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

Abstract

The invention relates to a lunar rover suspension system, in particular to a 1/6g low-gravity balance suspension device. It includes slings, lunar surface inspection detectors, tension control hanging devices, horizontal following platforms, turntables, longitudinal movement carts and transverse movement trolleys. The lower part of the car is slidingly connected with the longitudinal movement cart, the upper end of the turntable is rotationally connected with the lateral movement trolley, the lower end is fixedly connected with the horizontal following platform, and there are six tension control suspension devices connected to the bottom of the horizontal following platform. The hanging device is connected with the lunar surface inspection probe through a sling. The lunar surface inspection detector of the present invention can measure the tension change of the sling in real time when any change of the center of mass occurs in the lunar surface environment, realize the constant tension control and fast retraction of the sling, and realize the multi-body configuration of the lunar surface inspection detector The real-time tracking of hanging and hanging points ensures the simulation of its 1/6g low-gravity environment.

Description

A 1/6g low gravity balance hanging device

technical field

The invention relates to a lunar rover suspension system, in particular to a 1/6g low-gravity balance suspension device.

Background technique

At present, the gravity balance hanging device is only a single point hanging, and there is no multi-body hanging. When there are moving parts and static parts on the suspended object, the single hanging cannot meet the requirements of real-time gravity balance, so only the multi-body hanging form can be used. The point of action of the hanging force of the hanging device of the gravity balance system must be on the center of mass of the test object. However, the center of mass of the test object is inside the detector, and it is difficult to make the acting point of the hanging force pass through the center of mass without changing the original structure of the test object.

There is no 1/6g (g is the acceleration of gravity) low-gravity balance hanging device available in China to simulate the lunar environment. When the lunar surface patrol moves under different working conditions, there are moving parts and stationary parts on the patrol. Therefore, It is difficult to ensure that the gravity difference between the earth and the moon of 5/6Mg is always offset, and the simulation of the 1/6g low-gravity environment on the lunar surface is realized.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a 1/6g low gravity balance hanging device. The 1/6g low-gravity balance hanging device can ensure that the lunar surface patrol device adopts a multi-body hanging method under different working conditions to offset the gravity difference between the 5/6Mg earth and the moon in real time, and realize the 1/6g low-gravity environment on the lunar surface. simulation.

In order to achieve the above object, the present invention adopts the following technical solutions:

A 1/6g low-gravity balance hanging device, including a sling, a lunar surface patrol detector, a tension control hanging device, a horizontal following platform, a turntable, a longitudinal movement cart and a transverse movement trolley, wherein the longitudinal movement cart is slidably connected On the driving track, the transverse movement trolley is located below the longitudinal movement trolley and is slidingly connected with the longitudinal movement trolley. The upper end of the turntable is rotationally connected with the transverse movement trolley, and the lower end is fixedly connected with the horizontal following platform. There are six tension control suspension devices connected to the bottom of the following platform, and each tension control suspension device is connected with the lunar surface inspection detector through a sling.

The horizontal following platform includes a large platform and six two-dimensional following small slides arranged on the large platform. Each two-dimensional following small slide includes two linear drive units arranged up and down and perpendicular to each other. The linear drive unit below It is fixedly connected with the tension control suspension device.

Each linear drive unit includes a servo motor, a ball screw and a guide rail slider, wherein the servo motor is connected to the ball screw, and the guide rail slider is connected to the ball screw through a screw pair.

The tension control hanging device includes a hoisting device, a movable pulley, a fixed pulley, a force sensor, an inclination measuring mechanism and a tension adjustment device, wherein the hoisting device, the tension adjustment device and the fixed pulley are successively installed on a horizontal following platform, and the tension The output direction of the adjustment device is vertically downward, and the output end is connected to the movable pulley. The end of the sling is hung on the lunar surface patrol device, and the other end passes through the inclination measuring mechanism, the fixed pulley and the movable pulley in turn, and is connected to the hoisting equipment. The force sensor is installed on the horizontal following platform and connected in series with the fixed pulley.

The tension adjustment device includes a movable pulley mounting frame, a buffer spring, an electric push rod and a servo electric cylinder, wherein the servo electric cylinder is installed on a horizontal following platform, the electric push rod of the servo electric cylinder is connected to a movable plate, and the movable pulley mounting frame There are two guide columns on the top, each guide column is equipped with the buffer spring, the upper end of each guide column is movably connected with the movable plate, and the action of the electric cylinder makes the electric push rod extend or contract, changing the buffer spring The amount of deformation, so that the movable pulley moves up and down.

The inclination measuring mechanism includes a first clamping wheel set, a second clamping wheel set, an outer rotation angle measurement encoder, an inner rotation angle measurement encoder, a first rotation shaft, a second rotation shaft, an inner rotation block, and an outer rotation angle measurement encoder. Layer rotating block and angle seat, wherein the inner layer rotating block is relatively rotatably installed on the outer layer rotating block through the first rotating shaft, and the outer layer rotating block is relatively rotatably connected with the angle seat through the second rotating shaft. The first clamping wheel set and the second clamping wheel set arranged up and down are installed on the rotating block of the first layer, the outer rotation angle measurement encoder is installed on one end of the second rotation shaft, and the inner rotation angle measurement encoder is installed on the first rotation shaft one end.

The sling is connected to the lunar surface inspection detector through a hoisting fixture. The hoisting fixture includes a car body hoisting fixture and a rocker arm hoisting fixture. Both the main rocker arm and the auxiliary rocker arm of the lunar surface inspection probe are provided with rocker arm hoisting fixtures.

The vehicle body hoisting jig includes two ball pairs and a swivel pair, wherein the two ball pairs and the swivel pair are serially connected in series, and the sling is connected to the swivel pair.

The rocker arm hoisting fixture includes a main rocker arm hoisting fixture and an auxiliary rocker arm hoisting fixture, and the main rocker arm hoisting fixture and the auxiliary rocker arm hoisting fixture both include arc guide rails and sliders, wherein the arc guide rails are connected to the rocker arm through the flange. The arm is connected, the slide block is connected on the arc guide rail and slides along the arc guide rail, and the sling is connected with the slide block.

The upper end surface of the turntable is rotatably connected to the connecting column, and the connecting column is fixedly connected to the transverse movement trolley. The turntable is connected to the reducer through the synchronous toothed belt, and the reducer is connected to the turntable servo motor.

Advantage of the present invention and positive effect are:

1. The double-arc sliding guide rail device of the present invention can make the action point of the hanging force act on the gravity balance system when any state changes of the gravity balance system without changing the structure of the original gravity balance system. on the centroid.

2. The present invention fills the blank of the domestic low-gravity environment simulator without moon surface, and realizes a 1/6g low-gravity balance four-dimensional follow-up suspension device that can be used to simulate the lunar low-gravity environment under the ground experiment system.

3. The tension control hanging device of the present invention is only used to compensate the 5/6Mg gravity without changing the dynamic characteristics of the lunar surface patrol device, and realizes constant force hanging without other additional mass.

4. The present invention successfully realizes multi-body hanging, truly reproduces the stress situation of the movable joints between the various moving mechanisms, ensures that the plumb line of each hanging point always passes through the center of mass of the suspended body, and the resultant vertical line of the hanging force always passes through the hanging The centroid of the component adapts to the real-time change of the centroid.

5. The hoisting fixture and horizontal following platform of the present invention can realize the plumb and hanging point of the sling of the simulation system to follow the movement of the lunar surface patrol device within a reasonable range of the test field, with corresponding following speed and accuracy.

6. The turntable of the present invention can rotate around the central axis vertical to the ground, so as to realize the unrestricted rotation of the lunar surface patrol device.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is an enlarged view at I place in Fig. 1;

Figure 3 is an enlarged view of II in Figure 1;

Fig. 4 is the side view of Fig. 1;

Fig. 5 is the structural representation of tension control hanging device among the present invention;

Fig. 6 is the structural representation of inclination measuring mechanism in the present invention;

Figure 7 is a view from direction A in Figure 6;

Fig. 8 is a movement range diagram of each lifting point in the present invention.

Among them: 1 is the sling, 2 is the lunar surface inspection detector, 3 is the tension control suspension device, 4 is the turntable, 5 is the longitudinal movement cart, 6 is the transverse movement trolley, 7 is the ball pair, 8 is the rotating pair, 9 is the main rocker arm, 10 is the auxiliary rocker arm, 11 is the arc guide rail, 12 is the slider, 13 is the flange, 14 is the large platform, 15 is the servo motor, 16 is the ball screw, 17 is the guide rail slider, 18 19 is a reducer, 20 is a synchronous toothed belt, 21 is a hoisting device, 22 is a movable pulley, 23 is a buffer spring, 24 is an electric push rod, 25 is a fixed pulley, 26 is a force sensor, and 27 is a Electric cylinder, 28 is the first clamping wheel set, 29 is the second clamping wheel set, 30 is the outer layer rotation angle measuring encoder, 31 is the inner layer rotation angle measuring encoder, 32 is the clamping wheel seat, 33 is the inner layer rotation Block, 34 is the outer layer rotating block, 35 is the angle seat, 36 is the first rotating shaft, 37 is the second rotating shaft, 38 is the left clamping wheel, 39 is the left clamping wheel shaft, 40 is the right clamping wheel, 41 is the right clamping Axle, 42 is a spacer, 44 is a support plate, 50 is a movable plate, 51 is a guide column, 52 is a movable pulley mounting frame, 53 is the range of lifting points of the main rocker arm and front wheel, 54 is the auxiliary rocker arm and the middle and rear wheels The variation range of the lifting point, 55 is the variation range of the lifting point of the patrol car body.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Fig. 1 and Fig. 2, the present invention includes a sling 1, a lunar surface inspection detector 2, a tension control suspension device 3, a horizontal following platform, a turntable 4, a longitudinal movement cart 5 and a transverse movement trolley 6, wherein the longitudinal movement The moving trolley 5 is slidably connected on the driving track, and the laterally moving trolley 6 is positioned below the longitudinally moving trolley 5 and is slidably connected with the longitudinally moving trolley 5. Rotationally connected, the lower end rotating surface is fixedly connected with the horizontal following platform, the turntable 4 is connected with the reducer 19 through the synchronous toothed belt 20, and the reducer 19 is connected with the turntable servo motor 18. The bottom of the horizontal following platform is connected with six tension control suspension devices 3 , and each tension control suspension device 3 is connected with the lunar surface inspection detector 2 through the sling 1 . The sling 1 is connected to the lunar surface inspection probe 2 through a hoisting fixture.

The horizontal following platform includes a large platform 14 and six two-dimensional following small sliding platforms arranged on the large platform 14. Each two-dimensional following small sliding platform includes two linear drive units arranged up and down and perpendicular to each other. The linear drive unit includes a servo motor 15, a ball screw 16 and a guide rail slider 17, wherein the servo motor 15 is connected to the ball screw 16, and the guide rail slider 17 is connected to the ball screw 16 through a screw pair, and the linear drive unit below It is fixedly connected with the tension control suspension device 3.

As shown in Figure 3, the tension control suspension device 3 includes a hoisting device 21, a movable pulley 22, a fixed pulley 25, a force sensor 26, an inclination measuring mechanism and a tension adjustment device, wherein the hoisting device 21, the tension adjustment device and the fixed pulley The pulleys 25 are successively installed on the horizontal following platform, the output direction of the tension adjustment device is vertically downward, the output end of the tension adjustment device is connected with the movable pulley 22, and the end of the sling 1 is hung on the lunar surface inspection detector by a lifting fixture 2, the other end passes through the inclination measuring mechanism, the fixed pulley 25 and the movable pulley 22 successively and is connected with the hoisting equipment 21. The force sensor 26 is installed on the horizontal following platform and is connected in series with the end of the fixed pulley 25. Check the tension of sling 1.

The tension adjustment device includes a movable pulley mounting frame 52, a buffer spring 23, an electric push rod 24 and a servo electric cylinder 27, wherein the servo electric cylinder 27 is installed on a horizontal following platform, and the electric push rod 24 of the servo electric cylinder 27 is connected to the movable plate 52 , the movable pulley mounting frame is provided with two guide columns 51, and each guide column 51 is provided with a buffer spring 23, and the upper end of each guide column 51 is movably connected with the movable plate 52. The action of the electric cylinder 27 makes the electric push rod 24 stretch or shrink, and changes the deformation of the buffer spring 23, thereby making the movable pulley 22 move up and down.

The inclination measuring mechanism includes a first clamping wheel set 28, a second clamping wheel set 29, an outer rotation angle measurement encoder 30, an inner rotation angle measurement encoder 31, a first rotation shaft 36, a second rotation shaft 37, Inner layer rotating block 33, outer layer rotating block 34, angle seat 35, wherein the inner layer rotating block 33 is relatively rotatably installed on the outer layer rotating block 34 by the first rotating shaft 36, and the outer layer rotating block 34 is rotated by the second The shaft 37 can be connected to the angle seat 35 in a relatively rotatable manner. The first clamping wheel set 28 and the second clamping wheel set 29 arranged up and down are installed on the inner layer rotating block 33, and the outer layer rotation angle measuring encoder 30 is installed on the second One end of the second rotating shaft 37, the inner layer rotating angle measuring encoder 31 is installed on one end of the first rotating shaft 36.

The central axis of the first rotating shaft 36 and the central axis of the second rotating shaft 37 are perpendicular to each other and intersect at one point; the sling 1 passes between the two sets of clamping wheels, and the sling 1 is clamped; Between the two ends of the left clamp wheel 38 and the right clamp wheel 40 and the inner walls of the two plates of the clamp wheel seat 32, spacers 42 are respectively provided on the clamp wheel shaft; the outer layer rotating block 34 is a square frame body, Inner layer rotating block 33 is positioned at the middle of outer layer rotating block 34 insides; Described angle seat 35 has a top plate, and this top plate is a frame, is provided with the riser perpendicular to top plate in opposite both sides below top plate, and the second rotating shaft 37 is installed on the vertical plate through bearings, and a support plate 44 is provided between the two plates of the clamping wheel seat 35, and two groups of clamping wheels are arranged up and down, and are respectively located above and below the support plate 44.

The hoisting fixture includes a car body hoisting fixture and a rocker arm hoisting fixture. The front and rear ends of the lunar surface patrol detector 2 are provided with car body hoisting fixtures. The main rocker arm 9 of the lunar surface patrol detector 2 and The auxiliary rocker arms 10 are all provided with rocker arm hoisting fixtures. The vehicle body hoisting jig includes two ball pairs 7 and one rotary pair 8 , wherein the two ball pairs 7 and the rotary pair 8 are serially connected in series, and the sling 1 is connected to the rotary pair 8 . The rocker arm hoisting fixture includes a main rocker arm hoisting fixture and a secondary rocker arm hoisting fixture, and both the main rocker arm hoisting fixture and the auxiliary rocker arm hoisting fixture include an arc guide rail 11 and a slider 12, wherein the arc guide rail 11 passes through the The flange 13 is connected to the rocker arm, the slider 12 is connected to the arc guide rail 11 and slides along the arc guide rail 11 , and the sling 1 is connected to the slider 12 .

As shown in Figure 3, the movement areas of each lifting point are rectangular, and the resultant force of each lifting point of the car body lifting fixture passes through the center of mass of the lunar surface inspection detector 2 car body at any time, and the lifting point lead of the rocker arm lifting fixture The vertical line always passes through the center of mass of the suspension part. According to the position change of each hanging point on the horizontal following platform, drive the turntable and the crane (longitudinal movement cart 5 or lateral movement trolley 6) to move, and ensure that each hanging point on the horizontal following platform is always within the working stroke range.

Working principle of the present invention is:

The lunar surface inspection detector of the present invention moves under the lunar surface environment, and when any change occurs in the center of mass, the tension change of the sling is measured in real time, and the constant tension control and rapid retraction of the sling are realized, and the multi-body configuration of the lunar surface inspection detector is realized. The real-time tracking of the hanging and hanging points can offset the gravity difference between the earth and the moon of 5/6mg, and ensure the simulation of the 1/6g low-gravity environment on the lunar surface.

The simulation system of the present invention adopts the suspension mode of six slings 1 and six points of suspension, and the six suspension points are divided into two groups, and one group is two suspension points for lifting the lunar surface inspection detector 2 . The resultant force of the two lifting points is equal to 5/6 of the weight of the lunar surface inspection detector 2, and the two lifting points have no additional torque to the center of mass; the other group is four lifting points, respectively hanging the rocker arms to ensure that the four rockers The force acting on the arm lifting point always passes through the center of mass of the rocker arm. Under the above circumstances, even if the rocker arm is moving, the center of mass of the rocker arm is moving, and the center of mass of the overall lunar patrol probe 2 is changing, but through the 4+2 hanging method, the 5/6 gravity of the lunar rover is always balanced to achieve The purpose of simulating the experimental environment.

Each sling 1 has a three-dimensional automatic adjustment function, which is to realize real-time adjustment of displacement in X, Y, and Z directions within a limited range, so as to ensure that the sling 1 is always in a plumb and tensioned state. The tension sensor 26 is detected by the sling 1, the tension information is fed back in real time, and the tension adjustment device (buffer spring 23 and electric cylinder 27) is dynamically adjusted to realize the constant tension control of the sling 1; The vertical angle is used as the control target, and the angle sensor is used to detect the inclination angle of the second direction of the sling 1 as feedback, and the servo motor 15 and the ball screw 16 are used to drive the sling 1 to follow the suspended object in two dimensions to realize the sling 1 lead vertical control. In addition to the constant tension control of the electric cylinder 27, the length change of the sling 1 also has the winding function of the hoisting device 21, so as to ensure the control of the height of the sling 1 by the lunar patrol detector 2 when pitching and tilting.

When each lifting point deviates from the limited working range as a whole, the turntable 4, the lateral movement trolley 6 and the longitudinal movement cart 5 drive the horizontal following platform to realize steering, lateral movement and longitudinal movement, so that the lifting point returns to the normal working range, thereby realizing Wide range of follow 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).