the structural representation of the present invention in attitude angle emulation mode;
Shown in Fig. 3 is hanging ladder modular construction schematic diagram of the present invention;
Shown in Fig. 4 is the structural representation of mobile subsystem interface of the present invention;
Shown in Fig. 5 is the structural representation of electromagnet of the present invention;
Shown in Fig. 6 is the structural representation of cable pulling separation simulation module of the present invention.
Detailed description of the invention
Below with reference to accompanying drawing of the present invention; clear, complete description and discussion are carried out to the technical scheme in the embodiment of the present invention; obviously; as described herein is only a part of example of the present invention; it is not whole examples; based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to protection scope of the present invention.
For the ease of the understanding to the embodiment of the present invention, be further explained for specific embodiment below in conjunction with accompanying drawing, and each embodiment does not form the restriction to the embodiment of the present invention.
As shown in Figure 1, a kind of lander attitude-simulating stage apparatus provided by the invention, comprise: top board 1, frame 2, attitude angle analog module 3, mobile subsystem interface, hanging ladder module, cable pulling separation simulation module 6, be used for realizing the attitude angle simulation of lander, mobile subsystem locking/release simulation, and cable pulling separation simulation.Mobile subsystem interface comprises mobile subsystem support 407 and some compression release gears 41.
As shown in Figure 2, this platform is based on " homocentric three bearings " mechanism, adopt the pitch angle needed for three degree of freedom " synthesis " and angle of roll, ensure whole platform rigidity, attitude angle analog module 3 comprises: upper wedge dish 301 and hyposphene dish 302, the wedge surface of upper wedge dish 301 can rotate relatively with the wedge surface of hyposphene dish 302, and the bottom surface of upper wedge dish 301 can rotate relatively with top board 1, and the bottom surface of hyposphene dish 302 can rotate relatively with frame 2.In the present embodiment, rotation is what to be driven by different motors relatively.Three degree of freedom comprises: hyposphene dish 302 rotates through direction of tilt motor 13 relative to frame 2 and drives, and is used for the direction of tilt of controlroof 1; Top board 1 is point to motor 15 by top board to drive, in order to the sensing (i.e. the sensing of hanging ladder 512) of controlroof 1 relative to the rotation of upper wedge dish 301; Upper wedge dish 301 is driven by angle of inclination motor 12, in order to the angle of inclination of controlroof 1 with relatively rotating of hyposphene dish 302.When real simulation, the surrounding of top board 1 needs to install coaming plate 10 as shown in Figure 1 additional to load parts needed for other, but the present invention is not as limit.
Hyposphene dish 302 rotates relative to frame 2, and top board 1 is very easy to understand relative to the rotation of upper wedge dish 301, and relatively rotating of upper wedge dish 301 and hyposphene dish 302, the wedge surface of the wedge surface of wedge dish 301 and hyposphene dish 302 is cooperatively interacted, produces inclination.In the present embodiment, upper wedge dish 301 and hyposphene dish 302 have the identical angle of wedge 21 degree, along with both relatively rotating, can make top board 1 relative to gravity vertical produce leaning angle be 0 to 42 degree between arbitrarily angled, complete the simulation of lander attitude angle.The present invention does not limit this, and technical personnel can arrange the angle of wedge of upper wedge dish 301 and hyposphene dish 302 tool according to actual conditions.
As shown in Figures 1 to 3, hanging ladder model calling, on top board 1, comprising: hanging ladder drive motor 11, is connected to the downside of top board 1; Movement transmit plate 509, is hinged on the downside of top board 1; Hanging ladder drive link 508, is connected between hanging ladder drive motor 11 and Movement transmit plate 509; Hanging ladder 512, downside is provided with hanging ladder support 510, and hanging ladder support 510 connects Movement transmit plate 509.Under the driving of hanging ladder drive motor 11, hanging ladder 512 does radial rotating around a side of top board 1.Hanging ladder drive motor 11 drives leading screw 504 to drive hanging ladder drive link 508, hanging ladder drive link 508 brought into motion transmission plate 509 by hanging ladder, thus promotion hanging ladder 512 does radial rotating around top board 1 one side.Slewing area+5 is spent to-40 degree.It is arbitrarily angled that hanging ladder 512 rests within the scope of this, all do not interfere top board 1 to make the banking motion within the scope of 42 degree to any direction.In addition, the driving respectively that two hanging ladders 512 are separate.The downside of hanging ladder 512 is provided with hanging ladder support 510, ensures the bearing force of hanging ladder 512.In Fig. 3, due to can not grading be ensured, so also need to simulate the antarafacial angle of two hanging ladders 512.
Simultaneously hanging ladder slowly-releasing controls two identical capstan winch release hawser slowly-releasing (both sides) hanging ladder forks 502 of diameter by a driver train, realizes hanging ladder 512 and tend to ground gradually, ensure the synchronism of both sides hanging ladder 512 in dispose procedure.It is different from lunar surface angle that both sides hanging ladder adopts telescopic expansion link (quiet end 503, moved end 504) to provide independently respectively, realizes the different luffing angles of two hanging ladders, simulate two hanging ladder antarafacial angles.Expansion link is connected hanging ladder leverage hinge seat 501 with hanging ladder fork 502 one end, and the other end is connected to hanging ladder 512 or hanging ladder support 510.Hanging ladder fork 502 adjusts hanging ladder 512 and extends by swinging around one end that it is connected with hanging ladder leverage hinge seat 501 and shrink, and expansion link passes through the angle of inclination of contraction control hanging ladder.
As shown in Figure 2 and Figure 4, subsystem interface comprises: mobile subsystem support 407, wheel locking mount pad 403, pull bar sear fork 401, push rod 408, elastic component 410, electromagnet 411, wheel shaft lock strain at bar 405, pull bar sear bearing 406, pull rod guide collar 404.Mobile subsystem support 407, is arranged on the end face of top board 1, in order to support mobile subsystem; Wheel locking mount pad 403, is connected to the side of mobile subsystem support 407, and there is a wheel guiding hurdle 402 on side, is used for as mobile subsystem leads; Pull bar sear fork 401, is arranged in wheel locking installation 403; Push rod 408, one end is attached across wheel locking installation 403, the side of movable cylinder lever connecting rod sear fork 401; Spring 410, is fixedly connected on the other end of push rod 408; Electromagnet 411, is arranged on the other end of push rod 408; Wheel shaft lock strains at bar 405, and one end elasticity is connected to the axletree locking auricle (preventing escaping cap) of mobile subsystem; Pull bar sear bearing 406, the one end being connected to pull bar sear fork 401 strains between the other end of bar 405 in wheel shaft lock; Pull rod guide collar 404, is socketed in wheel shaft lock and strains at outside bar 405.
The locking of mobile subsystem, is simulated by the adhesive of electromagnet 411, and electromagnet 411 is arranged in electromagnet mount pad 409.When electromagnet 411 loses suction (power-off), originally the spring 410(pre-compression force of compression is kept to be about 160N by the suction-combining force of electromagnet 411) be released, spring 410 promotes push rod 408 with very large acceleration/accel to left movement, thus pushing drawing rod sear fork 401 is to left movement.When the pull bar sear bearing 406 on pull bar sear fork 401 top leave wheel shaft lock strain at the annular groove of bar 405 bottom time, wheel shaft lock strains at bar 405 and will lose and compress constraint.Being arranged on the spring that axletree locking auricle (is prevented escaping in cap) will make wheel shaft lock strain at bar 405 upward movement, thoroughly extract out from pull rod guide collar 404, thus complete the release of mobile subsystem.
Normally several owing to compressing release gear 41, be connected on the wheel of mobile subsystem, the process that electromagnet loses suction should be tried one's best rapidly, to improve the synchronism of subsystem interface.In order to allow the rapid loss of excitation of electromagnet (energy namely in coil is released rapidly), at coil two ends cross-over connection flywheel diode, as shown in Figure 5.After power-off, coil is by schottky diode afterflow, and electromagnetic energy becomes heat energy and dissipates rapidly on the resistance of diode.If electromagnet rated operational current is 0.9A, within time of the loss of excitation process (suction is low to moderate 1% rated attraction force) of electromagnet can be controlled in 50ms.
As shown in Figure 6, cable pulling separation simulation module 6, comprising: socket installing frame 602, is arranged in mobile subsystem; Plug 603 can be departed from, gang socket erecting frame 602 can be departed from; Sensor 607, is fixed on a force measuring support frame 606; Tractive force power transmission rope 605, connection can depart from plug 603 and sensor 607, in order to be passed on sensor 607 by the tractive force of mobile subsystem; Plug protection suspension cable 604, is connected to the upside that can depart from plug 603, damages in order to prevent departing from plug 603.
The power that mobile subsystem traction produces is applied on sensor 607 by tractive force power transmission rope 605.Sensor 607 adopts resistance strain gauge force transducer, is made up of elastic body and resistance strain gage, and strain-gauge forms Huygens's electric bridge.When elastic body stand under load deforms, strain-gauge tension or pressurized, its change in resistance causes electric bridge unbalance, thus produces the differential wave corresponding to load.Signal, first through amplifying, by LPF, finally by A/D conversion, thus records the tractive force curve of constantly change.Upper computer communicates with the present invention by RS232, controls work of the present invention.
Pass through the present invention, the moving velocity of mobile subsystem under various operating mode can be tested easily, consumption of power, attitude angle adaptive capacity, stopping distance, braking time, the indexs such as dbp, solve mobile subsystem on lander platform, compress dispose procedure simulation, from lander to the attitude-simulating of lunar surface transfer process and two hanging ladder angle accuracy controlling problem, achieve the ground simulation test that lunar surface rover moves subsystem lunar surface release separation, reach multiple spot and compress synchronous release simulation, high rigidity multi-freedom posture simulation under large load, the overall high synchronism of hanging ladder and the effect such as two hanging ladder antarafacial angles are adjustable.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (8)
1. a lander attitude-simulating stage apparatus, it is characterized in that, comprise: top board, frame, attitude angle analog module, mobile subsystem interface, described attitude angle analog module is connected between described top board and described frame, described attitude angle analog module, described top board and described frame rotate mutually in the mode of homocentric three bearings, three degree of freedom is adopted to obtain required direction of tilt, sensing and angle of inclination, described mobile subsystem interface is connected to the end face of described top board, moves subsystem in order to locking/release one;
Described mobile subsystem interface comprises: mobile subsystem support and some compression release gears, described mobile subsystem support, be arranged on the end face of described top board, in order to support described mobile subsystem, some described compression release gears removably connect with the wheel of described mobile subsystem respectively;
Described compression release gear comprises:
One end wheel shaft lock that elasticity is connected on the wheel of described mobile subsystem respectively strains at bar;
Pull bar sear fork, top connects a pull bar sear bearing, and described wheel shaft lock strains at bar and to removably connect the other end of described pull bar sear bearing;
Push rod, one end connects the side of described pull bar sear fork, and the other end is fixedly connected with an elastic component;
Electromagnet, is arranged on the other end of described push rod;
Wherein, in the locked condition, described electromagnet magnetic connects and compresses described elastic component, and the other end that described wheel shaft lock strains at bar is connected with described pull bar sear bearing; In the released state, described electromagnet disconnects and being connected with the magnetic of described elastic component, described elastic component promotes described push rod under elastic force effect, and described push rod promotes described pull bar sear fork sidesway, makes described wheel shaft lock strain at bar and described pull bar sear bearing disconnects;
Described attitude angle analog module comprises: upper wedge dish and hyposphene dish, and the wedge surface of described upper wedge dish and the wedge surface of described hyposphene dish are rotatably connected, and bottom surface and the described top board of described upper wedge dish are rotatably connected, and bottom surface and the described frame of described hyposphene dish are rotatably connected;
Wherein, described three degree of freedom comprises: described hyposphene dish relative to described gantry rotation in order to control the direction of tilt of described top board, described top board relative to the rotation of described upper wedge dish in order to control the sensing of described top board, described upper wedge dish and described hyposphene dish relatively rotate the angle of inclination controlling described top board.
2. lander attitude-simulating stage apparatus according to claim 1, it is characterized in that, described electromagnet comprises magnet coil, two ends cross-over connection one diode of described magnet coil, accelerates loss of excitation in order to make described magnet coil after a loss of power.
3. lander attitude-simulating stage apparatus according to claim 1, is characterized in that, also comprises a hanging ladder module, the movable side being connected to described top board, and described hanging ladder module comprises: hanging ladder, hanging ladder leverage hinge seat, fork and expansion link;
One end of described fork is hinged on described hanging ladder leverage hinge seat, and the other end is hinged on described hanging ladder one end near described top board, and described fork adjusts described hanging ladder and extends by swing around one end that it is connected with described hanging ladder leverage hinge seat and shrink;
One end of described expansion link is hinged on described hanging ladder leverage hinge seat, and the other end is hinged on the downside of described hanging ladder, and described expansion link controls the angle of inclination of described hanging ladder by shrinking.
4. lander attitude-simulating stage apparatus according to claim 1, is characterized in that, also comprises cable pulling separation simulation module, is arranged on described top board, measures in order to the tractive force of simulating described mobile subsystem.
5. lander attitude-simulating stage apparatus according to claim 4, is characterized in that, described cable pulling separation simulation module comprises:
Socket installing frame, is arranged in described mobile subsystem;
Can plug be departed from, can depart from and connect described socket installing frame;
Sensor, is fixed on a force measuring support frame;
Tractive force power transmission rope, can depart from plug and described sensor, in order to be passed on described sensor by the tractive force of described mobile subsystem described in connecting;
Plug protection suspension cable, is connected to the described upside that can depart from plug, damages in order to prevent the described plug that can depart from.
6. lander attitude-simulating stage apparatus according to claim 1, it is characterized in that, described top board, described frame, between described upper wedge dish and described hyposphene dish, be respectively arranged with motor, in order to drive described top board, described frame, relative rotation between described upper wedge dish and described hyposphene dish.
7. lander attitude-simulating stage apparatus according to claim 1, is characterized in that, the angle of inclination relative gravity line of described top board is at 0 to 46 degree.
8. lander attitude-simulating stage apparatus according to claim 7, is characterized in that, described upper wedge dish is identical with the angle of wedge of described hyposphene dish, is 23 degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410369258.9A CN104118581B (en) | 2014-07-30 | 2014-07-30 | Lander attitude-simulating stage apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410369258.9A CN104118581B (en) | 2014-07-30 | 2014-07-30 | Lander attitude-simulating stage apparatus |
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| CN104118581A CN104118581A (en) | 2014-10-29 |
| CN104118581B true CN104118581B (en) | 2016-03-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113525725B (en) * | 2021-05-26 | 2022-08-30 | 哈尔滨工业大学 | Lander tool kit transfer device and method |
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|---|---|---|---|---|
| FR2437357A2 (en) * | 1978-09-27 | 1980-04-25 | Huvelin Charles | Lock for self-service container - has spring loaded rod engaging catch and released by applying current to electromagnet |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN103350758A (en) * | 2013-06-24 | 2013-10-16 | 北京航空航天大学 | Attitude-adjustable moon soft lander |
| CN203664521U (en) * | 2014-01-03 | 2014-06-25 | 中国第一汽车股份有限公司 | Mechanism for rotating and locking molded-surface block |
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2014
- 2014-07-30 CN CN201410369258.9A patent/CN104118581B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2437357A2 (en) * | 1978-09-27 | 1980-04-25 | Huvelin Charles | Lock for self-service container - has spring loaded rod engaging catch and released by applying current to electromagnet |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN103350758A (en) * | 2013-06-24 | 2013-10-16 | 北京航空航天大学 | Attitude-adjustable moon soft lander |
| CN203664521U (en) * | 2014-01-03 | 2014-06-25 | 中国第一汽车股份有限公司 | Mechanism for rotating and locking molded-surface block |
Non-Patent Citations (1)
| Title |
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| 月面巡视器端抱式转移机构的力学特性分析与优化设计研究;陈哲吾;《万方学位论文》;20140715;正文第18页及第97-103页 * |
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