CN105151331A - Zero gravity simulation system and using method thereof - Google Patents
Zero gravity simulation system and using method thereof Download PDFInfo
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- CN105151331A CN105151331A CN201510478449.3A CN201510478449A CN105151331A CN 105151331 A CN105151331 A CN 105151331A CN 201510478449 A CN201510478449 A CN 201510478449A CN 105151331 A CN105151331 A CN 105151331A
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Abstract
The invention relates to a zero gravity simulation system. According to the specific technical scheme, the system comprises a base, a spherical gas floating bearing, a gas tank, a reflecting mirror, a first sling rope, a laser device, a light detecting assembly, a first gas floating bearing, a second gas floating bearing, a balance motor, a hoisting motor, a clutch, a brake, a torque sensor, a counter weight, gas floating guide rails, a friction-free cylinder, a large-diameter coiling block, a small-diameter coiling block, a pulley, a second sling rope and a to-be-detected workpiece platform. The zero gravity simulation system is compact in structure, can provide six-freedom-degree simulation, and overcomes the defect that a common gas floating micro gravity device cannot perform freedom degree simulation in the vertical direction, and simulation of a suspended micro gravity device on the three-rotation freedom degree is also added.
Description
Technical field
The invention belongs to the aviation aerospace flight technology field of ground microgravity simulation experiment platform, particularly a kind of zero gravity analog system.
Background technology
For reducing the cost of development of aerospace equipment, improve reliability, shorten the R&D cycle, need in R&D process or launch before on the ground in the equipment life cycle managements such as functions of the equipments, performance figure, functional reliability, operating process, failure mode and counter-measure may faced by all problems carry out as much as possible with high efficiency checking, find design defect as early as possible to help designer and revise, verify, and help operating personal and operating personal to formulate rational operating process, failure-free unforeseen circumstances counter-measure, is familiar with operating process.But, because the structure design of aerospace equipment and materials'use will adapt to low transmitting load request and low gravitation working environment, required mode of operation of simulating microgravity or low gravitation in space in terrestrial gravitation environment mostly.
The main method of ground microgravity simulation has the method for Computer Simulation and semi physical experiment, but the scheme depending on Computer Simulation often accurately can not reflect actual environment.The method of semi physical experiment mainly contains tower method, water float glass process, suspension method, By Bubble-floating Method etc.The representative equipment of " By Bubble-floating Method " is various air floating platforms.Principle utilizes buoyant gas to be held up on smooth horizontal surface by determinand to maintain low-gravity environment.After gas is sprayed by plane thrust air-bearing, by changing cutoff port gaseous tension, measured workpiece is made to keep suspended state.The sixties in last century, ESA has set up air floating platform to study low gravitation system.The advantage of By Bubble-floating Method is that its precision is high, and reliability is strong, and cost is lower, but shortcoming is that it can only realize the experiment in two dimensional surface, maximum 5 freedom of motions.For the obstacle detouring that such as pat-car may run into, climbing situation cannot make effectively evaluating.The supply air line of airfloat equipment, exhaust thrust, gas cylinder mass change are at work all the factors that possible affect experiment, and this type systematic should reduce when designing as far as possible or avoid the impact of these factors.Airfloat equipment is varied, is the powerful reducing environment friction, vibration effect, but the simple air flotation technology that uses is difficult to realize many motion simulations freely, thus air floating platform technology is all generally ignore the most difficult one degree of freedom, i.e. vertical direction.Therefore, combined with the off-load of suspension method gravity by the microgravity analog machine based on By Bubble-floating Method, it is very important for realizing the microgravity analog machine that three rotary freedoms and vertical direction all can simulate.
Summary of the invention
The object of this invention is to provide a kind of zero gravity analog system, is the problem in order to solve existing microgravity and low-gravity simulation equipment and technology Shortcomings.
Concrete technical scheme is as follows: comprise base 1, spherical air-bearing bearing 2, gas tank 3, catadioptre 4, first Sling Rope 5, laser and photodetection assembly 6, first group of air-bearing 7, second group of air-bearing 8, balance motor 9, bridge motor 10, power-transfer clutch 11, drg 12, torque sensor 13, counterweight 14, air-float guide rail 15, nothing friction cylinder 16, major diameter drum 17, minor diameter reel 18, pulley 19, second Sling Rope 20, workpiece for measurement platform 21;
One end face of described major diameter drum 17 is coaxially connected with an end face of minor diameter reel 18, the axle of major diameter drum 17 other end and the axle of minor diameter reel 18 other end are rotatably installed on base 1 by second group of air-bearing 8, the output shaft of balance motor 9 and one end of torque sensor 13 are in transmission connection, the output shaft of bridge motor 10 and one end of high pulling torque sensor 10-1 are in transmission connection, the other end of torque sensor 13 and the other end of high pulling torque sensor 10-1 all pass through power-transfer clutch 11, drg 12 is connected with the rotating shaft transmission of minor diameter reel 18, first Sling Rope 5 is wrapped in the grooving of major diameter drum 17, second Sling Rope 20 is wrapped in the grooving of minor diameter reel 18, air-float guide rail 15 is vertically mounted on base 1, and counterweight 14 is slidably mounted on air-float guide rail 15, and counterweight 14 is hanging connected on the lower end of the second Sling Rope 20, vertically hang reception by pulley 19 break-in after first Sling Rope 5 tangent line goes out major diameter drum 17 and survey work piece platform 21, pedestal without friction cylinder 16 is arranged on base 1, and pulley 19 is rotatably installed on base 1 by first group of air-bearing 7, rotate without the pulley 16-1 on the piston rod end of friction cylinder 16 on the first Sling Rope 5 withstood between major diameter drum 17 and pulley 19, without friction cylinder 16 for simulating the effect of Low rigidity spring, catadioptre 4 is arranged on the first Sling Rope 5 between pulley 19 and workpiece for measurement platform 21, laser and photodetection assembly 6 are arranged on base 1, and the laser that laser and photodetection assembly 6 are launched reflects back into the light detection window of laser and photodetection assembly 6 by catadioptre 4, gas tank 3 is arranged on the lower end of workpiece for measurement platform 21, and workpiece for measurement 22 is horizontally set on the upper surface of spherical air-bearing bearing 2, and the lower surface of spherical air-bearing bearing 2 is arranged on workpiece for measurement platform 21, and gas tank 3 makes it suspend for spherical air-bearing bearing 2 air feed.
Above-mentioned zero gravity analog system using method is as follows: optical measuring system is made up of laser 6, catadioptre 4, catadioptre 4 is arranged on hoist cable 5 lower end, mirror plane and vertical reflection face, hoist cable direction are vertically upward, laser 6 connects firmly in load platform lower end, send reference ray straight down, return via catadioptre 4, when hoist cable departs from vertical, reflected light rays and reference ray produce angle, and optical system can record hoist cable drift angle through calculating; Load platform is mainly provided with pulley drive mechanism and drive motor and counterweight, realize workpiece for measurement under different operating mode, system is for the control to hoist cable pulling force.Wherein, pulley drive mechanism is supported by first group of air-bearing 7 and second group of air-bearing 8, reduces friction to the impact with control pulling force; Hoist cable between two pulleys is directly connected with the cylinder piston without the cylinder 16 that rubs, cylinder piston provides constant force for system, and when there is the little shake of vertical direction frequency amplitude in workpiece, steam cylinder piston sponges part radio-frequency interference by piston movement, alleviate the work load of motor, large lift, the control of high-precision constant force and buffering can be realized; Drive motor part comprises balance motor 9 and bridge motor 10 and counterweight 14, counterweight 14 is connected on the pulley that second group of air-bearing 8 support, the air-float guide rail 15 of vertical direction moves, be used for balancing and offsetting the gravity of workpiece for measurement, reduce the load range of motor, the introducing of clump weight reduces torque sensor 13 range simultaneously, improves survey precision, can lay the first stone for high-precision low-gravity simulation; The output shaft connection sheave shaft of balance motor 9, compensates and the pulling force controlling counterweight 14 required when balancing movement in vertical direction is poor, and for there being the microgravity in counterweight situation to simulate, its power output is measured by torque sensor 13, forms power control loop; Bridge motor 10 has larger range, and radical function is position servo, for emulating without the high dynamic microgravity of " having root " system in counterweight situation, and realizes the position control of trade union college lifting, decentralization process.Bridge motor 10 output shaft is provided with the sensor that can provide motor corner and speed feedback signal, realizes position closed loop function; Power-transfer clutch 11 controls the main shaft of bridge motor 10 or balance motor 9 with the connection of sheave shaft or be separated, and the switching realizing two motors uses, and realizes the microgravity simulation under different operating mode, improves this systematic difference scope; Drg 12 is arranged on sheave shaft, can hang the motion of brake sheave axle in case in power-off, ensures the safety of workpiece for measurement; The drop-down hoist cable of load platform, at plummet in-plane moving, makes measured workpiece complete motion in perpendicular, and by 3DOF air-bearing, ensures workpiece for measurement in horizontal surface not by external interference power, realizes 3DOF rotary motion.
Zero gravity analog system compact conformation of the present invention, can provide the simulation of six degree of freedom, overcomes the shortcoming that general air-flotation type microgravity equipment cannot carry out the simulation of vertical direction degree of freedom, too increases the simulation of suspension type microgravity equipment on three rotary freedoms.Owing to introducing multiple airfloat equipment, reduce the damping of system unit motion, eliminate the impact of component vibration, precision is high, and reliability is strong, and cost is lower; Adopt size two motors, i.e. bridge motor and balance motor, control the hanging motion of hoist cable, both can be respectively used to different working modes, also can according to the division of labor cooperative motion of coarse adjustment fine setting; Suspension rope is provided with lasers and mirrors and measures hoist cable drift angle as optical measuring system.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: shown in composition graphs 1, zero gravity analog system comprises base 1, spherical air-bearing bearing 2, gas tank 3, catadioptre 4, first Sling Rope 5, laser and photodetection assembly 6, first group of air-bearing 7, second group of air-bearing 8, balance motor 9, bridge motor 10, power-transfer clutch 11, drg 12, torque sensor 13, counterweight 14, air-float guide rail 15, nothing friction cylinder 16, major diameter drum 17, minor diameter reel 18, pulley 19, second Sling Rope 20, workpiece for measurement platform 21;
One end face of described major diameter drum 17 is coaxially connected with an end face of minor diameter reel 18, the axle of major diameter drum 17 other end and the axle of minor diameter reel 18 other end are rotatably installed on base 1 by second group of air-bearing 8, the output shaft of balance motor 9 and one end of torque sensor 13 are in transmission connection, the output shaft of bridge motor 10 and one end of high pulling torque sensor 10-1 are in transmission connection, the other end of torque sensor 13 and the other end of high pulling torque sensor 10-1 all pass through power-transfer clutch 11, drg 12 is connected with the rotating shaft transmission of minor diameter reel 18, first Sling Rope 5 is wrapped in the grooving of major diameter drum 17, second Sling Rope 20 is wrapped in the grooving of minor diameter reel 18, air-float guide rail 15 is vertically mounted on base 1, and counterweight 14 is slidably mounted on air-float guide rail 15, and counterweight 14 is hanging connected on the lower end of the second Sling Rope 20, vertically hang reception by pulley 19 break-in after first Sling Rope 5 tangent line goes out major diameter drum 17 and survey work piece platform 21, pedestal without friction cylinder 16 is arranged on base 1, and pulley 19 is rotatably installed on base 1 by first group of air-bearing 7, rotate without the pulley 16-1 on the piston rod end of friction cylinder 16 on the first Sling Rope 5 withstood between major diameter drum 17 and pulley 19, without friction cylinder 16 for simulating the effect of Low rigidity spring, catadioptre 4 is arranged on the first Sling Rope 5 between pulley 19 and workpiece for measurement platform 21, laser and photodetection assembly 6 are arranged on base 1, and the laser that laser and photodetection assembly 6 are launched reflects back into the light detection window of laser and photodetection assembly 6 by catadioptre 4, gas tank 3 is arranged on the lower end of workpiece for measurement platform 21, and workpiece for measurement 22 is horizontally set on the upper surface of spherical air-bearing bearing 2, and the lower surface of spherical air-bearing bearing 2 is arranged on workpiece for measurement platform 21, and gas tank 3 makes it suspend for spherical air-bearing bearing 2 air feed, the diameter of described major diameter drum 17 is greater than the diameter of minor diameter reel 18, the model of described balance motor 9 is C041, the model of bridge motor 10 is C090, the model that first group of air-bearing 7 neutralizes each bearing in second group of air-bearing 8 is S304002, the model of torque sensor 13 is T20WN, the model of high pulling torque sensor 10-1 is LDN-08D-2000Nm, the described model without friction cylinder 16 is SCSA6378S0+KTC-125, laser and photodetection assembly 6 can select application number 2014107871427, and denomination of invention is that the device recorded in the horizontal minute surface inclination measuring system of polar coordinates type no touch and method of measurement is measured.
Above-mentioned zero gravity analog system using method is as follows: optical measuring system is made up of laser 6, catadioptre 4, catadioptre 4 is arranged on hoist cable 5 lower end, mirror plane and vertical reflection face, hoist cable direction are vertically upward, laser 6 connects firmly in load platform lower end, send reference ray straight down, return via catadioptre 4, when hoist cable departs from vertical, reflected light rays and reference ray produce angle, and optical system can record hoist cable drift angle through calculating; Load platform is mainly provided with pulley drive mechanism and drive motor and counterweight, realize workpiece for measurement under different operating mode, system is for the control to hoist cable pulling force.Wherein, pulley drive mechanism is supported by air-bearing 7,8, reduces friction to the impact with control pulling force; Hoist cable between two pulleys is directly connected with the cylinder piston without the cylinder 16 that rubs, cylinder piston provides constant force for system, and when there is the little shake of vertical direction frequency amplitude in workpiece, steam cylinder piston sponges part radio-frequency interference by piston movement, alleviate the work load of motor, large lift, the control of high-precision constant force and buffering can be realized; Drive motor part comprises balance motor 9 and bridge motor 10 and counterweight 14, counterweight 14 is connected on the pulley that air-bearing 8 supports, the air-float guide rail 15 of vertical direction moves, be used for balancing and offsetting the gravity of workpiece for measurement, reduce the load range of motor, the introducing of clump weight reduces torque sensor 13 range simultaneously, improves survey precision, can lay the first stone for high-precision low-gravity simulation; The output shaft connection sheave shaft of balance motor 9, compensates and the pulling force controlling counterweight 14 required when balancing movement in vertical direction is poor, and for there being the microgravity in counterweight situation to simulate, its power output is measured by torque sensor 13, forms power control loop; Bridge motor 10 has larger range, and radical function is position servo, for emulating without the high dynamic microgravity of " having root " system in counterweight situation, and realizes the position control of trade union college lifting, decentralization process.Bridge motor 10 output shaft is provided with the sensor that can provide motor corner and speed feedback signal, realizes position closed loop function; Power-transfer clutch 11 controls the main shaft of bridge motor 10 or balance motor 9 with the connection of sheave shaft or be separated, and the switching realizing two motors uses, and realizes the microgravity simulation under different operating mode, improves this systematic difference scope; Drg 12 is arranged on sheave shaft, can hang the motion of brake sheave axle in case in power-off, ensures the safety of workpiece for measurement; The drop-down hoist cable of load platform, at plummet in-plane moving, makes measured workpiece complete motion in perpendicular, and by 3DOF air-bearing, ensures workpiece for measurement in horizontal surface not by external interference power, realizes 3DOF rotary motion.
Claims (2)
1. a zero gravity analog system, it is characterized in that it comprises base (1), spherical air-bearing bearing (2), gas tank (3), catadioptre (4), first Sling Rope (5), laser and photodetection assembly (6), first group of air-bearing (7), second group of air-bearing (8), balance motor (9), bridge motor (10), power-transfer clutch (11), drg (12), torque sensor (13), counterweight (14), air-float guide rail (15), without friction cylinder (16), major diameter drum (17), minor diameter reel (18), pulley (19), second Sling Rope (20), workpiece for measurement platform (21),
One end face of described major diameter drum (1) is coaxially connected with an end face of minor diameter reel (18), the axle of major diameter drum (17) other end and the axle of minor diameter reel (18) other end are rotatably installed on base (1) by second group of air-bearing (8), the output shaft of balance motor (9) and one end of torque sensor (13) are in transmission connection, the output shaft of bridge motor (10) and one end of high pulling torque sensor (10-1) are in transmission connection, the other end of torque sensor (13) and the other end of high pulling torque sensor (10-1) all pass through power-transfer clutch (11), drg (12) is connected with the rotating shaft transmission of minor diameter reel (18), first Sling Rope (5) is wrapped in the grooving of major diameter drum (17), second Sling Rope (20) is wrapped in the grooving of minor diameter reel (18), air-float guide rail (15) is vertically mounted on base (1), and counterweight (14) is slidably mounted on air-float guide rail (15), and counterweight (14) is hanging connected on the lower end of the second Sling Rope (20), first Sling Rope (5) tangent line goes out major diameter drum (17) and vertically hangs reception survey work piece platform (21) by pulley (19) break-in afterwards, pedestal without friction cylinder (16) is arranged on base (1), and pulley (19) is rotatably installed on base (1) by first group of air-bearing (7), rotate without the pulley (16-1) on the piston rod end of friction cylinder (16) on the first Sling Rope (5) withstood between major diameter drum (17) and pulley (19 it), without the cylinder (16) that rubs for simulating the effect of Low rigidity spring, catadioptre (4) is arranged on the first Sling Rope (5) between pulley (19) and workpiece for measurement platform (21), laser and photodetection assembly (6) are arranged on base (1), and the laser that laser and photodetection assembly (6) are launched reflects back into the light detection window of laser and photodetection assembly (6) by catadioptre (4), gas tank (3) is arranged on the lower end of workpiece for measurement platform (21), workpiece for measurement (22) is horizontally set on the upper surface of spherical air-bearing bearing (2), the lower surface of spherical air-bearing bearing (2) is arranged on workpiece for measurement platform (21), and gas tank (3) makes it suspend for spherical air-bearing bearing (2) air feed, the diameter of described major diameter drum (17) is greater than the diameter of minor diameter reel (18).
The model of described balance motor (9) is C041; The model of bridge motor (10) is C090; The model that first group of air-bearing (7) neutralizes each bearing in second group of air-bearing (8) is S304002; The model of torque sensor (13) is T20WN; The model of high pulling torque sensor 10-1 is LDN-08D-2000Nm; The described model without friction cylinder (16) is SCSA6378S0+KTC-125.
2. the using method of a kind of zero gravity analog system according to claim 1, it is characterized in that: optical measuring system is made up of laser (6), catadioptre (4), catadioptre (4) is arranged on hoist cable (5) lower end, mirror plane and vertical reflection face, hoist cable direction are vertically upward, laser (6) connects firmly in load platform lower end, send reference ray straight down, return via catadioptre (4), when hoist cable departs from vertical, reflected light rays and reference ray produce angle, and optical system can record hoist cable drift angle through calculating; Load platform is mainly provided with pulley drive mechanism and drive motor and counterweight, realize workpiece for measurement under different operating mode, system is for the control to hoist cable pulling force.Wherein, pulley drive mechanism is supported by first group of air-bearing (7), second group of air-bearing (8), reduces friction to the impact with control pulling force; Hoist cable between two pulleys is directly connected with the cylinder piston without the cylinder (16) that rubs, cylinder piston provides constant force for system, and when there is the little shake of vertical direction frequency amplitude in workpiece, steam cylinder piston sponges part radio-frequency interference by piston movement, alleviate the work load of motor, large lift, the control of high-precision constant force and buffering can be realized; Drive motor part comprises balance motor (9) and bridge motor (10) and counterweight (14), counterweight (14) is connected on the pulley that second group of air-bearing (8) support, in the upper motion of the air-float guide rail (15) of vertical direction, be used for balancing and offsetting the gravity of workpiece for measurement, reduce the load range of motor, the introducing of clump weight reduces torque sensor (13) range simultaneously, improve survey precision, can lay the first stone for high-precision low-gravity simulation; The output shaft of balance motor (9) connects sheave shaft, to compensate and to control counterweight (14) required pulling force when balancing movement in vertical direction poor, simulate for there being the microgravity in counterweight situation, its power output is measured by torque sensor (13), forms power control loop; Bridge motor (10) has larger range, and radical function is position servo, for emulating without the high dynamic microgravity of " having root " system in counterweight situation, and realizes the position control of trade union college lifting, decentralization process.Bridge motor (10) output shaft is provided with the sensor that can provide motor corner and speed feedback signal, realizes position closed loop function; Power-transfer clutch (11) control bridge motor (10) or the main shaft of balance motor (9) are with the connection of sheave shaft or be separated, the switching realizing two motors uses, realize the microgravity simulation under different operating mode, improve this systematic difference scope; Drg (12) is arranged on sheave shaft, can hang the motion of brake sheave axle in case in power-off, ensures the safety of workpiece for measurement; The drop-down hoist cable of load platform, at plummet in-plane moving, makes measured workpiece complete motion in perpendicular, and by 3DOF air-bearing, ensures workpiece for measurement in horizontal surface not by external interference power, realizes 3DOF rotary motion.
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| CN108423202A (en) * | 2018-05-11 | 2018-08-21 | 天津航天机电设备研究所 | A kind of micro- low-gravity simulation device and simulation experiment method |
| CN108423202B (en) * | 2018-05-11 | 2023-09-22 | 天津航天机电设备研究所 | Micro-low gravity simulation device and simulation test method |
| CN112382160B (en) * | 2020-11-17 | 2022-08-02 | 哈尔滨工业大学 | Six-degree-of-freedom simulator air floatation pulley system |
| CN112382160A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Six-degree-of-freedom simulator air floatation pulley system |
| CN115072014A (en) * | 2022-08-22 | 2022-09-20 | 哈尔滨工业大学 | Stepless variable load gravity balancing device suitable for space butt joint simulation |
| CN115072014B (en) * | 2022-08-22 | 2022-11-11 | 哈尔滨工业大学 | Stepless variable load gravity balancing device suitable for space butt joint simulation |
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| CN116558809B (en) * | 2023-07-10 | 2023-09-26 | 豫北凯斯特隆（新乡）汽车科技有限公司 | Steering intermediate shaft endurance test platform |
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Application publication date: 20151216 |