CN101698433A - Motion simulator for simulation experiments on target characteristic ground - Google Patents
Motion simulator for simulation experiments on target characteristic ground Download PDFInfo
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- CN101698433A CN101698433A CN200910236512A CN200910236512A CN101698433A CN 101698433 A CN101698433 A CN 101698433A CN 200910236512 A CN200910236512 A CN 200910236512A CN 200910236512 A CN200910236512 A CN 200910236512A CN 101698433 A CN101698433 A CN 101698433A
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Abstract
The invention discloses a motion simulator for simulation experiments on the target characteristic ground, in particular to a motion simulating mechanism for working in high vacuum and deep cooling environment. The invention achieves the simulation of different relative positions of a target and a light source under different states in one experiment, and belongs to the field of motion simulators. The motion simulator for simulation experiments on the target characteristic ground comprises a supporting system, a motion system, a measurement and control system and an auxiliary system, wherein the motion system solves the problem of moving in different axial directions by adopting a plane four bar mechanism, an inner gearing incomplete gear mechanism and a symmetric axis automatically rotating mechanism; the supporting system comprises dismountable platforms which are arranged among different motion mechanisms and are respectively positioned at the connecting part of each discrete motion mechanism; and simultaneously, a fixed heat sink and a movable heat sink are used for shielding the influence of the motion simulator on target radiation, and all lubrication in the motion simulator adopts vacuum oil-free lubrication which can not bring pollution sources to the vacuum environment.
Description
[technical field]
The present invention relates to a kind of motion simulator that is used for simulation experiments on target characteristic ground.The present invention is used in particular for high vacuum, the cryogenic environment motion simulation mechanism of work down, belongs to the motion simulator field.
[background technology]
In the simulation experiments on target characteristic ground system, laboratory module is the sealed module body of high vacuum, cryogenic environment, test objective requires the test parameter result under the acquisition target different flight state, need open body gate, cabin for fear of manual regulation and destroy this problem of vacuum environment, design a kind of motion simulator that is used for this test, the one-time continuous completion of test that is used for different operating modes to save liquid nitrogen consumption, shortens the test period, reduces experimental error.
The motion simulator bearing load is bigger, needs good rigidity and intensity.Need to consider the rotating property of vacuum, low temperature simultaneously, eliminate the background radiation influence, so structure is generally complicated, simultaneously, owing to the requirement to vacuum test environment lustration class, motion simulator need be used free of contamination lubricating method.
Motion simulator is many to require to carry out particular design according to space environment instrument size, test specimen quality, size, test requirement specification.Motion simulator does not have unified specification, present motion simulator structure both domestic and external has following several: the single axle structure, arc formula structure, half bow-shaped structural, diesis shape motion simulator, be the motion simulation that is not more than two-freedom, its motion principle is essentially disalignment to rotating alone.
Because the restriction of many-sided conditions such as working environment, test requirements document requires the design-calculated motion simulator need satisfy following condition:
(1) motion simulator is as far as possible little to blocking with radiation effect of test specimen
(2) motion simulator is not introduced source of pollution to the laboratory module environment, can be under high vacuum, low temperature normal operation
(3) transmission device can accurately be realized target trajectory, and record feeds back to computer control system.
[summary of the invention]
The purpose of this invention is to provide a kind of motion simulator that is used for simulation experiments on target characteristic ground.The problem to be solved in the present invention is, in pressure＜10
-4Under the cold darkness environment of Pa, temperature＜100K, motion simulator energy normal operation, the state of flight of the different operating modes of imitation specimen target, and carry out accurate record, experimental enviroment is not introduced source of pollution simultaneously.
This motion simulator consists of the following components.
Kinematic mechanism, the different attitudes of target (1) in ground simulation test, the state of kinematic motion of different angles, realize that by different motion mechanism comprise four-bar linkage, direct rotating mechanism three parts of interior engagement incomplete gear mechanism and axis of symmetry are finished corresponding circumferential movement respectively.Wherein four-bar linkage comprises crank (10), connecting rod (11), rocking bar (12).Interior engagement incomplete gear mechanism comprises that driving wheel (15), driving wheel are connected platform (7), flower wheel (14), flower wheel support platform (6), supporting guide pair (13) with rocking bar; Axis of symmetry spin mechanism is made up of electrical motor, object support support (3), the mechanism of pivoting (2).
Support system is made up of the distachable platform of different motion mechanism, lay respectively at each discrete kinematic mechanism connecting bridge, comprise axis of symmetry spin mechanism supports lower platform (4), interior engagement incomplete gear mechanism supports upper mounting plate (5), interior engagement incomplete gear mechanism supports lower platform (8), and four-bar linkage supports upper mounting plate (9).Inter-agency two platforms up and down of different motion cooperate, and by bolt, and guarantee that whole center of gravity is positioned at the plane that four bolts are formed.The support lower platform path of motion of first order kinematic mechanism by connecting firmly the support upper mounting plate of next kinematic mechanism together, passes motion to next kinematic mechanism.Adopt removable support system base between each discrete kinematic mechanism, the various initial conditions between each discrete kinematic mechanism are by the upper mounting plate decision of the support system of this mechanism.
Ancillary system is by fixing and movable heat sink; and corresponding liquid nitrogen supply system is formed; install and fix heat sink in the measured target bottom; whole sport simulated system places within the heat sink protection; thereby shielding motion simulation mechanism is to the thermal radiation of measured target; heat sink in the installation activity of the kinematic mechanism outside, prevent the influence of side direction thermal radiation to measuring.
TT﹠C system comprises pressure sensor, signal transmssion line, computing machine and a cover system TT﹠C software.The pressure position sensor is used for measuring and output movement simulator state of kinematic motion, is delivered to computing machine by signal transmission line, and TT﹠C software compares judgement according to program given in advance, provides the further work instruction, drive stepping motor work.
Advantage and good effect that the motion simulator that is used for simulation experiments on target characteristic ground of the present invention has are: (1) has adopted the crank rod movement form of four-bar linkage, reduce the volume of sports equipment, can carry out corresponding adjusting to the physical dimension of four-bar linkage according to corresponding range of movement simultaneously; (2) the inter-agency erecting stage of different motion is detachable, and the relative initial position of target only is decided by the support lower platform of axis of symmetry spin mechanism, and it changes does not influence other kinematic mechanism; (3) heat sink structure of radiation-screening is divided into fixing and movable two kinds, when guaranteeing that interference emission is all shielded, saves heat sink structure and liquid nitrogen consumption; (4) adopt interior engagement incomplete gear mechanism, realized target, can regulate according to different motion characteristicss simultaneously in the axial motion that rests; (5) according to customer requirement, select the different motion part body is installed, realize that different degree of freedom rotatablely move.
[description of drawings]
The motion principle figure of Fig. 1 motion simulator
The three-dimensional modeling forward sight view of Fig. 2 motion simulator
View on the three-dimensional modeling of Fig. 3 motion simulator
[specific implementation method]
The present invention is further described below in conjunction with accompanying drawing.
The motion simulator that is used for simulation experiments on target characteristic ground, comprise support system, kinematic scheme, TT﹠C system and ancillary system, wherein kinematic scheme solves disalignment to motion problems by adopting four-bar linkage, interior engagement incomplete gear mechanism and axis of symmetry spin mechanism, use of the influence of fixed and movable heat sink shielding motion simulator simultaneously to target emanation, and the oil-free lubrication of all lubricated employing vacuum is not introduced source of pollution to vacuum environment in the motion simulator.
See also the motion principle figure of motion simulator shown in Figure 1, the crank 10 in the four-bar linkage by connecting rod 11, passes motion to rocking bar 12 as driving link; Interior engagement incomplete gear mechanism is realized the intermittent moment that this is circumferential by the incomplete engagement of driving wheel 15 and flower wheel 14.
See also the three-dimensional modeling forward sight view of motion simulator shown in Figure 2, according to preliminary evaluation machine control program, provide the motor action instruction, the motor rotation drives transmission shaft, drive crank 10, by connecting rod 11, pass motion to rocking bar 12, rocking bar and four-bar linkage support upper mounting plate 9 and are fixed together.Four-bar linkage supports upper mounting plate 9 and supports lower platform 8 by bolt with interior engagement incomplete gear mechanism, transmits the motion of this direction and gives interior engagement incomplete gear mechanism.In in engagement the moving through of incomplete gear mechanism the engagement incomplete gear mechanism support the fixed of upper mounting plate 5 and axis of symmetry spin mechanism supports lower platform 4, pass to axis of symmetry spin mechanism.Axis of symmetry spin mechanism finishes motion by the motor drives mechanism 2 of pivoting.
See also view on the three-dimensional modeling of motion simulator shown in Figure 3, electrical motor is accepted the computer controlled instruction, drives driving wheel 15 and rotates, and driving wheel intermittently drives flower wheel 14 and rotates, thereby realizes the intermittent moment that this is circumferential.Because target all directions rotative speed is all less, therefore,, need to pass to kinematic mechanism then by drop-gear box from the motion that electrical motor spreads out of.
Claims (6)
1. the motion simulator that is used for simulation experiments on target characteristic ground is implemented in the single test continuous simulation of target and light source relative position under the different conditions, comprises support system, kinematic scheme, TT﹠C system and ancillary system; It is characterized in that: have three motors, three motors by kinematic scheme respectively independent controlled target three orthogonal axes to motion.
2. the motion simulator that is used for simulation experiments on target characteristic ground as claimed in claim 1, it is characterized in that: kinematic scheme comprises direct rotating mechanism three parts of four-bar linkage, interior engagement incomplete gear mechanism and axis of symmetry, finish respectively three orthogonal axes to corresponding circumferential movement, and can select the installation array configuration of different piece mechanism according to customer requirement.
3. the motion simulator that is used for simulation experiments on target characteristic ground as claimed in claim 2 is characterized in that: four-bar linkage comprises crank (10), connecting rod (11), rocking bar (12); Interior engagement incomplete gear mechanism comprises that driving wheel (15), driving wheel are connected platform (7), flower wheel (14), flower wheel support platform (6), supporting guide pair (13) with rocking bar; Target axis of symmetry spin mechanism is made up of electrical motor, object support support (3), the mechanism of pivoting (2).
4. as the described motion simulator that is used for simulation experiments on target characteristic ground of one of claim 1～3, it is characterized in that: support system is made up of the distachable platform of different motion mechanism, lay respectively at each discrete kinematic mechanism connecting bridge, comprise axis of symmetry spin mechanism supports lower platform (4), interior engagement incomplete gear mechanism supports upper mounting plate (5), interior engagement incomplete gear mechanism supports lower platform (8), four-bar linkage supports upper mounting plate (9), adopt removable support system base between each discrete kinematic mechanism, the various initial conditions between each discrete kinematic mechanism are by the upper mounting plate decision of support system.
5. as the described motion simulator that is used for simulation experiments on target characteristic ground of one of claim 1～3, it is characterized in that: ancillary system comprises heat sink structure and liquid nitrogen supply system, and whole sport simulated system places within the heat sink protection.
6. as the described motion simulator that is used for simulation experiments on target characteristic ground of one of claim 1～3, it is characterized in that: the heat sink structure in the ancillary system is divided into fixing and movable two kinds.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910236512A CN101698433A (en) | 2009-10-23 | 2009-10-23 | Motion simulator for simulation experiments on target characteristic ground |
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| CN200910236512A CN101698433A (en) | 2009-10-23 | 2009-10-23 | Motion simulator for simulation experiments on target characteristic ground |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234738A (en) * | 2013-03-27 | 2013-08-07 | 河南科技大学 | Momentum wheel component performance testing device |
| CN106516180A (en) * | 2015-09-10 | 2017-03-22 | 北京卫星环境工程研究所 | Operating mechanism of liquid-nitrogen-cooled heat sinks in vacuum low-temperature environment |
| CN106596152A (en) * | 2016-11-09 | 2017-04-26 | 上海卫星装备研究所 | Adjustable diaphragm in space environment |
| CN109459799A (en) * | 2018-12-27 | 2019-03-12 | 北京航天长征飞行器研究所 | Space optics detects geometric scene multi-angle dynamic simulation test method and system |
| CN113247318A (en) * | 2021-06-28 | 2021-08-13 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
| CN113324733A (en) * | 2021-06-04 | 2021-08-31 | 中科院南京耐尔思光电仪器有限公司 | Movable target simulation system used in vacuum environment |
-
2009
- 2009-10-23 CN CN200910236512A patent/CN101698433A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234738A (en) * | 2013-03-27 | 2013-08-07 | 河南科技大学 | Momentum wheel component performance testing device |
| CN103234738B (en) * | 2013-03-27 | 2015-07-22 | 河南科技大学 | Momentum wheel component performance testing device |
| CN106516180A (en) * | 2015-09-10 | 2017-03-22 | 北京卫星环境工程研究所 | Operating mechanism of liquid-nitrogen-cooled heat sinks in vacuum low-temperature environment |
| CN106596152A (en) * | 2016-11-09 | 2017-04-26 | 上海卫星装备研究所 | Adjustable diaphragm in space environment |
| CN106596152B (en) * | 2016-11-09 | 2019-01-25 | 上海卫星装备研究所 | Adjustable diaphragm under a kind of space environment |
| CN109459799A (en) * | 2018-12-27 | 2019-03-12 | 北京航天长征飞行器研究所 | Space optics detects geometric scene multi-angle dynamic simulation test method and system |
| CN109459799B (en) * | 2018-12-27 | 2019-08-23 | 北京航天长征飞行器研究所 | Space optics detects geometric scene multi-angle dynamic simulation test method and system |
| CN113324733A (en) * | 2021-06-04 | 2021-08-31 | 中科院南京耐尔思光电仪器有限公司 | Movable target simulation system used in vacuum environment |
| CN113247318A (en) * | 2021-06-28 | 2021-08-13 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
| CN113247318B (en) * | 2021-06-28 | 2022-05-31 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
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Application publication date: 20100428 |