CN105599922A - A 1/6g low gravity balance hoisting device - Google Patents

A 1/6g low gravity balance hoisting device Download PDF

Info

Publication number
CN105599922A
CN105599922A CN201410668814.2A CN201410668814A CN105599922A CN 105599922 A CN105599922 A CN 105599922A CN 201410668814 A CN201410668814 A CN 201410668814A CN 105599922 A CN105599922 A CN 105599922A
Authority
CN
China
Prior art keywords
platform
stone tongs
low gravity
gravity balance
hoist cable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410668814.2A
Other languages
Chinese (zh)
Other versions
CN105599922B (en
Inventor
徐志刚
肖杰
贺云
刘勇
李峰
白鑫林
王军义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201410668814.2A priority Critical patent/CN105599922B/en
Publication of CN105599922A publication Critical patent/CN105599922A/en
Application granted granted Critical
Publication of CN105599922B publication Critical patent/CN105599922B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention relates to a lunar vehicle hoisting system, specifically to a 1/6g low gravity balance hoisting device comprising lifting ropes, a lunar surface exploration detector, tension control hoisting devices, a horizontal following platform, a rotating table, a large longitudinal moving trolley and a small transverse moving trolley, wherein the large longitudinal moving trolley is slidably connected to a travelling rail and the small transverse moving trolley is located under the large longitudinal moving trolley and connected with the large longitudinal moving trolley slidably. The upper end of the rotating table is rotatably connected with the small transverse moving trolley and the lower end is fixedly connected with the horizontal following platform. Six tension control hoisting devices are connected to the bottom of the horizontal following platform and each tension control hoisting device is connected with the lunar surface exploration detector via one lifting rope. The lunar surface exploration detector can measure the tension change of the lifting ropes in case of any change of the center of mass in the lunar topographic feature environment, and the constant tension control and rapid collection and releasing of the lifting ropes can be realized, so that multi-body hoisting and lifting point real-time tracking of the lunar surface exploration detector can be realized and the simulation of a 1/6g low gravity environment is guaranteed.

Description

The low gravity balance suspension device of a kind of 1/6g
Technical field
The present invention relates to lunar rover hangar system, specifically the low gravitational equilibrium of a kind of 1/6gErecting by overhang.
Background technology
At present, gravity balance suspension device is single-point hanging, and does not occur many body hangings.When being had moving component and stationary parts by hanging on object, monomer hanging does not reach real-time weightThe requirement of dynamic balance, therefore can only adopt many body hanging forms. Weight balancing system erecting by overhangHanging active force application point must be on test object barycenter. But the barycenter of test object existsDetector inside is difficult to make the work of hanging force in the situation that not changing test object original structurePass through barycenter with point.
The domestic 1/6g (g is acceleration of gravity) that does not also occur available simulation lunar environmentLow gravity balance suspension device, in the time that lunar surface tour device moves under different operating modes, makes an inspection tour deviceOn have moving component and stationary parts, be therefore difficult to guarantee offset all the time the 5/6Mg earth and the moonGravitational difference, realize the simulation of lunar surface 1/6g low-gravity environment.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide the low gravitational equilibrium of a kind of 1/6g to hangHang device. The low gravity balance suspension device of 1/6g can ensure that lunar surface tour device is in the time of different operating mode,Adopt many bodies suspending way, offset in real time the gravitational difference of the 5/6Mg earth and the moon, realize lunar surfaceThe simulation of 1/6g low-gravity environment.
To achieve these goals, the present invention is by the following technical solutions:
The low gravity balance suspension device of a kind of 1/6g, comprise hoist cable, inspection tour prober for moon surface,Tension force control erecting by overhang, level are followed platform, rotating disk, lengthwise movement cart and transverse movementDolly, wherein lengthwise movement cart is slidably connected on Crane Rail, and described transverse movement is littleParking stall is slidably connected in the below of lengthwise movement cart and with lengthwise movement cart, described rotating diskUpper end and transverse movement dolly be rotationally connected, it is affixed that lower end and level are followed platform, described waterFlat below of following platform is connected with six tension force control erectings by overhang, each tension force control hanging dressPut by hoist cable and be connected with inspection tour prober for moon surface.
Described level is followed platform and is comprised that large platform and six two dimensions that are arranged on large platform followWith little slide unit, each two dimension follow little slide unit include two setting up and down, and orthogonalLinear drives unit, the linear drives unit of below and tension force control erecting by overhang are connected.
Described each linear drives unit comprises servomotor, ball-screw and guide rail slide block, whereinServomotor connects ball-screw, and described guide rail slide block is connected with ball-screw by screw pair.
Described tension force control erecting by overhang comprises hoisting equipment, movable pulley, fixed pulley, power sensingDevice, measurement of dip angle mechanism and tension adjusting device, wherein hoisting equipment, tension adjusting device andFixed pulley is installed on successively level and follows on platform, and the outbound course of described tension adjusting device hangs downDownwards straight and output is connected with movable pulley, and described hoist cable end hanging is maked an inspection tour on device at lunar surface,The other end is connected with hoisting equipment through after measurement of dip angle mechanism, fixed pulley and movable pulley successively,Described power installation of sensors is followed on platform and with fixed pulley and is connected in described level.
Described tension adjusting device comprises movable pulley installing rack, buffer spring, electric pushrod and watchesTake electric cylinder, wherein servo electric jar is installed on level and follows on platform, described servo electric jarElectric pushrod connect portable plate, described movable pulley installing rack is provided with two leads, eachOn lead, be all arranged with described buffer spring, the upper end of each lead and portable plate are movable to be connectedConnect, described electric cylinder action extends electric pushrod or shrinks, and changes the deflection of buffer spring,Thereby movable pulley is moved up and down.
Described measurement of dip angle mechanism comprises the first clip wheel group, the second clip wheel group, outer rotational angleMeasure encoder, internal layer rotational angle measure encoder, the first turning cylinder, the second turning cylinder,Internal layer moving block, outer moving block, angle seat, wherein internal layer moving block is by the first turning cylinderBe arranged on rotatably on outer moving block, this skin moving block can by the second turning cylinderBe connected with angle seat in relative rotation, on described internal layer moving block, be provided with setting up and down firstClip wheel group and the second clip wheel group, outer rotational angle is measured encoder and is arranged on the second turning cylinderOne end, internal layer rotational angle measurement encoder is arranged on one end of the first turning cylinder.
Described hoist cable is connected with inspection tour prober for moon surface by stone tongs, described stone tongs bagDraw together car body stone tongs and rocking arm stone tongs, the front and back end of described inspection tour prober for moon surface car bodyBe equipped with car body stone tongs, on the master rocker of described inspection tour prober for moon surface and secondary-rocker, all establishThere is rocking arm stone tongs.
Described car body stone tongs comprises the secondary and revolute pair of two balls, wherein two balls secondary andRevolute pair is cascaded successively, and described hoist cable is connected with revolute pair.
Described rocking arm stone tongs comprises master rocker stone tongs and secondary-rocker stone tongs, described inMaster rocker stone tongs and secondary-rocker stone tongs all comprise arc guide rail and slide block, wherein circular arcGuide rail is connected with rocking arm by flange, and described slide block is connected on arc guide rail and along circular arcGuide rail slides, and described hoist cable is connected with slide block.
Described rotating disk upper surface and joint pin are rotationally connected, described joint pin and transverse movement dollyConnect firmly, described rotating disk is connected with decelerator by synchronous cog belt, and described decelerator and rotating disk are watchedTaking motor connects.
Advantage of the present invention and good effect are:
1. of the present invention pair of arc sliding track-type facilities, can not change original gravitational equilibrium systemOn the basis of system structure, make the application point of hanging force do any state variation at weight balancing systemTime, all act on the barycenter of weight balancing system.
2. the present invention has filled the domestic blank without lunar surface low-gravity environment analogue means, realizesBe used in the low gravitational equilibrium of 1/6g of ground experiment system Imitating moon low-gravity environmentThe four-dimension is followed erecting by overhang.
3. tension force control erecting by overhang of the present invention, in the dynamics that does not change lunar surface tour deviceOn the basis of characteristic, only for compensating 5/6Mg gravity, without other additional mass, realize constant forceHanging.
4. the present invention has successfully realized many body hangings, movable company between the each motion of true reappearanceConnect the stressing conditions at place, ensure that each suspension centre plumb line hangs the physique heart by quilt all the time, hanging is made a concerted effortPlumb line by hanging parts barycenter, adapts to barycenter real-time change all the time.
5. stone tongs of the present invention and level are followed platform and can realize the lead of simulation system hoist cableVertical and suspension centre is followed lunar surface tour device and is moved in the zone of reasonableness of test site, has accordingly and followsSpeed and precision.
6. rotating disk of the present invention can be around the rotation of vertical ground central shaft, realizes lunar surface and makes an inspection tour deviceUnrestricted rotation.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is I place enlarged drawing in Fig. 1;
Fig. 3 is II place enlarged drawing in Fig. 1;
Fig. 4 is the side view of Fig. 1;
Fig. 5 is the structural representation of tension force control erecting by overhang in the present invention;
Fig. 6 is the structural representation of measurement of dip angle mechanism in the present invention;
Fig. 7 be in Fig. 6 A to view;
Fig. 8 is the range of movement figure of each suspension centre in the present invention.
Wherein: 1 is hoist cable, 2 is inspection tour prober for moon surface, and 3 is tension force control erecting by overhang,4 is rotating disk, and 5 is lengthwise movement cart, and 6 is transverse movement dolly, and 7 is ball pair, and 8 for turningMoving secondary, 9 is master rocker, and 10 is secondary-rocker, and 11 is arc guide rail, and 12 is slide block, and 13 areFlange, 14 is large platform, and 15 is servomotor, and 16 is ball-screw, and 17 is guide rail slide block,18 is rotating disk servomotor, and 19 is decelerator, and 20 is synchronous cog belt, and 21 is hoisting equipment,22 is movable pulley, and 23 is buffer spring, and 24 is electric pushrod, and 25 is fixed pulley, and 26 is powerSensor, 27 is electric cylinder, and 28 is the first clip wheel group, and 29 is the second clip wheel group, and 30 areOuter rotational angle is measured encoder, and 31 measure encoder for internal layer rotational angle, and 32 is folderWheel seat, 33 is internal layer moving block, and 34 is outer moving block, and 35 is angle seat, and 36 is firstTurning cylinder, 37 is the second turning cylinder, and 38 is left clip wheel, and 39 is left clip wheel axle, and 40 is right folderWheel, 41 is right clip wheel axle, and 42 is spacer, and 44 is gripper shoe, and 50 is portable plate, 51 areLead, 52 is movable pulley installing rack, 53 is master rocker and front-wheel suspension centre excursion, 54For secondary-rocker and middle trailing wheel suspension centre excursion, 55 for making an inspection tour device car body suspension centre excursion.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1 and Figure 2, the present invention includes hoist cable 1, inspection tour prober for moon surface 2, openPower control erecting by overhang 3, level are followed platform, rotating disk 4, lengthwise movement cart 5 and horizontalTrolley 6, wherein lengthwise movement cart 5 is slidably connected on Crane Rail, described horizontalTrolley 6 is positioned at the below of lengthwise movement cart 5 and connects with 5 slips of lengthwise movement cartConnect, the upper end of described rotating disk 4 is rotationally connected by joint pin and transverse movement dolly 6, lower endIt is affixed that plane of rotation and level are followed platform, and described rotating disk 4 is by synchronous cog belt 20 and decelerationDevice 19 connects, and described decelerator 19 is connected with rotating disk servomotor 18. Described level is followedThe below of platform is connected with six tension force control erectings by overhang 3, each tension force control erecting by overhang 3Be connected with inspection tour prober for moon surface 2 by hoist cable 1. Described hoist cable 1 is by stone tongs and the moonFace inspection prober 2 connects.
Described level is followed platform and is comprised large platform 14 and be arranged at six two on large platform 14Dimension is followed little slide unit, each two dimension follow little slide unit include two setting up and down, and mutually hang downStraight linear drives unit, described each linear drives unit includes servomotor 15, ballLeading screw 16 and guide rail slide block 17, wherein servomotor 15 connects ball-screw 16, described in leadRail slide block 17 is connected with ball-screw 16 by screw pair, the linear drives unit of below withPower control erecting by overhang 3 is fixedly connected with.
As shown in Figure 3, described tension force control erecting by overhang 3 comprises hoisting equipment 21, moving slidingWheel 22, fixed pulley 25, power sensor 26, measurement of dip angle mechanism and tension adjusting device, itsMiddle hoisting equipment 21, tension adjusting device and fixed pulley 25 are installed on successively level and follow platformUpper, the outbound course of described tension adjusting device vertically downward, the output of tension adjusting deviceBe connected with movable pulley 22, described hoist cable 1 end is hung at lunar surface and is maked an inspection tour and visit by stone tongsSurvey on device 2, the other end is successively through after measurement of dip angle mechanism, fixed pulley 25 and movable pulley 22Be connected with hoisting equipment 21, described power sensor 26 be installed on described level follow on platform,And connect with the end of fixed pulley 25, detect in real time the tension force of hoist cable 1.
Described tension adjusting device comprises movable pulley installing rack 52, buffer spring 23, electronic pushing awayBar 24 and servo electric jar 27, wherein servo electric jar 27 is installed on level and follows on platform,The electric pushrod 24 of servo electric jar 27 connects portable plate 52, on described movable pulley installing rackBe provided with two leads 51, on each lead 51, be all arranged with buffer spring 23, respectively guidingThe upper end of post 51 is flexibly connected with portable plate 52. Electric cylinder 27 actions are stretched electric pushrod 24Length or contraction, change the deflection of buffer spring 23, thereby movable pulley 22 moved up and down.
Described measurement of dip angle mechanism comprises the first clip wheel group 28, the second clip wheel group 29, outerLayer rotational angle measured encoder 30, internal layer rotational angle is measured encoder 31, the first rotationAxle 36, the second turning cylinder 37, internal layer moving block 33, outer moving block 34, angle seat 35,Wherein internal layer moving block 33 is arranged on outer rotation rotatably by the first turning cylinder 36On piece 34, this skin moving block 34 by the second turning cylinder 37 rotatably with angleSeat 35 is connected, and the first clip wheel group 28 setting up and down is installed on described internal layer moving block 33With the second clip wheel group 29, outer rotational angle is measured encoder 30 and is arranged on the second turning cylinder 37One end, internal layer rotational angle is measured encoder 31 and is arranged on one end of the first turning cylinder 36.
The central axis of the central axis of described the first turning cylinder 36 and the second turning cylinder 37 is mutualVertically, and meet at a bit; Described hoist cable 1 is by passing between two groups of clip wheels, and hoist cable 1 is pressed from both sidesTightly; Between described left clip wheel 38 and right clip wheel 40 two ends and the inwall of clip wheel seat 32 two boardsBe respectively equipped with the spacer 42 being enclosed within on clip wheel axle; Described outer moving block 34 is square frame body, inLayer moving block 33 is positioned at the centre of outer moving block 34 inside; Described angle seat 35 has oneTop board, this top board is a square frame, below top board, relative both sides are provided with erecting perpendicular to top boardPlate, the second turning cylinder 37 is arranged on riser by bearing, the two boards of clip wheel seat 35 itBetween be provided with 44, two groups of clip wheels of gripper shoe setting up and down, lay respectively at the upper of described gripper shoe 44Side and below.
Described stone tongs comprises car body stone tongs and rocking arm stone tongs, and described lunar surface is maked an inspection tourThe front and back end of detector 2 car bodies is equipped with car body stone tongs, described inspection tour prober for moon surface 2Master rocker 9 and secondary-rocker 10 on be equipped with rocking arm stone tongs. Described car body stone tongsComprise two balls secondary 7 and a revolute pair 8, wherein two balls secondary 7 are gone here and there successively with revolute pair 8Be linked togather, described hoist cable 1 is connected with revolute pair 8. Described rocking arm stone tongs comprises main shakingArm stone tongs and secondary-rocker stone tongs, described master rocker stone tongs and secondary-rocker hanging clampTool all comprises arc guide rail 11 and slide block 12, wherein arc guide rail 11 by flange 13 with shakeArm connects, and described slide block 12 is connected on arc guide rail 11 and along arc guide rail 11 and slidesMoving, described hoist cable 1 is connected with slide block 12.
As shown in Figure 3, the moving region of each suspension centre is all rectangle, wherein car body stone tongsEach suspension centre all passes through the barycenter of inspection tour prober for moon surface 2 car bodies with joint efforts at any time, and rocking arm hangsThe suspension centre plumb line of clamping tool is all the time by hanging parts barycenter. Follow on platform each according to levelThe change in location of suspension centre, drives rotating disk and driving (lengthwise movement cart 5 or transverse movement dolly6) motion, the level of guarantee is followed on platform each sling point all the time within the scope of impulse stroke.
Operation principle of the present invention is:
Inspection tour prober for moon surface of the present invention moves under moon looks environment, and any variation occurs barycenterTime, measure in real time the tension variation of hoist cable, realize the permanent tension force control of hoist cable and quickly retracting, realMany bodies hangings of existing inspection tour prober for moon surface and the real-time tracking of suspension centre, offset the 5/6mg earth andThe gravitational difference of the moon, ensures the simulation of lunar surface 1/6g low-gravity environment.
Simulation system of the present invention adopts the hang of 1 six hangings of six roots of sensation hoist cable, six suspension centresBe divided into two groups, one group is two suspension centres, for lifting by crane inspection tour prober for moon surface 2. Two suspension centresMake a concerted effort equal 5/6 of inspection tour prober for moon surface 2 weight, and two suspension centres do not have barycenterAdditional torque; Another group is four suspension centres, hangs respectively rocking arm, four rocking arm suspension centres of guaranteeActive force is all the time by rocking arm barycenter. In these cases, even if rocking arm is in motion, rocking arm matterThe heart is in motion, and the barycenter of overall inspection tour prober for moon surface 2 is changing, but hangs by 4+2Mode, balance all the time lunar rover 5/6 gravity, reach the object of simulated experimental environments.
Every hoist cable 1 has three-dimensional automatic regulation function, realizes in limited rangeThe displacement of X, Y and Z direction is adjusted in real time, ensures that hoist cable 1 is all the time in vertical and tensioning shapeState. Examine force cell 26 by hoist cable 1, the information of Real-time Feedback tension force, dynamically adjustsTension adjusting device (buffer spring 23 and electric cylinder 27), realizes the permanent tension force control of hoist cable 1System; Hoist cable 1 vertical control departs from the angle of vertical as controlling target using hoist cable 1, adopt angleThe angle of inclination that degree sensor detects 1 second direction of hoist cable, as feedback, adopts servomotor15 and ball-screw 16 drive hoist cable 1 two dimension to follow hanging object, realize hoist cable 1 vertical controlSystem. The length variations of hoist cable 1, except the permanent tension force control of electric cylinder 27, also has elevator and establishesStandby 21 winding function, when ensureing inspection tour prober for moon surface 2 in pitching and tilting to hoist cable 1The control of height.
In the time of working range that each suspension centre whole departure limits, little by rotating disk 4, transverse movementCar 6 and lengthwise movement cart 5 drive levels follow platform realize turn to, transverse shifting and longitudinallyMobile, make suspension centre return normal working range, thereby realize large-scale accompany movement.

Claims (10)

1. the low gravity balance suspension device of 1/6g, is characterized in that: comprise hoist cable (1),Inspection tour prober for moon surface (2), tension force control erecting by overhang (3), level are followed platform, rotating disk(4), lengthwise movement cart (5) and transverse movement dolly (6), wherein lengthwise movement cart (5)Be slidably connected on Crane Rail, described transverse movement dolly (6) is positioned at lengthwise movement cart(5) below is also slidably connected with lengthwise movement cart (5), described rotating disk (4)Upper end and transverse movement dolly (6) are rotationally connected, and it is affixed that lower end and level are followed platform, instituteThe below that the level of stating is followed platform is connected with six tension force control erectings by overhang (3), each tension force controlErecting by overhang processed (3) is connected with inspection tour prober for moon surface (2) by hoist cable (1).
2. by the low gravity balance suspension device of 1/6g claimed in claim 1, it is characterized in that:Described level is followed platform and is comprised large platform (14) and be arranged at six on large platform (14)Two dimension is followed little slide unit, each two dimension follow little slide unit include two setting up and down, and mutuallyVertical linear drives unit, the linear drives unit of below and tension force control erecting by overhang (3)Be connected.
3. by the low gravity balance suspension device of 1/6g claimed in claim 2, it is characterized in that:Described each linear drives unit comprises that servomotor (15), ball-screw (16) and guide rail are slidingPiece (17), wherein servomotor (15) connects ball-screw (16), described guide rail slide block (17)Be connected with ball-screw (16) by screw pair.
4. by the low gravity balance suspension device of 1/6g claimed in claim 1, it is characterized in that:Described tension force control erecting by overhang (3) comprises hoisting equipment (21), movable pulley (22), fixedPulley (25), power sensor (26), measurement of dip angle mechanism and tension adjusting device, Qi ZhongjuanRaising equipment (21), tension adjusting device and fixed pulley (25) is installed on successively level and follows flatOn platform, the outbound course of described tension adjusting device straight down and output and movable pulley(22) connect, the hanging of described hoist cable (1) end is upper at inspection tour prober for moon surface (2), anotherOne end is and elevator rear through measurement of dip angle mechanism, fixed pulley (25) and movable pulley (22) successivelyEquipment (21) connects, described power sensor (26) be installed on described level follow on platform,And connect with fixed pulley (25).
5. by the low gravity balance suspension device of 1/6g claimed in claim 4, it is characterized in that:Described tension adjusting device comprises movable pulley installing rack (52), buffer spring (23), electronic pushing awayBar (24) and servo electric jar (27), wherein servo electric jar (27) level of being installed on is followedOn platform, the electric pushrod (24) of described servo electric jar (27) connects portable plate (52),Described movable pulley installing rack is provided with two leads (51), and each lead (51) is all upperBe arranged with buffer spring (23), the upper end of each lead (51) and portable plate (52) activityConnect, described electric cylinder (27) action is extended electric pushrod (24) or is shunk, and changes slowRush the deflection of spring (23), thereby movable pulley (22) is moved up and down.
6. by the low gravity balance suspension device of 1/6g claimed in claim 4, it is characterized in that:Described measurement of dip angle mechanism comprises that the first clip wheel group (28), the second clip wheel group (29), skin turnMoving angular surveying encoder (30), internal layer rotational angle are measured encoder (31), first and are rotatedAxle (36), the second turning cylinder (37), internal layer moving block (33), outer moving block (34),Angle seat (35), wherein internal layer moving block (33) can be relative by the first turning cylinder (36)Be arranged on rotationally outer moving block (34) upper, this skin moving block (34) turns by secondMoving axis (37) is connected with angle seat (35) rotatably, described internal layer moving block (33)On the first clip wheel group (28) setting up and down and the second clip wheel group (29) are installed, skin turnsMoving angular surveying encoder (30) is arranged on one end of the second turning cylinder (37), and internal layer rotatesAngular surveying encoder (31) is arranged on one end of the first turning cylinder (36).
7. by the low gravity balance suspension device of 1/6g claimed in claim 1, it is characterized in that:Described hoist cable (1) is connected with inspection tour prober for moon surface (2) by stone tongs, described liftingFixture comprises car body stone tongs and rocking arm stone tongs, described inspection tour prober for moon surface (2)The front and back end of car body is equipped with car body stone tongs, the master of described inspection tour prober for moon surface (2)On rocking arm (9) and secondary-rocker (10), be equipped with rocking arm stone tongs.
8. by the low gravity balance suspension device of 1/6g claimed in claim 7, it is characterized in that:Described car body stone tongs comprises two ball pairs (7) and a revolute pair (8), wherein twoBall pair (7) is cascaded successively with revolute pair (8), described hoist cable (1) and revolute pair(8) connect.
9. by the low gravity balance suspension device of 1/6g claimed in claim 7, it is characterized in that:Described rocking arm stone tongs comprises master rocker stone tongs and secondary-rocker stone tongs, and described master shakesArm stone tongs and secondary-rocker stone tongs all comprise arc guide rail (11) and slide block (12),Wherein arc guide rail (11) is connected with rocking arm by flange (13), and described slide block (12) connectsBe connected to arc guide rail (11) and above and along arc guide rail (11) slide, described hoist cable (1)Be connected with slide block (12).
10. by the low gravity balance suspension device of 1/6g claimed in claim 1, it is characterized in that:Described rotating disk (4) upper surface and joint pin are rotationally connected, and described joint pin and transverse movement are littleCar (6) connects firmly, and described rotating disk (4) is by synchronous cog belt (20) and decelerator (19)Connect, described decelerator (19) is connected with rotating disk servomotor (18).
CN201410668814.2A 2014-11-20 2014-11-20 A kind of 1/6g low gravitations balance erecting by overhang Expired - Fee Related CN105599922B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410668814.2A CN105599922B (en) 2014-11-20 2014-11-20 A kind of 1/6g low gravitations balance erecting by overhang

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410668814.2A CN105599922B (en) 2014-11-20 2014-11-20 A kind of 1/6g low gravitations balance erecting by overhang

Publications (2)

Publication Number Publication Date
CN105599922A true CN105599922A (en) 2016-05-25
CN105599922B CN105599922B (en) 2018-01-09

Family

ID=55980393

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410668814.2A Expired - Fee Related CN105599922B (en) 2014-11-20 2014-11-20 A kind of 1/6g low gravitations balance erecting by overhang

Country Status (1)

Country Link
CN (1) CN105599922B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105931522A (en) * 2016-06-29 2016-09-07 中国科学院沈阳自动化研究所 Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom
CN107472558A (en) * 2017-07-22 2017-12-15 郝成武 One kind makes lifting article weightlessness haulage gear
CN107757955A (en) * 2017-09-18 2018-03-06 北京卫星环境工程研究所 Multi-joint space mechanism gravity unloading 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
CN108516113A (en) * 2018-03-09 2018-09-11 中国科学院长春光学精密机械与物理研究所 One kind being eccentrically rotated space loading ground debugging gravity unloading method and device
CN108557118A (en) * 2018-04-11 2018-09-21 北京卫星环境工程研究所 Gravity-compensated device with return-stopping function
CN110450992A (en) * 2019-08-19 2019-11-15 北京航空航天大学 A kind of suspension type gravity unloading system based on magnetic trolley
CN110481819A (en) * 2019-08-22 2019-11-22 燕山大学 Microgravity experiment platform based on halbach array permanent magnet

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4860600A (en) * 1987-04-20 1989-08-29 Schumacher Larry L Three degree of freedom micro-gravity simulator
US5110294A (en) * 1989-09-22 1992-05-05 Deutsche Forschungsanstalt Fur Luft -Und Raumfahrt E.V. Device for ground-based simulation of operations of a manipulator usable in space by means of a model of a space vehicle
CN103090852A (en) * 2011-11-01 2013-05-08 中国科学院沈阳自动化研究所 Angle measuring device
CN104118580A (en) * 2014-07-14 2014-10-29 上海宇航系统工程研究所 Device and method for simulating low gravity

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4860600A (en) * 1987-04-20 1989-08-29 Schumacher Larry L Three degree of freedom micro-gravity simulator
US5110294A (en) * 1989-09-22 1992-05-05 Deutsche Forschungsanstalt Fur Luft -Und Raumfahrt E.V. Device for ground-based simulation of operations of a manipulator usable in space by means of a model of a space vehicle
CN103090852A (en) * 2011-11-01 2013-05-08 中国科学院沈阳自动化研究所 Angle measuring device
CN104118580A (en) * 2014-07-14 2014-10-29 上海宇航系统工程研究所 Device and method for simulating low gravity

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李灏 等: "月球巡视器吊点张力控制系统的设计", 《机械设计与制造》 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105931522A (en) * 2016-06-29 2016-09-07 中国科学院沈阳自动化研究所 Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom
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
CN107472558A (en) * 2017-07-22 2017-12-15 郝成武 One kind makes lifting article weightlessness haulage gear
CN107757955A (en) * 2017-09-18 2018-03-06 北京卫星环境工程研究所 Multi-joint space mechanism gravity unloading device
CN107757955B (en) * 2017-09-18 2019-05-17 北京卫星环境工程研究所 Multi-joint space mechanism gravity unloading 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
CN108516113A (en) * 2018-03-09 2018-09-11 中国科学院长春光学精密机械与物理研究所 One kind being eccentrically rotated space loading ground debugging gravity unloading method and device
CN108516113B (en) * 2018-03-09 2021-05-14 中国科学院长春光学精密机械与物理研究所 Gravity unloading method and device for ground debugging of eccentric rotation space load
CN108557118A (en) * 2018-04-11 2018-09-21 北京卫星环境工程研究所 Gravity-compensated device with return-stopping function
CN108557118B (en) * 2018-04-11 2019-12-03 北京卫星环境工程研究所 Gravity-compensated device with return-stopping function
CN110450992A (en) * 2019-08-19 2019-11-15 北京航空航天大学 A kind of suspension type gravity unloading system based on magnetic trolley
CN110481819A (en) * 2019-08-22 2019-11-22 燕山大学 Microgravity experiment platform based on halbach array permanent magnet

Also Published As

Publication number Publication date
CN105599922B (en) 2018-01-09

Similar Documents

Publication Publication Date Title
CN105599922A (en) A 1/6g low gravity balance hoisting device
CN104118580B (en) A kind of low-gravity simulation device and method
CN105856205B (en) A kind of flexible cable suspention simulation system in parallel and its method
CN103085992A (en) Spatial microgravity simulation experiment system
CN103846649B (en) A kind of two-stage parallel connection robot device for Fine Boring
CN104656684A (en) Method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors
CN105259866A (en) Mass center adjustment system of air-floating motion simulator
CN101397114A (en) Orthogonal horizontal automatic adjusting sling and method
CN102975193A (en) Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance
CN104290932B (en) The longitudinal gravity-compensated device of space mechanism's six degree of freedom microgravity simulated implementation system
CN203831398U (en) 6-PTRT type parallel-connected robot with automatic calibrating function
CN103552697B (en) Active suspension type satellite antenna three-dimensional developing test device
CN202836915U (en) Single-leg impact control experiment platform for robot
CN102840959B (en) Single-leg impact control experiment platform for robot
CN201891999U (en) Electrically controlled telescopic rocker
CN204964218U (en) Multidimension framework formula satellite antenna deployment mechanism gravity balance arm
CN207190706U (en) Mobile robot's height adaptive chassis
CN103707293A (en) Simulated wire-walking robot
CN105539889A (en) Suspended zero-gravity simulated test bed and using method thereof
CN106644514B (en) A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable
CN107818718A (en) A kind of Students ' Learning lever principle experiment appliance
CN106584437A (en) Seven-freedom-degree series-parallel docking platform
US20180265339A1 (en) Eccentric loading adjusting mechanism and method for parallel suspension platform
CN104029205B (en) A kind of system regulating robot driving device required torque
CN203600245U (en) Robot emulating walking on steel wire

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180109

Termination date: 20191120

CF01 Termination of patent right due to non-payment of annual fee