CN111024310A - Multi-dimensional air flotation follow-up system for satellite high-precision quality measurement - Google Patents
Multi-dimensional air flotation follow-up system for satellite high-precision quality measurement Download PDFInfo
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- CN111024310A CN111024310A CN201911349637.0A CN201911349637A CN111024310A CN 111024310 A CN111024310 A CN 111024310A CN 201911349637 A CN201911349637 A CN 201911349637A CN 111024310 A CN111024310 A CN 111024310A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
- G01M1/125—Determining position of centre of gravity of aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
Abstract
A multidimensional air flotation follow-up system for satellite high-precision quality measurement comprises a spherical air flotation module and the like; the spherical air flotation module supports the weight of a measured piece through the upper platform, the cylindrical air flotation module is used as a radial support to transfer radial load, and the force transfer cylinder is arranged between the spherical air flotation module and the cylindrical air flotation module; the two-axis rotation assembly is matched with spherical air floatation to realize any phase moment balance, and the planar air floatation module is used for supporting the two-axis rotation assembly and is matched with the spherical air floatation module to realize any phase moment balance together with the two-axis rotation assembly; the differential test module is used as a force transmission path for spherical hinge moment balance, so that the balance of the pull pressure at any angle in a plane is realized, and the bidirectional pull pressure of two coordinate axes is tested; the air path control system module is used for providing compressed air for lubricating the air bearing for the spherical air floatation module, the cylindrical air floatation module and the planar air floatation module. The invention can give consideration to three functions of mass center and rotational inertia test and high-precision turntable of the satellite final assembly link.
Description
Technical Field
The invention relates to a multi-dimensional air flotation follow-up system.
Background
The mass characteristic is a series of mechanical characteristic parameters of the product related to the mass, including the mass, the position of the mass center, the moment of inertia and the product of inertia, and is an inherent parameter for describing the mechanical characteristic of the product. The parameters directly influence the motion analysis and attitude control system design of the spacecraft, launch control, orbit control and return control, and the accuracy of the parameters directly influences the control precision and the service life of the spacecraft.
The existing quality testing system overcomes some problems in the traditional quality testing technology, adopts an integrated testing technology to realize one-time installation and positioning of a satellite, and measures quality characteristic parameters in all directions step by step. However, with the great change of the new type of spacecraft in the aspects of shape, size, weight and the like, in order to meet the high-precision test of products with different weights, sensing test systems with different measuring ranges are often required to be matched, so that the problems of long development period, high production cost, low equipment utilization rate and the like are caused. On the other hand, the existing centroid testing technology adopts a multipoint moment balance method, in order to realize the ultra-large load test, a large-range weighing sensor needs to be selected, the uncertainty of a system corresponding to the sensor with the same linearity is large, the moment testing precision of the system is low, and the problem is more prominent especially for a spacecraft with large weight and small eccentric moment ratio. In addition, the existing static test technology cannot eliminate the positioning error between a product and a test board, and the mass center and inertia test switching link adopts a manual mode in the test process, so that the test efficiency is low, the labor intensity is high, and special requirements are required for the skills of operators.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system is simple, effective and high in automation degree, reduces the workload of operators, reduces the influence of installation errors of a tested piece and other human factors, greatly improves the satellite quality testing precision and efficiency, and meets the requirements of quality characteristic integrated testing and precise angle positioning.
The technical scheme adopted by the invention is as follows: a multi-dimensional air flotation follow-up system for satellite high-precision quality measurement comprises a spherical air flotation module, a cylindrical air flotation module, a planar air flotation module, a two-axis rotation assembly, an upper platform, a force transmission cylinder, a differential test module, a rack and an air path control system;
the spherical air floatation module supports the weight of a measured piece through the upper platform and has three rotational degrees of freedom; the cylindrical air floatation module is used as a radial support to transfer radial load and has freedom degrees of movement and rotation; the force transmission cylinder is arranged between the spherical air flotation module and the cylindrical air flotation module; the biaxial rotation assembly is matched with spherical air floatation to realize the moment balance of any phase, and has pitching and rolling freedom degrees; the planar air floatation module is used for supporting the two-axis rotation assembly, has two translation degrees of freedom and one rotation degree of freedom, and is matched with the two-axis rotation assembly to realize any phase moment balance; the differential test module is used as a force transmission path for spherical hinge moment balance, so that the balance of the pull pressure at any angle in a plane is realized, and the bidirectional pull pressure of two coordinate axes is tested; the air path control system module is used for providing compressed air for lubricating the air bearing for the spherical air floatation module, the cylindrical air floatation module and the planar air floatation module.
The spherical air floatation module comprises a ball rotor, a lower ball socket and throttleers, wherein the throttleers are arranged in an upper layer and a lower layer, the throttleers are uniformly distributed on the inner spherical surface of the lower ball socket in an array manner, all the throttleers point to the center of a sphere, the ball rotor and the lower ball socket are ground in a matching manner, and a pressure equalizing groove is formed in the inner spherical surface of the lower ball socket; the upper platform and the force transmission cylinder are respectively connected with the ball rotor, and when an eccentric load is loaded on the upper platform, the upper platform and the ball rotor incline around the center of a ball; the compressed air is ejected through a restrictor, and a uniform air film of 10-50 μm is formed on the spherical surface between the ball rotor and the lower ball socket.
The two-axis rotation assembly comprises a rotation inner frame, a rotation outer frame, a first shafting and a second shafting; the cylindrical air floatation module is connected with the rotary inner frame through a first shaft system, so that the cylindrical air floatation module rotates around a Z axis; the rotary inner frame is connected with the rotary outer frame through a second shaft system, so that the rotary inner frame rotates around the Y axis; and two sides of the rotary outer frame are fixedly connected with the sensing support through the tension and compression sensors.
The cylindrical air flotation module comprises an air flotation inner ring, an air flotation outer ring and throttles, the throttles are in an upper layer and a lower layer, the throttles are uniformly distributed on the inner cylindrical surface of the air flotation outer ring in an array mode, and all the throttles point to the axis of the cylinder; the air flotation inner ring is arranged in the air flotation outer ring, the air flotation inner ring is connected with the end part of the force transmission cylinder, and two sides of the air flotation outer ring are connected with the rotary inner frame through a first shaft system; under the action of air flotation, the inner air flotation ring and the outer air flotation ring form a cylindrical auxiliary joint, and the two rotate relatively and move along the axial direction.
The plane air floatation module comprises an air cushion, a thread adjusting mechanism and an air floatation support; the air cushion is connected to the rotary outer frame through a thread adjusting mechanism, the air floatation support is fixedly connected with the rack, compressed air is sprayed out from small holes of the air cushion, an air film is formed between the air cushion and the air floatation support and used for bearing the cylindrical air floatation module and the two-axis rotary assembly, and self-adaptive motion in a YZ plane is met.
The differential test module comprises four groups of tension and compression sensors, a sensing support and connecting terminals, two sides of the rotary outer frame are respectively connected with the sensing support through the two groups of tension and compression sensors and the connecting terminals, and the four groups of tension and compression sensors are in a bridge type strain gauge layout.
Compared with the prior art, the invention has the beneficial effects that:
the multi-dimensional air flotation follow-up system for satellite high-precision quality measurement ensures that the moment balance of any 2 shafts of a load in a plane is ensured, and the eccentric moment in the direction of 2 coordinate shafts is obtained while the load is installed at one time. The spherical air flotation is used as a supporting point, and the moment balance is carried out on the tension and compression sensor and the load, so that the ultra-large load is measured by the small-range sensor, and the high test precision of the system is improved. The differential test module based on the air floatation system can effectively reduce the temperature drift influence of the sensor, and improve the reliability and the environmental adaptability of the system. The air floatation support system is matched with the driving transmission module, so that the functions of one-time load installation, different phase angle testing and dynamic testing can be realized, and the influence caused by assembly positioning errors of products is solved.
Drawings
FIG. 1 is a composition diagram of a multi-dimensional air-floatation follow-up system;
FIG. 2 is a diagram illustrating the working principle and the definition of degree of freedom;
FIG. 3 is a block diagram of the lower air bearing system;
FIG. 4 is a schematic view of the operation of the lower air bearing;
FIG. 5 is a schematic diagram of the degree of freedom release of the lower air floating system;
FIG. 6 is a schematic diagram of moment balancing in arbitrary phase;
FIG. 7 is a schematic diagram of the operation of the differential test module.
Detailed Description
The invention is further illustrated by the following examples.
Example 1
As shown in fig. 1, a multi-dimensional air-flotation follow-up system for satellite high-precision quality measurement mainly comprises a spherical air-flotation module 2, a cylindrical air-flotation module 3, a planar air-flotation module 4, a two-axis rotation assembly 5, an upper platform 6, a force transmission cylinder 7, a rack 10, a differential test module, an air path control system, and corresponding installation relations are shown in fig. 1-4. Coordinate system O-XYZ, O1-X1Y1Z1、O2-X2Y2Z2、O3-X3Y3Z3Are respectively a joint coordinate system fixed on the spherical air floating module 2, the cylindrical air floating module 3, the biaxial rotation component 5 and the plane air floating module 4 and move along with the corresponding modules. The origin O of the coordinate system is positioned at the center O of the spherical surface air floatation module 21Is positioned at the axial midpoint of the cylindrical air flotation module 3, O2At the intersection point of the two axes (and O) of the two-axis rotating assembly 51Coincidence) of O3And the four air cushions 41 are positioned in the joint surface of the air cushions 41 and the air floatation bracket 43 and are at the symmetrical centers. The coordinate axes of the four sets of coordinate systems have the same initial directions, as shown in fig. 2. The differential test module comprises four groups of tension and compression sensors 8, a sensing support 11 and a connecting terminal 9, wherein the sensors are in a bridge shapeLayout of the strain gauge; the module is used as a main force transmission path for spherical hinge moment balance, can realize the balance of pulling and pressing forces at any angle in a plane, and has the capability of testing the bidirectional pulling and pressing forces of 2 coordinate axes.
The spherical air flotation module 2 supports the weight of the measured piece 1 through the upper platform 6 and has three rotational degrees of freedom; the cylindrical air floatation module 3 is used as a radial support for transferring radial load and has one degree of freedom of movement and one degree of freedom of rotation; the force transmission cylinder 7 is arranged between the spherical air flotation module 2 and the cylindrical air flotation module 3; the biaxial rotation component 5 is matched with spherical air floatation to realize moment balance of any phase, and has 2 degrees of freedom of pitching and rolling; the planar air floatation module 4 is used for supporting the two-axis rotation assembly 5, has 2 translation degrees of freedom and 1 rotation degree of freedom, and is matched with the two-axis rotation assembly 5 to realize any phase moment balance by matching with the spherical air floatation module 2; the differential test module realizes the force balance of any angle in a plane; the corresponding relation is shown in fig. 2, and the air path control system module is used for providing compressed air for lubricating the air bearings for the spherical air flotation module 2, the cylindrical air flotation module 3 and the planar air flotation module 4.
The spherical air flotation module 2 comprises a ball rotor 201, a lower ball socket 202 and a throttleer 203, as shown in fig. 2, the throttleer 203 is divided into an upper layer and a lower layer, the arrays are uniformly distributed on the inner spherical surface of the lower ball socket 202, all the throttleers 203 point to the center of the ball, the ball rotor 201 and the lower ball socket 202 need to be matched and ground, and a pressure equalizing groove is designed on the inner spherical surface of the lower ball socket 202, so that the air flotation rigidity and the bearing capacity can be effectively improved. The upper platform 6 and the force transmission cylinder 7 are rigidly connected with the ball rotor 201, and when the eccentric load is loaded on the upper platform 6, the upper platform 6 and the ball rotor 201 incline around the center of the ball. Compressed air is ejected through dozens of throttleers 203 arranged on the inner spherical surface of the lower ball socket 202 in an array manner, a uniform air film of 10-50 mu m is formed on the spherical surface between the ball rotor 201 and the lower ball socket 202, and the air floatation module is used for supporting the weight of the measured piece 1, has three rotational degrees of freedom of a ball joint and forms a hinge point with moment balance in any direction.
The cylindrical air flotation module 3 comprises an air flotation inner ring 31, an air flotation outer ring 32 and throttles 203, the throttles 203 are arranged in a plurality of layers up and down, the throttles 203 are uniformly distributed on the inner cylindrical surface of the air flotation outer ring 32 in an array mode, and all the throttles 203 point to the cylindrical axis as shown in fig. 3. The air floatation inner ring 31 is rigidly connected with the end surface, and the air floatation outer ring 32 is connected with the rotary inner frame 51 through a first shaft system 53. Under the action of air flotation, the air flotation inner ring 31 and the air flotation outer ring 32 form a cylindrical auxiliary joint, and the air flotation inner ring and the air flotation outer ring can rotate relatively and move along the axial direction. As shown in fig. 2, the spherical air floating module 2 and the cylindrical air floating module 3 form a special shaft system, which can not only transmit radial load, but also can be used as effective supports for the torsional pendulum test module and the rotation module during the inertia test.
As shown in fig. 2, the planar air flotation module 4 is composed of an air cushion 41, a thread adjusting mechanism 42, and an air flotation bracket 43, wherein the air cushion 41 is connected to the outer rotation frame 52 through the thread adjusting mechanism 42, the air flotation bracket 43 is fixedly connected to the frame 10, compressed air is ejected from small holes of the air cushion 41, a high pressure air film is formed between the air cushion 41 and the air flotation bracket 43, and is used for bearing the cylindrical air flotation module 3 and the biaxial rotation assembly 5, and satisfying self-adaptive movement in YZ plane. Compressed air is sprayed out through small holes in the end faces of the air cushions 41, an air film of 10-50 microns is formed between the 4 groups of air cushions 41 and the air floatation support 43 and used for supporting the two-axis rotation assembly 5, 2 translation degrees and 1 rotation degree of freedom are provided, the two-axis rotation assembly 5 can move at any position in a plane, and additional moment to a sensor is eliminated.
As shown in fig. 3 and 4, the two-axis rotation assembly 5 is composed of an inner rotation frame 51, an outer rotation frame 52, a first axis system 53 and a second axis system 54, wherein the inner rotation frame 51 is connected with the cylindrical air floatation module 3 through the first axis system 53, and has flexible rotation capability around the Z axis; the rotary inner frame 51 is connected with the rotary outer frame 52 through a second shaft system 54 and has flexible rotation capacity around the Y axis; the two-axis rotating assembly 5 is fixedly connected with the sensing support 11 through the tension and compression sensor 8. The two-axis rotating assembly 5 has 2 degrees of freedom of pitching and rolling, and is matched with the planar air floatation module 4 and the spherical air floatation module 2 to realize the moment balance of the measured piece 1 at any phase.
As shown in FIG. 5, under the condition of eccentric load, the inner air floatation ring 31 is tilted around the spherical center of the spherical air floatation module 2, the inner air floatation ring 31 and the outer air floatation ring 32 are deviated by Δ h, and the coordinate system O of the planar air floatation module 4 is defined as3Generates delta L deviation with the coordinate system O of the spherical air floatation module 2 to restrainAnd additional bending moment is generated on the tension and compression sensor 8 and the plane air flotation module 4 under the condition of eccentric inclination, so that the test precision is ensured.
As shown in fig. 6, in the case of load eccentricity, the two-axis rotating assembly 5 generates offsets Δ y and Δ Z in YZ plane with the air bearing inner ring 31 tilted around the spherical center of the spherical air bearing module 2, the first axis system 53 generates an angle of rotation ∈ around the Z axis, and the second axis system 54 generates an angle of rotation δ. And the additional bending moment generated on the tension and compression sensor 8 and the plane air floatation module 4 is effectively inhibited, and the test precision is ensured.
As shown in fig. 6, the calculation formulas of the offset Δ h and Δ L in the plane of the cylindrical air flotation module 3 and the biaxial rotation assembly 5 and the included angle phi between the vertical axis are as follows, and the accurate value of phi can be obtained by combining the tilt angle sensor to obtain the corresponding parameter, see formula 1, necessary precision compensation is performed to further improve the test precision; the letters are defined as the figure.
Wherein, L is the origin O of the coordinate system and the origin O of the coordinate system under the initial state1Distance of (L)1After the load is installed, the origin point O and O of the coordinate system when the upper platform 6 is inclined1The distance between the points.
As shown in FIG. 7, m0For the measured object mass, R is the transverse centroid distance (the combined centroid of YZ axes) of the measured object 1 in the O-XYZ coordinate system, and F is the total centroid distance of the measured object 1 in the O-XYZ coordinate system1～F4The eccentric moment M of the tested piece 1 in the coordinate system and the barycentric coordinate Y along the Y-axis and Z-axis directions are obtained for the measured values of 4 groups of tension-compression sensors 8 through the following formulac、Zc。
Wherein F is the resultant force formed by 4 groups of tension and compression sensors 8, Fy、FzRespectively resultant force F along the coordinate system O2-X2Y2Z2α are the angles between the resultant force F and the Y axis, respectively.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (6)
1. A multi-dimensional air flotation follow-up system for satellite high-precision quality measurement is characterized by comprising a spherical air flotation module (2), a cylindrical air flotation module (3), a planar air flotation module (4), a two-axis rotation assembly (5), an upper platform (6), a force transmission cylinder (7), a differential test module, a rack (10) and an air path control system;
the spherical air flotation module (2) supports the weight of the measured piece (1) through the upper platform (6) and has three rotational degrees of freedom; the cylindrical air flotation module (3) is used as a radial support to transfer radial load and has freedom degrees of movement and rotation; the force transmission cylinder (7) is arranged between the spherical air flotation module (2) and the cylindrical air flotation module (3); the biaxial rotation component (5) is matched with spherical air floatation to realize the moment balance of any phase, and has pitching and rolling freedom degrees; the plane air floatation module (4) is used for supporting the two-axis rotation assembly (5), has two translation degrees of freedom and one rotation degree of freedom, and is matched with the two-axis rotation assembly (5) to realize moment balance of any phase by the spherical air floatation module (2); the differential test module is used as a force transmission path for spherical hinge moment balance, so that the balance of the pull pressure at any angle in a plane is realized, and the bidirectional pull pressure of two coordinate axes is tested; the air path control system module is used for providing compressed air for lubricating an air bearing for the spherical air floatation module (2), the cylindrical air floatation module (3) and the planar air floatation module (4).
2. The multi-dimensional air-flotation follow-up system for the satellite high-precision quality measurement is characterized in that the spherical air-flotation module (2) comprises a ball rotor (201), a lower ball socket (202) and a throttleer (203), wherein the throttleer (203) is divided into an upper layer and a lower layer, the arrays are uniformly distributed on the inner spherical surface of the lower ball socket (202), all the throttleers (203) point to the center of a sphere, the ball rotor (201) and the lower ball socket (202) are ground in a matched mode, and a pressure equalizing groove is formed in the inner spherical surface of the lower ball socket (202); the upper platform (6) and the force transmission cylinder (7) are respectively connected with the ball rotor (201), and when an eccentric load is loaded on the upper platform (6), the upper platform (6) and the ball rotor (201) incline around the center of a sphere; compressed air is ejected through a restrictor (203), and a uniform air film of 10-50 μm is formed on the spherical surface between the ball rotor (201) and the lower ball socket (202).
3. The multi-dimensional air-float follow-up system for satellite high-precision quality measurement according to claim 1 or 2, characterized in that the two-axis rotation assembly (5) comprises a rotation inner frame (51), a rotation outer frame (52), a first axis system (53) and a second axis system (54); the cylindrical air floatation module (3) is connected with the rotary inner frame (51) through a first shaft system (53), so that the cylindrical air floatation module (3) rotates around a Z axis; the rotary inner frame (51) is connected with the rotary outer frame (52) through a second shaft system (54) so that the rotary inner frame (51) rotates around the Y axis; two sides of the rotary outer frame (52) are fixedly connected with the sensing support (11) through the tension and compression sensor (8).
4. The multi-dimensional air-flotation follow-up system for the satellite high-precision quality measurement is characterized in that the cylindrical air-flotation module (3) comprises an air-flotation inner ring (31), an air-flotation outer ring (32) and a throttler (203), the throttler (203) is in a plurality of layers from top to bottom, the throttler is uniformly distributed on the inner cylindrical surface of the air-flotation outer ring (32) in an array mode, and all the throttlers (203) point to the cylindrical axis; the air flotation inner ring (31) is arranged in the air flotation outer ring (32), the air flotation inner ring (31) is connected with the end part of the force transmission cylinder (7), and two sides of the air flotation outer ring (32) are connected with the rotary inner frame (51) through a first shaft system (53); under the action of air flotation, an air flotation inner ring (31) and an air flotation outer ring (32) form a cylindrical auxiliary joint, and the air flotation inner ring and the air flotation outer ring rotate relatively and move along the axial direction.
5. The multi-dimensional air-float follow-up system for the satellite high-precision quality measurement is characterized in that the planar air-float module (4) comprises an air cushion (41), a thread adjusting mechanism (42) and an air-float bracket (43); the air cushion (41) is connected to the rotary outer frame (52) through a thread adjusting mechanism (42), the air floatation support (43) is fixedly connected with the rack (10), compressed air is sprayed out from small holes of the air cushion (41), an air film is formed between the air cushion (41) and the air floatation support (43) and used for bearing the cylindrical air floatation module (3) and the biaxial rotary assembly (5) and meeting self-adaptive motion in a YZ plane.
6. The multi-dimensional air-flotation follow-up system for satellite high-precision quality measurement is characterized in that the differential test module comprises four groups of tension and compression sensors (8), a sensing support (11) and connecting terminals (9), two sides of the rotating outer frame (52) are respectively connected with the sensing support (11) through two groups of tension and compression sensors (8) and connecting terminals (9), and the four groups of tension and compression sensors (8) are in a bridge type strain gauge layout.
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