CN201501531U - Spacecraft ground simulation test device - Google Patents
Spacecraft ground simulation test device Download PDFInfo
- Publication number
- CN201501531U CN201501531U CN2009201003463U CN200920100346U CN201501531U CN 201501531 U CN201501531 U CN 201501531U CN 2009201003463 U CN2009201003463 U CN 2009201003463U CN 200920100346 U CN200920100346 U CN 200920100346U CN 201501531 U CN201501531 U CN 201501531U
- Authority
- CN
- China
- Prior art keywords
- turntable
- lower floor
- axle
- upper trolley
- drive motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a test device, in particular to a spacecraft ground simulation test device. The test device is characterized in that a driving mechanism is arranged above a support platform (1), a spacecraft simulating mechanism is arranged under the support platform (1); one end of a flexible cable (13) is connected with the driving mechanism while the other end is connected with a stimulated spacecraft (21) via a three-shaft rotary table; one end of the flexible cable (13) and an upper-layer trolley (3) on the support platform (1) are fixedly connected to a flexible cable fixing point (2), and the other end of the flexible cable (13) is connected with an inner shaft (15) of the three-shaft rotary table. The test device eliminates a suspended corner formed by rotational motion of the spacecraft, and leads suspension to be constantly close to an angle balance position, thereby reducing suspension torsion stress, and simultaneously a method of the test device is further capable of eliminating suspension deviated from a gravity balance position caused by translational motion of the spacecraft, and enabling suspension to be constantly close to the gravity balance position, thereby reducing restoring force of suspension, and guaranteeing disturbing force from simulated spacecraft to be small as much as possible.
Description
Technical field: the utility model relates to experimental set-up, is specially a kind of ground simulation test device for space vehicle.
Background technology: when the space vehicle ground simulation test, need take measures to make that the space vehicle that simulated is all or part of overcomes gravity, and not introduce other exciting force.Comparatively the Chang Yong measure that overcomes gravity has liquid float glass process, air supporting method and suspension method.Suspension method utilizes the rope of flexibility (flexible, flexible) that the virtual space aircraft is hung exactly, and the virtual space aircraft can be moved in certain scope, and motion comprises rotates and translation.In present suspension method, the two ends of pendant line are directly to be fixed on virtual space aircraft and the brace table respectively.For such hang, because the rotational motion meeting of virtual space aircraft forms corner and makes suspension deviation angle balance position, hang the deviation angle balance position and tersional stress can occur hanging, this hangs tersional stress and acts on the virtual space aircraft, accurate simulation that will the interference simulation space vehicle.Because can making to hang, the motion of translation of virtual space aircraft departs from the gravitational equilibrium position, suspension departs from the gravitational equilibrium position restoring force can occur hanging, this hangs restoring force and acts on the virtual space aircraft, accurate simulation that will the interference simulation space vehicle.
Summary of the invention: the purpose of this utility model be to provide a kind of simple in structure, with low cost, easy to operate, use flexibly, the high ground simulation test device for space vehicle of simulation accuracy rate.The purpose of this utility model is achieved in that and is provided with driver train above brace table, is provided with virtual space aircraft mechanism below brace table.Be connected with the virtual space aircraft through three-axle table by flexible cable one end connection driver train, the other end.One end of flexible cable and the upper trolley on the brace table are fixedly connected on the flexible cable attachment point, and the other end of flexible cable is connected with axle in the turntable.The driver train that brace table is provided with has flexible cable attachment point, upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor's dolly axle drive shaft, lower floor's dolly actuator, lower floor's dolly, lower floor's dolly wheel, lower floor's trolley track, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.Lower floor dolly top is provided with upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor dolly below is provided with lower floor's dolly wheel, lower floor's trolley track, the virtual space aircraft is provided with three-axle table, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.Upper trolley axle drive shaft one end is fixing even with upper trolley, the other end is captiveed joint with the upper trolley actuator, upper trolley track 7 is consistent with the OX direction of rectangular coordinate system O-XYZ, the upper trolley track is located on lower floor's dolly, lower floor's dolly is connected with lower floor dolly actuator through lower floor's dolly axle drive shaft, lower floor's trolley track is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track is laid on the brace table, the upper trolley wheel is connected with upper trolley through axle, the upper trolley wheel is located on the upper trolley track, dynamically connects; Lower floor's dolly wheel is connected with horizontal lower floor's cart stationary through axle, and lower floor's dolly wheel vertically is located on lower floor's trolley track, dynamically connects.The stator of ring drive motor is vertically captiveed joint with the virtual space aircraft through fixed mount in the turntable that encircles in the turntable, encircle in rotor and the turntable of ring drive motor in the turntable and be connected, the ring drive motor drives to encircle in the turntable and rotates along the OY direction of principal axis in the turntable, on the stator that encircles drive motor in the turntable in the turntable of ring is fixed on and encircles in the turntable, the rotor of ring drive motor is connected with the interior ring of turntable in the turntable, and the interior ring of turntable drive motor drives the interior ring of turntable and rotates along the OX direction of principal axis; The stator of the interior axis drive motor of axle is fixed on the interior ring of turntable in the turntable, and the rotor of interior axis drive motor is connected with axle in the turntable, and interior axis drive motor drives the interior axle of turntable and rotates along the OZ direction of principal axis.The utility model has the advantages that: eliminate because the suspension corner that the rotational motion of aircraft forms, make to hang and remain the angle of approach balance position, hang tersional stress thereby lower, this method can also be eliminated because the suspension that the motion of translation of aircraft produces departs from the gravitational equilibrium position simultaneously, make to hang and remain near the gravitational equilibrium position, lower and hang restoring force, the exciting force that assurance simulated aircraft is as far as possible little.
Description of drawings: Fig. 1 is the utility model structural principle scheme drawing; Fig. 2 the utility model flexible cable hangs the structural principle scheme drawing that departs from gravitational equilibrium point; Structural principle scheme drawing between Fig. 3 the utility model pulling force and gravity, the restoring force.When the thing m that is draped departs from gravitational equilibrium point, restoring force Fg will appear, and when being draped thing m when gravitational equilibrium is put, restoring force Fg is zero, flexible cable pulling force TT and gravity mg equal and opposite in direction, direction is opposite, and acting on the last external force of the thing m that is draped is zero.TS-flexible cable, m-have the thing that is draped that quality is m, angle that the a-flexible cable departs from the hanging balancing position, Fg-restoring force, mg-gravity, the TT-pulling force along the flexible cable direction.
The specific embodiment: above brace table 1, be provided with driver train, below brace table 1, be provided with virtual space aircraft mechanism.Be connected with virtual space aircraft 21 through three-axle table by flexible cable 13 1 ends connection driver train, the other end.One end of flexible cable 13 and the upper trolley 3 on the brace table 1 are fixedly connected on flexible cable attachment point 2, and the other end of flexible cable 13 is connected with axle 15 in the turntable.The driver train that brace table 1 is provided with has flexible cable attachment point 2, upper trolley 3, upper trolley axle drive shaft 4, upper trolley wheel 5, upper trolley actuator 6, upper trolley track 7, lower floor's dolly axle drive shaft 8, lower floor's dolly actuator 9, lower floor's dolly 10, lower floor's dolly wheel 11, lower floor's trolley track 12, and three-axle table has in the turntable and encircles 20 in ring drive motor 19, the turntable in ring 16, fixed mount 17, interior axis drive motor 18, the turntable in axle 15, the turntable in ring drive motor 14, the turntable.Lower floor's dolly 10 tops are provided with upper trolley 3, upper trolley axle drive shaft 4, upper trolley wheel 5, upper trolley actuator 6, upper trolley track 7, lower floor's dolly 10 belows are provided with lower floor's dolly wheel 11, lower floor's trolley track 12, virtual space aircraft 21 is provided with three-axle table, and three-axle table has in the turntable and encircles 20 in ring drive motor 19, the turntable in ring 16, fixed mount 17, interior axis drive motor 18, the turntable in axle 15, the turntable in ring drive motor 14, the turntable.Upper trolley axle drive shaft 4 one ends are captiveed joint with upper trolley actuator 6 with upper trolley 3 companies of fixing, the other end, upper trolley track 7 is consistent with the OX direction of rectangular coordinate system O-XYZ, upper trolley track 7 is located on lower floor's dolly 10, lower floor's dolly 10 is connected with lower floor dolly actuator 9 through lower floor's dolly axle drive shaft 8, lower floor's trolley track 12 is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track 12 is laid on the brace table 1, upper trolley wheel 5 is connected with upper trolley 3 through axle, upper trolley wheel 5 is located on the upper trolley track 7, dynamically connects; Lower floor's dolly wheel 11 is captiveed joint with horizontal lower floor's dolly 10 through axle, and lower floor's dolly wheel 11 vertically is located on lower floor's trolley track 12, dynamically connects.The stator that encircles drive motor 19 in the turntable in the turntable of ring 20 is vertically captiveed joint with virtual space aircraft 21 through fixed mount 17, the rotor of ring drive motor 19 is connected with ring 20 in the turntable in the turntable, ring drive motor 19 drives in the turntables ring 20 and rotates along the OY direction of principal axis in the turntable, the stator that encircles drive motor 14 in the turntable in the turntable of ring 16 is fixed on and encircles on 20 in the turntable, the rotor of ring drive motor 14 is connected with ring 16 in the turntable in the turntable, and ring drive motor 14 drives that turntables are interior to be encircled 16 and rotate along the OX direction of principal axis in the turntable; The stator of the interior axis drive motor 18 of axle 15 is fixed in the turntable on the ring 16 in the turntable, and the rotor of interior axis drive motor 18 is connected with axle 15 in the turntable, and interior axis drive motor 18 drives interior 15 of turntable and rotates along the OZ direction of principal axis.Principle of work and working process: when work, when the virtual space aircraft was in balance position, axle 15 directions were consistent with flexible cable 13 directions in the turntable, and turntable inner ring axis direction is consistent with the OX direction, the ring axis direction is consistent with the OY direction in the turntable, and OX is vertical with flexible cable 13 with OY.When the virtual space aircraft was in balance position, flexible cable 13 also was to be in unstress state.At this moment flexible cable 13 acts on pulling force and the gravitational equilibrium on the virtual space aircraft 21, all external force and be zero on the virtual space aircraft 21.
When work, because the rotational motion meeting of virtual space aircraft makes flexible cable 13 deviation angle balance positions, flexible cable 13 will occur reversing at the OZ direction of principal axis, bending appears along the OX direction of principal axis with along the OY direction of principal axis, stress will appear in flexible cable in this case, and this stress produces interference to the virtual space aircraft.At this moment three-axle table work, ring drive motor 19 drives and encircles 20 in the turntable along the rotation of OY direction of principal axis in the turntable, eliminates flexible cable 13 at the axial deviation angle of OY; The interior ring 16 of ring drive motor 14 driving turntables rotates along the OX direction of principal axis in the turntable, eliminates flexible cable 13 at the axial deviation angle of OX; Interior axis drive motor 18 drives the interior axle 15 of turntable and rotates along the OZ direction of principal axis, eliminates flexible cable 13 at the axial deviation angle of OZ.Guarantee that like this flexible cable 13 is all the time at the angle balance position.According to the Hookean elasticity law, the tersional stress in the flexible cable 13 is zero, and the stress of interference simulation space vehicle is zero.Working process, motor rotate and carried out by the controlled reset real-time continuous, so the stress of perfect condition interference simulation space vehicle remains zero always.Because during real work, outer corner measurement, driving rotating shaft have certain deviation, so the tersional stresss in the flexible cable 13 can not be entirely zero, but can be less than the tolerance limit of interference simulation space vehicle.
When work, when the virtual space aircraft was in balance position, axle 15 (at virtual space aircraft center of gravity) and last flexible cable attachment point 2 were on same gravity vertical in the following flexible cable attachment point turntable of flexible cable 13.When the virtual space aircraft was in balance position, flexible cable 13 acted on pulling force TT and the gravity g balance on the virtual space aircraft 21, all external force and be zero on the virtual space aircraft 21.Referring to Fig. 2.When if the virtual space aircraft is not in balance position, flexible cable 13 acts on the pulling force TT and the gravity g overbalance of virtual space aircraft 21, produces a restoring force Fg, all external force and non-vanishing on the virtual space aircraft 21.The purpose that one end of flexible cable 13 is fixed on the upper trolley 3 is to eliminate the position overbalance, makes on the virtual space aircraft 21 all external force and is zero.
When work, because the motion of translation of virtual space aircraft can make the interior axle 15 of the following flexible cable attachment point turntable of flexible cable 13 depart from balance position, at this moment upper trolley 3,10 work of lower floor's dolly, lower floor's dolly actuator 9 drives lower floor's dolly 10 and moves along lower floor's trolley track 12, eliminates the position deviation of OY direction.Upper trolley actuator 6 drives upper trolley 3 and moves along upper trolley track 7, eliminates the position deviation of OX direction.Guarantee that like this flexible cable 13 is all the time at balance position.The restoring force of interference simulation space vehicle simulation is zero.Working process, upper trolley actuator 6 and lower floor's dolly actuator 9 are carried out by the controlled reset real-time continuous, so the restoring force of perfect condition interference simulation space vehicle simulation remains zero always.Because during real work, position measurement, actuation movement have certain deviation, so the restoring force of flexible cable 13 can not be entirely zero, but can be less than the tolerance limit of interference simulation space vehicle.
Claims (7)
1. a ground simulation test device for space vehicle is characterized in that: be provided with driver train above brace table, be provided with virtual space aircraft mechanism below brace table.
2. a kind of ground simulation test device for space vehicle according to claim 1 is characterized in that: be connected with the virtual space aircraft through three-axle table by flexible cable one end connection driver train, the other end.
3. a kind of ground simulation test device for space vehicle according to claim 1 is characterized in that: an end of flexible cable and the upper trolley (3) on the brace table are fixedly connected on the flexible cable attachment point, and the other end of flexible cable is connected with axle in the turntable.
4. a kind of ground simulation test device for space vehicle according to claim 1, it is characterized in that: the driver train that brace table is provided with has flexible cable attachment point, upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor's dolly axle drive shaft, lower floor's dolly actuator, lower floor's dolly, lower floor's dolly wheel, lower floor's trolley track, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.
5. a kind of ground simulation test device for space vehicle according to claim 1, it is characterized in that: lower floor dolly top is provided with upper trolley, upper trolley axle drive shaft, upper trolley wheel, upper trolley actuator, upper trolley track, lower floor dolly below is provided with lower floor's dolly wheel, lower floor's trolley track, the virtual space aircraft is provided with three-axle table, and three-axle table has to encircle in drive motor, the turntable in ring, fixed mount, interior axis drive motor, the turntable in axle, the turntable in ring drive motor, the turntable in the turntable and encircles.
6. a kind of ground simulation test device for space vehicle according to claim 4, it is characterized in that: upper trolley axle drive shaft one end and upper trolley are fixing to be connected, the other end is captiveed joint with the upper trolley actuator, the upper trolley track is consistent with the OX direction of rectangular coordinate system O-XYZ, the upper trolley track is located on lower floor's dolly, lower floor's dolly is connected with lower floor dolly actuator through lower floor's dolly axle drive shaft, lower floor's trolley track is consistent with the OY direction of rectangular coordinate system O-XYZ, lower floor's trolley track is laid on the brace table, the upper trolley wheel is connected with upper trolley through axle, the upper trolley wheel is located on the upper trolley track, dynamically connects; Lower floor's dolly wheel is connected with horizontal lower floor's cart stationary through axle, and lower floor's dolly wheel vertically is located on lower floor's trolley track, dynamically connects.
7. a kind of ground simulation test device for space vehicle according to claim 4, it is characterized in that: the stator of ring drive motor is vertically captiveed joint with the virtual space aircraft through fixed mount in the turntable that encircles in the turntable, encircle in rotor and the turntable of ring drive motor in the turntable and be connected, the ring drive motor drives to encircle in the turntable and rotates along the OY direction of principal axis in the turntable, on the stator that encircles drive motor in the turntable in the turntable of ring is fixed on and encircles in the turntable, the rotor of ring drive motor is connected with the interior ring of turntable in the turntable, and the interior ring of turntable drive motor drives the interior ring of turntable and rotates along the OX direction of principal axis; The stator of the interior axis drive motor of axle is fixed on the interior ring of turntable in the turntable, and the rotor of interior axis drive motor is connected with axle in the turntable, and interior axis drive motor drives the interior axle of turntable and rotates along the OZ direction of principal axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201003463U CN201501531U (en) | 2009-07-13 | 2009-07-13 | Spacecraft ground simulation test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201003463U CN201501531U (en) | 2009-07-13 | 2009-07-13 | Spacecraft ground simulation test device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201501531U true CN201501531U (en) | 2010-06-09 |
Family
ID=42452469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201003463U Expired - Fee Related CN201501531U (en) | 2009-07-13 | 2009-07-13 | Spacecraft ground simulation test device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201501531U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102444689A (en) * | 2010-10-09 | 2012-05-09 | 中国科学院沈阳自动化研究所 | Single-rail suspension gravitational equilibrium device |
| CN102539185A (en) * | 2011-12-27 | 2012-07-04 | 北京卫星环境工程研究所 | Selenographic gravity simulation system for ground traveling tests of exploration rover |
| CN103587732A (en) * | 2013-11-12 | 2014-02-19 | 哈尔滨工程大学 | Shielding-free triaxial direct-drive rotary table |
| CN104085542A (en) * | 2013-11-27 | 2014-10-08 | 北京卫星环境工程研究所 | Transmission system for spacecraft capable of moving rotationally |
| CN111453005A (en) * | 2020-03-31 | 2020-07-28 | 上海卫星工程研究所 | Reconfigurable small celestial body impact detection target characteristic ground simulation system |
-
2009
- 2009-07-13 CN CN2009201003463U patent/CN201501531U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102444689A (en) * | 2010-10-09 | 2012-05-09 | 中国科学院沈阳自动化研究所 | Single-rail suspension gravitational equilibrium device |
| CN102539185A (en) * | 2011-12-27 | 2012-07-04 | 北京卫星环境工程研究所 | Selenographic gravity simulation system for ground traveling tests of exploration rover |
| CN103587732A (en) * | 2013-11-12 | 2014-02-19 | 哈尔滨工程大学 | Shielding-free triaxial direct-drive rotary table |
| CN103587732B (en) * | 2013-11-12 | 2015-11-11 | 哈尔滨工程大学 | A kind of unscreened three axles directly turn platform |
| CN104085542A (en) * | 2013-11-27 | 2014-10-08 | 北京卫星环境工程研究所 | Transmission system for spacecraft capable of moving rotationally |
| CN104085542B (en) * | 2013-11-27 | 2016-08-17 | 北京卫星环境工程研究所 | A kind of rotary motion spacecraft transmission system |
| CN111453005A (en) * | 2020-03-31 | 2020-07-28 | 上海卫星工程研究所 | Reconfigurable small celestial body impact detection target characteristic ground simulation system |
| CN111453005B (en) * | 2020-03-31 | 2021-12-03 | 上海卫星工程研究所 | Reconfigurable small celestial body impact detection target characteristic ground simulation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101596940A (en) | Ground simulation test device for space vehicle | |
| CN201501531U (en) | Spacecraft ground simulation test device | |
| CN104175331B (en) | The micro-low gravitation bucking-out system of Joint Manipulator | |
| CN202807110U (en) | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure | |
| US8983792B2 (en) | Indoor testing device for a plurality of rotor-containing flying objects | |
| US8950286B2 (en) | Robot or haptic interface structure with parallel arms | |
| CN103846649B (en) | A kind of two-stage parallel connection robot device for Fine Boring | |
| CN202542734U (en) | Glass hoisting and installing device | |
| CN101865697B (en) | Minitype two-axle rotating table based on stepping motor | |
| CN109397241A (en) | Crusing robot in a kind of Omni-mobile room | |
| CN105329825A (en) | Eccentric load adjusting mechanism and method for parallel suspended platform | |
| CN106525404A (en) | Tail rotor stand | |
| CN105675285A (en) | Spatial intelligence flexible manipulator tester | |
| CN105599922A (en) | A 1/6g low gravity balance hoisting device | |
| CN102879139A (en) | Device and method for testing wire-wound moment of rotary table | |
| CN111844033A (en) | Teaching mechanical arm system and control method thereof | |
| CN109540452A (en) | A kind of rotating missile arrow Three Degree Of Freedom angular movement simulation test device | |
| CN104192324A (en) | Swing-arm-type rotating synchronous space three-dimensional simulator | |
| CN201828276U (en) | Small two-axis turntable based on stepping motors | |
| CN107144301A (en) | A kind of simulation testing environment of multiple degrees of freedom aggregate motion simulation | |
| CN101995674A (en) | Macroscopic inspection equipment for LCD (Liquid Crystal Display) glass | |
| CN205328558U (en) | Parallelly connected platform unbalance loading guiding mechanism that suspends in midair | |
| CN107160377B (en) | Device and method for testing ground three-dimensional space motion of space manipulator | |
| CN106239534B (en) | There is the planar three freedom parallel connection platform control device and method that bar cylinder drives | |
| CN106005494B (en) | The general payload platform of ground microgravity simulated experiment based on magnetic liquid mix suspending |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100609 Termination date: 20130713 |