CN101575013B - Intelligent three dimensional microgravity air feet - Google Patents
Intelligent three dimensional microgravity air feet Download PDFInfo
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- CN101575013B CN101575013B CN2009100722878A CN200910072287A CN101575013B CN 101575013 B CN101575013 B CN 101575013B CN 2009100722878 A CN2009100722878 A CN 2009100722878A CN 200910072287 A CN200910072287 A CN 200910072287A CN 101575013 B CN101575013 B CN 101575013B
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- microgravity
- shell
- bearing
- intelligent
- dimensional
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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 7
- 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 3
- 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
- 238000010998 test method 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 ofthe 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 t est 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 to the complicated three-dimensional motion microgravity analogue test of space mechanism.
Background technology
Existing microgravity analogy method mainly contains suspension method, gas suspension props up staying.Though gas suspension prop up the staying floor area little, do not have friction, motion steadily, the microgravity simulation precision is high, 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 of support cable is complicated, and 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 to 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 complicacy 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 through 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, on working plate, establishes dress sensor and test specimen carriage interface.
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 through 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 up-down; Upper cartridge is installed flexure spring mechanism, can effectively improve the microgravity test simulation precision through above design.
The invention combines traditional two-dimensional microgravity analog technology with servo servo-actuated jacking system; And on integral structure, carried out design and improvement, make device can effectively solve the difficult point of the complicated three-dimensional motion microgravity simulation of space mechanism, and precision improve 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 instance is described in detail.
Intelligent three dimensional microgravity air feet comprises that 15, three gas foots of gas foot, 15 adjacent spaces become hexagonal angle to be uniformly distributed with and are 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 and thrust bearing 9 in the bottom and top of 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 through 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, on working plate 16, establishes sensor 1 and test specimen carriage interface 17 are housed.
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 complicacy 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 through gas suspension; Accomplish 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 through servomotor 12 rotatablely moves; Retarder 11 drives screw rod 4 through coupler 10 and rotatablely moves, and screw rod 4 drives driving nut 8 and realizes the vertical direction motion, and pilot bar 6 plays the effect of guiding; Driving nut can not rotated along with the rotation of screw rod, only carry out the up-down 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. an intelligent three dimensional microgravity air feet comprises gas foot (15), it is characterized in that three gas foot (15) adjacent spaces become hexagonal angle to be uniformly distributed with and are 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) through 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, and flexure spring mechanism (2) is connected with working plate (16), on working plate (16), establish dress sensor (1) and test specimen carriage interface (17).
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100722878A CN101575013B (en) | 2009-06-15 | 2009-06-15 | Intelligent three dimensional microgravity air feet |
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| Publication Number | Publication Date |
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| CN101575013A CN101575013A (en) | 2009-11-11 |
| CN101575013B true CN101575013B (en) | 2012-01-18 |
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| CN2009100722878A Expired - Fee Related CN101575013B (en) | 2009-06-15 | 2009-06-15 | Intelligent three dimensional microgravity air feet |
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|---|---|---|---|---|
| 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 |
| CN104044758B (en) * | 2014-06-20 | 2016-08-24 | 哈尔滨工业大学 | A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding |
| 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 |
| 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 |
| CN104691793B (en) * | 2015-03-11 | 2016-08-17 | 哈尔滨工业大学 | Position sensing type intelligent gas foot |
| 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 |
| CN106081173B (en) * | 2016-07-19 | 2018-07-06 | 哈尔滨工业大学 | Three-dimensional active suspension type spacecraft microgravity simulator |
| 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 |
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0484848A1 (en) * | 1990-11-06 | 1992-05-13 | Alcatel Espace | Test device for equipments under movement |
| 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
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0484848A1 (en) * | 1990-11-06 | 1992-05-13 | Alcatel Espace | Test device for equipments under movement |
| 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 |
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| CN101575013A (en) | 2009-11-11 |
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