CN113532855B - Ground comprehensive test system for verifying joint life of aerospace mechanical arm - Google Patents
Ground comprehensive test system for verifying joint life of aerospace mechanical arm Download PDFInfo
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- CN113532855B CN113532855B CN202110837918.1A CN202110837918A CN113532855B CN 113532855 B CN113532855 B CN 113532855B CN 202110837918 A CN202110837918 A CN 202110837918A CN 113532855 B CN113532855 B CN 113532855B
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- 238000012360 testing method Methods 0.000 title claims abstract description 102
- 230000005540 biological transmission Effects 0.000 claims abstract description 93
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000012795 verification Methods 0.000 claims abstract description 15
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 166
- 239000007788 liquid Substances 0.000 claims description 86
- 229910052757 nitrogen Inorganic materials 0.000 claims description 83
- 239000011553 magnetic fluid Substances 0.000 claims description 46
- 238000007789 sealing Methods 0.000 claims description 43
- 238000005086 pumping Methods 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 15
- 238000010438 heat treatment Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 8
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- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 description 7
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- 230000001276 controlling effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000009529 body temperature measurement Methods 0.000 description 3
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- 239000007789 gas Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
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- 230000009471 action Effects 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 229910052697 platinum Inorganic materials 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
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- 230000017105 transposition Effects 0.000 description 1
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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
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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Abstract
The application discloses a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm. Comprising the following steps: a vacuum system having a vacuum vessel for providing a vacuum test environment; the tool system is arranged adjacent to the vacuum system and is used for changing the comprehensive stress of the test piece in the vacuum system; the vacuum system is provided with the vacuum container, provides a vacuum test environment, and is provided with the tooling system arranged adjacent to the vacuum system, and is positioned outside the vacuum system so as to debug and install the tooling system, avoid damaging the vacuum environment in the vacuum container and ensure the verification accuracy of all performances; further, by butting a transmission mechanism of the tool system with the vacuum container, connecting a load mechanism with the transmission mechanism, forming torque by using the load mechanism, and transmitting the torque to the test piece by using the transmission mechanism, the vacuum container and the transmission mechanism are internally and externally transmitted so as to control the moment load of the test piece, thereby realizing the purpose of providing a moment and inertia comprehensive stress test environment.
Description
Technical Field
The present disclosure relates generally to the field of spacecraft environmental tests, and in particular, to a ground comprehensive test system for joint life verification of an aerospace mechanical arm.
Background
The future space station in China is a multi-modular combined space station, and the cabin bodies with different purposes and functional equipment are in butt joint with the core cabin through the node cabin. The aerospace mechanical arm is used as one of important space mechanisms in cabin butt joint operation, plays a key role in the space station cabin body transposition process, and can provide services such as on-orbit maintenance and recovery. The joint is a core product of the aerospace mechanical arm, is a basis for realizing various motion functions of the mechanical arm by flexible motion, and is a key for ensuring the motion precision, the connection rigidity, the output torque and the like of the mechanical arm.
The space manipulator is an off-cabin device, the working environment of the joint of the space manipulator is in a vacuum environment, and the magnitude of the heat flow outside the product periodically changes along with the continuous alternate experience of the space station in a sunlight area and a ground shadow area. Because of the specificity of the vacuum environment, the heat exchange conditions of the joints can be greatly different from those of the normal pressure environment. The service life verification of various functions and performance indexes of the product under the normal pressure environment can cause deviation of test results due to the difference of thermal deformation conditions, and the accurate verification of the thermal design of the joint of the aerospace mechanical arm cannot be met.
At present, devices used by the traditional comprehensive test system are all contained in a vacuum container, a vacuum container which is large enough is needed to meet test and installation requirements, and the devices in the vacuum container are required to be debugged in the test process, so that the devices can accurately verify various performances of an aerospace mechanical joint, but the vacuum container is frequently opened, so that the vacuum environment is easily damaged, the corresponding performance verification result is deviated, and on the other hand, the vacuum container is large, and long-time waiting is needed after debugging to enable the container to meet the required vacuum environment. Thus, improvements are needed in existing integrated test systems.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm, which is convenient to install and debug, improves the accuracy of each performance verification, has a simple structure, and is easy to implement.
In a first aspect, the present application provides a ground integrated test system for joint life verification of an aerospace mechanical arm, comprising:
a vacuum system having a vacuum vessel for providing a vacuum test environment;
the tool system is arranged adjacent to the vacuum system and is used for changing the comprehensive stress of the test piece in the vacuum system; the tooling system comprises: the device comprises a supporting mechanism, a transmission mechanism and a load mechanism, wherein the transmission mechanism and the load mechanism are arranged on the supporting mechanism;
the transmission mechanism comprises: the magnetic fluid sealing transmission device is arranged on the supporting mechanism, and the magnetic fluid sealing transmission device butt joint device is arranged on the vacuum container; the magnetofluid sealing transmission device is connected with the docking device of the magnetofluid sealing transmission device, and a cabin penetrating shaft of the magnetofluid sealing transmission device is connected with an output shaft of the test piece through a coupler;
the load mechanism includes: the magnetic fluid sealing transmission device comprises a moment loading part, a back driving part and an inertia disc assembly, wherein the moment loading part is connected with the magnetic fluid sealing transmission device, the back driving part is connected with the moment loading part, and the inertia disc assembly is connected with the back driving part;
and controlling the moment load of the test piece through the cooperation of the moment loading piece, the back driving piece and the inertia disc assembly.
According to the technical scheme provided by the embodiment of the application, the moment loading piece comprises: the moment loading device is arranged on the supporting mechanism, and the moment loading shaft is arranged on the moment loading device.
According to the technical scheme provided by the embodiment of the application, the back driving piece comprises: a back driving load shaft arranged on the supporting mechanism and a rotary table arranged on the back driving load shaft; the back driving load shaft is connected with the moment load shaft through the coupler; the rotary table is wound with a traction steel wire, the free end of the traction steel wire is provided with a hanging basket, and a counterweight is arranged in the hanging basket.
According to the technical scheme provided by the embodiment of the application, the inertia disc assembly comprises: the speed reducer is arranged on the supporting mechanism, and the inertia disc group is arranged on the input shaft of the speed reducer; and an output shaft of the speed reducer is connected with the end part of the moment load shaft through the coupler.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: a control system;
the control system includes:
the torque sensor is arranged between the magnetic fluid sealing transmission device and the back driving load shaft and is used for detecting the real-time torque of the transmission shaft of the magnetic fluid sealing transmission device;
the upper computer is arranged on one side, far away from the vacuum container, of the tool system and is used for receiving the real-time moment signal sent by the torque sensor and converting the real-time moment signal into a real-time moment value;
and the controller is used for adjusting the moment load of the moment loading part, the back driving load of the back driving part and the inertia load of the inertia disc group according to the real-time moment value.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: the vacuumizing assembly is connected with the vacuum container;
the vacuum pumping assembly includes:
the air inlet of the low vacuum pump is communicated with the vacuum container through a rough pumping pipeline and is used for pumping out air of the vacuum container;
and the rough pumping valve is arranged on the rough pumping pipeline and used for controlling the working state of the low vacuum pump.
According to the technical scheme provided by the embodiment of the application, a low-temperature mechanism is arranged in the vacuum container;
the cryogenic mechanism comprises: the liquid nitrogen storage tank is independently arranged, the heat sink is arranged on the inner wall of the vacuum container, and the high valve is arranged on the vacuum container;
the liquid nitrogen storage tank is positioned at one side of the vacuum container far away from the tooling system, and the bottom of the liquid nitrogen storage tank is communicated with the heat sink through a liquid nitrogen liquid inlet pipeline; a liquid nitrogen inlet valve is arranged on the liquid nitrogen inlet pipeline; the bottom of the liquid nitrogen storage tank is also provided with a liquid nitrogen gasifier, and a liquid nitrogen pressurizing valve is arranged on a connecting pipeline between the liquid nitrogen gasifier and the liquid nitrogen storage tank; the liquid nitrogen gasifier is connected with the top of the liquid nitrogen storage tank through a liquid nitrogen pressurizing pipeline;
a liquid outlet of the heat sink is connected with a liquid nitrogen emptying pipeline, and the liquid nitrogen emptying pipeline extends to the outside of the vacuum container; the high valve is connected with a high vacuum pump.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: a temperature control mechanism;
the temperature control mechanism comprises: a temperature controller arranged adjacent to the vacuum container and a flange arranged on the vacuum container; the temperature controller is connected with a power supply; the flange is provided with a cabin penetrating plug group which is connected with the temperature control instrument and the power supply through transmission cables.
According to the technical scheme provided by the embodiment of the application, a guide rail which is arranged vertically to the cabin penetrating shaft of the magnetic fluid sealing transmission device is arranged in the vacuum container; the guide rail is provided with a test piece tool for placing the test piece;
the test tool piece is provided with a heating device and is connected with the power supply through a power supply cable; the test piece is provided with a temperature sensor which is connected with the transmission cable.
According to the technical scheme provided by the embodiment of the application, the supporting mechanism comprises: a front base station and a rear base station used in cooperation; the front platform is close to the vacuum container relative to the rear platform, and a gap is formed between the front platform and the rear platform and is used for accommodating the counterweight to freely move;
the front platform is sequentially provided with a magnetic fluid sealing transmission device support frame, a torque sensor support frame and a back driving system front end support frame, and the magnetic fluid sealing transmission device support frame is relatively close to the vacuum container;
the rear platform is sequentially provided with a back driving system tail end support frame, a moment loading device support frame and an inertia loading system support frame, and the back driving system tail end support frame is relatively close to the back driving system front end support frame.
In summary, the technical scheme specifically discloses a specific structure of a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm. The vacuum system is specifically designed, the vacuum system is provided with a vacuum container, a vacuum test environment is provided, a tooling system arranged adjacent to the vacuum system is designed and positioned outside the vacuum system so as to facilitate debugging and installation of the tooling system, avoid destroying the vacuum environment in the vacuum container, and in addition, equipment parts in the vacuum container are relatively reduced, so that the total heat capacity of equipment in the vacuum container and shielding of test pieces can be effectively reduced, the temperature control efficiency and precision are improved, and the accuracy of verification of each performance is ensured; further, a magnetic fluid sealing transmission device is arranged on a supporting mechanism of the tool system, a magnetic fluid sealing transmission device butt joint device on a vacuum container is utilized to butt joint the magnetic fluid sealing transmission device, a moment loading piece is connected with the magnetic fluid sealing transmission device, a back driving piece is connected with the moment loading piece, an inertia disc assembly is connected with the back driving piece, a cabin penetrating shaft of the magnetic fluid sealing transmission device butt joint device is connected with an output shaft of a test piece through a coupler, the moment loading piece is connected with the magnetic fluid sealing transmission device, the back driving piece is connected with the moment loading piece, the inertia disc assembly is connected with the back driving piece, torque is formed through the cooperation of the moment loading piece, the back driving piece and the inertia disc assembly, the magnetic fluid sealing transmission device is utilized to transmit the torque to the test piece, and the vacuum container is in-out transmission with the transmission mechanism to control moment load of the test piece, so that the aim of providing a moment and inertia comprehensive stress test environment is achieved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
FIG. 1 is a schematic diagram of a side view of a ground integrated test system for joint life verification of an aerospace mechanical arm.
Fig. 2 is a schematic diagram of a front view structure of a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm.
Reference numerals in the drawings: 1. a liquid nitrogen storage tank; 2. a liquid nitrogen vent line; 3. a high valve; 4. a flange; 5. a cabin penetrating plug group; 6. a controller; 7. a transmission cable; 8. a power supply cable; 9. a vacuum container; 10. a temperature control instrument; 11. a power supply; 12. an upper computer; 13. a liquid nitrogen liquid inlet pipeline; 14. a liquid nitrogen inlet valve; 15. a liquid nitrogen booster valve; 16. a liquid nitrogen gasifier; 17. a liquid nitrogen pressurizing pipeline; 18. a low vacuum pump; 19. a rough pumping pipeline; 20. a rough pumping valve; 21. a high vacuum pump; 22. a heat sink; 23. a guide rail; 24. a heating device; 25. a test piece; 26. testing a tool piece; 27. a temperature sensor; 28. a front station; 29. a rear base station; 30. a coupling; 31. a magnetofluid seal transmission device docking device; 32. magnetic fluid seal transmission device; 33. a magnetic fluid seal transmission device support frame; 34. a torque sensor; 35. a torque sensor support; 36. a front end support frame of the back driving system; 37. a back driving system end support frame; 38. driving the load shaft in reverse; 39. a turntable; 40. a counterweight; 41. moment loading device; 42. a moment load shaft; 43. a moment loading device support frame; 44. a speed reducer; 45. an inertia loading system support frame; 46. an inertia disc group.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
Referring to fig. 1, a schematic structural diagram of a first embodiment of a ground comprehensive test system for verifying a life of an joint of an aerospace mechanical arm according to the present application includes:
a vacuum system having a vacuum vessel 9 for providing a vacuum test environment;
a tooling system disposed adjacent to the vacuum system for altering the combined stress of the test piece 25 in the vacuum system; the tooling system comprises: the device comprises a supporting mechanism, a transmission mechanism and a load mechanism, wherein the transmission mechanism and the load mechanism are arranged on the supporting mechanism;
the transmission mechanism comprises: a magnetic fluid seal transmission device 32 arranged on the supporting mechanism and a magnetic fluid seal transmission device butting device 31 arranged on the vacuum container 9; the magnetofluid sealing transmission device 32 is connected with the magnetofluid sealing transmission device docking device 31, and a cabin penetrating shaft of the magnetofluid sealing transmission device 32 is connected with an output shaft of the test piece 25 through a coupler 30;
the load mechanism includes: a torque loading member connected to the magnetic fluid seal transmission 32, a back drive member connected to the torque loading member, and an inertia disc assembly connected to the back drive member;
the moment load of the test piece 25 is controlled by the cooperation of the moment loading piece, the back driving piece and the inertia disc assembly.
In this embodiment, as shown in fig. 1, a vacuum system and a tooling system are designed for use in cooperation, and the tooling system is disposed adjacent to the vacuum system, i.e., the tooling system is located outside the vacuum system, so as to mount and debug equipment, in addition, equipment components in the vacuum container 9 are relatively reduced, so that the total heat capacity of the equipment in the vacuum container 9 and shielding of the test piece 25 can be effectively reduced, and the temperature control efficiency and accuracy are improved;
a vacuum container 9 as a basic component of the vacuum system, which can form a closed space to maintain the vacuum degree in the container so as to provide a good vacuum test environment; here, the material of the vacuum vessel 9 is, for example, stainless steel, so that deformation does not occur when the load is large; the appearance of the device is a horizontal cylindrical structure; in addition, the vacuum container 9 can be installed on the ground of a special test site through foundation bolts according to actual requirements;
as shown in fig. 1, the tooling system is provided with a transmission mechanism, a load mechanism and a supporting mechanism;
the transmission mechanism is arranged on the supporting mechanism; specifically, the magnetic fluid sealing transmission device 32 is arranged on the supporting mechanism and plays a role in sealing the vacuum container 9, and a cabin penetrating shaft of the magnetic fluid sealing transmission device 32 is connected with an output shaft of the test piece 25 through the coupler 30 so as to ensure internal and external transmission of the vacuum container 9 and the transmission mechanism; the magnetic fluid sealing transmission device butting device 31 is arranged on the vacuum container 9, is in butting connection with the magnetic fluid sealing transmission device 32, is used as a connecting medium between the vacuum container 9 and the magnetic fluid sealing transmission device 32, and also plays a role in fixing the position of the magnetic fluid sealing transmission device 32; here, the coupling 30 may be a diaphragm coupling, thereby reducing installation difficulty and damage to the transmission by coaxial adjustment;
further, the moment loading piece is connected with the magnetic fluid sealing transmission device 32, the back driving piece is connected with the moment loading piece, the inertia disc assembly is connected with the back driving piece, torque is formed through matching of the moment loading piece, the back driving piece and the inertia disc assembly, the magnetic fluid sealing transmission device 32 is utilized to transmit to the test piece 25, and then moment load of the test piece 25 is controlled;
specifically, as shown in fig. 1, a moment loading member, a moment loading device 41, is provided on the support mechanism for applying a moment; here, the moment loading means 41 is of the type, for example, a magnetic powder brake or a servo motor; a moment load shaft 42 provided on the moment loading device 41 for receiving a load applied by the moment loading device 41 and transmitting the load to the transmission system;
specifically, a back driving member, as shown in fig. 1, a back driving load shaft 38 is provided on the support mechanism for fixing a turntable 39 of the back driving system and receiving a load applied thereto and transmitting it into the power transmission system; a turntable 39 provided on the reverse drive load shaft 38 as a force arm of the reverse drive torque; a weight 40 provided in a basket wound around a free end of the traction wire on the turntable 39 for providing gravity; here, one end of the traction steel wire is fixed on a mounting hole at the edge of the turntable 39 through a C-shaped clamp, the other end of the traction steel wire is connected with a hanging basket through a hanging hook, and the hanging basket is used for carrying a counterweight 40 to convert gravity into traction force;
specifically, as shown in fig. 2, the inertia disc assembly, a decelerator 44 is provided on the supporting mechanism for providing the required inertia load to the test piece 25, and the decelerator 44 can reduce the required mass of the inertia disc with a corresponding deceleration ratio; here, the type of the speed reducer 44, for example, a gear reducer, changes the reduction ratio by adjusting a gear combination; the inertia disc group 46 is arranged on an input shaft of the speed reducer 44, calculates a required inertia disc load according to the reduction ratio of the speed reducer 44 and the inertia load required by the test, selects an inertia disc combination meeting the requirement from the inertia disc group 46, installs the inertia disc on the input shaft of the speed reducer 44, connects the end part of the moment load shaft 42 with the output shaft of the speed reducer 44 by using the coupling 30, adjusts the coaxiality of the output shaft of the speed reducer 44 and the moment load shaft 42, and provides the required inertia load for the test piece 25 through a transmission system;
further, a torque sensor 34, disposed between the magnetic fluid seal transmission device 32 and the back driving load shaft 39, for detecting the real-time torque of the transmission shaft of the magnetic fluid seal transmission device 32, and transmitting the torque data to the upper computer 12 through an electrical signal; the upper computer 12 is arranged on one side of the tool system far away from the vacuum container 9, and is used for receiving the real-time moment signal sent by the torque sensor 34 and converting the real-time moment signal into a real-time moment value; the controller 6 is used for adjusting the moment load of the corresponding moment loading piece, the back driving load of the back driving piece and the inertia load of the inertia disc group according to the real-time moment value; closed-loop control is carried out on the tooling system through a control system so as to adjust moment load;
further, as shown in fig. 1, the supporting mechanism, the front platform 28 and the rear platform 29 cooperate to perform a supporting function; both can be connected with the ground through the ground feet, and the front platform 28 and the rear platform 29 can be adjusted in height so that the corresponding devices on the front platform and the rear platform reach the required test height to ensure that the test is performed normally; the table top of the front table top 28 and the rear table top 29 are provided with T-shaped grooves along the transmission shaft direction of the magnetic fluid sealing transmission device 32 for installing and fixing corresponding supporting frames; and, there is a gap between the front platform 28 and the rear platform 29, form the accommodation space, so that the counterweight 40 can move freely therein;
the magnetic fluid sealing transmission device support frame 33, the torque sensor support frame 35 and the back driving system front end support frame 36 are sequentially arranged on the front platform 28, and the magnetic fluid sealing transmission device support frame 33 is relatively close to the vacuum container 9; the magnetofluid seal transmission support frame 33 is used for supporting the magnetofluid seal transmission 32; the torque sensor support 35 is used for supporting the torque sensor 34; the front end support frame 36 of the back drive system is used for supporting a corresponding bearing of the back drive load shaft 38 in cooperation with the end support frame 37 of the back drive system;
the back driving system end support frame 37, the moment loading device support frame 43 and the inertia loading system support frame 45 are sequentially arranged on the rear platform 29, and the back driving system end support frame 37 is relatively close to the back driving system front end support frame 36; the moment loading device support frame 43 is used for supporting the moment loading device 41; the inertia loading system support 45 is for supporting the decelerator 44.
Further, as shown in fig. 2, the vacuum pumping assembly is communicated with the vacuum container 9, so that the vacuum container 9 forms a vacuum environment required for the test; specifically, a rough pump 18, the air inlet of which communicates with the vacuum vessel 9 through a rough pumping line 19, for pumping out air in the vacuum vessel 9; a rough pumping pipeline 19 which is arranged between the low vacuum pump 18 and the vacuum container 9 and is used as an air guide pipeline; the rough pumping valve 20 is arranged on the rough pumping pipeline 19 and used for controlling the working state of the low vacuum pump 18; when the vacuum container 9 needs to be pumped, the rough pumping valve 20 is opened, the rough pumping pipeline 19 is conducted, the low vacuum pump 18 pumps the vacuum container 9, and when the vacuum degree in the vacuum container 9 meets the test requirement, the rough pumping valve 20 and the low vacuum pump 18 are closed to stop working.
Further, as shown in fig. 2, the liquid nitrogen storage tank 1 is independently arranged, can be installed on the ground of a special test site through an embedded foundation, and is positioned on one side of the vacuum container 9 away from the tooling system for storing liquid nitrogen;
the high vacuum pump 21 is connected with the high valve 3, and the high valve 3 is arranged on the vacuum container 9 and used for controlling the pressure in the vacuum container 9; specifically, the residual gas molecules in the vacuum container 9 are adsorbed and captured by utilizing a cold head assembly with the temperature lower than 10K in the high vacuum pump 21, so that the pressure in the vacuum container 9 reaches the level of 10 < -2 > Pa; here, the type of the high vacuum pump 21 is, for example, a cryopump or a molecular pump;
a liquid nitrogen vaporizer 16 which is communicated with the bottom of the liquid nitrogen storage tank 1 and is also connected with the top of the liquid nitrogen storage tank 1 through a liquid nitrogen pressurizing pipeline 17 for vaporizing the liquid nitrogen in the liquid nitrogen storage tank 1; the liquid nitrogen pressurizing valve 15 is arranged on the liquid nitrogen gasifier 16, the liquid nitrogen pressurizing valve 15 is opened, so that liquid nitrogen in the liquid nitrogen storage tank 1 flows into the liquid nitrogen gasifier 16 through the liquid nitrogen pressurizing pipeline 17, is converted into nitrogen through full heat exchange with outside air in the liquid nitrogen gasifier 16, the pressure of the nitrogen is increased, and flows back to the top of the liquid nitrogen storage tank 1 through the liquid nitrogen pressurizing pipeline 17, and the purpose of pressurizing the inside of the liquid nitrogen storage tank 1 is achieved;
further, the bottom of the liquid nitrogen storage tank 1 is communicated with the heat sink 22 through the liquid nitrogen liquid inlet pipeline 13, the heat sink 22 is arranged on the inner wall of the vacuum container 9, and the liquid nitrogen is gasified and discharged through the liquid nitrogen emptying pipeline 2 after fully flowing in the pipeline of the heat sink 22, so that the heat sink 22 is cooled, and the aim of establishing a low-temperature cold background in the vacuum container 9 can be fulfilled; here, the heat sink 22 may be made of a brass material; and a liquid nitrogen inlet valve 14, which is installed on the liquid nitrogen inlet pipeline 13 and is used for controlling the opening or closing of the liquid nitrogen inlet pipeline 13 so as to control the flow of liquid nitrogen in the pipeline.
Further, as shown in fig. 2, a temperature control mechanism, a temperature controller 10, is disposed adjacent to the vacuum container 9 for sending out a control signal; a power supply 11 connected to the temperature controller 10 for supplying electric power; the cabin penetrating plug group 5 is arranged at the flange 4 of the vacuum container 9 and is connected with the temperature control instrument 10 and the power supply 11 through the transmission cable 7, and is used for transmitting the temperature measurement signal of the temperature measurement sensor 27 to the temperature control instrument 10;
the guide rail 23 is arranged in the vacuum container 9 and is perpendicular to the cabin penetrating shaft of the magnetic fluid sealing transmission device 32 and used for bearing and installing the test piece 25; here, the guide rail 23 can be made of stainless steel, has stronger specific stiffness, and ensures that deformation does not occur when the load is larger; the test piece tool 26 is arranged on the guide rail 23 and is used for placing the test piece 25; the heating device 24 is arranged on the test tool piece 26, and the power supply cable 8 of the heating device is connected with the power supply 11, when the heating device 24 is electrified, a specific radiation heat flow is output to the surface of the test piece 25 in a cold and black background environment in the vacuum container, so that the surface temperature of the test piece 25 is changed, and the measurement signal of the temperature measurement sensor 27 is changed; here, the type of heating device 24 is, for example, an infrared cage, an infrared lamp, or a combination of both; a temperature measuring sensor 27, which is disposed on the test piece 25 and connected with the transmission cable 7, and is used for detecting the surface temperature of the test piece 25, and transmitting temperature data to the temperature controller 10 by using a measuring signal; here, the temperature sensor 27 is of a type such as a T-type thermocouple or a platinum resistor.
The specific operation process of the test system is as follows:
under the condition that the gate of the vacuum container 9 is closed and a closed space is formed in the container, the rough pumping valve 20 and the low vacuum pump 18 are opened, and the low vacuum pump 18 is utilized to pump out the air in the vacuum container 9, so that the pressure in the vacuum container 9 reaches a level which is better than 3 Pa; at this time, the rough pumping valve 20 and the low vacuum pump 18 are closed, the high vacuum pump 21 and the high valve 3 are opened, and residual gas molecules in the vacuum container 9 are adsorbed and captured by using a cold head assembly with the temperature lower than 10K in the high vacuum pump 21, so that the pressure in the vacuum container 9 reaches 10 -2 Pa level. On the basis, a liquid nitrogen pressurizing valve 15 is opened, so that liquid nitrogen in the liquid nitrogen storage tank 1 flows into a liquid nitrogen gasifier 16 through a liquid nitrogen pressurizing pipeline 17, is gasified into nitrogen through full heat exchange with outside air in the liquid nitrogen gasifier 16, has high pressure, and flows back to the top of the liquid nitrogen storage tank 1 through the liquid nitrogen pressurizing pipeline 17, thereby achieving the purpose of pressurizing the liquid nitrogen storage tank 1. At this time, the liquid nitrogen inlet valve 14 is opened, the liquid nitrogen in the pressurized liquid nitrogen storage tank 1 flows into the heat sink 22 through the liquid nitrogen inlet pipeline 13 under the pressure effect, and is gasified and discharged through the liquid nitrogen emptying pipeline 2 after fully flowing in the pipeline of the heat sink 22, so that the purposes of cooling the heat sink 22 and establishing a low-temperature cold background in the vacuum container 9 are achieved; meanwhile, the heat sink with the temperature lower than 100K has a certain adsorption effect on gas molecules in the vacuum container 9, so that the pressure in the vacuum container can reach better than 1.33 multiplied by 10 -3 A level of Pa; on the other hand, the inner surfaces of the heat sinks facing the products are sprayed with black paint, and the surface absorptivity is better than 0.9, so that a complete vacuum environment and a cold black background environment are established in the vacuum container 9.
In the vacuum and cold-black background environment, a temperature measuring sensor 27 is used for measuring the temperature value of a specific position of a test piece 25, a measuring signal is transmitted into a temperature control instrument 10 through a signal path formed by a transmission cable, a cabin penetrating plug group 5 and a transmission cable 7 in a signal cabin of the temperature sensor 27, the temperature control instrument 10 compares a measured value of the temperature with a given target value, a control signal is generated after calculation and is transmitted into a power supply 11, so that the power supply 11 generates a certain direct current and voltage output, and the direct current and voltage output are sequentially transmitted to a heating device 24 through a complete signal path formed by a power supply cable 8 outside the cabin of the heating device, the cabin penetrating plug group 5 and the power supply cable in the cabin of the heating device 24, so that the heating device 24 is electrified, and therefore, specific radiation heat flow is output to the surface of the test piece 25 in the cold-black background environment in the vacuum container, the surface temperature of the test piece 25 is changed, and the measuring signal of the temperature measuring sensor 27 is changed; the control signal of the temperature controller 10 is adjusted in real time along with the measurement signal of the temperature sensor 27, so that closed-loop temperature control is realized, and the temperature of the test piece 25 is raised, lowered or kept according to a given temperature value and a temperature change rate, so that high-temperature, low-temperature or temperature change environmental load is provided for the test piece 25.
The control program is set through the upper computer 12, the control program is started, after the test piece 25 runs, the output shaft of the test piece 25 starts to rotate to drive the whole transmission system, the torque sensor 34 generates corresponding electric signals according to real-time torque and transmits the corresponding electric signals to the upper computer 12 through a cable, the upper computer 12 processes and converts the signals transmitted by the torque sensor 34 into real-time torque values, and the load of the torque loading device is regulated by the controller 6 through PID control according to the set target torque values so as to achieve the target value, so that the required torque load is provided for the test piece 25.
The weight of the required counterweight 40 is calculated according to the radius of the turntable 39 and the required back drive load for the test, the counterweight is stacked into a basket, the basket is hooked to one end of a traction steel wire through a hook, the other end of the traction steel wire is fixed at the edge of the turntable 39 by a C-shaped clamp, the gravity of the basket and the counterweight 40 is converted into traction force on the turntable 39, the turntable 39 applies the acting force to the back drive load shaft 38, and the required back drive load is provided for the test piece 25 through a transmission system.
The desired inertia disc load is calculated from the reduction ratio of the speed reducer 44 and the desired inertia load for the test, a desired combination of inertia discs is selected from the inertia disc pack 46, the inertia discs are mounted to the input shaft of the speed reducer 44, and the desired inertia load is provided to the test piece 25 via the drive train.
The control of the vacuum environment load, the temperature load, the moment load, the back driving load and the inertia load are mutually independent, can be applied simultaneously, can provide a vacuum, high temperature/low temperature/temperature change, moment and inertia comprehensive stress test environment for the test piece 25, can be used for checking various functions and performance indexes of the aerospace mechanical arm joint, and can be used for verifying the service life of the aerospace mechanical arm joint.
Test capability of the ground comprehensive test system: ambient pressure (vacuum): is better than 1.33X10 -3 Pa, cold back Jing Rechen temperature: less than 100K, heatsink background surface absorption: greater than 0.9, maximum heating capacity of test piece: higher than 120 ℃, the maximum cooling capacity of the test piece: below-120 ℃, the maximum reaction moment load of the test piece: greater than 2000 N.m, the maximum reverse driving action moment load of the test piece: greater than 500 N.m, the maximum inertia load of the test piece: greater than 2000 kg.m 2 。
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (8)
1. A ground integrated test system for space navigation mechanical arm joint life-span verification, characterized by comprising:
a vacuum system having a vacuum vessel (9) for providing a vacuum test environment;
a tooling system disposed adjacent to the vacuum system for altering the integrated stress of a test piece (25) in the vacuum system; the tooling system comprises: the device comprises a supporting mechanism, a transmission mechanism and a load mechanism, wherein the transmission mechanism and the load mechanism are arranged on the supporting mechanism;
the transmission mechanism comprises: a magnetic fluid sealing transmission device (32) arranged on the supporting mechanism and a magnetic fluid sealing transmission device butting device (31) arranged on the vacuum container (9); the magnetic fluid sealing transmission device (32) is connected with the magnetic fluid sealing transmission device butting device (31), and a cabin penetrating shaft of the magnetic fluid sealing transmission device (32) is connected with an output shaft of the test piece (25) through a coupler (30);
the load mechanism includes: a moment loading piece connected with the magnetic fluid sealing transmission device (32), a back driving piece connected with the moment loading piece and an inertia disc assembly connected with the back driving piece;
the moment loading piece includes: a moment loading device (41) arranged on the supporting mechanism and a moment loading shaft (42) arranged on the moment loading device (41);
the back drive includes: a back drive load shaft (38) provided on the support mechanism and a turntable (39) provided on the back drive load shaft (38); the back drive load shaft (38) is connected with the moment load shaft (42) through the coupling (30); a traction steel wire is wound on the turntable (39), a hanging basket is arranged at the free end of the traction steel wire, and a counterweight (40) is arranged in the hanging basket;
and controlling the moment load of the test piece (25) through the cooperation of the moment loading piece, the back driving piece and the inertia disc assembly.
2. The ground integrated test system for joint life verification of an aerospace robot of claim 1, wherein the inertia disc assembly comprises: a speed reducer (44) arranged on the supporting mechanism and an inertia disc group (46) arranged on an input shaft of the speed reducer (44); the output shaft of the speed reducer is connected with the end part of the moment load shaft (42) through the coupler (30).
3. The ground integrated test system for joint life verification of an aerospace robot of claim 2, further comprising: a control system;
the control system includes:
a torque sensor (34) disposed between the magnetic fluid seal transmission (32) and the backdrive load shaft (38) for detecting a real-time torque of a transmission shaft of the magnetic fluid seal transmission (32);
the upper computer (12) is arranged on one side, far away from the vacuum container (9), of the tool system, and is used for receiving a real-time moment signal sent by the torque sensor (34) and converting the real-time moment signal into a real-time moment value;
and the controller (6) is used for adjusting the moment load of the moment loading part, the back driving load of the back driving part and the inertia load of the inertia disc group according to the real-time moment value.
4. The ground integrated test system for joint life verification of an aerospace robot of claim 1, further comprising: a vacuum pumping assembly connected with the vacuum container (9);
the vacuum pumping assembly includes:
a low vacuum pump (18) with an air inlet communicated with the vacuum container (9) through a rough pumping pipeline (19) for pumping out the air of the vacuum container (9);
and the rough pumping valve (20) is arranged on the rough pumping pipeline (19) and is used for controlling the working state of the low vacuum pump (18).
5. The ground comprehensive test system for verifying the life of an aerospace mechanical arm joint according to claim 1, wherein a low-temperature mechanism is arranged in the vacuum container (9);
the cryogenic mechanism comprises: the liquid nitrogen storage tank (1), the heat sink (22) and the high valve (3) are arranged on the inner wall of the vacuum container (9);
the liquid nitrogen storage tank (1) is positioned at one side of the vacuum container (9) far away from the tooling system, and the bottom of the liquid nitrogen storage tank is communicated with the heat sink (22) through a liquid nitrogen liquid inlet pipeline (13); a liquid nitrogen inlet valve (14) is arranged on the liquid nitrogen inlet pipeline (13); the bottom of the liquid nitrogen storage tank (1) is also provided with a liquid nitrogen gasifier (16), and a liquid nitrogen pressurizing valve (15) is arranged on a connecting pipeline between the liquid nitrogen gasifier and the liquid nitrogen storage tank (1); the liquid nitrogen gasifier (16) is connected with the top of the liquid nitrogen storage tank (1) through a liquid nitrogen pressurizing pipeline (17);
a liquid outlet of the heat sink (22) is connected with a liquid nitrogen emptying pipeline (2), and the liquid nitrogen emptying pipeline extends to the outside of the vacuum container (9); the Gao Fa (3) is connected with a high vacuum pump (21).
6. The ground integrated test system for joint life verification of an aerospace robot of claim 1, further comprising: a temperature control mechanism;
the temperature control mechanism comprises: a temperature control instrument (10) arranged adjacent to the vacuum container (9) and a flange (4) arranged on the vacuum container (9); the temperature controller (10) is connected with a power supply (11); the flange (4) is provided with a cabin penetrating plug group (5), and the cabin penetrating plug group is respectively connected with the temperature control instrument (10) and the power supply (11) through transmission cables (7).
7. The ground comprehensive test system for verifying the joint life of an aerospace mechanical arm according to claim 6, wherein a guide rail (23) which is arranged perpendicular to a cabin penetrating shaft of the magnetic fluid seal transmission device (32) is arranged in the vacuum container (9); the guide rail (23) is provided with a test tool piece (26) for placing the test piece (25);
the test tool piece (26) is provided with a heating device (24) which is connected with the power supply (11) through a power supply cable (8); the test piece (25) is provided with a temperature measuring sensor (27) which is connected with the transmission cable (7).
8. The ground integrated test system for joint life verification of an aerospace robot of claim 1, wherein the support mechanism comprises: a front base station (28) and a rear base station (29) used in combination; the front platform (28) is close to the vacuum container (9) relative to the rear platform (29), and a gap is formed between the front platform (28) and the rear platform (29) for accommodating the counterweight (40) to freely move;
a magnetic fluid sealing transmission device support frame (33), a torque sensor support frame (35) and a back driving system front end support frame (36) are sequentially arranged on the front platform (28), and the magnetic fluid sealing transmission device support frame (33) is relatively close to the vacuum container (9);
the rear platform (29) is sequentially provided with a back driving system tail end supporting frame (37), a moment loading device supporting frame (43) and an inertia loading system supporting frame (45), and the back driving system tail end supporting frame (37) is relatively close to the back driving system front end supporting frame (36).
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