CN101575013A - Intelligent three dimensional microgravity air feet - Google Patents
Intelligent three dimensional microgravity air feet Download PDFInfo
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- CN101575013A CN101575013A CNA2009100722878A CN200910072287A CN101575013A CN 101575013 A CN101575013 A CN 101575013A CN A2009100722878 A CNA2009100722878 A CN A2009100722878A CN 200910072287 A CN200910072287 A CN 200910072287A CN 101575013 A CN101575013 A CN 101575013A
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- microgravity
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- 230000005486 microgravity Effects 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000012360 testing method Methods 0.000 claims abstract description 15
- 238000012856 packing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 22
- 238000004088 simulation Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 6
- 238000010998 test method Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 10
- 239000000725 suspension Substances 0.000 description 7
- 238000013519 translation Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- JJWKPURADFRFRB-UHFFFAOYSA-N carbonyl sulfide Chemical compound O=C=S JJWKPURADFRFRB-UHFFFAOYSA-N 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The invention relates to intelligent three dimensional microgravity air feet, which pertains to the microgravity simulation experiment device of spatial mechanism. Three air feet are arranged on the lower side of a supporting plate and a shell and three steering bars are arranged on the upper side of the supporting plate. The bottom part and the upper part of the shell are respectively provided with a servo-actuator and an antithrust bearing. A shaft joint and a speed reducer are arranged between the servo-actuator and the antithrust bearing. The lower end of a screw bolt inserted in the antithrust bearing bore is connected with the shaft joint. Transmission nuts matched with three sleeves are arranged on a connection board. A linear bearing is matched with and arranged on the lower end of the sleeve. Three flexible spring mechanisms are connected with a working plate on which a sensor and a joint for a test piece bracket are arranged. The intelligent air feet can effectively solve the technical problem of microgravity simulation during the complicated three dimensional movement of the spatial mechanism and is characterized by simple structure, high simulation precision, flexible test method, simple technique, small floor occupation and convenient debugging, thus being particularly applicable to the microgravity simulation test of complicated three-dimensional movement.
Description
Technical field
The invention belongs to a kind of device that is applied to the space microgravity analogue test, relates generally to a kind of microgravity analog machine of the three-dimensional motion microgravity analogue test at space mechanism's complexity.
Background technology
Existing microgravity analogy method mainly contains suspension method, gas suspension props up staying.The staying floor area is little, nothing rubs, motion is steady though gas suspension props up, microgravity simulation precision height, and the microgravity in the time of can only realizing one dimension, two dimensional surface motion is simulated.Though the simulation of one dimension, two and three dimensions position and attitude that suspension method can implementation space mechanism, the truss mechanism complexity of support cable, it is big to take up an area of the space, and the rope follow mechanism generally adopts mechanical bearing to support, and friction of motion is big, influences test accuracy.
Summary of the invention
The purpose of the invention is exactly the problem that exists at above-mentioned prior art, design a kind of intelligent three dimensional microgravity air feet that when load is moved, can offset load gravity in three dimensional space in real time, with simulation load in the cosmic space the stressed and state of kinematic motion when weightless, the simulation of implementation space mechanism three-dimensional motion microgravity.Owing to be the microgravity state when wanting the three-dimensional motion of virtual space mechanism, the three-dimensional motion of any complexity can be decomposed into horizontal translation and two kinds of state of kinematic motions of vertical lifting, so space mechanism's three-dimensional motion microgravity analog machine need be when doing the resultant motion of horizontal translation and two kinds of motions of vertical lifting when space mechanism, can both be in allowed limits with the counteract gravity forces of mechanism.
The purpose of the invention realizes by following technical scheme: three gas foot adjacent spaces become hexagonal angle to be distributed on the stay bearing plate downside; Shell and three pilot bars are fitted on the stay bearing plate upper side, and three pilot bars are positioned at the shell outside portion, and three pilot bar adjacent spaces angles are 120 °; Equipped respectively servomotor in bottom and top and thrust bearing at shell, coupler and retarder are set between thrust bearing and servomotor, the power input shaft of retarder is connected with coupler with the servomotor power take-off shaft respectively with output shaft, the screw rod following side is contained in the thrust bearing endoporus, and the screw rod lower end is connected with coupler; Driving nut is installed on connecting panel is become 120 ° of angle well-distributed sleeves with three, linear bearing is fitted on the inside, sleeve lower end, driving nut is connected cooperation with screw flight, three pilot bars by with the sleeve of packing into cooperating of linear bearing in, three flexure spring mechanisms are fitted in respectively on three sleeve upper ends, flexure spring mechanism is connected with working plate, establishes dress sensor and test specimen carriage interface on working plate.
The principle of work of the invention is different with existing three-dimensional motion microgravity analog machine, and the method for conventional three-dimensional motion microgravity test simulation is to adopt suspension method, flexible jitter phenomenon can occur, and simulation precision is low, complex structure, and floor area is big; And the invention is to adopt gas suspension to support the full existing friction two-dimensional translation that do not have of gas, vertical direction forms Fu by control, realization microgravity simulation has autolog line simultaneously and walks track, monitors function such as microgravity variation and be installed in gas foot stay bearing plate under.The sleeve lower end is equipped with linear bearing, and linear bearing can reduce the friction between guide rod and the sleeve; Sleeve and guide rod play the effect of guiding, avoid driving nut to be rotated with screw rod, thereby only carry out vertical lifting; Upper cartridge is installed flexure spring mechanism, can effectively improve the microgravity test simulation precision by above design.
The invention combines traditional two-dimentional microgravity analog technology with servo servo-actuated jacking system, and on integral structure, carried out designing and improving, make device can effectively solve the difficult point of the three-dimensional motion microgravity simulation of space mechanism's complexity, and precision improves greatly, test method is flexible, technology is simple, and floor area is little, and the invention is applicable to high accuracy three-dimensional motion microgravity analogue test.
Description of drawings
Fig. 1 is the structural representation of the invention.
Fig. 2 is that A-A among Fig. 1 is to cutaway view.
Piece number among the figure:
1 sensor, 2 flexure spring mechanisms, 3 sleeves, 4 screw rods
5 connecting panels, 6 pilot bars, 7 linear bearings, 8 driving nuts
9 thrust bearings, 10 coupler, 11 retarders, 12 servomotors
13 shells, 14 stay bearing plates, 15 gas foot, 16 working plates
17 test specimen carriage interfaces
The specific embodiment
Below in conjunction with accompanying drawing the invention example is described in detail.
Intelligent three dimensional microgravity air feet comprises that 15, three gas foots of gas foot, 15 adjacent spaces become that hexagonal angle is uniform to be installed on stay bearing plate 14 downsides; Shell 13 and three pilot bars 6 are fitted on stay bearing plate 14 upper sides, and three pilot bars 6 are positioned at shell 13 outside portions, and three pilot bar 6 adjacent spaces angles are 120 °; Equipped respectively servomotor 12 in bottom and top and thrust bearing 9 at shell 13, coupler 10 and retarder 11 are set between thrust bearing 9 and servomotor 12, the power input shaft of retarder 11 is connected with coupler 10 with servomotor 12 power take-off shafts respectively with output shaft, screw rod 4 following sides are contained in thrust bearing 9 endoporus, and screw rod 4 lower ends are connected with coupler 10; Driving nut 8 is installed on connecting panel 5 is become 120 ° of angle well-distributed sleeves 3 with three, linear bearing 7 is fitted on the inside, sleeve 3 lower end, driving nut 8 is threaded with screw rod 4 and cooperates, three pilot bars 6 by with the sleeve 3 of packing into cooperating of linear bearing 7 in, three flexure spring mechanisms 2 are fitted in respectively on three sleeve 3 upper ends, flexure spring mechanism 2 is connected with working plate 16, establishes sensor 1 and test specimen carriage interface 17 are housed on working plate 16.
When the microgravity that adopts this device to carry out the three-dimensional motion of space mechanism is simulated, because the three-dimensional motion of any complexity can be decomposed into horizontal translation and two kinds of state of kinematic motions of vertical lifting, 3 120 degree well-distributed intelligence gas foots 15 are equipped with in stay bearing plate 14 lower ends, can greatly reduce the friction of device and table top by gas suspension, finish the translation of horizontal direction, in the gas foot intelligent element is installed, can the real time recording run trace, intelligent functions such as monitoring microgravity simulation precision; In the vertical direction, driving retarder 11 by servomotor 12 rotatablely moves, retarder 11 drives screw rod 4 by coupler 10 and rotatablely moves, screw rod 4 drives driving nut 8 and realizes the vertical direction motion, pilot bar 6 plays the effect of guiding, driving nut can not rotated along with the rotation of screw rod, only carry out the lifting of vertical direction; Flexure spring mechanism 2 is equipped with in sleeve 3 upper ends, and microgravity analogue test precision can improve in flexure spring mechanism 2, and test specimen carriage interface 17 can be installed corresponding test specimen carriage according to difform space mechanism.
Claims (1)
1, a kind of intelligent three dimensional microgravity air feet comprises gas foot (15), it is characterized in that three gas foot (15) adjacent spaces become that hexagonal angle is uniform to be installed on stay bearing plate (14) downside; Shell (13) and three pilot bars (6) are fitted on stay bearing plate (14) upper side, and three pilot bars (6) are positioned at shell (13) outside portion, and three pilot bars (6) adjacent spaces angle is 120 °; Equipped respectively servomotor (12) in bottom and top and thrust bearing (9) at shell (13), coupler (10) and retarder (11) are set between thrust bearing (9) and servomotor (12), the power input shaft of retarder (11) is connected with coupler (10) with servomotor (12) power take-off shaft respectively with output shaft, screw rod (4) following side is contained in thrust bearing (9) endoporus, and screw rod (4) lower end is connected with coupler (10); Go up installation driving nut (8) at connecting panel (5) and become 120 ° of angle well-distributed sleeves (3) with three, linear bearing (7) is fitted on sleeve (3) inside, lower end, driving nut (8) is threaded with screw rod (4) and cooperates, three pilot bars (6) by with the cooperating in the sleeve of packing into (3) of linear bearing (7), three flexure spring mechanisms (2) are fitted in respectively on three sleeves (3) upper end, flexure spring mechanism (2) is connected with working plate (16), establishes dress sensor (1) and test specimen carriage interface (17) on working plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100722878A CN101575013B (en) | 2009-06-15 | 2009-06-15 | Intelligent three dimensional microgravity air feet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100722878A CN101575013B (en) | 2009-06-15 | 2009-06-15 | Intelligent three dimensional microgravity air feet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101575013A true CN101575013A (en) | 2009-11-11 |
| CN101575013B CN101575013B (en) | 2012-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100722878A Expired - Fee Related CN101575013B (en) | 2009-06-15 | 2009-06-15 | Intelligent three dimensional microgravity air feet |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419947A (en) * | 2013-08-21 | 2013-12-04 | 北京理工大学 | Autonomous landing navigation control ground test verification system under microgravity environment |
| CN103466108A (en) * | 2013-08-06 | 2013-12-25 | 总装备部工程设计研究总院 | Space floating type fast follow-up device |
| CN104044758A (en) * | 2014-06-20 | 2014-09-17 | 哈尔滨工业大学 | Linear motor and air floatation combined driving vertical servo mechanism |
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN104443450A (en) * | 2014-11-03 | 2015-03-25 | 上海卫星工程研究所 | Ground verification system and method based on microsatellite navigation system |
| CN104691793A (en) * | 2015-03-11 | 2015-06-10 | 哈尔滨工业大学 | Position sensitive intelligent air foot |
| CN104842153A (en) * | 2014-12-19 | 2015-08-19 | 北京卫星制造厂 | Posture adjustment and unloading efficiency detection integrated device |
| CN106005493A (en) * | 2016-05-09 | 2016-10-12 | 北京空间飞行器总体设计部 | Quasi-zero stiffness gas floating gravity discharge device |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
| CN110926843A (en) * | 2019-12-18 | 2020-03-27 | 北京理工大学 | Ground microgravity equivalent experimental device and method for seven-degree-of-freedom space manipulator |
| CN113998160A (en) * | 2021-11-10 | 2022-02-01 | 中国科学院长春光学精密机械与物理研究所 | Integrated gravity unloading mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2668828B1 (en) * | 1990-11-06 | 1995-03-10 | Alcatel Espace | DEVICE FOR TESTING MOVING EQUIPMENT. |
| CN2813450Y (en) * | 2005-07-15 | 2006-09-06 | 上海宇航系统工程研究所 | Air-float platform |
| CN1986337A (en) * | 2006-12-02 | 2007-06-27 | 中国科学院合肥物质科学研究院 | Three-dimensional air floatation platform and air pressure type gravity compensation method |
| CN201464201U (en) * | 2009-06-15 | 2010-05-12 | 哈尔滨工业大学 | Three-dimensional microgravity intelligent air foot |
-
2009
- 2009-06-15 CN CN2009100722878A patent/CN101575013B/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466108A (en) * | 2013-08-06 | 2013-12-25 | 总装备部工程设计研究总院 | Space floating type fast follow-up device |
| CN103466108B (en) * | 2013-08-06 | 2015-11-04 | 总装备部工程设计研究总院 | Float in space formula fast follow-up device |
| CN103419947A (en) * | 2013-08-21 | 2013-12-04 | 北京理工大学 | Autonomous landing navigation control ground test verification system under microgravity environment |
| CN104044758A (en) * | 2014-06-20 | 2014-09-17 | 哈尔滨工业大学 | Linear motor and air floatation combined driving vertical servo mechanism |
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN104290932B (en) * | 2014-10-21 | 2016-03-30 | 哈尔滨工业大学 | The longitudinal gravity-compensated device of space mechanism's six degree of freedom microgravity simulated implementation system |
| CN104443450A (en) * | 2014-11-03 | 2015-03-25 | 上海卫星工程研究所 | Ground verification system and method based on microsatellite navigation system |
| CN104443450B (en) * | 2014-11-03 | 2016-05-11 | 上海卫星工程研究所 | micro-satellite navigation system ground verification system and method |
| CN104842153B (en) * | 2014-12-19 | 2017-04-05 | 北京卫星制造厂 | A kind of pose adjustment and unloading Efficiency testing integrated apparatus |
| CN104842153A (en) * | 2014-12-19 | 2015-08-19 | 北京卫星制造厂 | Posture adjustment and unloading efficiency detection integrated device |
| CN104691793A (en) * | 2015-03-11 | 2015-06-10 | 哈尔滨工业大学 | Position sensitive intelligent air foot |
| CN106005493A (en) * | 2016-05-09 | 2016-10-12 | 北京空间飞行器总体设计部 | Quasi-zero stiffness gas floating gravity discharge device |
| CN106005493B (en) * | 2016-05-09 | 2018-05-04 | 北京空间飞行器总体设计部 | A kind of quasi- zero stiffness air-flotation type gravity unloading device |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
| CN108082540B (en) * | 2017-12-14 | 2020-08-07 | 哈尔滨工业大学 | Three-dimensional zero gravity simulation device combining knife type cam constant force spring and air floatation thrust bearing |
| CN110926843A (en) * | 2019-12-18 | 2020-03-27 | 北京理工大学 | Ground microgravity equivalent experimental device and method for seven-degree-of-freedom space manipulator |
| CN110926843B (en) * | 2019-12-18 | 2021-08-03 | 北京理工大学 | Ground microgravity equivalent experimental device and method for seven-degree-of-freedom space manipulator |
| CN113998160A (en) * | 2021-11-10 | 2022-02-01 | 中国科学院长春光学精密机械与物理研究所 | Integrated gravity unloading mechanism |
| CN113998160B (en) * | 2021-11-10 | 2024-04-19 | 中国科学院长春光学精密机械与物理研究所 | Integrated gravity unloading mechanism |
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| Publication number | Publication date |
|---|---|
| CN101575013B (en) | 2012-01-18 |
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