CN116513508B - Gravity unloading experiment platform for space docking mechanism and application method thereof - Google Patents
Gravity unloading experiment platform for space docking mechanism and application method thereof Download PDFInfo
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- CN116513508B CN116513508B CN202310352612.6A CN202310352612A CN116513508B CN 116513508 B CN116513508 B CN 116513508B CN 202310352612 A CN202310352612 A CN 202310352612A CN 116513508 B CN116513508 B CN 116513508B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 34
- 238000002474 experimental method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 230000005484 gravity Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 20
- 210000001503 joint Anatomy 0.000 claims description 68
- 230000005540 biological transmission Effects 0.000 claims description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 17
- 229910052782 aluminium Inorganic materials 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 230000005486 microgravity Effects 0.000 abstract description 8
- 230000009467 reduction Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000013104 docking experiment Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a gravity unloading experiment platform of a space docking mechanism and a use method thereof. The invention is simple and easy to operate, and greatly reduces the cost of creating the microgravity environment on the ground.
Description
Technical Field
The invention belongs to the technical field of space application equipment, and particularly relates to a gravity unloading experiment platform of a space docking mechanism and a use method thereof.
Background
The space docking mechanism is a system for realizing the on-orbit mechanical connection between space vehicles and establishing a combined body and safe separation of the combined flight of the space vehicles. The space docking mechanism has the task of realizing docking of two spacecrafts, keeping docking and separation within the range of docking initial conditions. Space docking is an indispensable operation of modern complex spacecrafts during in-orbit operation, and is a basic technology which needs to be mastered by manned aerospace activities.
The space environment is complex and changeable, and the most important characteristic is microgravity, how to simulate the space microgravity environment to carry out ground docking experiments, and the success or failure of the task of the space docking mechanism is directly concerned. Therefore, it is desirable to provide a gravity unloading device that can maximize the simulation of a vacuum weightlessness in space without being affected by gravity during testing of the spatial docking mechanism.
The microgravity environment method created by the existing ground mainly comprises the following steps: suspension methods, air-bearing table methods, water-floating methods, and the like. However, the cost and technical difficulty of the method are high, and the method is difficult to popularize.
Disclosure of Invention
The invention aims to provide a gravity unloading experiment platform of a space docking mechanism and a use method thereof, so as to solve the problems in the prior art.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a gravity unloading experiment platform of a space docking mechanism, which comprises an aluminum profile, wherein a gear box assembly is fixedly connected to the aluminum profile through an angle brace, a rack pulley assembly is meshed with the gear box assembly, a docking assembly is detachably connected to the bottom of the rack pulley assembly, and the rack pulley assembly is in sliding connection with the gear box assembly.
Preferably, the gear box assembly comprises a gear box fixedly connected with the aluminum profile through an angle brace, the gear box is meshed with the rack pulley assembly, one side, close to the rack pulley assembly, of the gear box is symmetrically and fixedly connected with a sliding block through a screw, and the sliding block is in sliding connection with the rack pulley assembly.
Preferably, the transmission shaft is symmetrically and rotationally connected in the gear box, the transmission shaft is respectively connected with a first gear and a second gear through keys in a transmission way, the first gear and the second gear are respectively and rotationally connected with the inner wall of the gear box, the first gear is meshed with the rack pulley assembly, the transmission shaft close to the second gear is connected with an output shaft of a speed reducer through keys in a transmission way, the speed reducer is positioned outside the gear box and fixedly connected with the side wall of the gear box, one side, far away from the gear box, of the speed reducer is fixedly connected with a motor, and the output shaft of the motor stretches into the speed reducer and is in transmission connection with the speed reducer.
Preferably, the two ends of the transmission shaft are fixedly connected with inner rings of first bearings respectively, the outer rings of the first bearings are fixedly connected with the inner wall of the gear box, first bearing end covers are symmetrically and fixedly connected on one side, away from the speed reducer, of the gear box, and the first bearing end covers are matched with the first bearings.
Preferably, the rack pulley assembly comprises a sliding rail which is in sliding connection with the sliding block, one side, far away from the sliding block, of the sliding rail is fixedly connected with a rack pulley base, a rack is arranged between the two sliding rails, the rack is fixedly connected with the rack pulley base, and the rack is meshed with the first gear.
Preferably, the rack pulley base is provided with a supporting shaft in a penetrating manner, two supporting shafts are respectively connected with pulleys in a rotating manner, the two pulleys are connected through a steel wire rope in a transmission manner, one end of the steel wire rope is fixedly connected with a balancing weight, and the other end of the steel wire rope is fixedly connected with the butt joint assembly.
Preferably, the second bearings are embedded at two ends of the pulley, the outer ring of the second bearings is fixedly connected with the pulley, the inner ring of the second bearings is fixedly connected with the supporting shaft, one end of the supporting shaft is fixedly connected with the rack pulley base, the other end of the supporting shaft is provided with a second bearing end cover, the second bearing end cover is fixedly connected with the rack pulley base, and the second bearing end cover is matched with the second bearings.
Preferably, the bottom of the aluminum profile is fixedly connected with a mounting bottom plate, and the top of the mounting bottom plate is fixedly connected with the butt joint assembly.
Preferably, the butt joint assembly comprises a second butt joint plate fixedly connected with the top of the mounting bottom plate, a first butt joint plate is arranged above the second butt joint plate, a fixing seat is fixedly connected with the top of the first butt joint plate, the top of the fixing seat is positioned in the rack pulley base and detachably connected with the rack pulley base, a round hole is formed in the top of the fixing seat, a pin is mounted in the round hole, and the pin is fixedly connected with the steel wire rope.
The application method of the gravity unloading experiment platform of the space docking mechanism comprises the following steps:
step 1: assembling an aluminum profile, a rack pulley assembly, a gear box assembly and a butt joint assembly;
step 2: weighing the first butt joint plate, and matching and adjusting the weight of the balancing weight;
step 3: controlling the motor to rotate, dropping the rack pulley assembly to an initial butt joint position of the first butt joint plate and the second butt joint plate, stopping outputting torque by the motor, and electrifying to maintain a state;
step 4: the first butt joint plate and the second butt joint plate start to butt joint, capture and lock;
step 5: after the butt joint experiment is finished, dismantling the balancing weight, and dismantling the first butt joint plate and the second butt joint plate;
step 6: and (5) collecting the finishing experiment site, and ending the gravity unloading experiment of the space docking mechanism.
The invention discloses the following technical effects: through designing a space docking mechanism gravity uninstallation experiment platform, simulated the docking process of space docking mechanism under the space microgravity condition, simultaneously, this experiment platform adopts industry mature product, greatly reduced the cost of ground creation microgravity environment, simultaneously technical route is simple and easy operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the basic construction and appearance of a gear box assembly of the present invention;
FIG. 3 is a schematic illustration of the internal gear-to-gear, gear-to-reducer connections of the gearbox assembly of the present invention;
FIG. 4 is a schematic view of the basic construction and appearance of the rack and pinion assembly of the present invention;
FIG. 5 is a top cross-sectional view of the rack pulley base of the present invention;
FIG. 6 is a diagram of the connection between the gear box assembly and the rack pulley assembly and the aluminum profile frame of the present invention;
FIG. 7 is a diagram showing the connection and installation relationship between the subject space docking assembly and the test stand of the present invention;
FIG. 8 is a schematic view of a portion of the structure of I in FIG. 7 in accordance with the present invention;
FIG. 9 is a diagram of a typical attachment and securement pattern for a profile and a corner brace of the present invention;
in the figure: 1. balancing weight; 2. a rack pulley assembly; 3. a gear box assembly; 4. a speed reducer; 5. a motor; 6. a mounting base plate; 7. a first butt plate; 8. a second butt plate; 9. an aluminum profile; 10. an angle code; 11. a gear box; 12. a first bearing end cap; 13. a first gear; 14. a first bearing; 15. a key; 16. a second gear; 17. a transmission shaft; 18. a rack; 19. a support shaft; 20. a pulley; 21. a rack pulley base; 22. a slide rail; 23. a slide block; 24. a second bearing end cap; 25. a wire rope; 26. a fixing seat; 27. and a second bearing.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-9, the invention provides a gravity unloading experiment platform of a space docking mechanism, which comprises an aluminum profile 9, wherein a gear box assembly 3 is fixedly connected to the aluminum profile 9 through an angle brace 10, the gear box assembly 3 is meshed with a rack pulley assembly 2, the bottom of the rack pulley assembly 2 is detachably connected with a docking assembly, and the rack pulley assembly 2 is in sliding connection with the gear box assembly 3.
Through aluminium alloy 9, rack pulley assembly 2, gear box subassembly 3 and butt joint subassembly, simulated the butt joint process of space docking mechanism under the space microgravity condition, simultaneously, this experiment platform adopts industry mature product, greatly reduced the cost of ground creation microgravity environment, simultaneously the technical route is simple and easy to operate.
Further optimizing scheme, gear box subassembly 3 includes the gear box 11 through angle sign indicating number 10 and aluminium alloy 9 rigid coupling, and gear box 11 meshes with rack pulley assembly 2, and the one side that gear box 11 is close to rack pulley assembly 2 has slider 23 through the symmetrical rigid coupling of screw, slider 23 and rack pulley assembly 2 sliding connection.
Further optimizing scheme, the transmission shaft 17 is rotationally connected with in the gear box 11 symmetrically, the transmission shaft 17 is connected with first gear 13 and second gear 16 through the key 15 transmission respectively, first gear 13 and second gear 16 are connected with the inner wall rotation of gear box 11 respectively, first gear 13 meshes with rack pulley assembly 2, the transmission shaft 17 that is close to second gear 16 is connected with the output shaft of reduction gear 4 through the key 15 transmission, reduction gear 4 is located outside gear box 11 and with gear box 11 lateral wall rigid coupling, one side of reduction gear 4 far away from gear box 11 rigid coupling has motor 5, the output shaft of motor 5 stretches into in the reduction gear 4 and is connected with the reduction gear 4 transmission. The main reason for placing the first gear 13 and the second gear 16 inside the gear box assembly 3 is that the motor 5 and the speed reducer 4 are large in size, and in order to facilitate the installation between structures, the clearance between parts is increased by adopting a mode of meshing transmission of two groups of gears; under the general circumstances, motor 5 can cooperate reduction gear 4 to use, and motor 5 is responsible for outputting high-speed rotary motion and moment of torsion, and reduction gear 4 is responsible for reducing the rotational speed and promotes the moment of torsion simultaneously, and after motor 5 circular telegram, the output moment of torsion is amplified through reduction gear 4, drives transmission shaft 17 and rotates along its axial, and transmission shaft 17 drives second gear 16 and rotates, and second gear 16 drives first gear 13 and rotates to reach output pivoted effect. (if the motor 5 outputs enough torque, the speed reducer 4 can be omitted, and if the motor 5 outputs insufficient torque, the motor 5 is fixed with the speed reducer 4 through screws to form a whole); .
In a further optimized scheme, two ends of the transmission shaft 17 are fixedly connected with inner rings of the first bearings 14 respectively, outer rings of the first bearings 14 are fixedly connected with the inner wall of the gear box 11, one side, far away from the speed reducer 4, of the gear box 11 is symmetrically fixedly connected with a first bearing end cover 12, and the first bearing end cover 12 is matched with the first bearings 14. The output shaft of the speed reducer 4 is connected with the transmission shaft 17 through a key 15, so that the transmission shaft 17 and the output shaft of the speed reducer 4 can synchronously rotate; the transmission shaft 17 is connected with the second gear 16 and the first gear 13 through keys 15 respectively, and meanwhile, two ends of the transmission shaft 17 are restrained by inner rings of the first bearings 14 at two sides of the gear box 11, so that the transmission shaft 17 can rotate along the axis of the transmission shaft 17, and the freedom degree in the other directions is limited; the outer ring of the first bearing 14 is restrained by a boss of the gear box 11 and the first bearing end cover 12.
In a further optimized scheme, the rack pulley assembly 2 comprises a sliding rail 22 which is in sliding connection with a sliding block 23, a rack pulley base 21 is fixedly connected to one side, far away from the sliding block 23, of the sliding rail 22, a rack 18 is arranged between the two sliding rails 22, the rack 18 is fixedly connected with the rack pulley base 21, and the rack 18 is meshed with the first gear 13. The slide rail 22 and the slide block 23 form a linear guide rail, the linear guide rail is an industrial mature product, the slide block 23 can linearly move along the slide rail 22, and the slide rail 22 plays a supporting and guiding role in the moving process.
In a further optimized scheme, a supporting shaft 19 is arranged on the rack pulley base 21 in a penetrating manner, pulleys 20 are respectively connected to the two supporting shafts 19 in a rotating manner, the two pulleys 20 are connected in a transmission manner through a steel wire rope 25, one end of the steel wire rope 25 is fixedly connected with a balancing weight 1, and the other end of the steel wire rope 25 is fixedly connected with a butt joint assembly.
Further optimized scheme, the two ends of the pulley 20 are embedded with the second bearing 27, the outer ring of the second bearing 27 is fixedly connected with the pulley 20, the inner ring is fixedly connected with the supporting shaft 19, one end of the supporting shaft 19 is fixedly connected with the rack pulley base 21, the other end of the supporting shaft 19 is provided with the second bearing end cover 24, the second bearing end cover 24 is fixedly connected with the rack pulley base 21, and the second bearing end cover 24 is matched with the second bearing 27. The inner rings of the second bearings 27 on both sides of the pulley 20 are restrained by the second bearing end caps 24 and the shoulders of the supporting shaft 19, respectively, and in this installation form, the pulley 20 can only rotate around its axis, and the degrees of freedom in the remaining directions are limited.
In a further optimized scheme, the bottom of the aluminum profile 9 is fixedly connected with a mounting bottom plate 6, and the top of the mounting bottom plate 6 is fixedly connected with a butt joint assembly.
Further optimizing scheme, the butt joint subassembly includes the second butt joint board 8 with mounting plate 6 top rigid coupling, and second butt joint board 8 top is equipped with first butt joint board 7, and first butt joint board 7 top rigid coupling has fixing base 26, and fixing base 26 top is located rack pulley base 21 and can dismantle with rack pulley base 21 and be connected, and fixing base 26 top is equipped with the round hole, installs the pin in the round hole, pin and wire rope 25 rigid coupling. The lower surface of the rack pulley base 21 is provided with an inner hole which is smaller than the upper surface of the fixed seat 26, so that the fixed seat 26 is restrained from crossing the lower surface of the rack pulley base 21 in the up-and-down movement process, and the limiting protection function is realized.
The application method of the gravity unloading experiment platform of the space docking mechanism comprises the following steps:
step 1: mounting and fixing an aluminum profile 9, and mounting and fixing a second butt joint plate 8 on the upper surface of the mounting bottom plate 6; the length of the aluminum profile 9 can be designed according to the actual size of the butt joint assembly and the butt joint distance.
Step 2: weighing the first butt joint plate 7, and matching and adjusting the weight of the balancing weight 1; the purpose is to make the weight of the balancing weight 1 equal to or slightly larger than the weight of the first butt joint plate 7, and prevent the first butt joint plate 7 from moving downwards due to the action of gravity, thereby influencing the development of the butt joint experiment.
Step 3: the rack pulley assembly 2 and the gear box assembly 3 are arranged on an aluminum profile 9;
step 4: one end of the steel wire rope 25 is tied on the pin, the fixed seat 26 is placed under the rack pulley base 21, and the steel wire rope 25 is pulled out from the middle of the rack pulley base 21 and passes through the two pulleys 20; the pulley 20 is provided to transmit the force of both ends of the wire rope 25 to match them.
Step 5: lifting the fixing base 26; the first butt plate 7 is placed under the fixing seat 26 by lifting the fixing seat 26, and the first butt plate and the fixing seat are fixed.
Step 6: controlling the rotation direction of the motor 5 to drop the rack pulley assembly 2; after the motor 5 is electrified, the rack pulley assembly 2 is controlled to fall until the lower surface of the rack pulley base 21 is attached to the upper surface of the fixed seat 26.
Step 7: fixing the balancing weight 1 at the other end of the steel wire rope 25;
step 8: controlling the motor 5 to output a torque direction, lifting the rack pulley assembly 2 to a corresponding position, and finishing the preparation action;
step 9: controlling the motor 5 to rotate, dropping the rack pulley assembly 2 to an initial butt joint position of the first butt joint plate 7 and the second butt joint plate 8, stopping outputting torque by the motor 5, and maintaining the state by electrifying;
step 10: the first butt joint plate 7 and the second butt joint plate 8 start to butt joint, capture and lock; in the butt joint process, the second butt joint plate 8 can generate downward tension to the first butt joint plate 7, and the first butt joint plate 7 is connected with the balancing weight 1 through the fixing seat 26, the steel wire rope 25 and the pulley 20, so that the working condition under the condition of space weightlessness can be simulated in the butt joint process, and the purpose of gravity unloading is achieved.
Step 11: after the butt joint experiment is completed, the motor 5 drives the rack pulley assembly 2 to fall down until the lower surface of the rack pulley base 21 is attached to the upper surface of the fixed seat 26, the balancing weight 1 is removed, then the motor 5 drives the lifting rack pulley assembly 2, the first butt joint plate 7 and the second butt joint plate 8 are removed, the finishing experiment site is picked up, and the gravity unloading experiment of the space butt joint mechanism is finished.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. The utility model provides a space docking mechanism gravity uninstallation experiment platform which characterized in that: the aluminum profile (9) is fixedly connected with a gear box assembly (3) through an angle brace (10), the gear box assembly (3) is meshed with a rack pulley assembly (2), a butt joint assembly is detachably connected to the bottom of the rack pulley assembly (2), and the rack pulley assembly (2) is in sliding connection with the gear box assembly (3);
the gear box assembly (3) comprises a gear box (11) fixedly connected with the aluminum profile (9) through an angle brace (10), the gear box (11) is meshed with the rack pulley assembly (2), one side, close to the rack pulley assembly (2), of the gear box (11) is symmetrically fixedly connected with a sliding block (23) through a screw, and the sliding block (23) is in sliding connection with the rack pulley assembly (2);
the gear box (11) is internally and symmetrically connected with a transmission shaft (17) in a rotating way, the transmission shaft (17) is respectively connected with a first gear (13) and a second gear (16) in a transmitting way through a key (15), the first gear (13) and the second gear (16) are respectively connected with the inner wall of the gear box (11) in a rotating way, the first gear (13) is meshed with the rack pulley assembly (2), the transmission shaft (17) close to the second gear (16) is connected with an output shaft of a speed reducer (4) in a transmitting way through the key (15), the speed reducer (4) is positioned outside the gear box (11) and fixedly connected with the side wall of the gear box (11), one side, far away from the gear box (11), of the speed reducer (4) is fixedly connected with a motor (5), and an output shaft of the motor (5) stretches into the speed reducer (4) and is connected with the speed reducer (4) in a transmitting way.
The transmission shaft (17) is characterized in that inner rings of first bearings (14) are fixedly connected to two ends of the transmission shaft respectively, an outer ring of each first bearing (14) is fixedly connected with the inner wall of each gear case (11), first bearing end covers (12) are symmetrically fixedly connected to one side, away from the speed reducer (4), of each gear case (11), and the first bearing end covers (12) are matched with the first bearings (14).
2. The spatial docking mechanism gravity unloading experiment platform of claim 1, wherein: the rack pulley assembly (2) comprises a sliding rail (22) which is in sliding connection with the sliding block (23), a rack pulley base (21) is fixedly connected to one side, away from the sliding block (23), of the sliding rail (22), a rack (18) is arranged between the two sliding rails (22), the rack (18) is fixedly connected with the rack pulley base (21), and the rack (18) is meshed with the first gear (13).
3. The spatial docking mechanism gravity unloading experiment platform of claim 2, wherein: the rack pulley base (21) is provided with a supporting shaft (19) in a penetrating mode, two supporting shafts (19) are respectively connected with pulleys (20) in a rotating mode, the two pulleys (20) are connected through a steel wire rope (25) in a transmission mode, one end of the steel wire rope (25) is fixedly connected with a balancing weight (1), and the other end of the steel wire rope is fixedly connected with the butt joint assembly.
4. A space docking mechanism gravity unloading experiment platform according to claim 3 wherein: the pulley (20) both ends inlay and are equipped with second bearing (27), second bearing (27) outer lane with pulley (20) rigid coupling, the inner circle with back shaft (19) rigid coupling, back shaft (19) one end with rack pulley base (21) rigid coupling, the second bearing end cover (24) are installed to the other end, second bearing end cover (24) with rack pulley base (21) rigid coupling, second bearing end cover (24) with second bearing (27) looks adaptation.
5. The spatial docking mechanism gravity unloading experiment platform of claim 4, wherein: the bottom of the aluminum profile (9) is fixedly connected with a mounting bottom plate (6), and the top of the mounting bottom plate (6) is fixedly connected with the butt joint assembly.
6. The spatial docking mechanism gravity unloading experiment platform of claim 5, wherein: the butt joint subassembly include with second butt joint board (8) of mounting plate (6) top rigid coupling, second butt joint board (8) top is equipped with first butt joint board (7), first butt joint board (7) top rigid coupling has fixing base (26), fixing base (26) top is located in rack pulley base (21) and with rack pulley base (21) can dismantle and be connected, fixing base (26) top is equipped with the round hole, install the pin in the round hole, the pin with wire rope (25) rigid coupling.
7. A method for using a gravity unloading experiment platform of a space docking mechanism, based on the gravity unloading experiment platform of the space docking mechanism according to any one of claims 1-6, characterized by comprising the following steps:
step 1: assembling an aluminum profile (9), a rack pulley assembly (2), a gear box assembly (3) and a butt joint assembly;
step 2: weighing the first butt joint plate (7), and matching and adjusting the weight of the balancing weight (1);
step 3: controlling the motor (5) to rotate, dropping the rack pulley assembly (2) to an initial butt joint position of the first butt joint plate (7) and the second butt joint plate (8), stopping outputting torque by the motor (5), and maintaining the state by electrifying;
step 4: the first butt joint plate (7) and the second butt joint plate (8) start to butt joint, capture and lock;
step 5: after the butt joint experiment is finished, dismantling the balancing weight (1), and dismantling the first butt joint plate (7) and the second butt joint plate (8);
step 6: and (5) collecting the finishing experiment site, and ending the gravity unloading experiment of the space docking mechanism.
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| CN115112359A (en) * | 2022-06-20 | 2022-09-27 | 南京航空航天大学 | Claw-thorn anchoring device test bed and test method thereof |
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