CN110027732B - Gravity unloading device in assembling and debugging process of light parts of spacecraft - Google Patents
Gravity unloading device in assembling and debugging process of light parts of spacecraft Download PDFInfo
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- CN110027732B CN110027732B CN201910252918.8A CN201910252918A CN110027732B CN 110027732 B CN110027732 B CN 110027732B CN 201910252918 A CN201910252918 A CN 201910252918A CN 110027732 B CN110027732 B CN 110027732B
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- spacecraft
- air
- assembling
- foot mechanism
- top plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2224/00—Materials; Material properties
- F16F2224/02—Materials; Material properties solids
- F16F2224/0208—Alloys
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2238/00—Type of springs or dampers
- F16F2238/02—Springs
- F16F2238/026—Springs wound- or coil-like
Abstract
The invention discloses a gravity unloading device in the process of assembling and debugging light parts of a spacecraft, which comprises a horizontal top plate, an air foot mechanism, a spring mechanism and a protection mechanism, wherein the upper part of the air foot mechanism is in negative pressure or magnetic adsorption with the lower part of the horizontal top plate; the air-foot mechanism comprises a vacuum negative pressure adsorption unit, a micro-pressure air film resistance reducing unit and a fixing frame, wherein the vacuum negative pressure adsorption unit and the micro-pressure air film resistance reducing unit are arranged in a fixing disc of the fixing frame, and the micro-pressure air film resistance reducing unit is arranged on the outer side of the vacuum negative pressure adsorption unit. The gravity balance of the spacecraft light component is realized through the constant force spring system, and the gravity unloading technical requirements in the ground assembly and unfolding test processes of the large-size spacecraft light component can be met.
Description
Technical Field
The invention relates to a gravity unloading device in the process of assembling and debugging light parts of a spacecraft, in particular to a device which has two-degree-of-freedom translation characteristics and can automatically balance gravity in the process of assembling and debugging the light parts of the spacecraft, and belongs to the field of precision assembly and test engineering of the spacecraft.
Background
When the spacecraft such as a satellite works in the space, the spacecraft is in a microgravity environment. However, the influence of the ground gravity effect is particularly prominent for the spacecraft, particularly for the large-size light-weight material parts widely used in the spacecraft, including the parts subjected to the influence of gravity during the assembly or engineering test on the ground, and the structural deformation of each part. Therefore, when the large-size light space structural member is assembled on the ground or is subjected to engineering test, a matched gravity unloading device is required to be used for balancing gravity, the influence of the gravity unloading device on the structural member of the spacecraft is weakened, and the technical state of the structures in the space is simulated.
The existing gravity unloading device at home and abroad mainly has two realization modes: lower support and upper suspension. However, the lower support mode has low stability of the whole structure and is easy to be stably turned over and collapsed in the process of movement or posture adjustment under the condition that the assembly structure of a space product is complex and particularly the size of the space product is overlarge; the upper suspension mode mainly adopts a pulley mechanism to realize gravity balance, has simple principle and easy realization on structure, and is widely applied to the assembly and experimental engineering of products such as space mechanical arms, satellite-borne antennas, solar sails and the like. However, the gravity unloading mechanism based on the pulley principle has some limitations in use, such as the situation that the gravity unloading mechanism is not suitable for space parts to perform unfolding operation and has large plane displacement. In China, due to the technical levels of manufacturing, machining, friction control and the like, the pulley mechanism also has some large friction resistance. Thus, in the precision assembly of some large-sized light space structures, the additional force required for counteracting the frictional resistance may be close to or even greater than the load required for balancing the gravity, which is not favorable for the precision control of the load during the gravity unloading process; the additional frictional resistance and moment of resistance may also cause some mechanical damage to large size, light weight, less rigid structures.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the invention provides a gravity unloading device which has two-degree-of-freedom translation characteristic and can automatically balance gravity in the process of assembling and debugging light parts of a spacecraft based on the principle of vacuum negative pressure adsorption.
The technical scheme adopted by the invention is as follows:
a gravity unloading device used in the process of assembling and debugging light parts of a spacecraft, which comprises a horizontal top plate, a gas-foot mechanism, a spring mechanism and a protection mechanism,
the upper part of the air foot mechanism is in negative pressure or magnetic adsorption with the lower part of the horizontal top plate; the air-foot mechanism comprises a vacuum negative pressure adsorption unit, a micro-pressure air film resistance reducing unit and a fixing frame, wherein the vacuum negative pressure adsorption unit and the micro-pressure air film resistance reducing unit are arranged in a fixing disc of the fixing frame, and the micro-pressure air film resistance reducing unit is arranged on the outer side of the vacuum negative pressure adsorption unit;
the micro-pressure air film resistance reducing unit is made of porous materials, is attached to the periphery of a vacuum cavity of the vacuum negative pressure adsorption unit, generates positive pressure air flow through a far-end air source, and sprays out from pores of the porous materials to form a micro-pressure air film between the contact surface of the horizontal top plate and the air foot mechanism, so that the friction coefficient between the contact surface of the horizontal top plate and the air foot mechanism is reduced;
the protection mechanism is connected to the lower part of the fixed disc of the fixed frame, and when the air pressure value on the air foot mechanism is lower than a preset safety threshold, the protection mechanism is adsorbed with the horizontal top plate under the action of electromagnetic attraction force;
the spring mechanism is fixedly connected with the lower part of the fixing frame and used for hanging the light parts of the spacecraft so as to ensure that the gravity of the light parts of the spacecraft is balanced all the time.
The flatness error of the horizontal top plate is not less than 10 μm, and the surface roughness is not less than 0.4.
The horizontal top plate has magnetic conductivity, the relative magnetic permeability is not lower than 5000 henry/meter, and the air foot mechanism can be adsorbed through the electromagnetic adsorption effect.
The micro-pressure air film pressure is 0.3-0.4 MPa.
The friction coefficient between the horizontal top plate and the contact surface of the air foot mechanism is reduced, and the friction coefficient of the final contact surface is not more than 0.03%.
Each constant force spring is formed by bending a special steel bar into a multi-ring shape, and the rings are relatively smooth.
The spring mechanism comprises two groups of constant force springs, a spring box and a guide shaft, the two groups of constant force springs are symmetrically arranged in the spring box through the guide shaft, the end parts of the constant force springs are connected with the bottom of the air-foot mechanism, and the spring box is used for hanging the light parts of the spacecraft through the guide shaft, so that the gravity of the light parts of the spacecraft is always balanced.
Protection machanism includes the electromagnetic chuck and the atmospheric pressure detection mechanism of array equipartition, and atmospheric pressure detection mechanism implements the atmospheric pressure of monitoring air foot mechanism, and when the atmospheric pressure value in the air foot mechanism was less than preset's safety threshold, the electromagnetic chuck circular telegram was started to adsorb with horizontal roof under the effect of its electromagnetic attraction, realize that air foot mechanism adsorbs with horizontal roof through the magnetic adsorption effect.
The vacuum negative pressure adsorption unit is of a cavity structure, and negative pressure is formed by pumping air from a far-end air source, so that the air foot mechanism is pressed and adsorbed on the horizontal top plate.
The end parts of two groups of springs in the spring mechanism are connected with the bottom of the air foot mechanism and are connected with the light component of the spacecraft through suspension lines, and the force action lines of the springs pass through the gravity center position of the light component of the spacecraft.
Compared with the prior art, the invention has the beneficial effects that:
(1) based on the principle of vacuum negative pressure adsorption, the invention provides the device which has the two-degree-of-freedom translation characteristic, can automatically balance the gravity in the process of assembling and debugging the light parts of the spacecraft, realizes the gravity balance of the light parts of the spacecraft through a constant force spring system, and can meet the technical requirement of gravity unloading in the process of ground assembling and unfolding testing of the light parts of the large-size spacecraft;
(2) the invention has the characteristics of low friction resistance and rapid movement response in the process of assembling and unfolding test of the spacecraft light parts, and effectively prevents the falling damage of the large-size spacecraft light parts caused by the negative pressure adsorption problem through the safety protection arrangement of the protection mechanism and the redundancy design of electromagnetic adsorption.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a sectional view of the assembly of the pneumatic foot mechanism of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A gravity unloading device used in the process of assembling and debugging light parts of a spacecraft is shown in figure 1 and comprises a horizontal top plate 1, an air foot mechanism 2, a spring mechanism 3 and a protection mechanism 4, wherein the horizontal top plate 1 is precisely and horizontally installed on a large-scale installation support and has high flatness and surface roughness, the flatness error of the horizontal top plate is not less than 10 mu m, and the surface roughness is not less than 0.4. The air foot mechanism 2 is provided with a reference surface for plane movement, has magnetic conductivity, and can prevent suspended parts from falling under emergency through electromagnetic adsorption.
As shown in fig. 2, the upper part of the air foot mechanism 2 is in negative pressure or magnetic adsorption with the lower part of the horizontal top plate 1; the air foot mechanism 2 comprises a vacuum negative pressure adsorption unit 5, a micro-pressure air film resistance reducing unit 6 and a fixing frame 7, wherein the vacuum negative pressure adsorption unit 5 and the micro-pressure air film resistance reducing unit 6 are arranged in a fixing disc of the fixing frame 7, the micro-pressure air film resistance reducing unit 6 is arranged outside the vacuum negative pressure adsorption unit 5,
the vacuum negative pressure adsorption unit 5 is of a cavity structure, and forms negative pressure by pumping air from a far-end air source, so that the air foot mechanism 2 is tightly pressed and adsorbed on the horizontal top plate 1;
the micro-pressure air film resistance reducing unit 6 is made of porous materials and carbon-based non-metallic compounds, is attached to the periphery of a vacuum cavity of the vacuum negative pressure adsorption unit 5, generates positive pressure air flow through a far-end air source, and sprays the positive pressure air flow out of pores of the porous materials to form a micro-pressure air film between contact surfaces of the horizontal top plate 1 and the air foot mechanism 2, so that the friction coefficient between the contact surfaces of the horizontal top plate 1 and the air foot mechanism 2 is reduced;
the protection mechanism 4 is connected to the lower portion of the fixed disk of the fixed frame 7, and the protection mechanism 4 is mainly used for preventing the air foot mechanism 2 from falling off under an accidental condition to cause a safety accident or damage to light components of the spacecraft. Protection machanism 4 includes the electromagnetic chuck 11 and the atmospheric pressure detection mechanism 12 of array equipartition, atmospheric pressure detection mechanism 12 implements the atmospheric pressure of monitoring gas foot mechanism 2, small-size array electromagnetic chuck 11 does not switch on at ordinary times, when the atmospheric pressure value on gas foot mechanism 2 is less than preset's safety threshold, electromagnetic chuck 11 circular telegram starts, and adsorb with horizontal roof 1 under the effect of its electromagnetic attraction, realize gas foot mechanism 2 and horizontal roof 1 through the magnetic adsorption effect and adsorb, thereby avoid falling in the air of gas foot mechanism 2, realize the safety protection function.
The spring mechanism 3 is fixedly connected with the lower part of the fixed frame 7,
the spring mechanism 3 comprises two groups of constant force springs 8, a spring box 9 and a guide shaft 10, the two groups of constant force springs 8 are symmetrically arranged in the spring box 9 through the guide shaft 10, the end parts of the constant force springs 8 are connected with the bottom of the air foot mechanism 2, the spring box 9 is used for hanging light parts of the spacecraft through the guide shaft 10, each constant force spring 8 is bent by a special steel bar to form a multi-ring shape, the rings are relatively smooth, and the constant force springs are in a tensioning state under the action of the gravity of the light parts of the spacecraft. Because the thickness of the spring plate is very small relative to the diameter of the spring ring, the tension action on the spring is hardly changed in a limited extension range, thereby ensuring that the gravity of the light parts of the spacecraft is always balanced in a certain displacement range in the vertical direction.
The use method of the gravity unloading device applied to the assembling and unfolding test process of the spacecraft light parts comprises the following steps:
(1) the method comprises the following steps that a horizontal top plate 1 is installed in a spacecraft assembly test environment, after a matched air source system is started, an upper adsorption system provided with an air foot mechanism 2 and a protection mechanism 4 is connected with the horizontal top plate 1, and at the moment, the air foot mechanism 2 starts to work to realize a vacuum negative pressure adsorption function; the ends of two groups of springs in the spring mechanism 3 are connected with the bottom of the air foot mechanism 2 and are connected with the light component of the spacecraft through suspension lines, the force action line of the springs passes through the gravity center position of the light component of the spacecraft, and the spring tension force can realize the gravity balance effect on the light component of the spacecraft.
(2) During specific assembling and unfolding test processes, the light components of the spacecraft can generate displacement under the traction of operation. When a displacement component in the horizontal direction exists, a pulling force in the same direction can be generated on the air foot, at the moment, the contact friction resistance between the upper surface of the air foot mechanism 2 and the lower surface of the horizontal top plate 1 is very small due to the micro-pressure air film resistance reduction function, so that the air foot device can move along the same direction under the action of the pulling force component and approximately move to the position vertically above the light component of the spacecraft, at the moment, the displacement component is very small, and the generated pulling force component is already smaller than the contact friction resistance between the upper surface of the air foot mechanism 2 and the lower surface of the horizontal top plate 1. When there is a displacement component in the vertical direction, the two constant force springs in the spring mechanism 3 will extend, but maintain a constant tensile force, and always have a gravity balance function for the lightweight components of the spacecraft.
(3) The system installation protection process under the accident of air leakage is as follows. When the air pressure value is lower than the preset safety threshold value due to the accident of the air foot mechanism 2, the air pressure detection mechanism 12 detects and sends a signal to the control system of the electromagnetic chuck array. At this moment, the small array electromagnetic chuck 11 system on the safety device 4 can start working immediately, and the array electromagnetic chuck 11 and the horizontal top plate 1 can be adsorbed by the electromagnetic suction force after the power-on starting, so that the safety protection function in an emergency state is realized, and the safety accident or the damage of light parts of the spacecraft caused by falling off is prevented.
The gravity balance testing device is based on the principle of vacuum negative pressure adsorption, realizes the gravity balance of the spacecraft light parts through the constant force spring system, and can meet the technical requirements of gravity unloading in the ground assembly and unfolding testing processes of the large-size spacecraft light parts; in addition, during the assembly and the unfolding test process of the spacecraft light parts, the spacecraft light parts have the characteristics of low friction resistance and rapid movement response, and the falling damage of the large-size spacecraft light parts caused by the negative pressure adsorption problem is effectively prevented through the safety protection arrangement of the protection mechanism and the redundant design of electromagnetic adsorption.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (10)
1. A gravity unloading device used in the process of assembling and debugging light parts of a spacecraft is characterized by comprising a horizontal top plate (1), a gas-foot mechanism (2), a spring mechanism (3) and a protection mechanism (4),
the upper part of the air foot mechanism (2) is in negative pressure or magnetic adsorption with the lower part of the horizontal top plate (1); the air foot mechanism (2) comprises a vacuum negative pressure adsorption unit (5), a micro-pressure air film resistance reducing unit (6) and a fixing frame (7), wherein the vacuum negative pressure adsorption unit (5) and the micro-pressure air film resistance reducing unit (6) are arranged in a fixing disc of the fixing frame (7), and the micro-pressure air film resistance reducing unit (6) is arranged on the outer side of the vacuum negative pressure adsorption unit (5);
the micro-pressure air film resistance reducing unit (6) is made of porous materials, is attached to the periphery of a vacuum cavity of the vacuum negative pressure adsorption unit (5), generates positive pressure air flow through a far-end air source, and sprays out from pores of the porous materials to form a micro-pressure air film between contact surfaces of the horizontal top plate (1) and the air foot mechanism (2), so that the friction coefficient between the contact surfaces of the horizontal top plate (1) and the air foot mechanism (2) is reduced;
the protection mechanism (4) is connected to the lower part of the fixed disc of the fixed frame (7), and when the air pressure value on the air foot mechanism (2) is lower than a preset safety threshold, the protection mechanism (4) is adsorbed with the horizontal top plate (1) under the action of electromagnetic attraction;
the spring mechanism (3) is fixedly connected with the lower part of the fixing frame (7) and is used for hanging the light parts of the spacecraft and ensuring that the gravity of the light parts of the spacecraft is balanced all the time.
2. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the flatness error of the horizontal top plate (1) is not higher than 10 μm, and the surface roughness is not higher than 0.4.
3. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the horizontal top plate (1) has magnetic conductivity, the relative magnetic permeability is not lower than 5000 henry/m, and the air foot mechanism (2) can be adsorbed through the electromagnetic adsorption effect.
4. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the micro-pressure air film pressure is 0.3-0.4 MPa.
5. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the friction coefficient between the contact surfaces of the horizontal top plate (1) and the air foot mechanism (2) is reduced, and the friction coefficient of the final contact surface is not more than 0.03%.
6. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the spring mechanism (3) comprises two groups of constant force springs (8), a spring box (9) and guide shafts (10), the two groups of constant force springs (8) are symmetrically arranged in the spring box (9) through the guide shafts (10), the end parts of the constant force springs (8) are connected with the bottom of the air foot mechanism (2), the spring box (9) is used for hanging the light parts of the spacecraft through the guide shafts (10), and the gravity of the light parts of the spacecraft is guaranteed to be balanced all the time.
7. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 6, wherein: each constant force spring (8) is formed by bending a special steel bar into a multi-ring shape, and the rings are relatively smooth.
8. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: protection machanism (4) are including array equipartition's electromagnetic chuck (11) and atmospheric pressure detection mechanism (12), and atmospheric pressure detection mechanism (12) are implemented the atmospheric pressure of monitoring air-foot mechanism (2), and when the atmospheric pressure value on air-foot mechanism (2) is less than preset's safety threshold, electromagnetic chuck (11) circular telegram starts to adsorb with horizontal roof (1) under the effect of its electromagnetic attraction, realize that air-foot mechanism (2) adsorb with horizontal roof (1) through the magnetic adsorption effect.
9. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 1, wherein: the vacuum negative pressure adsorption unit (5) is of a cavity structure, and forms negative pressure by pumping air from a far-end air source, so that the air foot mechanism (2) is pressed and adsorbed on the horizontal top plate (1).
10. The gravity unloading device for the assembling and debugging process of the light component of the spacecraft of claim 7, wherein: the end parts of two groups of springs in the spring mechanism (3) are connected with the bottom of the air foot mechanism (2) and are connected with the light component of the spacecraft through suspension lines, and the force action line of the springs passes through the gravity center position of the light component of the spacecraft.
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| CN110793793B (en) * | 2019-09-26 | 2022-04-19 | 上海宇航系统工程研究所 | Ground unfolding test system of large-scale load platform |
| CN111017273B (en) * | 2019-12-09 | 2022-03-04 | 北京卫星制造厂有限公司 | Space rod unit microgravity simulation system based on flexible mechanical arm assembly |
| CN112032199B (en) * | 2020-08-28 | 2022-03-15 | 天津大学 | Microgravity is for simulation gas-magnetism mixed structure's hanging device |
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| JPH11258120A (en) * | 1998-03-17 | 1999-09-24 | Nec Kansai Ltd | Apparatus and method for inspecting gas detector |
| CN103466109B (en) * | 2013-09-05 | 2016-12-07 | 哈尔滨工业大学 | A kind of space microgravity environment ground simulation experiment device |
| CN207712320U (en) * | 2017-12-13 | 2018-08-10 | 中国航空工业集团公司成都飞机设计研究所 | A kind of ground microgravity simulation system based on constant force spring |
| CN108408088B (en) * | 2017-12-26 | 2020-04-10 | 北京卫星制造厂 | Two-dimensional unfolding zero-gravity simulation device and method based on constant force spring |
| CN108263645B (en) * | 2018-03-15 | 2020-11-10 | 哈尔滨工业大学 | Ground physical simulation test system aiming at space spinning target capture and racemization |
| CN108382615A (en) * | 2018-04-18 | 2018-08-10 | 上海微小卫星工程中心 | A kind of satellite high-precision payload multiple degrees of freedom microgravity debugging device |
| CN108423202B (en) * | 2018-05-11 | 2023-09-22 | 天津航天机电设备研究所 | Micro-low gravity simulation device and simulation test method |
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