CN105936339A - Micro-gravity environment ground air flotation simulation mechanism and system and working method thereof - Google Patents
Micro-gravity environment ground air flotation simulation mechanism and system and working method thereof Download PDFInfo
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- CN105936339A CN105936339A CN201610412972.0A CN201610412972A CN105936339A CN 105936339 A CN105936339 A CN 105936339A CN 201610412972 A CN201610412972 A CN 201610412972A CN 105936339 A CN105936339 A CN 105936339A
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Abstract
The invention discloses a micro-gravity environment ground air flotation simulation mechanism and system and a working method thereof. The air flotation simulation mechanism comprises an air flotation device and a bottom platform follow-up mechanism, a spatial mechanism or a simulation part are installed on the air flotation device, during the working process, the spatial mechanism or the simulation part moves to drive the air flotation device to move, the bottom platform follow-up mechanism measures the position of the air flotation device in real time according to a distance measuring sensor installed on the bottom platform follow-up mechanism, an execution mechanism is controlled to drive a bottom platform to move along with the air flotation device according to position information, and the bottom of the air flotation device is maintained to be located at the center position of the upper surface of the bottom platform. Due to the fact that the bottom platform follow-up mechanism which can move along with the spatial mechanism or the simulation part is introduced, and the problem that when gravity balance modes such as hanging and guide rails are used for simulation, friction is too large is solved; meanwhile, compared with an air flotation gravity balance mode of adopting a large-area air flotation support table in large-area movement, the area of a workbench of an air flotation table is decreased, and the processing, making and installing difficulty and cost are reduced.
Description
Technical field
The invention belongs to a kind of space microgravity environmental grounds analogue technique field, refer specifically to for a kind of gravitational equilibrium air supporting mechanism, system and method for work thereof for space mechanism's ground space microgravity environment simulation.
Background technology
For the gravitational equilibrium mode of space mechanism's microgravity environment ground simulation of move in plane, mainly there is the mode such as hanging, support.Supporting way includes the mode such as air supporting, guide rail.It is crucial that reduce active force and the component of terrestrial gravitation that the factors such as friction between space mechanism and gravitational equilibrium mechanism cause.For large inertia/big mass space mechanism, using the gravitational equilibrium modes such as general hanging, guide rail, between gravitational equilibrium mechanism and supporting mechanism, frictional force is very big, often cannot meet the requirement of a lot of space microgravity environmental simulation.Air supporting mode is due to almost without friction, it is thus achieved that be widely applied, but for large area motion conditions, if using a monoblock air supporting support platform, needs air supporting support platform footprint big, and cost of manufacture is high；If employing polylith, it is faced with the problems such as seam crossing shake.No matter monolithic or the mode of polylith supporting bable tops, overall cost of manufacture is the highest.
The present invention is directed to large-area planar motion large inertia/big mass space mechanism microgravity environment ground simulation gravitational equilibrium problem, the air supporting support base frame that space mechanism's (air supporting) moves can be followed by introducing one, relative to the air supporting gravitational equilibrium mode using large area air supporting supporting bable tops, reduce the area of air floating table supporting bable tops, reduce difficulty and cost that processing and fabricating is installed.
Summary of the invention
It is directed to above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of microgravity environment ground simulation gravitational equilibrium air-flotation system and method for work thereof, during to solve in prior art the gravitational equilibrium mode large inertia/big mass space mechanism analogs such as hanging, guide rail, air supporting gravitational equilibrium mode large area supporting bable tops fabrication and installation high in cost of production problem during frictional force is too big and large area is moved.
For reaching above-mentioned purpose, a kind of microgravity environment ground air supporting simulation mechanism of the present invention, including: air-floating apparatus, base frame follower；Base frame follower comprises: base frame, guide rail, motor, distance measuring sensor；Wherein, air-floating apparatus is provided with space mechanism or simulating piece；During work, air-floating apparatus floats on the base frame upper surface of base frame follower, space mechanism or simulating piece motion and drives air-floating apparatus motion, and base frame follower follows air-floating apparatus motion, keeps being positioned at base frame upper surface center bottom air-floating apparatus.
Preferably, described air-floating apparatus is connected with external source of the gas.
Preferably, described base frame follower and air-floating apparatus are combined into air-flotation system, and during work, base frame upper surface is as the supporting bable tops of air-flotation system；Distance measuring sensor measures the air-floating apparatus positional information relative to base frame in real time, and positional information is fed back to driving control system；Motor is arranged on base frame bottom, drives base frame to move along the rail.
Preferably, the base frame upper surface of described base frame follower is bigger than the size of air-floating apparatus lower surface, and base frame upper surface is determined by the follow-up capability of the space mechanism installed on air-floating apparatus or the motion of simulating piece and base frame follower relative to the space between air-floating apparatus lower surface.
The present invention also provides for a kind of microgravity environment ground air supporting analog systems, including: air supporting simulation mechanism, driving control system, air flotation cell control system, man-machine interaction and display system；This air supporting simulation mechanism includes: air-floating apparatus, base frame follower；Base frame follower comprises: base frame, guide rail, motor, distance measuring sensor；Wherein, air-floating apparatus is provided with space mechanism or simulating piece；During work, air-floating apparatus floats on the base frame upper surface of base frame follower, space mechanism or simulating piece motion and drives air-floating apparatus motion, and base frame follower follows air-floating apparatus motion, keeps being positioned at base frame upper surface center bottom air-floating apparatus；Driving control system is connected with distance measuring sensor and the motor of base frame follower, is used for driving control motor movement；Air flotation cell control system controls for the air supporting of air-floating apparatus, regulates the air pressure of external source of the gas, flow velocity；Man-machine interaction and display system for starting, stopping, servo-actuated and the input of dependent instruction, base frame follower state and the display of air supporting state, send instructions to driving control system by instruction control base frame follower, and show.
Preferably, described base frame follower and air-floating apparatus are combined into air-flotation system, and during work, base frame upper surface is as the supporting bable tops of air-flotation system；Distance measuring sensor measures the air-floating apparatus positional information relative to base frame in real time, and positional information is fed back to driving control system；Motor is arranged on base frame bottom, drives base frame to move along the rail.
Preferably, the base frame upper surface of described base frame follower is bigger than the size of air-floating apparatus lower surface, and base frame upper surface is determined by the follow-up capability of the space mechanism installed on air-floating apparatus or the motion of simulating piece and base frame follower relative to the space between air-floating apparatus lower surface.
The present invention also provides for the method for work of a kind of microgravity environment ground air supporting analog systems, includes the following:
Start the air supporting of air-floating apparatus in air supporting simulation mechanism by air flotation cell control system to control, make to float on equipped with the air-floating apparatus of space mechanism or simulating piece on the base frame of base frame follower；
Start base frame follower, space mechanism or simulating piece motion by driving control system and drive air-floating apparatus motion；
Distance measuring sensor in base frame follower measures the position of air-floating apparatus in real time, and positional information is fed back to driving control system, the rotating speed of driving control system control motor drives base frame to follow air-floating apparatus along guide rail and moves, and keeps being positioned at base frame upper surface center bottom air-floating apparatus.
Beneficial effects of the present invention:
Present invention achieves a plane large area space large inertia/big mass space mechanism microgravity environment ground simulation gravitational equilibrium (microgravity simulation) air-flotation system, base frame is supported by introducing a moveable air supporting, the area of air floating table supporting bable tops in the high area requirements reduced, reduces difficulty and cost that processing and fabricating is installed.
Accompanying drawing explanation
Fig. 1 illustrates the schematic diagram of air supporting analog systems in microgravity environment ground of the present invention.
Fig. 2 illustrates the structural representation of base frame follower.
Fig. 3 illustrates the bottom composition structural representation of base frame follower.
Fig. 4 illustrates the structural representation of guide rail.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with embodiment, the present invention is further illustrated with accompanying drawing, the content that embodiment is mentioned not limitation of the invention.
Referring to figs. 1 through shown in Fig. 4, a kind of microgravity environment ground air supporting simulation mechanism 1 of the present invention, including: inertia bar 10, the analog-quality 11 equipped with reducer, base frame follower 12；Inertia bar 10 and the simulating piece that analog-quality 11 is virtual space mechanism inertia and quality equipped with reducer, analog-quality bottom layer quality block is provided with reducer, it is achieved air-floating apparatus；During work, analog-quality 11 floats on the base frame upper surface of base frame follower 12, external space drive mechanism drives analog-quality 11 to move by inertia bar 10, base frame follower 12 is followed analog-quality 11 and is moved, and keeps analog-quality 11 to be positioned at the base frame 121 upper surface center of following base frame follower 12.
The above-mentioned analog-quality 11 in air supporting simulation mechanism 1 includes polylith cylindrical mass block and corresponding mounting structure, it is conveniently adjusted the quality of analog-quality, reducer is installed on nethermost mass, reducer is connected with external source of the gas, and inertia bar 10 two ends are connected to relevant drive mechanism and analog-quality 11 respectively by connection member.
Above-mentioned base frame follower 12 includes: equipped with in the base frame 121 of guard ring 120, guide rail 122(the present embodiment for ring-shaped guide rail), slide 123, worm gear reducer motor 124, distance measuring sensor 125 etc., this base frame 121 coordinates be combined into air-flotation system with the reducer installed on the above-mentioned nethermost mass of analog-quality 11, during work, analog-quality 11 floats on base frame 121 upper surface, and base frame 121 upper surface is as the supporting bable tops of air-flotation system；Guard ring 120 is installed around base frame 121；Padded coaming (for buffering foam silica gel in the present embodiment) is installed, for limiting the range of movement of analog-quality 11, it is to avoid it is beyond the efficient working range of air supporting table top inside this guard ring 120；Distance measuring sensor 125 is installed on the guard ring 120 of base frame 121, for the positional information of real-time measure analog quality 11, and positional information feeds back to driving control system 2；Worm gear reducer motor 124 is arranged on base frame 121 bottom, and output shaft is provided with driving gear；Two guide rails 122 are spliced by multistage, are radially arranged in parallel, and form a biserial track；Inboard track outer is equipped with tooth bar 1221；Four slides 123 are installed on the bottom of base frame 121, each two slide 123 and guide rail 122 with the use of；Inside what the output shaft of worm gear reducer motor 124 was installed drive gear 1241 and guide rail 122, on outer, the tooth bar 1221 of installation interacts, and orders about base frame 121 and moves along guide rail 122.
In other embodiments, above-mentioned guide rail also can use orthogonal two-layer line slideway, to realize greater area of plane motion.
The microgravity environment ground air supporting analog systems of the present invention, including: above-mentioned air supporting simulation mechanism 1, driving control system 2, air flotation cell control system 3, man-machine interaction and display system 4；This air supporting simulation mechanism 1 includes: inertia bar 10, the analog-quality 11 equipped with reducer, base frame follower 12；Base frame follower 12 comprises: base frame 121, guide rail 122, slide 123, worm gear reducer motor 124, distance measuring sensor 125 etc.；Inertia bar 10 and the simulating piece that analog-quality 11 is virtual space mechanism inertia and quality equipped with reducer, analog-quality bottom layer quality block is provided with reducer, it is achieved air-floating apparatus；Wherein, during work, air-floating apparatus floats on base frame 121 upper surface of base frame follower 12, and simulating piece motion drives air-floating apparatus motion, and base frame follower 12 follows air-floating apparatus motion, keeps air-floating apparatus to be positioned at the center of base frame follower 12.
Driving control system 2 is connected with the distance measuring sensor 125 in the base frame follower 12 in air supporting simulation mechanism 1 and worm gear reducer motor 124, is used for driving control worm gear reducer motor 124 to move；Air flotation cell control system 3 controls for the air supporting of analog-quality 11, regulates the air pressure of source of the gas, flow velocity；Man-machine interaction and display system 4 for starting, stopping, servo-actuated and the input of dependent instruction, base frame follower 12 state and the display of air supporting state, send instructions to driving control system by instruction control base frame follower 12, and carry out state and show.
The method of work of the microgravity environment ground simulation air-flotation system of the present invention is as follows:
Start the air supporting of analog-quality in air supporting simulation mechanism by air flotation cell control system to control, make analog-quality float on base frame；
Starting base frame follower by driving control system, external space drive mechanism drives analog-quality to move by inertia bar；
The position of the distance measuring sensor real-time measure analog quality in base frame follower, and positional information is fed back to driving control system, driving control system controls the rotating speed of worm gear reducer motor and drives base frame to follow analog-quality motion, keeps analog-quality to be positioned at base frame upper surface center.
Inertia bar 10 is long to be determined according to inertia to be simulated, and inertia bar is connected end with external drive mechanism and is carried out gravitational equilibrium by alternate manner.
The inertia bar 10 of the present invention and analog-quality 11 combination are mainly used to more preferable virtual space mechanism inertia situation, space mechanism's ratio of inertias of simulation is bigger, the inertia bar of large inertia to be rectificated, and causes it to move in a scope the biggest, but is concentrated mainly on an annular space.
The longest for large inertia space mechanism simulating piece inertia bar 10, only circulatory motion a very polarizers of big angle scope spatially move, base frame follower 12 have employed ring-shaped guide rail, but it is intended merely to simplify, the invention is not restricted to ring-shaped guide rail, orthogonal two-layer line slideway can be used to realize greater area of plane motion.
Base frame 121 upper surface of base frame follower is bigger than the size of analog-quality 11 lower surface, base frame 121 is driven analog-quality 11 the move follow-up capability of radially hunting range and base frame follower to determine by external space drive mechanism by inertia bar 10 relative to the space between analog-quality 11, specifically by radially wobbling the radial space size that scope determines between base frame and analog-quality, therefore radially need not control.When external space drive mechanism drives analog-quality motion by inertia bar, base frame follower only need to keep analog-quality 11 to be positioned at base frame 121 center in the direction of motion.Being determined by inertia bar driving analog-quality radial motion scope by external space drive mechanism around radius of the circular orbit of guide rail 122 composition.
Being calculated according to external space drive mechanism and space mechanism's simulating piece, analog-quality moves on line centered by 8 meters of circular arcs, the 110 degree of angular range annular spaces swung in the range of the 600mm of both sides, inertia bar length 6 meters；In view of inertia simulation quality volume at 1.5 cubic metres, analog-quality base diameter is 1.2 meters, and so bottom compliant platform is a diameter of 1.85 meters of cylindrical platforms, the distance that wherein space of 650mm includes radially 600mm and the 50mm surplus reserved.
The concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, it should be pointed out that; for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improvement also should be regarded as protection scope of the present invention.
Claims (8)
1. a microgravity environment ground air supporting simulation mechanism, it is characterised in that including: air-floating apparatus, base frame follower；Base frame follower comprises: base frame, guide rail, motor, distance measuring sensor；Wherein, air-floating apparatus is provided with space mechanism or simulating piece；During work, air-floating apparatus floats on the base frame upper surface of base frame follower, space mechanism or simulating piece motion and drives air-floating apparatus motion, and base frame follower follows air-floating apparatus motion, keeps being positioned at base frame upper surface center bottom air-floating apparatus.
Air supporting simulation mechanism in microgravity environment ground the most according to claim 1, it is characterised in that above-mentioned air-floating apparatus is connected with external source of the gas.
Air supporting simulation mechanism in microgravity environment ground the most according to claim 1, it is characterised in that described base frame follower and air-floating apparatus are combined into air-flotation system, and during work, base frame upper surface is as the supporting bable tops of air-flotation system；Distance measuring sensor measures the air-floating apparatus positional information relative to base frame in real time, and positional information is fed back to driving control system；Motor is arranged on base frame bottom, drives base frame to move along the rail.
Air supporting simulation mechanism in microgravity environment ground the most according to claim 1, it is characterized in that, the base frame upper surface of described base frame follower is bigger than the size of air-floating apparatus lower surface, and base frame upper surface is determined by the follow-up capability of the space mechanism installed on air-floating apparatus or the motion of simulating piece and base frame follower relative to the space between air-floating apparatus lower surface.
5. a microgravity environment ground air supporting analog systems, it is characterised in that including: air supporting simulation mechanism, driving control system, air flotation cell control system, man-machine interaction and display system；This air supporting simulation mechanism includes: air-floating apparatus, base frame follower；Base frame follower comprises: base frame, guide rail, motor, distance measuring sensor；Wherein, air-floating apparatus is provided with space mechanism or simulating piece；During work, air-floating apparatus floats on the base frame upper surface of base frame follower, space mechanism or simulating piece motion and drives air-floating apparatus motion, and base frame follower follows air-floating apparatus motion, keeps being positioned at base frame upper surface center bottom air-floating apparatus；Driving control system is connected with distance measuring sensor and the motor of base frame follower, is used for driving control motor movement；Air flotation cell control system controls for the air supporting of air-floating apparatus, regulates the air pressure of external source of the gas, flow velocity；Man-machine interaction and display system for starting, stopping, servo-actuated and the input of dependent instruction, base frame follower state and the display of air supporting state, send instructions to driving control system by instruction control base frame follower, and show.
Air supporting analog systems in microgravity environment ground the most according to claim 5, it is characterised in that described base frame follower and air-floating apparatus are combined into air-flotation system, and during work, base frame upper surface is as the supporting bable tops of air-flotation system；Distance measuring sensor measures the air-floating apparatus positional information relative to base frame in real time, and positional information is fed back to driving control system；Motor is arranged on base frame bottom, drives base frame to move along the rail.
Air supporting analog systems in microgravity environment ground the most according to claim 5, it is characterized in that, the base frame upper surface of described base frame follower is bigger than the size of air-floating apparatus lower surface, and base frame upper surface is determined by the follow-up capability of the space mechanism installed on air-floating apparatus or the motion of simulating piece and base frame follower relative to the space between air-floating apparatus lower surface.
8. the method for work of a microgravity environment ground air supporting analog systems, it is characterised in that include the following:
Start the air supporting of air-floating apparatus in air supporting simulation mechanism by air flotation cell control system to control, make to float on equipped with the air-floating apparatus of space mechanism or simulating piece on the base frame of base frame follower；
Start base frame follower, space mechanism or simulating piece motion by driving control system and drive air-floating apparatus motion；
Distance measuring sensor in base frame follower measures the position of air-floating apparatus in real time, and positional information is fed back to driving control system, the rotating speed of driving control system control motor drives base frame to follow air-floating apparatus along guide rail and moves, and keeps being positioned at base frame upper surface center bottom air-floating apparatus.
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| CN108423202A (en) * | 2018-05-11 | 2018-08-21 | 天津航天机电设备研究所 | A kind of micro- low-gravity simulation device and simulation experiment method |
| CN108945538A (en) * | 2018-08-31 | 2018-12-07 | 天津航天机电设备研究所 | A kind of super-large space capsule expansion zero-g simulator |
| CN112578686A (en) * | 2020-12-10 | 2021-03-30 | 上海宇航系统工程研究所 | Ground simulation equipment for electrical performance of time sequence motion space mechanism |
| CN113479355A (en) * | 2021-08-12 | 2021-10-08 | 哈尔滨工业大学 | Ground variable-centroid zero-gravity simulation device and method |
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