CN216734831U

CN216734831U - Active following type zero-gravity unloading system for circular solar wing

Info

Publication number: CN216734831U
Application number: CN202220550848.1U
Authority: CN
Inventors: 梁宏菲; 王利桐; 刘少锋; 李鹏; 张也; 关志伟
Original assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Current assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2022-06-14
Anticipated expiration: 2032-03-10

Abstract

The utility model provides an active following type round solar wing zero-gravity unloading system, wherein a linear motion assembly is fixedly installed at the upper end of a truss, the periphery of the upper end of a rocker shaft is rotatably sleeved to the middle part of a following turntable, a plurality of rocker rails are rotatably sleeved on the periphery of the rocker shaft and are arranged along the axial direction of the rocker shaft, one end of each rocker shaft is fixedly connected to an unfolding frame of a solar wing through a suspension lifting rope, a detection assembly is arranged on the linear motion assembly and is used for detecting the unfolding state of the solar wing. The active following type round solar wing zero-gravity unloading system solves the gravity unloading problem of the round flexible solar wing full-flow ground zero-gravity unfolding test through the matching of the rocker shaft and the rocker rail, can be suitable for round flexible solar wing full-flow ground unfolding tests of various sizes and models, can repeat experimental verification for many times, greatly expands the range of a micro-low gravity simulation test, and reduces the test cost and difficulty.

Description

Active following type zero-gravity unloading system for circular solar wing

Technical Field

The utility model belongs to the field of aerospace experimental equipment, and particularly relates to an active following type zero-gravity unloading system for a circular solar wing.

Background

With the continuous development of aerospace technology in China, the requirements of spacecrafts represented by deep space exploration on solar wings carried by the spacecrafts are higher and higher, and the circular flexible solar wings are preferred to be applied due to higher power-to-mass ratio and power-to-volume ratio while enough unfolding rigidity is ensured. However, due to the fact that the structure is relatively complex, the unfolding precision is high, the unfolding motion track is special, a series of zero-gravity unfolding tests need to be carried out on the ground, and normal operation of the device in an on-orbit state can be guaranteed.

The circular flexible solar wing comprises an unfolding frame and a circular wing body, the circular unfolding wing body is of a flexible structure, when the circular flexible solar wing is unfolded in the first stage, the solar wing body is in a completely folded and compressed state, when the circular flexible solar wing is unfolded, the solar wing body is still in the compressed state, the unfolding frame and a related hinge are unlocked, the wing body is pushed away from the spacecraft by the unfolding frame, the unfolding frame is unfolded by 90 degrees, the solar wing in the compressed state is unfolded by 180 degrees and then is perpendicular to the spacecraft, locking is carried out again, and then, when the circular wing body is unfolded in the second stage, 360-degree circumferential unfolding locking is carried out by the circular wing body. In the full-stroke unfolding process, the continuous unfolding process of the first stage and the second stage is difficult to carry out experimental verification work. A single rocker arm system can only verify the hinge involved in the unfolding process of the solar wing body, and the requirement of the full-flow ground zero-gravity unfolding test verification work of the circular solar wing cannot be met.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims to provide an active following type zero-gravity unloading system for a circular solar wing, so as to solve the problem that the prior art cannot meet the requirement of the full-process ground zero-gravity unfolding test verification work of the circular solar wing.

In order to achieve the purpose, the technical scheme of the utility model is realized as follows:

the utility model provides a circular sun wing zero gravity uninstallation system of initiative trailing type, including the truss, the linear motion subassembly, the follow-up carousel, determine module and rocking arm axle, truss upper end fixed mounting linear motion subassembly, and the linear motion subassembly can drive the linear displacement of follow-up carousel, the upper end periphery of rocking arm axle rotates and cup joints to the middle part of follow-up carousel, the peripheral rotation of rocking arm axle cup joints a plurality of rocking arm rails, and a plurality of rocking arm rails set up along the axial of rocking arm axle, the one end of every rocking arm axle is through hanging lifting rope fixed connection to the expansion frame of sun wing, and set up determine module on the linear motion subassembly, determine module is used for detecting the expansion state of sun wing.

Further, the detection component is a CCD camera.

Further, the linear motion subassembly includes Y to linear module and its X of fixed mounting to linear module, Y is to two guide rails that the linear module includes the truss upper end setting, and two guide rails parallel arrangement each other, the lower extreme of bracket is sliding connection to the periphery of every guide rail respectively, rack of the equal fixed mounting in one side of every guide rail, the bracket upper end sets up X to linear module, bracket lower extreme fixed mounting first motor, the both ends of power shaft set up a drive gear respectively, and the upper end of a rack is engaged with to every drive gear periphery, the lower extreme to the bracket is cup jointed in the peripheral rotation of power shaft, and first motor is power supply of power shaft pivoted.

Further, X includes lead screw, slip table and second motor to linear module, and the peripheral both sides wall that cup joints to the bracket is rotated to the periphery of lead screw, and the peripheral fixed mounting of second motor to the one end of bracket, and the lower extreme threaded connection of slip table is to the periphery of lead screw, and the both sides of slip table are sliding connection to the upside of bracket respectively, and follow-up turntable's upper end fixed connection to lower extreme, the one end fixed connection of lead screw to the transmission shaft of second motor.

Furthermore, the rocker arm rail comprises a slide rail, a shaft sleeve and a balancing weight, the inner ring of the shaft sleeve is rotatably sleeved on the periphery of the rocker arm shaft, the slide rail and the balancing weight are respectively arranged on the periphery of the shaft sleeve, the slide rail and the balancing weight are symmetrically arranged, one end of the slide rail is fixedly connected to the periphery of the shaft sleeve, and the other end of the slide rail is fixedly connected to the expansion frame of the solar wing through a hanging lifting rope.

Furthermore, the hanging lifting rope comprises a spring, a stay wire and a pressure sensor, one end of the pressure sensor is fixedly connected to one end of the sliding rail through the spring, and the other end of the pressure sensor is fixedly connected to the unfolding frame of the solar wing through the stay wire.

Compared with the prior art, the active following type circular solar wing zero-gravity unloading system has the following beneficial effects: the gravity unloading problem of the circular flexible solar wing full-flow ground zero-gravity unfolding test is solved through the matching of the rocker arm shaft and the rocker arm rail, the circular flexible solar wing full-flow ground unfolding test can be suitable for circular flexible solar wing full-flow ground unfolding tests of various sizes and models, experimental verification can be repeatedly carried out for many times, the range of a micro-low gravity simulation test is greatly expanded, and the test cost and the difficulty are reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 is a schematic structural diagram of an active following type circular solar wing zero-gravity unloading system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a linear motion assembly according to an embodiment of the present invention;

FIG. 3 is a front view of a linear motion assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an assembly of a rocker arm rail, a rocker arm shaft and a follower turntable according to an embodiment of the present invention.

Description of reference numerals:

1-rocker arm rail; 11-a slide rail; 12-a counterweight block; 2-rocker shaft; 3-a detection component; a 4-Y direction linear module; 41-a guide rail; 42-a rack; 43-a first motor; 44-a power shaft; 45-a bracket; a 5-X direction linear module; 51-a lead screw; 52-a slide table; 53-a second electric machine; 6-follow-up turntable.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-4, the active following type circular solar wing zero gravity unloading system comprises a truss, a linear motion assembly, a following turntable 6, a detection assembly 3 and a rocker shaft 2, wherein the truss is made of a steel structure and provides enough bearing rigidity for the whole system, so that the linear modules in two directions are prevented from deforming, the linear motion assembly is fixedly installed at the upper end of the truss and is a cross linear module and provides following power for the rocker shaft 2, so that the active driving following zero gravity unloading system of the whole rocker system is realized, the linear motion assembly can drive the following turntable 6 to linearly displace, the periphery of the upper end of the rocker shaft 2 is rotatably sleeved to the middle part of the following turntable 6, the periphery of the rocker shaft 2 is rotatably sleeved with a plurality of rocker rails 1, the rocker rails 1 are arranged along the axial direction of the rocker shaft 2, one end of each rocker shaft 2 is fixedly connected to an expansion frame of the solar wing through a suspension lifting rope, and the linear motion assembly is provided with a detection assembly 3, the detection assembly 3 is a CCD camera, the CCD camera is responsible for identifying tracks of a plurality of punctuations on the solar wing central mechanism and the solar wing body in the unfolding test process, the solar wing position is tracked in real time by combining the control system with the two-direction linear module, the follow-up turntable 6 is positioned below the linear motion assembly, the rocker shaft 2 not only needs to change the position along with the main shaft in the unfolding process, but also needs to change the angle along with the rotation, and the angle follow-up turntable 6 realizes the function.

The linear motion assembly comprises a Y-direction linear module 4 and an X-direction linear module 5 fixedly mounted on the Y-direction linear module, the Y-direction linear module 4 is divided into a left group and a right group, the left end and the right end of the Y-direction linear module are driven synchronously, Y-direction motion following is provided for the rocker shaft 2 together, the Y-direction linear module 4 comprises two guide rails 41 arranged at the upper end of a truss, the two guide rails 41 are arranged in parallel, the lower end of a bracket 45 is connected to the periphery of each guide rail 41 in a sliding mode, a rack 42 is fixedly mounted on one side of each guide rail 41, the X-direction linear module 5 is arranged at the upper end of the bracket 45, a first motor 43 is fixedly mounted at the lower end of the bracket 45, two transmission gears are arranged at two ends of a power shaft 44 respectively, each transmission gear is meshed to the upper end of one rack 42 in a peripheral mode, the peripheral rotation power of the power shaft 44 is sleeved to the lower end of the bracket 45, and the first motor 43 is a power source for rotating the power shaft 44.

X is divided into about to linear module 5 and controls two sets ofly, control both ends synchronous drive, it follows to the motion to provide X for air supporting rocking arm subassembly jointly, X includes lead screw 51 to linear module 5, slip table 52 and second motor 53, lead screw 51's periphery is rotated and is cup jointed to the both sides wall of bracket 45, and second motor 53's peripheral fixed mounting to bracket 45's one end, the lower extreme threaded connection of slip table 52 is to lead screw 51's periphery, slip table 52's both sides sliding connection respectively to bracket 45's upside, and the upper end fixed connection to the lower extreme of follow-up carousel 6, lead screw 51's one end fixed connection to second motor 53's transmission shaft.

The rocker arm rail 1 comprises a slide rail 11, a shaft sleeve and a balancing weight 12, an inner ring of the shaft sleeve is rotatably sleeved on the periphery of the rocker arm shaft 2, the slide rail 11 and the balancing weight 12 are respectively arranged on the periphery of the shaft sleeve, the slide rail 11 and the balancing weight 12 are symmetrically arranged, one end of the slide rail 11 is fixedly connected to the periphery of the shaft sleeve, the other end of the slide rail 11 is fixedly connected to an unfolding frame of the solar wing through a hanging lifting rope, the slide rail 11 is used for adapting to small amplitude change of radial position of a lifting point (namely a mass center) of the solar wing in a two-stage unfolding process due to following, self-structure limitation and the like, the implementation mode is an air floating mechanical slide rail 11 or a mechanical pulley, the matching of the rocker arm rail 1 and the rocker arm shaft 2 is used as a mechanical foundation for unfolding the solar wing body, polar coordinate type mass center position following is carried out on the 360-degree unfolding process of the solar wing body by means of a central slewing bearing, and zero gravity unloading is provided for the solar wing unfolding frame, the rotation center of the solar wing unfolding frame and the unfolding rotation center of the solar wing unfolding frame ensure coaxial work.

The hanging lifting rope comprises a spring, a pull wire and a pressure sensor, one end of the pressure sensor is fixedly connected to one end of the sliding rail 11 through the spring, the other end of the pressure sensor is fixedly connected to the unfolding frame of the solar wing through the pull wire, the hanging lifting rope is used for connecting hanging points of all units of the solar wing, a constant force spring, a rope length adjusting mechanism, a tension sensor and the like are attached to the hanging lifting rope, and a Kevlar rope or a steel wire rope can be selected as the realization mode of the pull wire.

The working process of the active following type round solar wing zero-gravity unloading system comprises the following steps:

the control mode of the utility model is realized by a controller, the controller is a PLC in the prior art, wherein a motor of a linear motion assembly and a pressure sensor on a suspension lifting rope of a detection assembly 3 are connected to the PLC in a signal mode, information of the central position of the solar wing is fed back by a CCD camera and is transmitted to the PLC in a signal mode, the PLC controls X, Y linear module displacement in two directions according to the solar wing position information, the central position of the solar wing is tracked by the center of a rocker arm shaft 2 in real time, in addition, the rocker arm shaft 2 and the tail end of a slide rail 11 form complete passive polar coordinate type range coverage, when the tracking precision of the linear module is not accurate, the rocker arm shaft 2 and the tail end slide rail 11 are used for position compensation, and therefore the zero-gravity unloading of the solar wing is always in a good state in the test process.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. Zero gravity uninstallation system of circular solar wing of initiative trailing type, its characterized in that: the device comprises a truss, the linear motion subassembly, follow-up carousel (6), determine module (3) and rocking arm axle (2), truss upper end fixed mounting linear motion subassembly, and the linear motion subassembly can drive follow-up carousel (6) linear displacement, the upper end periphery of rocking arm axle (2) rotates the middle part of cup jointing to follow-up carousel (6), rocking arm axle (2) periphery rotates cup joints a plurality of rocking arm rails (1), and axial setting along rocking arm axle (2) of a plurality of rocking arm rails (1), the one end of every rocking arm axle (2) is through hanging on lifting rope fixed connection to the expansion frame of solar wing, and set up determine module (3) on the linear motion subassembly, determine module (3) are used for detecting the expansion state of solar wing.

2. The active follow-on circular solar wing zero-gravity unloading system of claim 1, wherein: the detection component (3) is a CCD camera.

3. The active following circular solar wing zero-gravity unloading system of claim 1, wherein: the linear motion subassembly includes Y to linear module (4) and last fixed mounting's X to linear module (5), Y is to two guide rails (41) that linear module (4) set up including the truss upper end, and two guide rails (41) parallel arrangement each other, the lower extreme of bracket (45) sliding connection respectively to the periphery of every guide rail (41), rack (42) of equal fixed mounting in one side of every guide rail (41), bracket (45) upper end sets up X to linear module (5), bracket (45) lower extreme fixed mounting first motor (43), the both ends of power shaft (44) set up a drive gear respectively, and the peripheral meshing of every drive gear is to the upper end of a rack (42), the peripheral rotation of power shaft (44) cup joints the lower extreme to bracket (45), and first motor (43) are power supply of power shaft (44) pivoted.

4. The active follow-on circular solar wing zero-gravity unloading system of claim 3, wherein: x is including lead screw (51) to linear module (5), slip table (52) and second motor (53), the periphery of lead screw (51) is rotated and is cup jointed to the both sides wall of bracket (45), and the peripheral fixed mounting of second motor (53) to the one end of bracket (45), the lower extreme threaded connection of slip table (52) is to the periphery of lead screw (51), the both sides of slip table (52) sliding connection respectively to the upside of bracket (45), and the upper end fixed connection to lower extreme of follow-up carousel (6), the one end fixed connection of lead screw (51) is to the transmission shaft of second motor (53).

5. The active follow-on circular solar wing zero-gravity unloading system of claim 1, wherein: the rocker arm rail (1) comprises a sliding rail (11), a shaft sleeve and a balancing weight (12), an inner ring of the shaft sleeve is rotatably sleeved on the periphery of the rocker arm shaft (2), the sliding rail (11) and the balancing weight (12) are respectively arranged on the periphery of the shaft sleeve, the sliding rail (11) and the balancing weight (12) are symmetrically arranged, one end of the sliding rail (11) is fixedly connected to the periphery of the shaft sleeve, and the other end of the sliding rail (11) is fixedly connected to an expansion frame of the solar wing through a hanging lifting rope.

6. The active follow-on circular solar wing zero-gravity unloading system of claim 5, wherein: the suspension lifting rope comprises a spring, a stay wire and a pressure sensor, one end of the pressure sensor is fixedly connected to one end of the sliding rail (11) through the spring, and the other end of the pressure sensor is fixedly connected to the unfolding frame of the solar wing through the stay wire.