CN109724482B - Recoverable rocket landing condition simulation equipment based on rope-driven parallel robot - Google Patents
Recoverable rocket landing condition simulation equipment based on rope-driven parallel robot Download PDFInfo
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- CN109724482B CN109724482B CN201910012093.2A CN201910012093A CN109724482B CN 109724482 B CN109724482 B CN 109724482B CN 201910012093 A CN201910012093 A CN 201910012093A CN 109724482 B CN109724482 B CN 109724482B
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Abstract
A recoverable rocket landing condition simulation device based on a rope-driven parallel robot relates to a recoverable rocket landing condition simulation device. The invention aims to solve the problem that the existing landing support mechanism prototype can not simulate and verify the process of the rocket in actual return because the existing landing support mechanism prototype can not simulate the landing working condition of the recoverable rocket. The attitude control equipment comprises a support frame and a plurality of driving units, wherein the plurality of driving units are arranged on eight vertex angles of the support frame; the measuring device comprises an operation controller and an impact acceleration testing platform, the impact acceleration testing platform is installed in the supporting frame, and the suspension unlocking mechanism is installed on the impact acceleration testing platform; the suspension unlocking mechanism comprises a suspension releasing mechanism and a landing supporting mechanism, the landing supporting mechanism is installed on the impact acceleration test platform, the suspension releasing mechanism is installed on the landing supporting mechanism, and the suspension releasing mechanism is connected with the plurality of driving units through steel wire ropes. The invention is used in the field of aerospace.
Description
Technical Field
The invention relates to recoverable rocket landing condition simulation equipment, in particular to recoverable rocket landing condition simulation equipment based on a rope-driven parallel robot, and belongs to the technical field of aerospace.
Background
At present, rocket launching is mostly disposable, along with the rapid development of the recoverable rocket, the recoverable work prospect is good in the future, the premise that the recovered rocket lands stably is that a highly reliable landing support mechanism is provided for supporting, the design of the highly reliable landing support mechanism is of great significance, the development of a landing support mechanism prototype needs to be verified in experiments under different working conditions so as to meet the technical requirements of the rocket in the actual return process, and the simulation of the rocket prototype on the ground under different working conditions needs to design a control platform with six-degree-of-freedom motion. In conclusion, the existing landing support mechanism prototype can not simulate the landing working condition of the recoverable rocket, so that the process of the rocket in actual return can not be simulated and verified.
Disclosure of Invention
The invention aims to solve the problem that the existing landing support mechanism prototype cannot simulate the landing condition of a recoverable rocket, so that the process of actually returning the rocket cannot be simulated and verified, and further provides recoverable rocket landing condition simulation equipment based on a rope-driven parallel robot.
The technical scheme of the invention is as follows: a recoverable rocket landing condition simulation device based on a rope-driven parallel robot comprises an attitude control device, a suspension unlocking mechanism and a measuring device, wherein the attitude control device comprises a support frame and a plurality of driving units, and the plurality of driving units are arranged on eight vertex angles of the support frame; the measuring device comprises an operation control machine and an impact acceleration testing platform, the impact acceleration testing platform is installed in the supporting frame, the operation control machine is respectively and electrically connected with the driving unit and the suspension unlocking mechanism, and the suspension unlocking mechanism is installed on the impact acceleration testing platform; the suspension unlocking mechanism comprises a suspension releasing mechanism and a landing supporting mechanism, the landing supporting mechanism is installed on the impact acceleration test platform, the suspension releasing mechanism is installed on the landing supporting mechanism, and the suspension releasing mechanism is connected with the plurality of driving units through steel wire ropes.
Compared with the prior art, the invention has the following effects:
1. the invention respectively drives the length of the steel wire rope by different driving motors to complete the control of the landing attitude of the rocket, so that the rocket body has different characteristics of yaw, pitch, roll angle, angular velocity and the like, and can simultaneously meet the control of the horizontal and vertical velocities of the landing support mechanism of the rocket, the unlocking of a preset position is completed by utilizing the suspension release mechanism to complete the simulation of the landing working condition, and the measurement of impact force and impact acceleration is completed by the impact acceleration test platform to verify the simulation verification under different working conditions.
2. The rocket body is driven to move by the plurality of groups of driving units, wherein the plurality of groups of driving units finish the control of the preset track by the unlocking driving motor and the rope winding mechanism, the rope can be accurately controlled to be wound and unwound, the movement of the preset movement track of the rocket body is finished by the coupling action of the plurality of groups of rope winding mechanisms, the release is finished by the motor at the preset height through the suspension release mechanism, the release of the rocket landing support mechanism is realized, and the simulation of different working conditions is finished.
Drawings
FIG. 1 is an assembly diagram of rocket landing condition simulation equipment.
FIG. 2 is a side view of a rocket landing condition simulation device.
Fig. 3 is a schematic view of the suspension unlocking mechanism axis.
Fig. 4 is a schematic bottom view of the suspension unlocking mechanism.
Fig. 5 is a view of rocket upper end suspension.
Fig. 6 is a diagram of a cord driven end effector.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 6, and the recoverable rocket landing condition simulation device based on the rope-driven parallel robot of the embodiment comprises an attitude control device, a suspension unlocking mechanism and a measuring device, wherein the attitude control device comprises a support frame 1 and a plurality of driving units, and the plurality of driving units are arranged on eight vertex angles of the support frame 1; the measuring device comprises an operation controller 7 and an impact acceleration testing platform 10, wherein the impact acceleration testing platform 10 is installed in the supporting frame 1, the operation controller 7 respectively controls the actions of the driving unit and the suspension unlocking mechanism, and the suspension unlocking mechanism is installed on the impact acceleration testing platform 10; the suspension unlocking mechanism comprises a suspension releasing mechanism 8 and a landing supporting mechanism 9, the landing supporting mechanism 9 is installed on the impact acceleration test platform 10, the suspension releasing mechanism 8 is installed on the landing supporting mechanism 9, and the suspension releasing mechanism 8 is connected with the plurality of driving units through a steel wire rope.
This embodiment is received and released through motor drive control rope, and this attitude control is controlled through the same motor of multiunit, can reach the control of preset position, speed, acceleration, suspends equipment in midair through control and accomplishes the release after landing supporting mechanism moves to the preset position to technical indicator under the different operating modes is simulated, accomplishes different operating mode ground simulation, accomplishes characteristic analysis through measuring information such as shock acceleration, accumulates data experience for actual working condition.
In the embodiment, the multi-component cooperation is used for controlling the rocket landing support mechanism to complete pitching, yawing, rolling and other movements and completing the simulation of the landing working condition at a certain initial speed angular speed.
In the embodiment, 8 groups of control units which are the same are utilized, each control unit comprises a driving motor and a rope winding mechanism, the preset length of a rope is controlled through motor motion, and the rocket main body can complete preset motion and meet the simulation of different working conditions by utilizing the simultaneous action of the 8 groups of motors.
This embodiment accomplishes rotary motion through unblock motor control unblock flange, finally realizes the unblock function, and after the rocket release, the locking steel ball can reset under drive spring's effect, and the rocket supporting mechanism top carries out the axial spacing through processing the hexagon, and the accessible is artifical realizes that supporting mechanism hangs the installation and uses once more.
According to the embodiment, the impact acceleration measuring platform is used for measuring the impact acceleration and other information of the landing mechanism in the falling process, data analysis is completed, and reasonable buffering devices are selected to meet technical indexes.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 2, the driving unit of the present embodiment includes a driving motor 2 and a rope winding mechanism, the rope winding mechanism includes a coupler 3, a rope winding rotating rod 4, a bearing seat 5 and a steel wire rope 6, the bearing seat 5 is installed on the support frame 1, the rope winding rotating rod 4 is installed on the bearing seat 5 in a penetrating manner, the driving motor 2 is installed on the support frame 1, the driving motor 2 is connected with the rope winding rotating rod 4 through the coupler 3, one end of the steel wire rope 6 is connected with one end of the rope winding rotating rod 4, and the other end of the steel wire rope 6 is connected with a suspension release mechanism 8. By the arrangement, the rope can be accurately controlled to be retracted and retracted, the rocket body can finish the movement of the preset movement track under the coupling action of the plurality of groups of rope winding mechanisms, and other components and connection relations are the same as those of the specific embodiment.
The third concrete implementation mode: referring to fig. 3 and 4, the suspension release mechanism 8 of the present embodiment includes a control box 8-2, an unlocking flange 8-3, an unlocking assembly and a plurality of lifting lugs 8-1, wherein the plurality of lifting lugs 8-1 are mounted on an outer side wall of the control box 8-2, the unlocking flange 8-3 is mounted on a lower end surface of the control box 8-2, and the unlocking assembly is mounted at a lower end of the unlocking flange 8-3. By the arrangement, the rocket landing support mechanism is released, and simulation of different working conditions is completed. Other components and connection relationships are the same as those in the first or second embodiment.
The fourth concrete implementation mode: referring to fig. 6, the control box 8-2 of the present embodiment is a square control box, a plurality of lifting lugs 8-1 are respectively installed at eight vertices of the square control box, and the other end of the wire rope 6 is connected to one lifting lug 8-1 of the suspension release mechanism 8. So set up, be convenient for with be located the wire rope 6 connection on eight apex angles of support frame 1. Other components and connection relationships are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 6, in which the lower end surface of the square control box of the present embodiment is a hexagonal case 8-2-1. So set up, be convenient for cooperate with the rocket upper end. Other components and connections are the same as those of the first, second, third or fourth embodiments.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 3 and 4, and the unlocking flange 8-3 and the lower end surface of the control box 8-2 of the present embodiment are connected by a revolute pair. So set up, simple structure is convenient for realize the locking and the release to the rocket in a flexible way. Other components and connection relationships are the same as those in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the embodiment is described with reference to fig. 4, the unlocking assembly of the embodiment comprises an unlocking motor 8-4, an unlocking driving gear 8-5, an unlocking driven gear 8-6, a locking steel ball driving spring 8-8 and two groups of locking steel balls 8-7, the unlocking motor 8-4 is installed on a landing support mechanism 9, the unlocking driving gear 8-5 is connected with the output end of the unlocking motor 8-4, the unlocking driven gear 8-6 is installed on an unlocking flange 8-3, the unlocking driving gear 8-5 is meshed with the unlocking driven gear 8-6, the two groups of locking steel balls 8-7 are installed in an unlocking groove of the unlocking flange 8-3, and the locking steel ball driving spring 8-8 is installed between the two groups of locking steel balls 8-7 in the unlocking flange 8-3. So set up, be convenient for realize the unblock action. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth or sixth embodiment.
The working principle of the unlocking assembly is as follows: the unlocking motor 8-4 rotates clockwise to drive the unlocking driving gear 8-5 to rotate, the unlocking driving gear 8-5 drives the unlocking driven gear 8-6 to rotate, the unlocking flange 8-3 is driven by the unlocking driven gear 8-6 to rotate, and the two groups of locking steel balls 8-7 are rotated into the unlocking groove to realize locking; the unlocking motor 8-4 rotates anticlockwise, and is driven by the force of the locking steel ball driving spring 8-8 to be screwed out of the unlocking groove, so that unlocking is realized.
The specific implementation mode is eight: the present embodiment will be described with reference to fig. 3 and 4, and the unlocking flange 8-3 of the present embodiment is provided with an unlocking groove. The arrangement is convenient for clamping the locking steel balls 8-7 and realizing locking action. Other components and connection relations are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiment.
The specific implementation method nine: referring to fig. 5, the landing support mechanism 9 of the present embodiment is provided with an inner hexagonal hole 9-1 at the upper portion. So set up, be convenient for with the lower terminal surface cooperation of square control box. Other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
Since the structure of the landing support mechanism 9 is the same as the structure and principle of the existing repeatable parallelogram landing support mechanism, the detailed description is omitted here. The structure and principle of the test platform 10 with respect to the impact acceleration is the same as the conventional structure. Other details not explicitly described are conventional.
The working principle of the application is as follows:
the invention relates to recoverable rocket landing condition simulation equipment based on a rope-driven parallel robot, which comprises attitude control equipment, a suspension unlocking mechanism and a measuring device. Wherein the driving motor 2 is connected with the shaft coupling 3 and transmits torque to the rope winding rotating rod 4 to complete the movement of a preset angle, the rope winding rotating rod 4 is rotatably connected with the bearing seat 5 through a bearing, the bearing seat 5 is connected with the support frame 1 through a screw, the driving unit comprises 8 groups of same mechanisms and is arranged at eight vertex angles of the support frame, the rope winding rotating rod 4 is connected with the suspension release mechanism 8 through a steel wire rope, the suspension release mechanism 8 comprises a plurality of groups of components, wherein the square control box 8-2 is connected with the steel wire rope 6 through a lifting lug 8-1, the lower end of the square control box 8-2 is circumferentially limited with the rocket landing support mechanism 9 through processing a hexagon, the square control box 8-2 is connected with the unlocking flange 8-3 through a revolute pair, and the unlocking flange 8-3 is connected with the rocket landing support mechanism 9 through rotation, the unlocking driven gear 8-6 is fixed with an unlocking flange 8-3 through a screw, the unlocking motor 8-4 is fixed with a rocket landing support mechanism 9 through a screw, the unlocking driving gear 8-5 is connected with the unlocking motor 8-4 through a key, two groups of locking steel balls 8-7 are reset through a locking steel ball driving spring 8-8, the two groups of locking steel balls 8-7 are installed at the tail end of the square control box 8-2, the unlocking driving gear 8-5 is controlled to rotate through the unlocking driving motor 8-4, the unlocking driven gear 8-6 is driven to rotate, the unlocking flange 8-3 is driven to rotate to realize an unlocking function, an unlocking groove is machined in the unlocking flange 8-3, and locking is realized by the locking steel balls 8-7. After the unlocking is completed, secondary assembly can be manually carried out to realize reuse.
Claims (9)
1. The utility model provides a recoverable rocket landing operating mode simulation equipment based on rope drives parallel robot which characterized in that: the device comprises attitude control equipment, a suspension unlocking mechanism and a measuring device, wherein the attitude control equipment comprises a support frame (1) and a plurality of driving units, and the plurality of driving units are arranged on eight vertex angles of the support frame (1); the measuring device comprises an operation controller (7) and an impact acceleration testing platform (10), wherein the impact acceleration testing platform (10) is installed in the supporting frame (1), the operation controller (7) respectively controls the actions of the driving unit and the suspension unlocking mechanism, and the suspension unlocking mechanism is installed on the impact acceleration testing platform (10); the suspension unlocking mechanism comprises a suspension releasing mechanism (8) and a landing supporting mechanism (9), the landing supporting mechanism (9) is installed on the impact acceleration testing platform (10), the suspension releasing mechanism (8) is installed on the landing supporting mechanism (9), and the suspension releasing mechanism (8) is connected with the plurality of driving units through steel wire ropes.
2. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the drive unit comprises a drive motor (2) and a rope winding mechanism, the rope winding mechanism comprises a coupler (3), a rope winding rotating rod (4), a bearing seat (5) and a steel wire rope (6), the bearing seat (5) is installed on a support frame (1), the rope winding rotating rod (4) penetrates through the bearing seat (5), the drive motor (2) is installed on the support frame (1), the drive motor (2) is connected with the rope winding rotating rod (4) through the coupler (3), one end of the steel wire rope (6) is connected with one end of the rope winding rotating rod (4), and the other end of the steel wire rope (6) is connected with a suspension release mechanism (8).
3. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the suspension release mechanism (8) comprises a control box (8-2), an unlocking flange (8-3), an unlocking assembly and a plurality of lifting lugs (8-1), wherein the plurality of lifting lugs (8-1) are installed on the outer side wall of the control box (8-2), the unlocking flange (8-3) is installed on the lower end face of the control box (8-2), and the unlocking assembly is installed at the lower end of the unlocking flange (8-3).
4. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the control box (8-2) is a square control box, a plurality of lifting lugs (8-1) are respectively arranged on eight vertexes of the square control box, and the other end of the steel wire rope (6) is connected with one lifting lug (8-1) of the suspension release mechanism (8).
5. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the lower end surface of the square control box is a hexagonal shell (8-2-1).
6. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the unlocking flange (8-3) is connected with the lower end face of the control box (8-2) through a revolute pair.
7. The recoverable rocket landing condition simulation device based on the rope-driven parallel robot as claimed in claim 3 or 6, wherein: the unlocking component comprises an unlocking motor (8-4), an unlocking driving gear (8-5), an unlocking driven gear (8-6), a locking steel ball driving spring (8-8) and two groups of locking steel balls (8-7), an unlocking motor (8-4) is installed on a landing supporting mechanism (9), an unlocking driving gear (8-5) is connected with the output end of the unlocking motor (8-4), an unlocking driven gear (8-6) is installed on an unlocking flange (8-3), the unlocking driving gear (8-5) is meshed with the unlocking driven gear (8-6), two groups of locking steel balls (8-7) are installed in an unlocking groove of the unlocking flange (8-3), and a locking steel ball driving spring (8-8) is installed between the two groups of locking steel balls (8-7) in the unlocking flange (8-3).
8. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot as claimed in claim 7, wherein: arc-shaped unlocking grooves are symmetrically arranged on the unlocking flange (8-3).
9. The recoverable rocket landing condition simulation equipment based on the rope-driven parallel robot is characterized in that: the upper part of the landing support mechanism (9) is provided with an inner hexagonal hole (9-1).
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| CN201910012093.2A CN109724482B (en) | 2019-01-07 | 2019-01-07 | Recoverable rocket landing condition simulation equipment based on rope-driven parallel robot |
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| CN110605703B (en) * | 2019-09-23 | 2022-07-01 | 燕山大学 | Parallel rope traction mechanism with deformable tail end of six degrees of freedom |
| CN111392074B (en) * | 2020-02-28 | 2022-01-14 | 深圳市乾行达科技有限公司 | Landing buffer device test system |
| CN114152453B (en) * | 2020-09-08 | 2023-10-27 | 北京机械设备研究所 | Ground shrinkage ratio test device for cable control mechanism of floating platform |
| CN112091946B (en) * | 2020-09-16 | 2022-03-25 | 哈尔滨工业大学 | Overhead multi-degree-of-freedom rope-driven parallel robot |
| CN113305809B (en) * | 2021-05-27 | 2022-04-05 | 哈尔滨工业大学 | Force sense simulation control method of fully-constrained space rope driving parallel mechanism |
| CN114353604B (en) * | 2021-12-15 | 2022-10-28 | 北京航空航天大学 | Experimental platform for simulating vector thrust redundancy configuration of recoverable rocket |
| CN114933031A (en) * | 2022-06-17 | 2022-08-23 | 北京航空航天大学 | Multi-degree-of-freedom platform |
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