CN101936807B - Spatial intelligent following floated platform - Google Patents
Spatial intelligent following floated platform Download PDFInfo
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- CN101936807B CN101936807B CN2010102570317A CN201010257031A CN101936807B CN 101936807 B CN101936807 B CN 101936807B CN 2010102570317 A CN2010102570317 A CN 2010102570317A CN 201010257031 A CN201010257031 A CN 201010257031A CN 101936807 B CN101936807 B CN 101936807B
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Abstract
The invention provides a spatial intelligent following floated platform, mainly comprising an intelligent following car, a vehicle-mounted small-sized floated platform and a gravity balance system, wherein, the gravity balance system is arranged on the intelligent following car; the vehicle-mounted small-sized floated platform is connected with the gravity balance system; the intelligent following car realizes plane the motion intelligent following; the gravity balance system realizes the motion following in a vertical direction; the combined action of the intelligent following car and the gravity balance system finally realize intelligently following a tested mechanism which moves on the three-dimensional space, not only can the requirements of stimulating the outer space mechanical environment by a ground laboratory be satisfied, but also the excessive additional force and additional moment can not be introduced to a deployable mechanism, and the precision and accuracy of the ground test can be effectively ensured.
Description
Technical field
The present invention relates to a kind of space intelligent and follow air floating table, concrete is the air floating table that a kind of three dimensions intelligence is followed function, belongs to the space flight mechanical structure field.
Background technology
Along with the continuous development of spationautics, the application of large-scale development mechanisms such as large-sized solar windsurfing and large-scale extending arm more and more widely.Under the condition of ground experiment chamber, for the mechanical environment in accurate simulation outer space and by testpieces in the rail motion state, generally it is floated the influence of balancing gravity through pressurized air.But, often exist size big for this type of large-scale development mechanism, the characteristics of complicated movement.In order to satisfy the expansion needs of this type development mechanism; Large-scale air floating platform size must be enough big; Often need the small-sized platform of polylith to be assemblied to form; This processing and installation to platform has all proposed harsh technical requirement, and is easy to generate catching phenomenon at the seam crossing of adjacent two small-sized platforms, influences the proper motion of tested mechanism.In addition; In order to satisfy the needs of large scale development mechanism compound movement; The general complex structure of its servo-actuated frock, quality is excessive, sometimes even be more than the several times of development mechanism sole mass; This will inevitably introduce bigger additional force and additional moment to development mechanism, has a strong impact on the precision and the accuracy of test.
Summary of the invention
The invention provides a kind of space intelligent and follow air floating table; Be applicable to large-scale development mechanism; And spatially intelligence is followed the motion of development mechanism, thereby balance had both been satisfied the requirement of the simulation outer space mechanical environment in the ground experiment chamber by the gravity of test mechanism; Can not introduce too much additional force and additional moment again, effectively guarantee the precision and the accuracy of ground experiment development mechanism.
Space intelligent involved in the present invention is followed air floating table and is comprised intelligent Following Car, vehicle-mounted small-sized air floating table and gravity balance device; Wherein intelligent Following Car comprises chassis, driving wheel, universal engaged wheel, motor, gear train and controller; Vehicle-mounted small-sized air floating table comprises support platform, the gentle source component of mounting platform, and gravity balance device comprises support column, linear guides, pulley blocks and counterweight; Its whole annexation is: top, chassis installation and control device, motor and gear train; Motor and gear train are used for the driving wheel of drive installation below the chassis and drive two universal engaged wheels; Top, a chassis side relative with driving wheel is equipped with the support column of two symmetries, and there is the linear guides vertical with the chassis support column inboard, and the support column top is equipped with pulley blocks; A pair of slide block matches with the linear guides of support column; Wire rope one end on the pulley blocks connects slide block, and the other end connects the counterweight at the support column back side, and support platform is fixedly connected with the slide block upper surface; The gases at high pressure that mounting platform is provided by the source of the gas assembly swim in support platform directly over, position transducer all is installed on the opposite face of support platform and mounting platform.
The intelligence Following Car can also adopt rail intelligence Following Car, and rail intelligence Following Car moves according to planned orbit.
The course of work of the present invention is following: directly or through frock linked to each other with mounting platform by test mechanism, mounting platform swims on the support platform under the effect of gases at high pressure, and mounting platform moves together with one of which under by the drive of test mechanism.When the mounting platform horizontal motion; Mounting platform and support platform produce the relative position error; This error of position sensor feedback is given intelligent Following Car controller; Intelligence Following Car controller is controlled the driven by motor gear train motion of intelligent Following Car according to this error amount, thereby drives intelligent Following Car to the direction motion that reduces this error amount, realizes following by the test mechanism horizontal motion.When the motion of mounting platform vertical direction; The gravitational equilibrium of gravitational equilibrium system pulley blocks both sides is destroyed; Counterweight moves up and down through the linear guides of wire rope pulling slide block along support column; Therefore support platform is followed mounting platform and is moved up and down, thereby realizes following by the motion of test mechanism vertical direction; To waited the following of other spatial movements by the test mechanism upset through of the realization that cooperates of vehicle-mounted small-sized air floating table with frock.
Beneficial effect
1. the combined action of the present invention through intelligent Following Car and gravitational equilibrium system realized that vehicle-mounted small-sized air floating table follows the space intelligent of large-scale development mechanism motion; Both realized simulation outer space mechanical environment in the ground experiment chamber; Can not introduce too much additional force and additional moment again, effectively guarantee the precision and the accuracy of ground experiment development mechanism.
2. the present invention has avoided the processing and the installation of large-scale air floating platform, has effectively reduced technical difficulty and production cost.
Description of drawings
The structural representation of Fig. 1-embodiment of the invention.
The 1-chassis, 2-driving wheel, 3-motor, 4-gear train, the universal engaged wheel of 5-, 6-controller, 7-support platform, 8-position transducer, 9-mounting platform, 10-linear guides, 11-wire rope, 12-pulley blocks, 13-counterweight, 14-support column.
Embodiment
As shown in Figure 1, present embodiment comprises chassis 1, driving wheel 2, motor 3, gear train 4, universal engaged wheel 5, controller 6, support platform 7, position transducer 8, mounting platform 9, linear guides 10, wire rope 11, pulley blocks 12, counterweight 13 and support column 14; Wherein chassis 1, driving wheel 2, motor 3, gear train 4, universal engaged wheel 5, controller 6 and position transducer 8 constitute intelligent Following Car; Support platform 7, mounting platform 9 gentle source component (not shown)s are formed small-sized air floating table system, and linear guides 10, wire rope 11, pulley blocks 12, counterweight 13 and support column 14 are formed the gravitational equilibrium systems.
In the present embodiment; Chassis 1 top installation and control device 6, motor 3 and gear train 4, motor 3 are used for the driving wheel 2 of drive installation below chassis 1 with gear train 4 and drive two universal engaged wheels 5, and 1 top, chassis and driving wheel 2 relative sides are installed with the support column 14 of two symmetries; There is the linear guides 10 vertical with chassis 1 support column 14 inboards; Support column 14 tops are equipped with pulley blocks 12, and a pair of slide block matches with the linear guides 10 of support column 14, and wire rope 11 1 ends on the pulley blocks 12 connect slide block; The other end connects the counterweight 13 at support column 14 back sides; Support platform 7 is fixedly connected with the slide block upper surface, the gases at high pressure that mounting platform 9 is provided by the source of the gas assembly swim in support platform 7 directly over, on the opposite face of support platform 7 and mounting platform 9 position transducer 8 is installed all.
The concrete course of work of present embodiment is following: directly or through frock linked to each other with mounting platform 9 by test mechanism, mounting platform 9 moves together with one of which under by the drive of test mechanism.When mounting platform 9 horizontal motion; Mounting platform 9 produces the relative position error with support platform 7; Position transducer 8 these errors of feedback are given intelligent Following Car controller 6; The motor 3 that intelligence Following Car controller 6 is controlled intelligent Following Car according to this error amount drives gear train 4 motions, thereby drives intelligent Following Car to the direction motion that reduces this error amount, realizes following by the test mechanism horizontal motion.When the motion of mounting platform 9 vertical directions; The gravitational equilibrium of gravitational equilibrium system pulley blocks 12 both sides is destroyed; Counterweight 13 moves up and down through the linear guides 10 of wire rope 11 pulling slide blocks along support column 14; Therefore support platform 7 is followed mounting platform 9 and is moved up and down, thereby realizes following by the motion of test mechanism vertical direction; To waited the following of other spatial movements by the test mechanism upset through of the realization that cooperates of vehicle-mounted small-sized air floating table with frock.
Claims (2)
1. space intelligent is followed air floating table; Comprise intelligent Following Car, vehicle-mounted small-sized air floating table and gravity balance device: wherein intelligent Following Car comprises chassis (1), driving wheel (2), universal engaged wheel (5), motor (3), gear train (4) and controller (6); Vehicle-mounted small-sized air floating table comprises support platform (7), the gentle source component of mounting platform (9), and gravity balance device comprises support column (14), linear guides (10), pulley blocks (12) and counterweight (13); It is characterized in that top, chassis (1) installation and control device (6), motor (3) and gear train (4); The driving wheel (2) that motor (3) and gear train (4) are used for drive installation (1) below on the chassis drives two universal engaged wheels (5); Top, chassis (a 1) side relative with driving wheel (2) is installed with the support column (14) of two symmetries; There is the linear guides (10) vertical with chassis (1) support column (14) inboard; Support column (14) top is equipped with pulley blocks (12), and a pair of slide block matches with the linear guides (10) of support column (14), and wire rope (11) one ends on the pulley blocks (12) connect slide block; The other end connects the counterweight (13) at support column (14) back side; Support platform (7) is fixedly connected with the slide block upper surface, the gases at high pressure that mounting platform (9) is provided by the source of the gas assembly swim in support platform (7) directly over, on the opposite face of support platform (7) and mounting platform (9) position transducer (8) is installed all.
2. space intelligent as claimed in claim 1 is followed air floating table, it is characterized in that, intelligent Following Car can adopt rail intelligence Following Car, and rail intelligence Following Car moves according to planned orbit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102570317A CN101936807B (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent following floated platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102570317A CN101936807B (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent following floated platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101936807A CN101936807A (en) | 2011-01-05 |
| CN101936807B true CN101936807B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010102570317A Expired - Fee Related CN101936807B (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent following floated platform |
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| CN (1) | CN101936807B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879568B (en) * | 2012-12-20 | 2015-08-19 | 中国科学院沈阳自动化研究所 | A kind of weightless motion status simulation device |
| CN103847985B (en) * | 2014-04-01 | 2016-01-20 | 哈尔滨工业大学 | A kind of three-dimensional space simulator based on transmission over radio |
| 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 |
| CN105173127A (en) * | 2015-08-06 | 2015-12-23 | 哈尔滨工业大学 | Six-freedom-degree zero-gravity simulation system based on combination of hoisting and air-suspending |
| CN105936339B (en) * | 2016-06-14 | 2018-01-16 | 南京航空航天大学 | A kind of microgravity environment ground air supporting simulation mechanism, system and its method of work |
| CN108945537A (en) * | 2018-08-31 | 2018-12-07 | 天津航天机电设备研究所 | Spacecraft three-dimensional zero-g simulator based on double-stage air floatation |
| CN113029512B (en) * | 2021-04-01 | 2022-08-05 | 中国空气动力研究与发展中心高速空气动力研究所 | Air flow field model correction control method for temporary transonic wind tunnel |
| CN113636116B (en) * | 2021-08-16 | 2023-04-28 | 哈尔滨工业大学 | Longitudinal gravity compensation device for dumbbell variable-diameter air-float pulley |
| CN114348307B (en) * | 2022-01-20 | 2023-08-22 | 浙江工商大学 | Air-floatation detection trolley and ground simulation experiment gravity unloading system for extension mechanism thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2789132Y (en) * | 2004-08-17 | 2006-06-21 | 上海卫星工程研究所 | Platform for satellite ground extension experiment |
| CN100361869C (en) * | 2004-09-01 | 2008-01-16 | 中国科学院沈阳自动化研究所 | Six-freedom-degree gravity balance mechanism |
| CN2813450Y (en) * | 2005-07-15 | 2006-09-06 | 上海宇航系统工程研究所 | Air-float platform |
| CN100372736C (en) * | 2006-02-15 | 2008-03-05 | 哈尔滨工业大学 | Emulated device for six-freedom degree aerial vehicle |
| 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 |
| CN201051044Y (en) * | 2007-05-24 | 2008-04-23 | 孙兆虎 | Helicopter flying testing platform with 6 free degree |
| CN201151486Y (en) * | 2007-10-25 | 2008-11-19 | 北京航空航天大学 | Air bearing table |
| CN201721620U (en) * | 2010-08-19 | 2011-01-26 | 北京理工大学 | Spatial intelligent air bearing platform |
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