CN102913553B - Multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement - Google Patents
Multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement Download PDFInfo
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- CN102913553B CN102913553B CN201210403329.3A CN201210403329A CN102913553B CN 102913553 B CN102913553 B CN 102913553B CN 201210403329 A CN201210403329 A CN 201210403329A CN 102913553 B CN102913553 B CN 102913553B
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Abstract
The invention provides a multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement. The device comprises single-layer hanging devices and an expanding test rack, wherein the each single-layer hanging device comprises a support part, an air floatation follow-up part, a detection part and a guide rail system, the support part comprises two longitudinal air floatation shafts, one sensor mounting plate, a left longitudinal air floatation shaft fixing rack and a left longitudinal air floatation shaft fixing rack, the air floatation follow-up part comprises two longitudinal air floatation sleeve, two horizontal air floatation sleeves, two air floatation seats, a telescopic air tube, a horizontal air floatation shaft and a hanging fixture, the detection part comprises a horizontal displacement sensor and a longitudinal displacement sensor, the guide rail system comprises a horizontal linear module, a horizontal guide rail cross beam, a longitudinal guide rail sliding block and a longitudinal guide rail, the longitudinal guide rail linear module is horizontally fixed on the expanding test rack by virtue of a strut member, the expanding test rack is divided into multiple layers in the vertical direction, and one independent single-layer hanging device is arranged on each layer. The multi-layer air floatation hanging device can be used for realizing the large-displacement long-distance follow-up movement and meets the requirement on matching movement of the multiple layers of the hanging devices.
Description
Technical field
The present invention relates to air-floating apparatus, especially a kind of air supporting erecting by overhang of two-dimensional friction-free motion.
Background technique
Solar wing is hinged by several piece solar panel and a link press span and forms, and they rely on hold-down mechanism to draw in and are folded on satellite body sidewall.When after satellier injection, the solar battery array of a last generate plane, provides main power supply for satellite works in orbit.Solar wing ground spreading testing apparatus, it is one of standard equipment of Stretching of solar wings test in simulation space on the ground, be connected with solar plate or link press span by erecting by overhang, for solar wing provides zero-g, the two-freedom motion simulation condition similar with true unfolding condition, the expansion of the simulated implementation satellite sun wing, the solar wing spreading time can be analyzed, state etc. after launching.
Due to the impact of the factor such as gravity and surface friction drag, in simulation space, Stretching of solar wings test is extremely difficult on the ground, and of a high price.
Through data display, in ground experiment process, solar wing have employed guide rail dolly mobile ground spreading that realizes on cross slide way and longitudinal rail and tests, and this testing apparatus is made up of supporting structure, longitudinal rail, cross slide way, rocker stand, suspension unit.The outside plate of solar wing, middle plate, inner panel original state are pressed on simulation wall, the active force of suspension unit passes through the barycenter of each sun substrate, be connected with cross slide way by there being the dolly of roller, horizontal dolly can slide on cross slide way, and cross slide way by sliding with the dolly of roller and longitudinal dolly on longitudinal rail.In the process of solar wing outspreading sailboard, each suspension point longitudinally laterally does irregular curve motion, but the horizontal longitudinal rail of above-mentioned zero-g developing test device is the dolly of band roller, thus the impact of frictional force cannot be eliminated, impact on its motion generation power in simulated solar wing outspreading sailboard process, therefore there is a lot of defects in this design.
Have the features such as surface friction drag is little, kinematic accuracy is high, cleanliness without any pollution due to air-float guide rail, thus air-float guide rail replaces conventional guide rail realizing being used widely in frictionless motion device.Air-float guide rail is made up of the gentle empty boasting of air-bearing shafts, and the air gap requirements between air supporting cover and air-bearing shafts is micron order, and therefore the coaxality requirement on machining accuracy of air-bearing shafts is very high.On the other hand, owing to being subject to Action of Gravity Field, require very high to the flexural rigidity of air-bearing shafts material.Along with the increase of movement parts displacement distance, the length of air-bearing shafts increases because air-bearing shafts is slender rod piece, ensure air-bearing shafts length total length and air supporting overlap between gap, difficulty of processing is very large.Therefore, air-float guide rail often can be applied in short distance frictionless motion device.Thus number of patent application be 201010165973.2 " friction-free air floating guide rail for long distance " disclose one and utilize conventional linear guide rail technology, moved by ACTIVE CONTROL generic linear guide rail slide block, ensure the precision of linear rail during grand movement, and combine air-float guide rail technology among a small circle, when ensureing that guide is moved all the time within the scope of air-float guide rail,, thus follow guide motion, realize the device without friction linear motion of long distance.Equally, number of patent application is " the friction-free air floating device for following motion trail of hoisting point for ultra-long distance " of 201010165536.0, number of patent application is " air-floating apparatus of the following one-dimensional motion trail of lifting point at overlength distance of unaffected by disturbance of air pipes " of 201010165255.5, number of patent application is " the long distance air supporting linear rail of unaffected by disturbance of air pipes " of 201010165602.4, number of patent application is that axis is also grown distance without frictional movement grafting on the slide block guide rail assembly of general precision by " air-floating apparatus of the following motion trail of hoisting point for ultra-long distance of pipe disturbance power of not being bullied impact " of 201010165658.X all dexterously, air supporting can be realized be enclosed within pole floating axle of losing heart and move with the Large travel range of movement parts.But these schemes can only realize the nothing friction translation of one dimension, cannot follow the trail of the plane motion of solar wing suspension point.
Number of patent application be 201010165949.9 " combined air flotation device of unaffected by disturbance of air pipes " disclose a kind of double-layer air flotation device, this is a kind of device that can be realized all kinds of frictionless motion by multiple-layer stacked, but because air-bearing shafts is slender rod piece, under long distance occasion, air-bearing shafts almost cannot be processed, and is therefore thisly designed to short stroke air-floating apparatus.Application number be 201010166032.0 " two-dimensional plane air-floatation zero-gravity cradle " disclose and a kind of laterally use a long air-float guide rail, utilize motor to drive length guide rail to coordinate air-float guide rail among a small circle longitudinally, thus realize two-dimensional friction-free translation.But due to the restriction of horizontal air-float guide rail difficulty of processing, the follow-up motion of horizontal Large travel range cannot be carried out, be difficult to reach horizontal long range propagation, there is certain defect.
On the other hand, solar wing is hinged by polylith solar plate to form, and every block solar plate has a sling point, in the process that solar wing simulation launches, needs to provide suspended support and track to follow to every block solar plate.So just need multiple sling point to carry out two-dimentional inner plane motion simultaneously, and mutually do not interfere, therefore have very large difficulty.
Summary of the invention
In order to overcome the deficiency that cannot realize Large travel range long distance follow-up motion of existing two-dimensional gas floating device, the invention provides one and realize Large travel range long distance follow-up motion, meet the multi-layer air floatation erecting by overhang of the long distance motion of two-dimensional friction-free of the routing motion between multilayer erecting by overhang.
The technical solution adopted for the present invention to solve the technical problems is:
The multi-layer air floatation erecting by overhang of the long distance motion of a kind of two-dimensional friction-free, comprise individual layer erecting by overhang and launch test stand, described individual layer erecting by overhang comprises supporting part, air supporting follow-up unit, detection part and guide track system, described supporting part comprises two longitudinal air-bearing shafts, longitudinal air-bearing shafts fixing frame is overlapped in one piece of sensor mounting plate and left and right two, described air supporting follow-up unit comprises two longitudinal air supporting covers, two horizontal air supporting covers, two air supporting seats, flexible tracheae, a horizontal air-bearing shafts and suspending equipment, described detection part comprises lateral displacement sensor and length travel sensor, described guide track system comprises transverse slider, horizontal linear module, cross slide way crossbeam, longitudinal rail slide block and longitudinal rail, wherein,
Described left and right two is overlapped longitudinal air-bearing shafts fixing frame and is arranged on transverse slider, the two ends of described two longitudinal air-bearing shafts are arranged on the longitudinal air-bearing shafts fixing frame of left and right two cover, described sensor mounting plate is fixed on longitudinal air-bearing shafts fixing frame, described two longitudinal air supporting covers are sleeved on two longitudinal air-bearing shafts, described two longitudinal air supporting covers and two horizontal air supporting covers are tightly connected with two air supporting seats and are spatially 90 °, described flexible tracheae and two air supporting seated connections lead to, described two horizontal air supporting covers are sleeved on horizontal air-bearing shafts, described suspending equipment is fixed on the neutral position of horizontal air-bearing shafts,
Described transverse slider is slidably mounted on horizontal linear module, described horizontal linear module is arranged on cross slide way crossbeam, the two ends of cross slide way crossbeam are fixed on the longitudinal rail slide block of longitudinal rail, and longitudinal rail slide block is slidably mounted on vertical linear module;
The linear module of described longitudinal rail is horizontally fixed on by supporting element and launches on test stand, and described expansion test stand divides multilayer at vertical direction, one group every layer independently individual layer erecting by overhang.
Further, described individual layer erecting by overhang also comprises detection part, described detection part comprises lateral displacement sensor, length travel sensor and Hall transducer, described lateral displacement sensor is arranged between sensor mounting plate and horizontal air supporting the tip of the axis, between described longitudinal laser displacement sensor is arranged on outside sensor mounting plate and air supporting seat; Described Hall transducer is arranged on two on longitudinal air-bearing shafts fixing frame, and described induced magnet is arranged on corresponding air supporting and puts.
Further, have the distance of setting between two pieces of transverse sliders, cross slide way crossbeam and linear module thereof have the width of setting, mutually noiseless between each hangar system during guarantee individual layer erecting by overhang paved in multi-layers.
Beneficial effect of the present invention is mainly manifested in: realize Large travel range long distance follow-up motion, meet the routing motion between multilayer erecting by overhang.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the erecting by overhang of the long distance motion of two-dimensional friction-free.
Fig. 2 is the rear view of Fig. 1.
Fig. 3 is the side view of Fig. 1.
Fig. 4 is the schematic diagram of guide track system.
Fig. 5 is three layers of erecting by overhang schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 5, the multi-layer air floatation erecting by overhang of the long distance motion of two-dimensional friction-free, comprise individual layer erecting by overhang and launch test stand, described individual layer erecting by overhang comprises supporting part, follow-up unit, detection part and guide track system, wherein supporting part, follow-up unit, detection part form plane motion air-floating apparatus, and described supporting part overlaps longitudinal air-bearing shafts fixing frame 4 by two longitudinal air-bearing shafts, 3, one piece of sensor mounting plate 7, two and forms.Air supporting follow-up unit overlaps 10, two horizontal air supportings covers, 1, two air supporting seats 2 by two longitudinal air supportings, flexible tracheae 27, horizontal air-bearing shafts 8, a suspending equipment 9 form.Detection device is made up of the permanent magnet 29 of the light barrier of horizontal laser displacement sensor 6, longitudinal laser displacement sensor and correspondence thereof, Hall transducer 28 and correspondence.
Described left and right two is overlapped longitudinal air-bearing shafts fixing frame and is arranged on the horizontal slide unit of cross slide way, the two ends of described two longitudinal air-bearing shafts are arranged on the longitudinal air-bearing shafts fixing frame of two covers, described sensor mounting plate is fixed on longitudinal air-bearing shafts fixing frame, described two longitudinal air supporting covers are sleeved on two longitudinal air-bearing shafts, described two longitudinal air supporting covers and two horizontal air supporting covers are tightly connected by seal ring 11 with two air supporting seats and are spatially 90 °, described flexible tracheae and air supporting seated connection lead to, described two horizontal air supporting covers are sleeved on horizontal air-bearing shafts, described suspending equipment is fixed on the neutral position of horizontal air-bearing shafts.Horizontal laser displacement sensor is arranged on sensor mounting plate, and horizontal photographic plate is arranged on horizontal air supporting the tip of the axis, vertical with horizontal air-bearing shafts.Longitudinal laser displacement sensor is arranged on sensor mounting plate, and longitudinal photographic plate is arranged on outside air supporting seat, vertical with longitudinal air-bearing shafts.Hall transducer is arranged on two on longitudinal air-bearing shafts fixing frame, and induced magnet is arranged on corresponding air supporting and puts.
Described plane motion air-floating apparatus 19 is arranged on transverse slider, described transverse slider is arranged on horizontal linear module 20, described transverse slider can move by laterally driving actuating motor 21 on horizontal linear module 20, described horizontal linear module 20 is fixed on cross slide way crossbeam, described cross slide way crossbeam two ends are fixed on longitudinal sliding block by cross rail fixing-assembly 16, described longitudinal sliding block is arranged on a pair vertical linear module 13 of parallel placement, described zigzag tread patterns actuating motor 17 and controller 15 are arranged on cross rail fixing-assembly 16, described servo longitudinal motor 17 and controller 15 can with longitudinal sliding block longitudinally guide rail movements, the servo-actuated supporting component 18 of described secondary rail is arranged on the slide block of longitudinal rail another side, described vertical linear module 13 is arranged in a pair support H profile steel 14, support bracket 12 is installed in the bottom of described support H profile steel 14.
The linear module of described longitudinal rail is horizontally fixed on by supporting element and launches on test stand, and described expansion test stand divides multilayer at vertical direction, one group every layer independently individual layer erecting by overhang.
The basic fundamental thinking that the multi-layer air floatation erecting by overhang of the long distance motion of two-dimensional friction-free adopts is:
The follow-up unit of plane motion air-floating apparatus can do without frictional plane motion on air supporting seat, and namely horizontal air-bearing shafts and longitudinal air supporting cover can, along horizontal longitudinal frictionless motion, after being connected, be realized following without friction is passive by erecting by overhang with solar plate; Be fixed on below the slide unit of cross slide way by longitudinal air-bearing shafts fixing frame, can move with slide unit, guide track system moves according to the SC sigmal control guide rail slide block fed back, and realizes initiatively following.
Air-floating apparatus is by air supporting seat air feed, and air supporting seat inside is cavity, can connect air supporting cover suction port, and two air supporting seats are connected through flexible tracheae.Stretch tracheae and transverse slider of air inlet is fixed, and can move with slide block transversal stretching, resupply air supporting seat, due to flexible tracheae light weight, stretchability is good, servo-actuated apart from short, and when thus air supporting seat moves vertically, the disturbing influence that tracheae produces is very little.Laser displacement sensor is fixed on air-bearing shafts fixing frame by sensor mounting plate, moves with slide block, and its wiring is installed and all can not be had an impact to the motion of air-floating apparatus follow-up unit.
Air-floating apparatus follow-up unit is only two, left and right air supporting seat extremely corresponding air supporting cover, horizontal air-bearing shafts, and material is light aluminum alloy material, thus reduces the inertia effects of follow-up unit during solar wing spreading.
Laser displacement sensor and Hall transducer are all equipped with in vertical and horizontal direction, laser displacement sensor can the horizontal air-bearing shafts of Measurement accuracy, the motion of longitudinal air supporting cover relative displacement, by signal feed back to guide track system, the motion of air supporting follow-up unit is followed by Serve Motor Control guide rail slide block, ensure that air-floating apparatus follow-up unit is in the effective travel of air-floating apparatus all the time, virtually extend passive scope of following.
Hall transducer plays position limitation protection effect; when displacement transducer in movement process or miscellaneous part produce fault; laterally longitudinal air-floating apparatus motion oversteps the extreme limit stroke; solar array will be pullled and cause damage; thus guide track system is fed back signal to by Hall transducer; the motion of restriction original direction, plays the effect of protection.Because solar wing mainly launches along the longitudinal, thus Hall transducer is only arranged on longitudinal air-floating apparatus.
Described guide rail is that Timing Belt drives linear module, and described slide unit can rolling friction type translation on guide rail, drives the power of slide unit translation to be provided by Timing Belt and synchronizing wheel.The Timing Belt two ends of longitudinal rail are fixedly mounted in one piece of support H profile steel, described longitudinal motor can guide rail movement along the longitudinal by belt wheel, horizontal actuating motor is fixed on cross slide way, and transverse slider is moved on cross slide way by Timing Belt and belt wheel thereof.Described guide rail adjustment assembly is arranged between H profile steel and vertical linear module, for adjusting levelness, the parallelism of longitudinal rail.
Guide track system has two cover sensing systems, the straight-line displacement of a set of measurement cross slide way slide unit, the straight-line displacement of another set of measurement longitudinal rail slide unit, in solar wing spreading process, the displacement signal of coming is fed back according to plane motion air-floating apparatus, accurate control slide block moves corresponding distance, when ensureing that guide is moved all the time within the scope of air-float guide rail, thus realizes the plane motion of long distance frictionless.
Due to individual layer hangar system spatially layered arrangement, in the movement process of following solar plate expansion, can not collide during the motion of erecting by overhang portraitlandscape interference.When solar wing rounding state, erecting by overhang spacing is the shortest, and namely each individual layer erecting by overhang need meet horizontal and vertical required distance, and erecting by overhang is not interfered mutually.In the middle of this apparatus design, cross rail crossbeam and horizontal linear module are no more than the twice of minimum range between two pieces of solar plate suspension centres, thus interference is not produced between longitudinal direction during hanging solar plate, during the original state launched, lateral displacement amount is very little, distance between plane motion air-floating apparatus longitudinal shaft fixing frame meets the demands, and thus under solar plate impaction state and in the process of expansion motion, can not produce and influence each other between the erecting by overhang of each layer.
When solar plate is in rounding state, distance between plates is very short, so sling point spacing is very short, but because plane motion air-floating apparatus is frictionless motion, flexibility is very high, so, when erecting by overhang is not in vertical stable state, air-floating apparatus can produce simple harmonic motion, at this moment, if when signal feed back is to guide rail servo-system, can cause and initiatively follow, crossbeam can move, collide with the suspension rod of upper strata erecting by overhang, cause the accelerated motion of higher device follow-up unit, the guide track system of such higher device is followed further, will cause and wholely cannot to stablize in system, more serious meeting produces thermal agitation because of the positive feedback between individual system.Thus, before solar plate launches, we adopt servo-system to follow at a slow speed, and sensitivity is low, rock middle guide like this follow at a slow speed at air-floating apparatus, can not produce vibration, make erecting by overhang reach stable state very soon.In solar plate exhibition process, adopt servo-system to follow fast, sensitivity is high, can meet solar plate launch at a high speed hourly velocity, acceleration follow requirement.
Launching test stand is that whole large-scale air supporting supending roll type solar wing ground spreading testing apparatus provides support framework.Longitudinal rail is fixed on and launches on test stand, and individual layer hanging dress is by launching experiment frame spatially paved in multi-layers.
When solar wing spreading, solar plate pulls plane motion air-floating apparatus to move, longitudinal rail and cross slide way are under servo followup system drives, the air supporting seat of plane motion air-floating apparatus is driven to follow the tracks of solar plate motion, realization realizes Large travel range long distance follow-up motion, meets the routing motion between multilayer erecting by overhang.
Claims (2)
1. the multi-layer air floatation erecting by overhang of the long distance motion of two-dimensional friction-free, it is characterized in that: comprise individual layer erecting by overhang and launch test stand, described individual layer erecting by overhang comprises supporting part, air supporting follow-up unit, detection part and guide track system, described supporting part comprises two longitudinal air-bearing shafts, longitudinal air-bearing shafts fixing frame is overlapped in one piece of sensor mounting plate and left and right two, described air supporting follow-up unit comprises two longitudinal air supporting covers, two horizontal air supporting covers, two air supporting seats, flexible tracheae, a horizontal air-bearing shafts and suspending equipment, described detection part comprises lateral displacement sensor and length travel sensor, described guide track system comprises transverse slider, horizontal linear module, cross slide way crossbeam, longitudinal rail slide block and longitudinal rail, wherein,
Described left and right two is overlapped longitudinal air-bearing shafts fixing frame and is arranged on transverse slider, the two ends of described two longitudinal air-bearing shafts are arranged on the longitudinal air-bearing shafts fixing frame of left and right two cover, described sensor mounting plate is fixed on longitudinal air-bearing shafts fixing frame, described two longitudinal air supporting covers are sleeved on two longitudinal air-bearing shafts, described two longitudinal air supporting covers and two horizontal air supporting covers are tightly connected with two air supporting seats and are spatially 90 °, described flexible tracheae and two air supporting seated connections lead to, described two horizontal air supporting covers are sleeved on horizontal air-bearing shafts, described suspending equipment is fixed on the neutral position of horizontal air-bearing shafts,
Described transverse slider is slidably mounted on horizontal linear module, described horizontal linear module is arranged on cross slide way crossbeam, the two ends of cross slide way crossbeam are fixed on the longitudinal rail slide block of longitudinal rail, and longitudinal rail slide block is slidably mounted on vertical linear module;
The linear module of longitudinal rail is horizontally fixed on by supporting element and launches on test stand, and described expansion test stand divides multilayer at vertical direction, one group every layer independently individual layer erecting by overhang.
2. the multi-layer air floatation erecting by overhang of the long distance motion of two-dimensional friction-free as claimed in claim 1, it is characterized in that: described individual layer erecting by overhang also comprises detection part, described detection part comprises lateral displacement sensor, length travel sensor and Hall transducer, described lateral displacement sensor is arranged between sensor mounting plate and horizontal air supporting the tip of the axis, between described longitudinal laser displacement sensor is arranged on outside sensor mounting plate and air supporting seat, described Hall transducer is arranged on two on longitudinal air-bearing shafts fixing frame, induced magnet is arranged on corresponding air supporting and puts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210403329.3A CN102913553B (en) | 2012-10-22 | 2012-10-22 | Multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement |
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| CN201210403329.3A CN102913553B (en) | 2012-10-22 | 2012-10-22 | Multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement |
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| CN106218926A (en) * | 2016-07-20 | 2016-12-14 | 上海宇航系统工程研究所 | A kind of low resistance suspension suspension type developing test device |
| CN106428656B (en) * | 2016-08-12 | 2018-12-14 | 浙江工商大学 | A kind of full air bearing expansion erecting by overhang of sun wing plate ground simulation two dimension |
| CN106373479A (en) * | 2016-09-29 | 2017-02-01 | 上海新力机器厂 | Super long-range solar array unfolding experimental device |
| CN110529466B (en) * | 2019-09-02 | 2020-11-10 | 北京交通大学 | Digital servo valve debugging device |
| CN111114839B (en) * | 2020-02-11 | 2021-03-16 | 中国科学院微小卫星创新研究院 | Solar cell array driving mechanism |
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| JP2006161898A (en) * | 2004-12-03 | 2006-06-22 | Oiles Ind Co Ltd | Air sliding device |
| CN101813131A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Two-dimensional plane air-floatation zero-gravity cradle |
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| CN101839280A (en) * | 2010-05-07 | 2010-09-22 | 浙江工业大学 | Combined air flotation device unaffected by disturbance of air pipes |
| CN101852660A (en) * | 2010-05-07 | 2010-10-06 | 浙江工业大学 | Two-dimensional gas floating follow-up device for supplying constant suspension force |
| CN202901025U (en) * | 2012-10-22 | 2013-04-24 | 浙江工业大学 | Two-dimensional frictionless multi-layer air floating hanging device for long-distance movement |
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| JP2006161898A (en) * | 2004-12-03 | 2006-06-22 | Oiles Ind Co Ltd | Air sliding device |
| CN101813131A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Two-dimensional plane air-floatation zero-gravity cradle |
| CN101818759A (en) * | 2010-05-07 | 2010-09-01 | 浙江工业大学 | Air flotation device following one-dimensional motion trail of lifting point at overlength distance without being influenced by air pipe disturbance |
| CN101839280A (en) * | 2010-05-07 | 2010-09-22 | 浙江工业大学 | Combined air flotation device unaffected by disturbance of air pipes |
| CN101852660A (en) * | 2010-05-07 | 2010-10-06 | 浙江工业大学 | Two-dimensional gas floating follow-up device for supplying constant suspension force |
| CN202901025U (en) * | 2012-10-22 | 2013-04-24 | 浙江工业大学 | Two-dimensional frictionless multi-layer air floating hanging device for long-distance movement |
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