CN106005493A - Quasi-zero stiffness gas floating gravity discharge device - Google Patents
Quasi-zero stiffness gas floating gravity discharge device Download PDFInfo
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- CN106005493A CN106005493A CN201610302723.6A CN201610302723A CN106005493A CN 106005493 A CN106005493 A CN 106005493A CN 201610302723 A CN201610302723 A CN 201610302723A CN 106005493 A CN106005493 A CN 106005493A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
Disclosed is a quasi-zero stiffness gas floating gravity discharge device. One end of each buckling beam support rod is fixedly connected with a switching platform, and the other end of each buckling beam support rod is movably connected with a corresponding hinge block A; one end of each buckling beam is inserted into a hollow hole in the corresponding hinge block A, and the other end of each buckling beam is inserted into a hollow hole in a corresponding hinge block B; buckling adjusting jackscrews are fixedly connected with the hinge blocks A, and the buckling adjusting jackscrews exert axial compressive load on the buckling beams; the hinge blocks B are movably connected with a load platform; a cylindrical guide part of the load platform penetrates holes in a bearing end cover A, a switching platform and a bearing end cover B in sequence, a linear bearing is located between the cylindrical guide part of the load platform and the wall hole of the switching platform, a spring lock nut is located at the underside of the switching platform and fixedly connected with the cylindrical guide part of the load platform, a spiral spring sleeves the cylindrical guide part of the load platform between the switching platform and the load platform, one end of the spiral spring is connected with the lower surface of the load platform, the other of the spiral spring is connected with the upper surface of the bearing end cover A, and the spiral spring is at a compressed state.
Description
Technical field
The invention belongs to the gravity unloading field of space mechanism's ground experiment, particularly relate to a kind of quasi-zero stiffness gas
Floating gravity unloading device.
Background technology
For guaranteeing development mechanism reliability in orbit on spacecraft, it is necessary on the ground mechanism is opened up
Open test and dynamic test.But spacecraft is zero gravity state in-orbit, and ground is for there being gravity environment.Cause
This, gravity unloading technology is the difficult problem that spacecraft product ground experiment must pull against.
At present, the most the most frequently used gravity unloading technology has two kinds, and one is long rope suspension, Yi Zhongshi
Air-flotation type.
Long rope suspension gravity unloading technical elements, Jiang state of Shanghai Satellite Engineering Inst was big et al. in 2013
In disclosed " quasi-zero stiffness non-linear suspension system method for designing " (CN201310153510.8), utilize folded spring
Group and Hookean spring form quasi-zero stiffness system and devise a kind of suspension system, and Zhejiang Polytechnical University grandson builds brightness etc.
People is in " two-dimensional constant force follows erecting by overhang " (CN201320648123.7) disclosed in 2014 and " a kind of three-dimensional
Follow constant force erecting by overhang " (CN201320647156.X) utilizes the constant hanging force of cylinder output, it is thus achieved that
A kind of constant force erecting by overhang.But, long rope suspension gravity unloading technology needs extra rail brackets, with
Time, the flexibility of rope can be interviewed test strip over the ground and carry out certain impact, be this restrict it in Large Deployable mechanism
The application of aspect.
Air-flotation type technology has the advantages such as precision is high, bearing capacity is big, and easily realizes two-dimentional plane motion,
Ground experiment is widely applied.Air-flotation type gravity unloading device many employings Hookean spring is to testpieces
Unload, on the one hand, for improving the bearing capacity of discharge mechanism, reduce deflection during stress, it is desirable to
The rigidity of Hookean spring is the bigger the better；On the other hand, difference in height and testpieces for adapting to air supporting table top are being erected
Nogata is to possible motion, it is desirable to the rigidity of Hookean spring is the lowest, thus induces reducing motor process
Additional force, reduce the expansion test of testpieces and dynamic test adverse effect.For this contradiction,
BJ University of Aeronautics & Astronautics Jia Ying people et al. disclose " the design side of a kind of vertical direction constant force system in 2014
Method " (CN201410142865.1).Harbin Institute of Technology be together bright grade delivered in 2011 " space is micro-heavy
Force environment ground simulation experiment method is summarized " in propose a kind of air-flotation type zero gravity device.Both devices
All utilize sensor Real-time Collection support force, and according to the support force of feedback, control driven by motor spring and adjust
Spring force, to ensure that gravity unloading device remains to when vertical direction exists displacement export constant force.The two fills
Put and all use the means actively controlled to obtain constant force output, thus need to increase motor, sensor etc. the most attached
Part, system is complex.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of quasi-zero stiffness air-flotation type discharge mechanism.
A kind of quasi-zero stiffness air-flotation type discharge mechanism, comprising: transfer platform, buckled beam support bar, flexing
Regulation jackscrew, hinged block A, buckled beam, load platform, helical spring, hinged block B, bearing (ball) cover A,
Linear bearing, bearing (ball) cover B and springlock jack panel；
Wherein, quasi-zero stiffness air-flotation type discharge mechanism is symmetrical structure, and hinged block A and hinged block B all contains
There is one section of hollow structure, bearing (ball) cover A, bearing (ball) cover B and transfer platform are all provided with porose；
Buckled beam support bar one end is fixing with transfer platform to be connected, and the other end is flexibly connected with hinged block A；Bend
Curved beam one end is inserted in the hollow hole of hinged block A, and the other end inserts in the hollow hole of hinged block B；Flexing is adjusted
Joint jackscrew is fixing with hinged block A to be connected, and flexing regulation jackscrew applies axial compressive load to buckled beam；Hinged
Block B is flexibly connected with load platform；The cylindrical pilot of load platform divide sequentially pass through bearing (ball) cover A, turn
Connecing platform, the hole of bearing (ball) cover B, linear bearing is positioned at the cylindrical pilot of load platform and divides and transfer platform
Hole wall between, springlock jack panel is positioned at the bottom surface of transfer platform, and guides with the cylinder on load platform
Part is fixing to be connected, and the cylinder of the load platform that helical spring is enclosed between transfer platform and load platform guides
In part, helical spring one end is connected with load platform lower surface, and the other end is with bearing (ball) cover A upper surface even
Connect, and helical spring is compressive state.
Effect is it is also preferred that the left described one quasi-zero stiffness air-flotation type discharge mechanism also includes: porous gas is sufficient and high
Degree adjusting rod, porous gas foot connects with source of the gas, and forms air film between test table top；Height regulating rod one end with
Porous gas foot is fixing to be connected, and the other end is fixing with transfer platform to be connected.
Effect is it is also preferred that the left the mode of described fixing connection is threaded.
Effect is it is also preferred that the left the mode of described flexible connection is bearing pin connection.
Beneficial effect:
The present invention uses spiral linear spring that load is carried out gravity unloading, and device can provide bigger carrying
Ability；When loading object and having certain displacement at vertical direction, the unloading force of device output is approximately constant force,
Ensure not introduce other additional force in ground experiment process, thus avoid the damage that testpieces is likely to result in；
By flexing regulation jackscrew, the pressure of buckled beam is adjusted, to ensure when the load behavior of different quality, dress
Put the characteristic remaining to realize quasi-zero stiffness.
Accompanying drawing explanation
Fig. 1 is the quasi-zero stiffness air-flotation type gravity unloading device three dimensional structure schematic diagram of the present invention；
Fig. 2 is the quasi-zero stiffness air-flotation type gravity unloading device three dimensional structure sectional view of the present invention.
Detailed description of the invention
A kind of quasi-zero stiffness air-flotation type gravity unloading device, comprising: porous gas foot 101, height regulating rod 102,
Transfer platform 103, buckled beam support bar 104, flexing regulation jackscrew 105, hinged block A106, buckled beam 107,
Load platform 108, helical spring 109, hinged block B110, bearing (ball) cover A111, linear bearing 112, axle
Socket end lid B113 and springlock jack panel 114.
A kind of quasi-zero stiffness air-flotation type discharge mechanism is symmetrical structure, and porous gas foot 101 connects with source of the gas, with examination
Test formation air film between table top, to reduce force of sliding friction.Height regulating rod 102 one end and porous gas foot 101
Being connected, connected mode is threaded；Height regulating rod 102 other end is connected with transfer platform 103, even
The mode of connecing is threaded；Buckled beam support bar 104 one end is connected with transfer platform 103, and connected mode is
Threaded；Buckled beam support bar 104 other end is connected with hinged block A106, and connected mode is that bearing pin connects；
Hinged block A106 and hinged block B110 all contains one section of hollow structure, and buckled beam 107 one end is inserted in hinged
In the hollow hole of block A106, the other end is inserted in the hollow hole of hinged block B110；Flexing regulation jackscrew 105
It is threaded connection with hinged block A106, and buckled beam 107 is applied axial compressive load；Hinged block B110
Being connected with load platform 108, connected mode is that bearing pin connects；Helical spring 109 is enclosed within load platform 108
On ledge, one end is connected with load platform 108 lower surface, the other end and bearing (ball) cover A111 upper surface
Connect, and helical spring 109 is in compressive state；Bearing (ball) cover A111 is connected with transfer platform 103, connects
Mode is threaded；Bearing (ball) cover B113 is connected with transfer platform 103, and connected mode is threaded；
Linear bearing 112 both ends of the surface contact with bearing (ball) cover B113 respectively at bearing (ball) cover A111, linear bearing 112
Inner surface touches with the cylindrical pilot tap on load platform 108, and outer surface contacts with the hole of transfer platform 103；
With the cylindrical pilot split-phase on load platform 108 even, connected mode is threaded to springlock jack panel 114.
Below in conjunction with Fig. 1 and Fig. 2, a special case of the present invention is further illustrated.
It is the helical spring of k for rigidity, makes the buckled beam 107 of former a length of L meet formula:
EI=0.05 k L3
In formula, E is the elastic modelling quantity of buckled beam 107, and I is the cross sectional moment of inertia of buckled beam 107.
Then quality is met to the load object of below equation
In formula, g is acceleration of gravity.
The gravity unloading of quasi-zero stiffness can be achieved by the steps of.
(1). first, according to the requirement for height of load object, the nut on height regulating rod 102 is adjusted to conjunction
Right position is put.
(2). by rigidity k of load weight m Yu helical spring can determine that decline when helical spring balances away from
From for h=mg/k, buckled beam support bar 104 is fixed on this height, keeps between itself and transfer platform 103
Apart from constant, and load platform 108 is fixed on the non-loaded position of helical spring.
(3). rotate flexing regulation jackscrew 105 and make the buckled beam pressurized of former a length of L, make the initial of buckled beam center
Amount of deflection regulates to 0.01 L.
(4). after the most so operating two buckled beam, two buckled beam are i.e. combined into for a negative stiffness
Mechanism, the equilbrium position bearing load object at helical spring is less than in the range of 0.1 L, and this mechanism bears
Rigidity and rigidity of helical spring are approximately opposite number, thus whole mechanism achieves quasi-zero stiffness in equilbrium position.
Certainly, the present invention also can have other various embodiments, without departing substantially from present invention spirit and the feelings of essence thereof
Under condition, those of ordinary skill in the art work as can make various corresponding change and deformation according to the present invention, but
These change accordingly and deform the protection domain that all should belong to appended claims of the invention.
Claims (4)
1. a quasi-zero stiffness air-flotation type discharge mechanism, it is characterised in that including: transfer platform (103), flexing
Beam support bar (104), flexing regulation jackscrew (105), hinged block A (106), buckled beam (107), load platform
(108), helical spring (109), hinged block B (110), bearing (ball) cover A (111), linear bearing (112), bearing
End cap B (113) and springlock jack panel (114)；
Wherein, quasi-zero stiffness air-flotation type discharge mechanism is symmetrical structure, and hinged block A (106) and hinged block B
(110) one section of hollow structure, bearing (ball) cover A (111), bearing (ball) cover B (113) and transfer platform (103) are all contained
On be all provided with porose；
Buckled beam support bar (104) one end is fixing with transfer platform (103) to be connected, the other end and hinged block A (106)
It is flexibly connected；Buckled beam (107) one end is inserted in the hollow hole of hinged block A (106), and the other end inserts hinged block
In the hollow hole of B (110)；Flexing regulation jackscrew (105) is fixing with hinged block A (106) to be connected, and flexing regulation top
Silk (105) applies axial compressive load to buckled beam (107)；Hinged block B (110) is flexibly connected with load platform (108)；
The cylindrical pilot of load platform (108) divides and sequentially passes through bearing (ball) cover A (111), transfer platform (103), bearing end
The hole of lid B (113), linear bearing (112) is positioned at the cylindrical pilot of load platform (108) and divides and transfer platform (103)
Hole wall between, springlock jack panel (114) is positioned at the bottom surface of transfer platform (103), and with load platform (108)
On cylindrical pilot divide fixing connection, helical spring (109) is enclosed within transfer platform (103) and load platform (108)
Between the cylindrical pilot of load platform (108) divide, helical spring (109) one end with under load platform (108)
Surface connects, and the other end is connected with bearing (ball) cover A (111) upper surface, and helical spring (109) is in compressive state.
A kind of quasi-zero stiffness air-flotation type discharge mechanism the most as claimed in claim 1, it is characterised in that also wrap
Including: porous gas foot (101) and height regulating rod (102), porous gas foot (101) connects with source of the gas, with test table top
Between formed air film；Height regulating rod (102) one end is fixing with porous gas foot (101) to be connected, and the other end is flat with switching
Platform (103) is fixing to be connected.
A kind of quasi-zero stiffness air-flotation type discharge mechanism the most as claimed in claim 1, it is characterised in that described solid
The fixed mode connected is threaded.
A kind of quasi-zero stiffness air-flotation type discharge mechanism the most as claimed in claim 1, it is characterised in that described work
The mode being dynamically connected is that bearing pin connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610302723.6A CN106005493B (en) | 2016-05-09 | 2016-05-09 | A kind of quasi- zero stiffness air-flotation type gravity unloading device |
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|---|---|---|---|
| CN201610302723.6A CN106005493B (en) | 2016-05-09 | 2016-05-09 | A kind of quasi- zero stiffness air-flotation type gravity unloading device |
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| CN106005493A true CN106005493A (en) | 2016-10-12 |
| CN106005493B CN106005493B (en) | 2018-05-04 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146664A (en) * | 2017-12-05 | 2018-06-12 | 北京卫星制造厂 | A kind of space deployable mechanism gravity unloading device based on gas suspension |
| CN108791743A (en) * | 2018-07-03 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Quasi- zero stiffness formula, which subtracts, shakes water tank |
| CN110588695A (en) * | 2019-07-30 | 2019-12-20 | 同济大学 | Quasi-zero rigidity secondary suspension system of railway vehicle |
| CN112576689A (en) * | 2020-12-04 | 2021-03-30 | 哈尔滨工程大学 | Low-frequency heavy-load quasi-zero stiffness vibration isolation device |
| CN113697128A (en) * | 2021-08-24 | 2021-11-26 | 上海宇航系统工程研究所 | High-precision shafting unloading device capable of adjusting supporting rigidity |
| CN113942667A (en) * | 2021-11-15 | 2022-01-18 | 华中科技大学 | Method and device for simulating low gravity environment |
| CN114408230A (en) * | 2022-01-20 | 2022-04-29 | 浙江工商大学 | Gravity unloading system of multiple following movable air-floating trolleys |
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| US20140041444A1 (en) * | 2012-08-09 | 2014-02-13 | Electronics And Telecommunications Research Institute | Apparatus for antenna weightlessness deployment test |
| CN103879568A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Weightless motion state simulation device |
| CN104709475A (en) * | 2015-03-26 | 2015-06-17 | 北京航空航天大学 | Lever counter weight type gravity compensation device |
| CN105151331A (en) * | 2015-08-06 | 2015-12-16 | 杨海林 | Zero gravity simulation system and using method thereof |
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| CN101575013A (en) * | 2009-06-15 | 2009-11-11 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| US20140041444A1 (en) * | 2012-08-09 | 2014-02-13 | Electronics And Telecommunications Research Institute | Apparatus for antenna weightlessness deployment test |
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| CN105151331A (en) * | 2015-08-06 | 2015-12-16 | 杨海林 | Zero gravity simulation system and using method thereof |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146664A (en) * | 2017-12-05 | 2018-06-12 | 北京卫星制造厂 | A kind of space deployable mechanism gravity unloading device based on gas suspension |
| CN108791743A (en) * | 2018-07-03 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Quasi- zero stiffness formula, which subtracts, shakes water tank |
| CN108791743B (en) * | 2018-07-03 | 2019-06-14 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Quasi- zero stiffness formula, which subtracts, shakes water tank |
| CN110588695A (en) * | 2019-07-30 | 2019-12-20 | 同济大学 | Quasi-zero rigidity secondary suspension system of railway vehicle |
| CN112576689A (en) * | 2020-12-04 | 2021-03-30 | 哈尔滨工程大学 | Low-frequency heavy-load quasi-zero stiffness vibration isolation device |
| CN113697128A (en) * | 2021-08-24 | 2021-11-26 | 上海宇航系统工程研究所 | High-precision shafting unloading device capable of adjusting supporting rigidity |
| CN113697128B (en) * | 2021-08-24 | 2023-02-21 | 上海宇航系统工程研究所 | High-precision shafting unloading device capable of adjusting supporting rigidity |
| CN113942667A (en) * | 2021-11-15 | 2022-01-18 | 华中科技大学 | Method and device for simulating low gravity environment |
| CN113942667B (en) * | 2021-11-15 | 2024-02-09 | 华中科技大学 | Micro-low gravity environment simulation method and device |
| CN114408230A (en) * | 2022-01-20 | 2022-04-29 | 浙江工商大学 | Gravity unloading system of multiple following movable air-floating trolleys |
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| Publication number | Publication date |
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| CN106005493B (en) | 2018-05-04 |
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