CN104709475B - Lever counter weight type gravity compensation device - Google Patents
Lever counter weight type gravity compensation device Download PDFInfo
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- CN104709475B CN104709475B CN201510136479.6A CN201510136479A CN104709475B CN 104709475 B CN104709475 B CN 104709475B CN 201510136479 A CN201510136479 A CN 201510136479A CN 104709475 B CN104709475 B CN 104709475B
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- rotating plate
- bottom plate
- compensation device
- gravity compensation
- antenna
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Abstract
The invention relates to a lever counterweight type gravity compensation device for a ground unfolding test of a one-dimensional unfolding antenna of a spacecraft such as a satellite, and the like, wherein the gravity compensation device comprises a support component, a rotating plate component and a bottom plate component, the support component comprises a switching piece, a rotating shaft, a plastic roller, a roller support, a pressure sensor and the like, the rotating plate component comprises a rotating plate, a balancing weight, a rotating plate support, a damper gear, an incomplete gear, a bearing, a key and the like, and the bottom plate component comprises a bottom plate, a bottom plate locking rod, a sucker type electromagnet, a limiting pin, a bottom plate guide rod and the like; when the antenna is unfolded, the compensation device is in an attraction state, the sucker type electromagnet is electrified and attracted with the rotating plate, after the antenna is unfolded, the sucker type electromagnet is powered off, the rotating plate stably rotates under the action of the balancing weight, the incomplete gear, the damper gear and the like, and finally the antenna is supported and gravity is compensated. The gravity compensation device solves the gravity compensation problem of the space antenna ground expansion test, and has the advantages of simple structure, convenient operation, adjustable compensation force and no impact.
Description
Technical Field
The invention relates to a lever counterweight type gravity compensation device, in particular to a set of device which can perform gravity compensation on a large one-dimensional extension antenna with variable or fixed diameter and can display compensation force in real time.
Background
Since the 21 st century, the aerospace industry of various countries has been rapidly developed, the technology of space vehicles such as satellites and the like is continuously improved, a large one-dimensional extension antenna is an important component of various spacecrafts, and in the process of development, a zero-gravity one-dimensional expansion test of the antenna is an essential test content, so that a set of gravity compensation device compensation force is required to simulate a zero-gravity environment.
According to the existing documents, the gravity compensation of the current large one-dimensional extension antenna unfolding test mostly adopts an air floating type and rope suspension type compensation device. The air-floating gravity compensation test device is large in size, complex in structure, inconvenient to move, and large in resource allocation, such as a gas distribution cabinet, a gas source and the like, and is unstable in the unfolding process and limited in use; for the rope suspension type gravity compensation device, as described in the patent of 'a zero gravity suspension type unfolding test device' (patent number: CN201010108589), the device can be used for the zero gravity unfolding test of the satellite antenna under the ground environment, and comprises a supporting system, a guide rail system and a hanging device; but has the defects of complex system, large volume, inconvenient movement and inconvenient compensation of gravity adjustment. Therefore, it is urgently needed to design a gravity compensation device with simple structure, convenient operation and high compensation precision.
The invention provides a gravity compensation device with a structure of 'lever + counterweight' from the angle of supporting and compensating gravity, and the gravity compensation device utilizes the principle of static balance to eliminate the influence of gravity. Through the position of adjusting the counter weight, can adjust the size of compensation power according to the operating mode is nimble, makes the device operate steadily through using damping gear, and no impact better satisfies gravity compensation's requirement.
Disclosure of Invention
The invention aims to provide a gravity compensation device capable of offsetting the self gravity of an antenna, aiming at the problems that the space large-scale one-dimensional extension antenna equipment cannot realize a space gravity-free extension state due to bending deformation caused by the self gravity during a ground horizontal extension test.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
The invention relates to a lever counterweight type gravity compensation device, which is characterized by comprising a supporting component, a rotating plate component and a bottom plate component, wherein:
the supporting component consists of an adapter (4), a rotating shaft (5), a plastic roller (6), a roller support (7) and a pressure sensor (8); the adaptor (4) is used for connecting the pressure sensor (8) with the rotating plate (9), four counter bores and a through hole in the middle are machined in the adaptor, the through hole is used for mounting the pressure sensor (8), and the four counter bores are used for connecting the rotating plate (9); the plastic roller (6) is made of polyamide with self-lubricating function, is in clearance fit with the rotating shaft (5) and can rotate around the rotating shaft; the rotating shaft (5) is in interference fit with the roller support (7).
The rotating plate component consists of a rotating plate (9), a balancing weight (11), a rotating plate support (13), a damper gear (14), an incomplete gear (15), a bearing (16) and a key (17); a shaft is processed at the two ends of the rotating plate (9) to be matched with the bearing (16), the rotating plate support (13) is in interference fit with the bearing and is connected with the bottom plate (1) through a counter bore on the bottom surface of the rotating plate support to fix the rotating plate and enable the rotating plate to rotate around the axis; one end of the rotating plate (9) is provided with a long round hole, and the rotating plate is matched with a balancing weight (11) through a bolt, and the position of the balancing weight can be adjusted along the long round hole; a key groove is processed on a shaft at one end of the rotating plate (9), and the key (17) is matched with the incomplete gear (15), so that the incomplete gear can rotate along with the rotating plate; and a threaded hole is processed at the corresponding position of the side surface of the rotating plate support (13), and the threaded hole is connected with the damper gear (14) through a bolt, and meanwhile, the damper gear (14) is ensured to be matched with the incomplete gear (15).
The bottom plate component consists of a bottom plate (1), a bottom plate locking rod (2), a sucker type electromagnet (3), a limiting pin (10) and a bottom plate guide rod (12); the bottom plate locking rod (2) is matched with the bottom plate (1) through two nuts, and the whole set of device is connected to experimental equipment; the bottom plate guide rod (12) is in clearance fit with the bottom plate (1), and the bottom plate can be adjusted up and down along the bottom plate; a threaded hole is processed on the bottom plate (1) to be matched with a limiting pin (10), and the limiting pin is used for limiting the rotating plate; the sucker type electromagnet (3) is matched with the bottom plate (1), and the rotating plate (9) can be attracted with the sucker type electromagnet by the adsorption force generated by the sucker type electromagnet after the electromagnet is electrified.
The lever counterweight type gravity compensation device is characterized in that: when the antenna is unfolded, the device is in a non-supporting state, the sucker type electromagnet (3) is electrified, the rotating plate (9) rotates around the axis of the rotating plate support (13) and is finally attracted with the sucker type electromagnet, the plastic roller (6) is at a low position, and the counterweight block (11) is at a high position.
The lever counterweight type gravity compensation device is characterized in that: when the antenna is unfolded to pass through the supporting position, the sucker type electromagnet (3) is powered off, and the rotating plate (9) starts to rotate clockwise under the action of the balancing weight (11). In the rotating process, the incomplete gear (15) on the rotating plate is meshed with the damper gear (14) to play a role in reducing speed. When the plastic roller (6) approaches the antenna, the incomplete gear (15) is separated from the gear (14) of the damper, and the roller is in contact with the antenna gently to avoid collision. And the damper is one-way damping, so that no obstruction is generated when the plastic roller (6) moves downwards.
The lever counterweight type gravity compensation device is characterized in that: the pressure sensor (8) can measure the gravity compensated by the gravity compensation device in real time.
The lever counterweight type gravity compensation device is characterized in that: the balancing weight (11) can move back and forth along the oblong hole on the rotating plate (9), so that the device can provide different compensation forces.
The lever counterweight type gravity compensation device is characterized in that: the bottom plate guide rod (12) and the bottom plate locking rod (2) are installed on the experimental platform, the height of the bottom plate (1) can be adjusted up and down along the bottom plate guide rod (12), and after the adjustment is finished, the bottom plate is locked through the bottom plate locking rod (2), so that the height of the whole set of gravity compensation device can be adjusted, and the fixed-diameter or variable-diameter antenna can be compensated.
The lever counterweight type gravity compensation device is characterized in that: the limiting pin (10) can limit the corner of the rotating plate.
The lever counterweight type gravity compensation device is characterized in that: the plastic roller (6) is made of polyamide, has a self-lubricating effect, and reduces the frictional resistance of the plastic roller to the unfolded antenna.
Compared with the prior art, the invention has the advantages that:
(1) and measuring the compensated gravity in real time. The lever counterweight type gravity compensation device is provided with a pressure sensor, so that the real compensation gravity provided by the compensation device to the unfolding antenna can be measured in real time.
(2) A compensating force may be provided to the variable diameter antenna. Under the action of the bottom plate guide rod and the bottom plate locking rod, the mounting height of the whole set of device can be adjusted, and when the diameters of the unfolded antennas at different positions are different, the mounting height of the gravity compensation device at the corresponding position can be adjusted to provide gravity compensation for the unfolded antennas.
(3) The motion is stable and has no impact. Because the damping gear in the device acts with incomplete gear, when sucking disc formula electro-magnet cuts off the power supply, the plastic drum steadily risees under the effect of balancing weight and damping gear, and when supporting the cylinder and being close to the antenna that expandes, incomplete gear breaks away from with the gear of attenuator. Thus, the roller can be gently contacted with the antenna, and collision impact is avoided. Since the damper is one-way damping, no hindrance is produced when the drum moves downward.
(4) Beautiful appearance and convenient operation. The mechanism has continuous and smooth action and smooth transition, and the whole layout is beautiful and elegant. Damping gear confirms that plastic drum steadily moves when rising, and the back is accomplished in the installation of complete equipment, only needs to control through the switch of sucking disc formula electro-magnet, and easy operation is convenient, and the security is high.
Drawings
FIG. 1 is a schematic view of a lever counterweight type gravity compensation device according to the present invention;
FIG. 2 is a front view of the lever-counterweight gravity compensation device of the present invention;
FIG. 3 is a sectional view of the shaft system of the lever counterweight type gravity compensation device of the present invention;
FIG. 4 is a schematic view of a rotating plate according to the present invention;
FIG. 5 is a schematic diagram of the lever counterweight type gravity compensation device of the present invention in an electromagnet attraction state;
the above figures include: the device comprises a base plate (1), a base plate locking rod (2), a sucker type electromagnet (3), an adapter (4), a rotating shaft (5), a plastic roller (6), a roller support (7), a pressure sensor (8), a rotating plate (9), a limiting pin (10), a balancing weight (11), a base plate guide rod (12), a rotating plate support (13), a damper gear (14), an incomplete gear (15), a bearing (16) and a key (17).
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific examples, but the present invention is not limited thereto.
As shown in fig. 1, the present invention relates to a lever counterweight gravity compensation device, which is characterized in that it comprises a supporting component, a rotating plate component and a bottom plate component, wherein:
the supporting component consists of an adapter 4, a rotating shaft 5, a plastic roller 6, a roller support 7 and a pressure sensor 8; the adapter 4 is used for connecting the pressure sensor 8 with the rotating plate 9, and is provided with four countersunk holes and a middle part
The through hole is used for connecting the pressure sensor 8 through M3 bolts, and the four counter bores are used for connecting the rotating plate 9 through 4M 4 multiplied by 10 bolts; plastic drum length 280 external diameter
Inner diameter
The material is selected from polyamide with self-lubricating effect and polyamide with the diameter of
The rotating shaft 5 is in clearance fit and can rotate around the rotating shaft; the rotating shaft 5 is in interference fit with the roller support 7, and the specific details are shown in fig. 2.
The rotating plate component consists of a rotating plate 9, a balancing weight 11, a rotating plate support 13, a damper gear 14, an incomplete gear 15, a bearing 16 and a key 17; the two ends of the rotating plate 9 are processed with stepped shafts and shaft diameters
Has a diameter equal to
The deep groove ball bearing 16 is matched, and the rotating plate support 13 is processed with a diameter
The inner hole of the rotary plate is in interference fit with the outer diameter of the bearing, and the bottom surface of the rotary plate is connected with the bottom plate 1 through four M4 multiplied by 10 bolts, so that the rotary plate is fixed in the middle and can rotate around the axis; one end of the rotating plate 9 is provided with a long round hole, the rotating plate is matched with a balancing weight 11 through an M8 multiplied by 10 bolt, the position of the balancing weight can be adjusted along the long round hole, and the adjustable distance is 40 mm; a key groove is processed on a shaft at one end of the rotating plate 9, and the key 17 is matched with the incomplete gear 15, so that the incomplete gear can rotate along with the rotating plate; two M3 threaded holes are formed in corresponding positions on the side surface of the rotating plate support 13 and are connected with the damper gear 14 through two M3X 16 bolts, and meanwhile, the damper gear 14 is matched with the incomplete gear 15, and the specific details are shown in FIGS. 2, 3 and 4.
The bottom plate component consists of a bottom plate 1 with the size of 320mm multiplied by 240mm multiplied by 5mm, a bottom plate locking lever 2 with the size of M10 multiplied by 80, a sucker type electromagnet 3, a limiting pin 10 and a bottom plate guide rod 12; the floor locking bar 2 is engaged with the floor 1 by two M10 nuts,meanwhile, the whole set of device can be connected to experimental equipment through two nuts; diameter of
The bottom plate guide rod 12 is in clearance fit with the bottom plate 1, and the bottom plate can be adjusted up and down along the bottom plate; the bottom plate 1 is provided with a threaded hole M10 matched with a limiting pin 10, and the limiting pin is used for limiting the rotating plate; the sucker type electromagnet 3 is matched with the bottom plate 1, and the rotating plate 9 can be attracted with the sucker type electromagnet by the adsorption force generated by the sucker type electromagnet after the sucker type electromagnet is electrified.
As shown in fig. 3, in the cross-sectional view of the shaft system of the lever counterweight gravity compensation device, stepped shafts are respectively processed at two ends of the rotating plate 9 and are matched with the bearing 16 and the rotating plate support 13; a key groove is formed at one end of the rotating plate and is matched with the incomplete gear through a key 17, so that the incomplete gear 15 is driven to rotate when the rotating plate rotates relative to the rotating plate support 13 around the axis; the incomplete gear 15 is engaged with the damper gear 14.
As shown in fig. 1 and 5, the lever counterweight gravity compensation device has a supporting state and an attracting state, when the suction cup type electromagnet 3 is powered on, the rotating plate 9 is attracted by the electromagnet, the plastic roller 6 is at a low position, and the counterweight 11 is at a high position; the incomplete gear is meshed with the damping gear; when the antenna is unfolded, the sucker type electromagnet 3 is powered off, the rotating plate rotates clockwise under the action of the balancing weight 11, and the incomplete gear 15 on the rotating plate is meshed with the damper gear 14 in the rotating process to play a role in reducing speed. When the plastic drum 6 approaches the antenna, the incomplete gear 15 is disengaged from the gear 14 of the damper, and the drum is gently contacted with the antenna to avoid collision.
Claims (8)
1. The utility model provides a lever counter weight formula gravity compensation device which characterized in that it includes supporting component, commentaries on classics board subassembly and bottom plate subassembly, wherein:
the supporting component consists of an adapter (4), a rotating shaft (5), a plastic roller (6), a roller support (7) and a pressure sensor (8); the adaptor (4) is used for connecting the pressure sensor (8) with the rotating plate (9), four counter bores and a through hole in the middle are machined in the adaptor, the through hole is used for mounting the pressure sensor (8), and the four counter bores are used for connecting the rotating plate (9); the plastic roller (6) is made of polyamide with self-lubricating function, is in clearance fit with the rotating shaft (5) and can rotate around the rotating shaft; the rotating shaft (5) is in interference fit with the roller support (7); the plastic roller (6) is used for supporting the antenna;
the rotating plate component consists of a rotating plate (9), a balancing weight (11), a rotating plate support (13), a damper gear (14), an incomplete gear (15), a bearing (16) and a key (17); a shaft is processed at the two ends of the rotating plate (9) to be matched with the bearing (16), the rotating plate support (13) is in interference fit with the bearing and is connected with the bottom plate (1) through a counter bore on the bottom surface of the rotating plate support to fix the rotating plate and enable the rotating plate to rotate around the axis; one end of the rotating plate (9) is provided with a long round hole, and the rotating plate is matched with a balancing weight (11) through a bolt, and the position of the balancing weight can be adjusted along the long round hole; a key groove is processed on a shaft at one end of the rotating plate (9), and the key (17) is matched with the incomplete gear (15), so that the incomplete gear can rotate along with the rotating plate; a threaded hole is processed at the corresponding position of the side surface of the rotating plate support (13), and the rotating plate support is connected with the damper gear (14) through a bolt, and meanwhile, the damper gear (14) is ensured to be matched with the incomplete gear (15);
the bottom plate component consists of a bottom plate (1), a bottom plate locking rod (2), a sucker type electromagnet (3), a limiting pin (10) and a bottom plate guide rod (12); the bottom plate locking rod (2) is matched with the bottom plate (1) through two nuts, and the whole set of device is connected to experimental equipment; the bottom plate guide rod (12) is in clearance fit with the bottom plate (1), and the bottom plate can be adjusted up and down along the bottom plate; a threaded hole is processed on the bottom plate (1) to be matched with a limiting pin (10), and the limiting pin is used for limiting the rotating plate; the sucker type electromagnet (3) is matched with the bottom plate (1), and the rotating plate (9) can be attracted with the sucker type electromagnet by the adsorption force generated by the sucker type electromagnet after the electromagnet is electrified.
2. The lever-weighted gravity compensation device of claim 1, wherein: when the antenna is unfolded, the device is in a non-supporting state, the sucker type electromagnet (3) is electrified, the rotating plate (9) rotates around the axis of the rotating plate support (13) and is finally attracted with the sucker type electromagnet, the plastic roller (6) is at a low position, and the balancing weight (11) is at a high position.
3. The lever-weighted gravity compensation device of claim 1, wherein: when the antenna is unfolded to a supporting position, the sucker type electromagnet (3) is powered off, and the rotating plate (9) starts to rotate clockwise under the action of the counterweight block (11); in the rotating process, an incomplete gear (15) on the rotating plate is meshed with a damper gear (14) to play a role in reducing speed; when the plastic roller (6) approaches the antenna, the incomplete gear (15) is separated from the damper gear (14), and the roller is in contact with the antenna gently to avoid collision; and the damper gear (14) is one-way damping, so that no obstruction is generated when the plastic drum (6) moves downwards.
4. The lever-weighted gravity compensation device of claim 1, wherein: the pressure sensor (8) can measure the gravity compensated by the gravity compensation device in real time.
5. The lever-weighted gravity compensation device according to claim 1 or 2, wherein: the weight (11) can move back and forth along the oblong hole on the rotating plate (9), thus providing different compensation forces for the device.
6. The lever-weighted gravity compensation device of claim 1, wherein: the bottom plate guide rod (12) and the bottom plate locking rod (2) are installed on the experimental platform, the height of the bottom plate (1) can be adjusted up and down along the bottom plate guide rod (12), and after the adjustment is finished, the bottom plate is locked through the bottom plate locking rod (2), so that the height of the whole set of gravity compensation device can be adjusted, and the fixed-diameter or variable-diameter antenna can be compensated.
7. The lever-weighted gravity compensation device of claim 1, wherein: the limiting pin (10) can limit the corner of the rotating plate.
8. The lever-weighted gravity compensation device according to claim 1, 2 or 3, wherein: the plastic roller (6) is made of polyamide, has a self-lubricating effect, and reduces the frictional resistance of the plastic roller to the unfolded antenna.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510136479.6A CN104709475B (en) | 2015-03-26 | 2015-03-26 | Lever counter weight type gravity compensation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510136479.6A CN104709475B (en) | 2015-03-26 | 2015-03-26 | Lever counter weight type gravity compensation device |
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| CN104709475A CN104709475A (en) | 2015-06-17 |
| CN104709475B true CN104709475B (en) | 2020-06-05 |
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| TWI593499B (en) * | 2015-12-24 | 2017-08-01 | Dynamic counterweight module and a dynamic counterweight module of the machine machine | |
| 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 |
| CN106927191A (en) * | 2017-04-28 | 2017-07-07 | 眉山德鑫航空设备股份有限公司 | One kind fire prevention logistics tipper |
| CN108340357B (en) * | 2018-04-24 | 2023-04-07 | 中国科学院地球化学研究所 | Five-degree-of-freedom floating compensation device |
| CN109383852B (en) * | 2018-12-19 | 2020-10-09 | 北京航空航天大学 | Reel type stretch rod antenna zero gravity compensation device suitable for vacuum tank |
| CN114161215B (en) * | 2021-12-26 | 2022-11-29 | 中国人民解放军国防科技大学 | Full-flexible impact-resistant overload-resistant dynamic mass compensation micro-positioning device |
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