CN115072010A - Space satellite-borne deployable turntable mechanism and method for testing delay time thereof - Google Patents
Space satellite-borne deployable turntable mechanism and method for testing delay time thereof Download PDFInfo
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Abstract
The invention relates to a turntable mechanism for a space satellite-borne optical imaging load, in particular to a space satellite-borne extensible turntable mechanism and a method for testing the delay time of the space satellite-borne extensible turntable mechanism, which are used for solving the defects that the existing space satellite-borne turntable mechanism is small in load or cannot effectively reduce the mechanical vibration and impact quantity of the optical imaging load. The space satellite-borne extensible turntable mechanism comprises a first rotating arm, a second rotating arm, an extensible driving mechanism and a mechanical locking mechanism, wherein an azimuth shaft and a pitching shaft which are used for supporting an optical imaging load are respectively arranged on the first rotating arm and the second rotating arm, the supporting mechanism is in a folded state before being launched into the orbit, and is converted into an extended state after being launched into the orbit, so that the mechanical vibration and the impact quantity of the optical imaging load are effectively reduced, and the load ratio and the launching reliability are further improved. Meanwhile, the invention discloses a method for testing the delay time of the space satellite-borne extensible turntable mechanism.
Description
Technical Field
The invention relates to a turntable mechanism for a space satellite-borne optical imaging load, in particular to a space satellite-borne extensible turntable mechanism and a method for testing the delay time of the space satellite-borne extensible turntable mechanism.
Background
In recent years, space satellite-borne photoelectric imaging and measuring technologies are rapidly developed, wherein a turntable mechanism is used as an important part for driving and supporting a space optical imaging load, and the stability of the mechanism has a very important influence on imaging and measuring accuracy.
Due to the turntable mechanism, the optical imaging load has a certain height difference relative to the installation surface, so that the vibration and the impact of the star bodies are amplified by 10-20 times when being transmitted to the optical imaging load by the turntable mechanism. Most of the existing turntable mechanisms adopt a U-shaped structure or an L-shaped structure formed by an azimuth shaft and a pitch shaft, the mechanical property of the U-shaped structure is stable, but the U-shaped structure has large weight and small load, and the L-shaped structure has light weight and large load ratio, but the rigidity and the strength are poor, so that the mechanical vibration and the impact quantity suffered by the optical imaging load can not be effectively reduced.
Disclosure of Invention
The invention aims to solve the defects that the existing space satellite-borne turntable mechanism is small in load or cannot effectively reduce the mechanical vibration and impact quantity suffered by optical imaging load, and provides a space satellite-borne extensible turntable mechanism and a method for testing the delay time of the space satellite-borne extensible turntable mechanism.
In order to solve the defects of the prior art, the invention provides the following technical solutions:
a space satellite-borne deployable turntable mechanism is characterized in that: the device comprises a base and a supporting mechanism arranged on the base, wherein the supporting mechanism comprises a first rotating arm, a second rotating arm, an unfolding driving mechanism and a mechanical locking mechanism;
the first rotating arm is arranged on the base, a rotating shaft of the first rotating arm is vertical to the surface of the base, the first rotating arm can rotate +/-170 degrees around the rotating shaft relative to a preset original position, and an azimuth axis of the optical imaging load to be supported is superposed with the rotating shaft of the first rotating arm;
one end of the second rotating arm is hinged to the end part of the first rotating arm through the unfolding driving mechanism, the other end of the second rotating arm is connected with the optical imaging load to be supported, and a pitching shaft for supporting the optical imaging load is arranged; the unfolding driving mechanism comprises a mounting shaft and a motor arranged at one end of the mounting shaft, a rotating shaft of the second rotating arm is overlapped with the axis of the mounting shaft, and the second rotating arm can rotate for 90 degrees around the rotating shaft; the pitching shaft is vertical to the second rotating arm and the rotating shaft of the second rotating arm;
the mechanical locking mechanism comprises a position detection assembly, a first locking assembly and a second locking assembly; the position detection assembly is used for detecting an included angle between the second rotating arm and the first rotating arm and outputting an in-place signal to the second locking assembly; the second locking assembly is used for fixing the position of the second rotating arm according to the in-place signal; the first locking assembly is used for temporarily fixing the position of the second rotating arm before the second locking assembly finishes fixing;
the supporting mechanism is provided with a folded state and an unfolded state; the supporting mechanism is in a folded state, an included angle between the second rotating arm and the first rotating arm is 0 degrees, the optical imaging load to be supported is positioned below the second rotating arm, and the optical imaging load to be supported is connected with the base; or, the supporting mechanism is in an unfolding state, an included angle between the second rotating arm and the first rotating arm is 90 degrees, the optical imaging load is to be supported and separated from the base, and the second locking assembly fixes the position of the second rotating arm.
Further, second locking subassembly is including setting up at first swinging boom tip and being close to the second locking fixed part that expandes actuating mechanism to and set up the second locking removal portion on the second swinging boom, the contained angle between second locking fixed part and the first swinging boom top surface is 90, second locking removal portion one end is articulated with the second swinging boom, and the other end can be rotatory around articulated department, and with second locking fixed part joint when supporting mechanism is in the state of expanding when the contained angle between second swinging boom and the first swinging boom is 90.
Furthermore, the position detection assembly comprises a Hall switch arranged on one surface of the second locking fixing part close to the second rotating arm and Hall magnetic steel arranged on the second rotating arm and corresponding to the Hall switch; the Hall switch outputs an in-place signal when the second rotating arm rotates to form an included angle of 90 degrees with the first rotating arm; the first locking assembly comprises a first electromagnet arranged on one surface, close to the second rotating arm, of the second locking fixing part and a second electromagnet arranged on the second rotating arm and corresponding to the first electromagnet, and the position of the second rotating arm can be temporarily fixed by utilizing the suction force of the two electromagnets.
Furthermore, a first connecting piece is arranged at the rotating end of the second locking moving part, a second connecting piece capable of being connected with the first connecting piece in a clamped mode is arranged on the second rotating arm, and when the second locking moving part receives the in-place signal, the first connecting piece is separated from the second connecting piece.
Furthermore, a U-shaped hinge part is arranged at the end part of the first rotating arm, and first through holes are formed in two ends of the U-shaped hinge part; the end part of the first rotating arm is provided with a protruding part matched with the opening of the U-shaped hinged part, and a second through hole is formed in the protruding part; the other end of the mounting shaft is provided with a torsion spring, the mounting shaft comprises a first transfer shaft and a second transfer shaft, the first transfer shaft is connected with the motor through a coupler, the second transfer shaft is connected with the torsion spring, the first transfer shaft penetrates through a first through hole at one end of the U-shaped hinge part, the second transfer shaft penetrates through a first through hole at the other end of the U-shaped hinge part, and the first transfer shaft and the second transfer shaft are in butt joint in a second through hole of the protruding part; angular contact bearings are arranged among the first transfer shaft, the second transfer shaft and first through holes at two ends of the U-shaped hinged part, an inner pressing plate is arranged on the inner ring of each angular contact bearing, and an outer pressing plate is arranged on the outer ring of each angular contact bearing; the motor and the torsion spring are both used for providing driving force for the movement of the second rotating arm, and the existence of the torsion spring can reduce the output torque of the motor.
Further, a fixing piece is arranged on the base and used for penetrating through a fixing hole in the optical imaging load to be supported to fix the optical imaging load to be supported on the base when the optical imaging load is folded, so that the mechanical vibration and impact quantity suffered by the optical imaging load before being transmitted into a rail are reduced.
A method for testing the lag time of a space satellite-borne expandable turntable mechanism is characterized by comprising the following steps of:
the motion forms include the following three types:
the first movement mode is only pitch axis movement, the optical imaging load to be supported rotates around the pitch axis of the optical imaging load for a plurality of times according to a preset speed, and the time of each rotation is
；
The second motion mode is only azimuth axis motion, the optical imaging load to be supported rotates around the azimuth axis of the optical imaging load for a plurality of times according to the preset speed, and each rotation time is
；
The third movement mode is that the azimuth axis and the pitch axis are linked, the optical imaging load to be supported rotates around the azimuth axis and the pitch axis for a plurality of times according to the preset speed, and the rotation time of the optical imaging load to be supported is equal to that of each time
；
Step 4, controlling the space satellite-borne extensible turntable mechanism to move according to the movement form in the step 3, sensing the movement through a micro-vibration testing platform, outputting a sensing signal, and recording the output time of the sensing signal of each rotation of each movement form
Then output the time
Time of rotation
The difference is the sub-rotation lag time.
Further, in step 3, the first motion form is specifically: the optical imaging load to be supported rotates for 12 times around the pitching axis of the optical imaging load according to a preset speed, each rotation is carried out for 10 degrees, each rotation time is 2.5s, and the preset speed is 4 degrees/s.
Further, in step 3, the second motion mode is specifically: the optical imaging load to be supported rotates for 34 times around the azimuth axis of the optical imaging load according to a preset speed, the rotation speed is 10 degrees each time, the rotation time is 2.5 seconds each time, and the preset speed is 4 degrees/s.
Further, in step 3, the third motion mode specifically includes: the optical imaging load to be supported rotates around the azimuth axis and the pitch axis of the optical imaging load for 12 times at a preset speed, the rotation speed is 10 degrees every time, the rotation time of the optical imaging load to be supported is 2.5 seconds every time, and the preset speed is 4 degrees/s.
Compared with the prior art, the invention has the beneficial effects that:
(1) the space satellite-borne extensible turntable mechanism comprises a first rotating arm, a second rotating arm, an unfolding driving mechanism and a mechanical locking mechanism, wherein the first rotating arm and the second rotating arm are respectively provided with an azimuth shaft and a pitching shaft which are used for supporting an optical imaging load, the supporting mechanism is in a folded state before being launched into a rail and is converted into an unfolded state after being launched into the rail, so that the mechanical vibration and impact quantity of the optical imaging load are effectively reduced, and the load ratio and the launching reliability are improved.
(2) The mechanical locking mechanism adopted by the space satellite-borne expandable turntable mechanism comprises a position detection assembly, a first locking assembly and a second locking assembly, wherein the position detection assembly outputs an in-place signal to the second locking assembly when detecting that an included angle between the second rotating arm and the first rotating arm is 90 degrees, the second locking assembly fixes the position of the second rotating arm after receiving the in-place signal, and in order to ensure that when a second locking moving part in the second locking assembly is clamped with a second locking fixing part, the included angle between the second rotating arm and the first rotating arm is still 90 degrees, the first locking assembly is arranged for temporarily fixing the position of the second rotating arm.
(3) According to the method for testing the hysteresis time of the space satellite-borne extensible turntable mechanism, the hysteresis time of the space satellite-borne extensible turntable mechanism is tested on a micro-vibration testing platform and a micro-vibration upper computer system, the driving step length of a driving motor is reduced, so that a higher-precision measurement result of the micro-vibration hysteresis time is obtained, the system tracking hysteresis time can be obtained before the photoelectric imaging system is debugged, and the assembling and adjusting speed of the photoelectric system can be effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a space satellite-borne deployable turntable mechanism of the present invention (with a support mechanism in a folded state);
FIG. 2 is a schematic structural view of a support mechanism in an expanded state according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of the deployment drive mechanism of FIG. 2;
FIG. 4 is an enlarged schematic view of the mechanical locking mechanism of FIG. 1;
FIG. 5 is a schematic structural diagram of a space satellite-borne expandable turntable mechanism in an expanded state of a support mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a characteristic sinusoidal sweep vibration test result with a support mechanism in a collapsed state according to an embodiment of the present invention;
FIG. 7 is a graphical representation of the results of a characteristic sinusoidal sweep vibration test with the support mechanism in an expanded state, in accordance with an embodiment of the present invention.
The reference numerals are explained below:
01-to support an optical imaging payload; 02-fixing holes;
1-a base; 2-a fixing piece; 3-support mechanism, 31-first rotating arm, 311-U-shaped hinge part, 32-second rotating arm, 321-convex part,
33-unfolding driving mechanism, 331-mounting shaft, 332-motor, 333-torsion spring, 334-angular contact bearing, 335-inner pressing plate, 336-outer pressing plate,
34-mechanical locking mechanism, 341-position detection component, 3411-Hall switch, 3412-Hall magnetic steel, 342-first locking component, 3421-first electromagnet, 3422-second electromagnet, 343-second locking component, 3431-second locking fixed part, 3432-second locking moving part, 3433-first connecting piece and 3434-second connecting piece.
Detailed Description
The invention will be further described with reference to the drawings and exemplary embodiments.
Referring to fig. 1 to 4, a space satellite-borne deployable turntable mechanism includes a base 1, and a fixing member 2 and a supporting mechanism 3 which are disposed on the base 1, where the supporting mechanism 3 includes a first rotating arm 31, a second rotating arm 32, a deployment driving mechanism 33, and a mechanical locking mechanism 34.
The first rotating arm 31 is arranged on the base 1, a rotating shaft of the first rotating arm 31 is perpendicular to the surface of the base 1, the first rotating arm 31 can rotate +/-170 degrees around the rotating shaft relative to a preset original position, and an azimuth axis for supporting the optical imaging load 01 coincides with the rotating shaft of the first rotating arm 31.
One end of the second rotating arm 32 is hinged at the end of the first rotating arm 31 through the unfolding driving mechanism 33, the other end is provided with an optical imaging load 01 to be supported, and a pitching shaft for supporting the optical imaging load 01 is arranged.
The unfolding driving mechanism 33 comprises a mounting shaft 331, a motor 332 and a torsion spring 333 which are respectively arranged at two ends of the mounting shaft 331, a U-shaped hinge 311 is arranged at the end part of the first rotating arm 31, first through holes are respectively arranged at two ends of the U-shaped hinge 311, a protruding part 321 which is matched with the opening of the U-shaped hinge 311 is arranged at the end part of the first rotating arm 31, a second through hole is arranged on the protruding part 321, the mounting shaft 331 comprises a first transfer shaft which is connected with the motor 332 through a coupler and a second transfer shaft which is connected with the torsion spring 333, the first transfer shaft penetrates through the first through hole at one end of the U-shaped hinge 311, the second transfer shaft penetrates through the first through hole at the other end of the U-shaped hinge 311, the first transfer shaft and the second transfer shaft are butted in the second through hole of the protruding part 321, angular contact bearings 334 are respectively arranged between the first transfer shaft, the second transfer shaft and the first through hole of the U-shaped hinge 311, an inner pressing plate 335 is arranged at the angular contact bearing 334, the outer ring is provided with an outer pressure plate 336.
The rotating shaft of the second rotating arm 32 coincides with the axis of the mounting shaft 331, and the second rotating arm 32 can rotate 90 degrees around the rotating shaft; the tilt axis to support the optical imaging payload 01 is perpendicular to the second rotating arm 32 and the rotation axis of the second rotating arm 32, as shown by the dotted line in fig. 5.
The mechanical locking mechanism 34 includes a position detecting assembly 341, a first locking assembly 342 and a second locking assembly 343; the second locking assembly 343 is configured to fix the position of the second rotating arm 32 according to the in-place signal, the second locking assembly 343 includes a second locking fixing portion 3431 disposed at an end of the first rotating arm 31 and close to the unfolding actuation mechanism 33, and a second locking moving portion 3432 disposed on the second rotating arm 32, an included angle between the second locking fixing portion 3431 and the top surface of the first rotating arm 31 is 90 °, one end of the second locking moving portion 3432 is hinged to the second rotating arm 32, and the other end of the second locking moving portion 3432 can rotate around the hinged portion, and is clamped to the second locking fixing portion 3431 when the support mechanism 3 is in the unfolded state, that is, the included angle between the second rotating arm 32 and the first rotating arm 31 is 90 °; the position detecting assembly 341 is configured to detect an included angle between the second rotating arm 32 and the first rotating arm 31, and output a position signal to the second locking assembly 343, and the position detecting assembly 341 includes a hall switch 3411 disposed on a surface of the second locking fixing portion 3431 close to the second rotating arm 32, and a hall magnetic steel 3412 disposed on the second rotating arm 32; the first latching assembly 342 is used to temporarily fix the position of the second rotating arm 32 before the second latching assembly 343 completes the fixing, and the first latching assembly 342 includes a first electromagnet 3421 disposed on one side of the second latching fixing portion 3431 close to the second rotating arm 32, and a second electromagnet 3422 disposed on the second rotating arm 32 corresponding to the first electromagnet 3421.
A first connecting part 3433 is disposed at a rotating end of the second locking moving part 3432, a second connecting part 3434 capable of being connected with the first connecting part 3433 is disposed on the second rotating arm 32, and when the second locking moving part 3432 receives the in-position signal, the first connecting part 3433 is separated from the second connecting part 3434.
The supporting mechanism 3 is provided with a folded state and an unfolded state; referring to fig. 1 and 2, the supporting mechanism 3 is in a folded state, an included angle between the second rotating arm 32 and the first rotating arm 31 is 0 °, the optical imaging load 01 to be supported is located below the second rotating arm 32, a fixing hole 02 on the optical imaging load 01 to be supported is connected with the base 1 through a fixing member 2, and the first connecting member 3433 is connected with the second connecting member 3434 in a clamping manner; alternatively, referring to fig. 5, the supporting mechanism 3 is in the unfolded state, the included angle between the second rotating arm 32 and the first rotating arm 31 is 90 °, the fixing hole 02 to be supported on the optical imaging load 01 is separated from the fixing member 2, and the second locking moving part 3432 is engaged with the second locking fixing part 3431.
The working process of the invention is as follows:
the support mechanism 3 is in a folded state before launching into orbit, and the support mechanism 3 is converted into an unfolded state after entering into orbit; during conversion, the fixing member 2 is firstly separated from the fixing hole 02 on the optical imaging load 01 to be supported, the motor 332 is started, under the auxiliary drive of the torsion spring 333, the second rotating arm 32 rotates around the mounting shaft 331 until the included angle between the second rotating arm 32 and the first rotating arm 31 is 90 °, the hall switch 3411 senses the hall magnetic steel 3412, the hall switch 3411 outputs a position-in signal to the second locking assembly 343, meanwhile, the first locking assembly 342 temporarily fixes the position of the second rotating arm 32, after receiving the position-in signal, the second locking assembly 343 separates the first connecting part 3433 from the second connecting part 3434, after the second locking moving part 3432 is clamped with the second locking fixing part 3431, the first locking assembly 342 stops working, and the conversion is completed.
In the embodiment, the supporting mechanism 3 is in a folded state, and the distance between the centroid of the optical imaging load 01 to be supported and the surface of the base 1 is 63.5 mm; the supporting mechanism 3 is in an unfolded state, and the distance between the centroid of the optical imaging load 01 to be supported and the surface of the base 1 is 351 mm.
Carrying out a characteristic sine scanning vibration test on the space satellite-borne extensible turntable mechanism and the whole machine of the optical imaging load 01 to be supported, wherein the test conditions are shown in table 1; as shown in fig. 6 and 7, when the supporting mechanism 3 is in a folded state, the star vibration condition is transmitted to the optical imaging load 01 to be supported, and the vibration magnitude is amplified by 1.5 times at the first-order frequency (63 Hz); when the supporting mechanism 3 is in an unfolding state, the vibration condition of the star body is transmitted to the optical imaging load 01 to be supported, and the vibration magnitude can be amplified by 20 times.
TABLE 1
| Frequency range | Vibration amplitude (0-peak) | |
| 10～500Hz | 0.5g | 1oct/min |
In the pitching, azimuth movement and linkage processes of the space satellite-borne extensible turntable mechanism, gaps exist among a plurality of moving joints, so that small lag time exists when the movement stops, namely a movement stop command is given, but the mechanism still moves for a period of time, the period of time is called lag time, the lag time has important influence on tracking and measurement of a photoelectric imaging system, and when the photoelectric turntable is used for tracking and measurement in the later period, time compensation can be carried out on actual working conditions based on the lag time.
The invention discloses a method for testing the lag time of a space satellite-borne extensible turntable mechanism, which is used for the space satellite-borne extensible turntable mechanism and comprises the following steps:
the motion forms include the following three types:
the first type of motion is pitch-only motion, where the optical imaging payload 01 to be supported is rotated 12 times about its pitch axis at 4/s, 10 degrees per rotation, and for each rotation time
，
；
The second type of motion is only azimuth axis motion, and the optical imaging load 01 to be supported rotates 34 times (from-170 to +170 relative to the preset position) around the azimuth axis according to 4 degrees/s (10 degrees for each rotation time)
，
；
The third motion mode is that the azimuth axis and the pitch axis are linked, the optical imaging load 01 to be supported simultaneously rotates around the azimuth axis and the pitch axis for 12 times according to 4 degrees/s, the rotation time is 10 degrees every time, and the rotation time of the optical imaging load 01 to be supported is equal to that of the optical imaging load 01 to be supported
，
；
Step 4, controlling the space satellite-borne extensible turntable mechanism to move according to the motionThe micro-vibration test platform senses the movement and outputs a sensing signal, and the output time of the sensing signal of each rotation of each movement form is recorded
Output time of
And time of rotation
The difference is the sub-rotation lag time.
The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (10)
1. A space satellite-borne deployable turntable mechanism is characterized in that: the device comprises a base (1) and a supporting mechanism (3) arranged on the base (1), wherein the supporting mechanism (3) comprises a first rotating arm (31), a second rotating arm (32), an unfolding driving mechanism (33) and a mechanical locking mechanism (34);
the first rotating arm (31) is arranged on the base (1), the rotating shaft of the first rotating arm (31) is vertical to the surface of the base (1), the first rotating arm (31) can rotate around the rotating shaft thereof +/-170 degrees relative to a preset original position, and the azimuth axis of the optical imaging load (01) to be supported is superposed with the rotating shaft of the first rotating arm (31);
one end of the second rotating arm (32) is hinged to the end of the first rotating arm (31) through the unfolding driving mechanism (33), the other end of the second rotating arm is connected with the optical imaging load (01) to be supported, and a pitching shaft for supporting the optical imaging load (01) is arranged; the unfolding driving mechanism (33) comprises a mounting shaft (331) and a motor (332) arranged at one end of the mounting shaft (331), the rotating shaft of the second rotating arm (32) is overlapped with the axis of the mounting shaft (331), and the second rotating arm (32) can rotate for 90 degrees around the rotating shaft; the pitching axis is vertical to the second rotating arm (32) and the rotating shaft of the second rotating arm (32);
the mechanical locking mechanism (34) comprises a position detection assembly (341), a first locking assembly (342) and a second locking assembly (343); the position detection assembly (341) is used for detecting an included angle between the second rotating arm (32) and the first rotating arm (31) and outputting a position signal to the second locking assembly (343); the second locking assembly (343) is used for fixing the position of the second rotating arm (32) according to the in-place signal; the first locking assembly (342) is used for temporarily fixing the position of the second rotating arm (32) before the second locking assembly (343) completes the fixing;
the supporting mechanism (3) is provided with a folded state and an unfolded state; the supporting mechanism (3) is in a folded state, an included angle between the second rotating arm (32) and the first rotating arm (31) is 0 degree, the optical imaging load (01) to be supported is positioned below the second rotating arm (32), and the optical imaging load (01) to be supported is connected with the base (1); or, the supporting mechanism (3) is in an unfolding state, an included angle between the second rotating arm (32) and the first rotating arm (31) is 90 degrees, the optical imaging load (01) is separated from the base (1) to be supported, and the second locking component (343) fixes the position of the second rotating arm (32).
2. A space satellite-borne deployable turret mechanism according to claim 1, wherein: the second locking assembly (343) comprises a second locking fixing part (3431) which is arranged at the end part of the first rotating arm (31) and is close to the unfolding driving mechanism (33), and a second locking moving part (3432) which is arranged on the second rotating arm (32), wherein an included angle between the second locking fixing part (3431) and the top surface of the first rotating arm (31) is 90 degrees, one end of the second locking moving part (3432) is hinged with the second rotating arm (32), the other end of the second locking moving part can rotate around the hinged part, and the second locking fixing part (3431) is clamped with the second locking fixing part (3431) when the supporting mechanism (3) is in an unfolding state, namely the included angle between the second rotating arm (32) and the first rotating arm (31) is 90 degrees.
3. A space satellite-borne deployable turret mechanism according to claim 2, wherein: the position detection assembly (341) comprises a Hall switch (3411) arranged on one surface of the second locking fixing part (3431) close to the second rotating arm (32), and Hall magnetic steel (3412) arranged on the second rotating arm (32) and corresponding to the Hall switch (3411); the Hall switch (3411) outputs a in-place signal when the second rotating arm (32) rotates to form an included angle of 90 degrees with the first rotating arm (31); the first locking assembly (342) includes a first electromagnet (3421) disposed on a side of the second locking fixing portion (3431) adjacent to the second rotating arm (32), and a second electromagnet (3422) disposed on the second rotating arm (32) corresponding to the first electromagnet (3421).
4. A space satellite-borne deployable turret mechanism according to claim 3, wherein: the rotating end of the second locking moving part (3432) is provided with a first connecting piece (3433), the second rotating arm (32) is provided with a second connecting piece (3434) which can be clamped with the first connecting piece (3433), and when the second locking moving part (3432) receives the in-place signal, the first connecting piece (3433) is separated from the second connecting piece (3434).
5. A space satellite borne deployable turret mechanism according to any of claims 1 to 4, wherein: a U-shaped hinge part (311) is arranged at the end part of the first rotating arm (31), and first through holes are formed in two ends of the U-shaped hinge part (311); a protruding part (321) matched with the opening of the U-shaped hinge part (311) is arranged at the end part of the first rotating arm (31), and a second through hole is formed in the protruding part (321); the other end of the mounting shaft (331) is provided with a torsion spring (333), the mounting shaft (331) comprises a first transfer shaft and a second transfer shaft, the first transfer shaft is connected with the motor (332) through a coupler, the second transfer shaft is connected with the torsion spring (333), the first transfer shaft penetrates through a first through hole in one end of the U-shaped hinge portion (311), the second transfer shaft penetrates through a first through hole in the other end of the U-shaped hinge portion (311), and the first transfer shaft and the second transfer shaft are in butt joint in a second through hole of the protruding portion (321); angular contact bearings (334) are arranged among the first through holes at the two ends of the U-shaped hinged part (311), inner pressing plates (335) are arranged on inner rings of the angular contact bearings (334), and outer pressing plates (336) are arranged on outer rings of the angular contact bearings.
6. A space satellite-borne deployable turret mechanism according to claim 5, wherein: the base (1) is provided with a fixing piece (2), and the fixing piece (2) is used for penetrating through a fixing hole (02) on the optical imaging load (01) to be supported when the base is in a folded state to fix the optical imaging load (01) to be supported on the base (1).
7. A method for testing the lag time of a space satellite-borne expandable turntable mechanism, which is used for the space satellite-borne expandable turntable mechanism as claimed in claim 1, and comprises the following steps:
step 1, fixing the space satellite-borne extensible turntable mechanism on a micro-vibration test platform, enabling a support mechanism (3) to be in an extended state, and cleaning objects which can generate vibration and noise around the micro-vibration test platform;
step 2, after connecting the micro-vibration testing platform and the micro-vibration upper computer system, starting the micro-vibration upper computer system;
step 3, setting the motion form of the space satellite-borne extensible turntable mechanism;
the motion forms include the following three types:
the first movement form is only pitch axis movement, and the optical imaging load (01) to be supported rotates around the pitch axis of the first movement form according to a preset speed for a plurality of times, wherein each rotation time is
；
The second movement form is only azimuth axis movement, the optical imaging load (01) to be supported rotates around the azimuth axis of the optical imaging load for a plurality of times according to the preset speed, and each rotation time is
；
The third motion mode is that the azimuth axis and the pitch axis are linked, and the optical imaging load (01) to be supported simultaneously winds around the azimuth axis and the pitch axis according to the third motion modeThe optical imaging load (01) to be supported rotates for a plurality of times at a preset speed, and each rotation time is
；
Step 4, controlling the space satellite-borne extensible turntable mechanism to move according to the movement form in the step 3, sensing the movement through the micro-vibration testing platform, outputting a sensing signal, and recording the output time of the sensing signal of each rotation of each movement form
Then output the time
And time of rotation
The difference is the sub-rotation delay time.
8. The method for testing the lag time of the space satellite-borne deployable turntable mechanism according to claim 7, wherein the method comprises the following steps: in step 3, the first motion mode is specifically: the optical imaging load (01) to be supported rotates around the pitching axis of the optical imaging load 12 times according to a preset speed, each time the optical imaging load rotates 10 degrees, each time the rotation time is 2.5s, and the preset speed is 4 degrees/s.
9. The method for testing the lag time of the space satellite-borne deployable turntable mechanism according to claim 8, wherein the method comprises the following steps: in step 3, the second motion mode is specifically: the optical imaging load (01) to be supported rotates 34 times around the azimuth axis according to a preset speed, each time the optical imaging load rotates 10 degrees, each time the rotation time is 2.5s, and the preset speed is 4 degrees/s.
10. The method for testing the lag time of the space satellite-borne deployable turntable mechanism according to claim 9, wherein the method comprises the following steps: in step 3, the third motion mode is specifically: the optical imaging load (01) to be supported rotates around the azimuth axis and the pitch axis of the optical imaging load (01) for 12 times at a preset speed, the rotation speed is 10 degrees each time, the rotation time of the optical imaging load (01) to be supported for each time is 2.5 seconds, and the preset speed is 4 degrees/s.
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