CN105539889B - A kind of agravic simulated test bed of suspension type and its application method - Google Patents
A kind of agravic simulated test bed of suspension type and its application method Download PDFInfo
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- CN105539889B CN105539889B CN201511009602.4A CN201511009602A CN105539889B CN 105539889 B CN105539889 B CN 105539889B CN 201511009602 A CN201511009602 A CN 201511009602A CN 105539889 B CN105539889 B CN 105539889B
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- agravic
- suspension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The invention provides a kind of agravic simulated test bed of suspension type, including active tracing subsystem, multiple passive tracking subsystems and multiple suspension systems, the active tracing subsystem includes the first guide rail and the multiple active mobile platforms moved along first guide rail, described multiple passive tracking subsystems are fixedly installed in described multiple active mobile platforms respectively, the passive tracking subsystem includes the second guide rail and passive mobile platform, and described multiple suspension systems are fixedly installed in multiple passive mobile platforms respectively.The present invention advantageous effects be：The agravic test bed of the present invention is using main passive combined tracking pattern and has power-off protection function, the agravic simulated test available for the compound movement mechanism for needing multipoint suspension.Present invention also offers a kind of application method of the agravic simulated test bed of suspension type.
Description
Technical field
It is vertical to close the present invention relates to a kind of agravic simulated test bed, more particularly to a kind of passive combined tracking of plane master
The agravic simulated test bed and test method of ring suspention pulling force control.
Background technology
Research and development test tool of the agravic simulated test for space mechanism is of great significance, and it can pass through simulation
Design of the response of system to space mechanism is verified under agravic environment.
The agravic test bed of in general and test method have following several at present：
(1) air floating platform and Bubble-floating Method, using the air-floating apparatus of downward jet come balancing gravity, very small fortune can be obtained
Dynamic resistance and good gravitational equilibrium effect, simulation precision is high, and simulated time is unrestricted, and reliability is high, strong adaptability.
Shortcoming is the motion that can not be difficult in three dimensions；
(2) neutral pond and water float glass process, gravity is offset using water buoyancy, can be simulated in the case of three-dimensional motion without weight
Power state, but require high for equipment water resistance, and the resistance of motion is larger, experimentation cost is higher.
(3) weightlessness flight test realizes weightlessness by freely falling body, the advantage good with effect is simulated, but cost
Costliness, duration often only have more than ten seconds；
(4) trapeze test can be provided by controlling the pulling force of hitch point come balancing gravity, pulling force by balloon, counterweight, motor,
To keep suspension force vertical, it is necessary to match plane tracking system.Suspention simulation system is commonly divided into passive type, active, mixed
It is box-like.When movement velocity is slow, quasistatic process can be considered as, the influence of passive tracking mechanism can be ignored, now be applicable
In Passive Track, and this method simple system, cost are relatively low；When the dynamic for tracking or movement dimension require higher
When, then preferably by the way of servo-drive system active tracing, such as overhead traveling crane, arm；With reference to the requirement for experiment, main passive mixing
System can reach balance in terms of simulation precision and cost control.This method advantage is to test for a long time, and shortcoming is
Simulation precision is not high and the realization of multiple point of suspension tracking and control are relatively difficult.
The agravic test bed of domestic more point of suspension is single-degree-of-freedom passive tracking formula system at present, and active tracing formula
Test bed is then single suspention dot system, and the two can not meet that the agravic simulated experiment of three-dimensional space motion mechanical arm will
Ask.
The content of the invention
In view of the drawbacks described above of prior art, the invention provides a kind of agravic simulated test bed of new suspension type,
Technical problems to be solved are to realize half active tracing multipoint suspension.
To solve the above problems, the present invention adopts the technical scheme that：A kind of agravic simulated test bed of suspension type, including
Active tracing subsystem, multiple passive tracking subsystems and multiple suspension systems, the active tracing subsystem are led including first
Rail and the multiple active mobile platforms moved along first guide rail, described multiple passive tracking subsystems are fixedly mounted respectively
In described multiple active mobile platforms, the passive tracking subsystem includes the second guide rail and passive mobile platform, described
Multiple suspension systems are fixedly installed in multiple passive mobile platforms respectively.
Preferably, the axis of the axis of first guide rail and second guide rail is vertical.
Preferably, described active tracing subsystem also includes multiple drive devices, is respectively used to drive described multiple
Active mobile platform moves along first guide rail.It is highly preferred that the drive device includes stepper drive motors, is installed on institute
State spur gear, the spur rack engaged with the spur gear of the rotating shaft of stepper drive motors driving, the spur rack and institute
State the connection of active mobile platform.
Preferably, first guide rail is V-type rail, and the active mobile platform includes matching the rolling of the V-type rail
Wheel, the installing plate for installing the passive tracking subsystem.
Preferably, second guide rail is that straight line justifies conduit, and the passive tracking subsystem also includes being used for the straight line
The straight line circle conduit slide assemblies that axis direction of the circle conduit along first guide rail moves, the straight line justify conduit slide assemblies
Including the cylindrical slideway with first guide rail parallel, along the cylindrical slideway slide sliding shoe and be connected the cunning
The contiguous block of motion block and straight line circle conduit.Led it is highly preferred that the passive mobile platform includes four with straight line circle
Pipe matching is provided with the claw shaped piece of ball bearing and the firm banking for installing the suspension system.
Preferably, the suspension system includes permanent tension control mechanism, and the permanent tension control mechanism includes servo-drive
Motor, the wire reel driven by the servo drive motor, the steel wire lanyard for being wound in the wire reel and for supervising
Survey the tension sensor of the tension force of the steel wire lanyard.It is highly preferred that the suspension system also includes being used to brake when power is off
The electricity loss brake of the wire reel.
The present invention provides a kind of application method of the agravic simulated test bed of suspension type provided by the present invention, including as follows
Step：
1) number of hitch point needed for installs tracing subsystem；
2) position of regulation mobile platform makes steel wire rope vertical manually；
3) fixed steel wire rope, makes mechanism stress, according to the data of tension sensor after setting the suspension force of each point of suspension
The parameter of servo drive motor is set, and upper electricity discharges electricity loss brake；
4) testee is driven, carries out agravic experiment；
5) after off-test, power-off makes electricity loss brake locking, unclamps steel wire rope and removes tested mechanism.
The present invention advantageous effects be：The agravic test bed of the present invention is using main passive combined tracking pattern and has
There is power-off protection function, available for the agravic simulated test for the compound movement mechanism for needing multipoint suspension, suspension centre quantity can expand
Exhibition, and the independent closed-loop control of suspension force to each point of suspension can be realized, there is provided one kind meets mechanism for testing three dimensions
Motion, the resistance of motion is smaller, cost is relatively low, longevity of service and stable multipoint suspension balance agravic simulated test bed, tool
There is higher universality and preferably simulate effect, filled up current domestic agravic using half active tracing multipoint suspension method
The blank of simulated test bed.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Before Fig. 1 is a kind of preferred embodiment of the agravic simulated test bed of suspension type provided by the present invention
View.
Fig. 2 is the left view of the agravic simulated test bed of suspension type shown in Fig. 1.
Fig. 3 is the front view of the tracing subsystem of the agravic simulated test bed of suspension type shown in Fig. 1.
Fig. 4 is the left view of the tracing subsystem shown in Fig. 3.
Fig. 5 is the structural representation of the Y-axis tracing subsystem of the tracing subsystem shown in Fig. 3.
Embodiment
Fig. 1-Fig. 4 shows the preferable specific implementation of one kind of the agravic simulated test bed of suspension type provided by the present invention
Mode.
As shown in figure-Fig. 4, the agravic simulated test bed of suspension type in the embodiment includes a set of active tracing
1, six set of subsystem, 2, six sets of passive tracking subsystem suspension system and support frame 4.Active tracing subsystem 1 is X-axis active
Tracing subsystem 1, passive tracking subsystem 2 are Y-axis passive tracking subsystem 2, and suspension system includes Z axis perseverance tension control mechanism
3, support frame 4 is assembled by aluminium section bar.
Wherein, X-axis active tracing subsystem 1 includes girder 101, V-type rail 102, active mobile platform, drive device；
Support frame 4 is fixed at the both ends of girder 101, and V-type rail 102 is fixed in lower section by the special bar shaped nut of section bar, and drive device is driven
Dynamic active mobile platform moves along V-type rail 102, and V-type rail 102 is the first guide rail, active mobile platform and drive device
Six sets are provided with altogether.
Active mobile platform includes the supporting roller 104 of V-type rail and adjustable motor bearing 107, active mobile platform pass through V
The supporting roller 104 of type guide rail moves along V-type rail 102.Drive device includes spur rack 103, straight-tooth gear 105 and stepping
Motor 108.Straight-tooth gear 105 is installed on the rotating shaft of stepper motor 108, and spur rack 103 engages with straight-tooth gear 105, straight-tooth
Rack 103 is fixed on the lower section of girder 101 by the special bar shaped nut of section bar, and mobile platform is connected by adjustable motor bearing 107
Stepper motor 108.So, stepper motor 108 drives straight-tooth gear 105 so as to realize active mobile platform in the X-axis direction
Active Tracking Control.
Active mobile platform also includes installing plate 106 and connecting stud 109, and one end of connecting stud 109 is installed on installation
Plate 106, other end connection Y-axis passive tracking subsystem 2, so, active mobile platform is passive by connecting stud 109 and Y-axis
Tracing subsystem 2 is fixed.
Y-axis passive tracking subsystem 2 includes straight line circle conduit 201 and passive mobile platform, and passive mobile platform is along straight
Line circle conduit 201 moves in the Y-axis direction, and straight line circle conduit 201 is the second guide rail.Straight line circle conduit 201 is installed on connection spiral shell
The other end of post 109, Y-axis passive tracking subsystem 2 justify conduit 201 by straight line and are fixed on active mobile platform.When active moves
When moving platform moves in the X-axis direction, straight line circle conduit 201 is overall to be driven, and also move in the X-axis direction.In order to realize
The more preferable movement of straight line circle conduit 201 in the X-axis direction, Y-axis passive tracking subsystem 2 also include straight line circle conduit Slide Group
Part.As shown in figure 5, straight line circle conduit slide assemblies cylindrical slideway 207, supporting sliding shoe 206 and contiguous block 205.Cylinder
Shape guide rail 207 extends along X-axis line, parallel with V-type rail 102, and sliding shoe 206 matches with cylindrical slideway 207 and along cylinder
Shape guide rail 207 slides, the one end of contiguous block 205 connection sliding shoe 206, other end connecting cylinder shape guide rail 207.Straight line justifies conduit
201 are fixed on below X-axis active tracing subsystem 1 in centre by connecting stud 109, and both sides pass through bolt and contiguous block
205 are fixed on the supporting sliding shoe 206 of cylindrical slideway 207, and thus straight line circle conduit 201 is realized in the X-axis direction more
Good movement.
Passive mobile platform includes four claw shaped pieces 202 and firm banking 204, and ball bearing is provided with claw shaped piece 202
203, four claw shaped pieces 202 just block the top of straight line circle conduit 201, and passive mobile platform passes through four claw shaped pieces 202
Ball bearing 203 slides along straight line circle conduit 201.Thus passive mobile platform is suspended on below straight line circle conduit.
The effect of firm banking 204 is installation suspension system.In addition, firm banking 204 uses L-type bearing with suspension system
Connection, link position is adjustable to eliminate the moment of flexure of deadweight and suspension force to passive mobile platform.
Suspension system includes Z axis perseverance tension control mechanism 3.Z axis perseverance tension control mechanism 3 includes frame 301, servo-drive
Motor 303, wire reel 304, steel wire lanyard 308, electricity loss brake 305, tension sensor 307.Frame 301 is connected by right angle
Fitting 302 is connected on firm banking 204, and position is adjustable；Servomotor 303 is fixed in frame 301, passes through axle and steel wire coil
Cylinder 304 connects；Wire reel is connected by another axle with electricity loss brake 305, and electricity loss brake 305 is automatic when power is off to be embraced
Extremely with guarantee by the safety of hitch；Electricity loss brake 305 is bolted in frame, and fixture includes brake branch
Seat 306 and sleeve 309；Steel wire rope 308 is fixed and is wrapped on wire reel, is connected to afterwards by tension sensor 307
By on hitch.In this specific embodiment, tension sensor 307 is three-wheel tension sensor, is not changing the steel
Silk lanyard determines its tension force in the case of direction, feeds back to the servo drive motor controller, forms the closed-loop control of tension force.
In above embodiment, installing plate 106, adjustable motor bearing 107, claw shaped piece 202, base 204, frame
301st, wire reel 304 is processed into using aluminium alloy or steel；Support frame 4 is made up with girder 101 of aluminium section bar.
The specific work process of agravic experiment is carried out using the agravic simulated test bed of above embodiment such as
Under：
The first step, the tracing subsystem of respective amount is installed according to the number of required hitch point；
Second step, adjusting the position of mobile platform manually makes steel wire rope 308 vertical；
3rd step, fixed steel wire rope, makes mechanism stress, tension sensor 307 has after setting the suspension force of each point of suspension
Registration, upper electricity discharge electricity loss brake 305, and servomotor 303 is passed through automatically controlled balance, fine setting pulling force setting by moment loading
Value and control parameter enable suspended object to move up and down and hover freely and have suitable damping；
4th step, testee is driven, and utilize the routine interface control each mobile platform of X-axis active tracing subsystem
Actuating speed and direction, to keep steel wire rope 308 generally vertical, now, agravic experiment is normally carried out；
5th step, after off-test, power-off makes the locking of electricity loss brake 305, unclamps steel wire rope 308 and removes tested mechanism.
Agravic simulated test bed in the embodiment is protected using main passive combined tracking pattern and with power-off
Protective function, available for the agravic simulated test for the compound movement mechanism for needing multipoint suspension, suspension centre quantity is expansible, and can
Realize the independent closed-loop control of suspension force to each point of suspension, there is provided one kind meets mechanism for testing three-dimensional space motion, motion
Resistance is smaller, cost is relatively low, longevity of service and stable multipoint suspension balance agravic simulated test bed, has higher general
Adaptive and effect is preferably simulated, filled up the current country and used the half agravic simulated test bed of active tracing multipoint suspension method
Blank.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (8)
1. a kind of agravic simulated test bed of suspension type, it is characterised in that including active tracing subsystem, multiple passive trackings
System and multiple suspension systems, the active tracing subsystem include the first guide rail and the multiple masters moved along first guide rail
Dynamic mobile platform, described multiple passive tracking subsystems are fixedly installed in described multiple active mobile platforms respectively, described
Passive tracking subsystem includes the second guide rail and passive mobile platform, and described multiple suspension systems are fixedly installed in multiple respectively
The axis of passive mobile platform, the axis of first guide rail and second guide rail is vertical, and first guide rail is led for V-type
Rail, the suspension system include permanent tension control mechanism, and the permanent tension control mechanism includes servo drive motor, watched by described
Take the wire reel of motor driving, be wound in the steel wire lanyard of the wire reel and for monitoring the steel wire lanyard
Tension force tension sensor, the sensor is three-wheel tension sensor.
2. the agravic simulated test bed of suspension type as claimed in claim 1, it is characterised in that described active tracing subsystem
Also include multiple drive devices, be respectively used to drive described multiple active mobile platforms to move along first guide rail.
3. the agravic simulated test bed of suspension type as claimed in claim 2, it is characterised in that the drive device includes stepping
Motor, the spur gear for being installed on the rotating shaft that the stepper drive motors drive, the spur rack engaged with the spur gear,
The spur rack is connected with the active mobile platform.
4. the agravic simulated test bed of suspension type as claimed in claim 1, it is characterised in that the active mobile platform includes
Match the roller of the V-type rail, the installing plate for installing the passive tracking subsystem.
5. the agravic simulated test bed of suspension type as claimed in claim 1, it is characterised in that second guide rail is justified for straight line
Conduit, the passive tracking subsystem also include being used for what axis direction of the straight line circle conduit along first guide rail moved
Straight line justifies conduit slide assemblies, straight line circle conduit slide assemblies include with the cylindrical slideway of first guide rail parallel,
The contiguous block of the sliding shoe and the connection sliding shoe and straight line circle conduit that are slided along the cylindrical slideway.
6. the agravic simulated test bed of suspension type as claimed in claim 5, it is characterised in that the passive mobile platform includes
Four claw shaped pieces for being provided with ball bearing matched with straight line circle conduit and the fixation for installing the suspension system
Base.
7. the agravic simulated test bed of suspension type as claimed in claim 1, it is characterised in that the suspension system also includes using
In the electricity loss brake for braking the wire reel when power is off.
8. the application method of the agravic simulated test bed of suspension type as described in any in claim 1-7, it is characterised in that bag
Include following steps：
1) number of point of suspension needed for installs tracing subsystem；
2) position of regulation mobile platform makes steel wire rope vertical manually；
3) fixed steel wire rope, makes mechanism stress after setting the suspension force of each point of suspension, is set according to the data of tension sensor
The parameter of servo drive motor, upper electricity discharge electricity loss brake；
4) testee is driven, carries out agravic experiment；
5) after off-test, power-off makes electricity loss brake locking, unclamps steel wire rope and removes testee.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105856205B (en) * | 2016-06-17 | 2017-11-17 | 中国矿业大学 | A kind of flexible cable suspention simulation system in parallel and its method |
| CN105931522B (en) * | 2016-06-29 | 2018-07-31 | 中国科学院沈阳自动化研究所 | A kind of microgravity two-freedom is servo-actuated to balance hanging, transfer device |
| CN107985637A (en) * | 2017-11-27 | 2018-05-04 | 上海卫星装备研究所 | A kind of active gravity unloading device |
| CN108620262B (en) * | 2018-07-05 | 2024-02-06 | 苏州智能制造研究院有限公司 | Hanging and pulling device for equipment paint spraying process |
| CN113371235B (en) * | 2021-05-31 | 2022-07-22 | 哈尔滨工业大学 | Active and passive combined suspension type double-layer motion platform and using method |
| CN113501148B (en) * | 2021-08-18 | 2022-04-29 | 哈尔滨工业大学 | Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system |
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