CN106005493B - A kind of quasi- zero stiffness air-flotation type gravity unloading device - Google Patents
A kind of quasi- zero stiffness air-flotation type gravity unloading device Download PDFInfo
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- CN106005493B CN106005493B CN201610302723.6A CN201610302723A CN106005493B CN 106005493 B CN106005493 B CN 106005493B CN 201610302723 A CN201610302723 A CN 201610302723A CN 106005493 B CN106005493 B CN 106005493B
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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
A kind of quasi- zero stiffness air-flotation type discharge mechanism, its buckled beam supporting rod one end are fixedly connected with transfer platform, and the other end is flexibly connected with hinged block A；In the hollow hole of buckled beam one end insertion hinged block A, in the hollow hole of other end insertion hinged block B；Flexing adjusts jackscrew and is fixedly connected with hinged block A, and flexing adjusts jackscrew and applies axial compressive load to buckled beam；Hinged block B is flexibly connected with load platform；The cylindrical pilot of load platform point sequentially passes through bearing (ball) cover A, transfer platform, the hole of bearing (ball) cover B, linear bearing is located at the cylindrical pilot point of load platform between the hole wall of transfer platform, spring locking nut is located at the bottom surface of transfer platform, and it is fixedly connected with the cylindrical pilot on load platform point, helical spring is sleeved on the cylindrical pilot point of the load platform between transfer platform and load platform, helical spring one end is connected with load platform lower surface, the other end is connected with bearing (ball) cover A upper surfaces, and helical spring is in compressive state.
Description
Technical field
The invention belongs to the gravity unloading field of space mechanism's ground experiment, more particularly to a kind of quasi- zero stiffness air-flotation type weight
Power discharge mechanism.
Background technology
To ensure the reliability of development mechanism in orbit on spacecraft, it is necessary to carry out expansion experiment to mechanism on the ground
And dynamic test.But in-orbit spacecraft is zero-g state, and ground is to have gravity environment.Therefore, gravity unloading technology is
The problem that spacecraft product ground experiment must pull against.
At present, most common gravity unloading technology has two kinds both at home and abroad, and one kind is long rope suspension type, and one kind is air-flotation type.
Long rope suspension type gravity unloading technical elements, Jiang state of Shanghai Satellite Engineering Inst are big et al. disclosed in 2013
《The quasi- non-linear suspension system design method of zero stiffness》(CN201310153510.8) in, formed using folded spring group and Hookean spring
Quasi- zero stiffness system design a kind of suspension system, Zhejiang Polytechnical University grandson build brightness et al. in disclosed in 2014《Two-dimensional constant force
Follow erecting by overhang》(CN201320648123.7) and《A kind of three-dimensional follow-up constant force erecting by overhang》(CN201320647156.X)
It is middle that constant hanging force is exported using cylinder, obtain a kind of constant force erecting by overhang.However, long rope suspension type gravity unloading technology
Extra rail brackets is needed, meanwhile, the flexibility of rope can bring ground experiment certain influence, this restrict it large-scale
Application in terms of deployable mechanism.
Air-flotation type technology has the advantages that precision height, large carrying capacity, and easily realizes the plane motion of two dimension, is interviewed on ground
It is widely applied in testing.Air-flotation type gravity unloading device more unloads testpieces using Hookean spring, on the one hand, is
The bearing capacity of discharge mechanism is improved, reduces deflection during stress, it is desirable to which the rigidity of Hookean spring is the bigger the better；The opposing party
Face, to adapt to the difference in height of air supporting table top and testpieces in the possible movement of vertical direction, it is desirable to which the rigidity of Hookean spring to the greatest extent may be used
Can be low, to reduce thus additional force that motion process induces, reduce the expansion experiment to testpieces and the unfavorable shadow of dynamic test
Ring.For this contradiction, BJ University of Aeronautics ＆ Astronautics Jia Ying people et al. disclose in 2014《A kind of vertical direction constant force system
Design method》(CN201410142865.1).Harbin Institute of Technology is that bright grade was delivered in 2011 together《Space microgravity ring
Border ground simulation experiment method summary》In propose a kind of air-flotation type zero-g device.Both devices are real using sensor
When gather support force, and according to the support force of feedback, control motor drives spring adjustment spring force, to ensure gravity unloading device
In vertical direction, there are output constant force is remained to during displacement.The two devices use the means of active control defeated to obtain constant force
Go out, thus need a large amount of annexes, the systems such as increase motor, sensor complex.
The content of the invention
To solve the above problems, 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, it includes：Transfer platform, buckled beam supporting rod, flexing adjust 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
Tight nut；
Wherein, quasi- zero stiffness air-flotation type discharge mechanism is symmetrical structure, and hinged block A and hinged block B contain in one section
Hollow structure, is equipped with hole on bearing (ball) cover A, bearing (ball) cover B and transfer platform；
Buckled beam supporting rod one end is fixedly connected with transfer platform, and the other end is flexibly connected with hinged block A；Buckled beam one end
It is inserted into the hollow hole of hinged block A, in the hollow hole of other end insertion hinged block B；Flexing, which adjusts jackscrew and fixed with hinged block A, to be connected
Connect, and flexing adjusts jackscrew and applies axial compressive load to buckled beam；Hinged block B is flexibly connected with load platform；Load platform
Cylindrical pilot point sequentially passes through bearing (ball) cover A, transfer platform, the hole of bearing (ball) cover B, and linear bearing is located at the circle of load platform
Between column targeting part and the hole wall of transfer platform, spring locking nut is located at the bottom surface of transfer platform, and with load platform
Cylindrical pilot point be fixedly connected, the cylinder that helical spring is sleeved on the load platform between transfer platform and load platform is oriented to
On part, helical spring one end is connected with load platform lower surface, and the other end is connected with bearing (ball) cover A upper surfaces, and spiral bullet
Spring is in compressive state.
Effect is preferably, a kind of quasi- zero stiffness air-flotation type discharge mechanism further includes：Porous gas foot and height are adjusted
Bar, porous gas connect with source of the gas enough, and air film is formed between experiment table top；Height regulating rod one end is fixedly connected enough with porous gas,
The other end is fixedly connected with transfer platform.
Effect is preferably, the mode being fixedly connected is threaded connection.
Effect is preferably, the mode of the flexible connection connects for axis pin.
Beneficial effect：
The present invention carries out gravity unloading using spiral linear spring to load, and device is capable of providing larger bearing capacity；
When load object has certain displacement in vertical direction, the unloading force of device output is approximately constant force, is ensured in ground experiment
Process does not introduce other additional forces, so as to avoid to damage caused by testpieces possibility；Jackscrew is adjusted to flexing by flexing
The pressure adjustment of beam, to ensure that, in the load behavior of different quality, device remains to realize the characteristic of quasi- zero stiffness.
Brief description of the drawings
Fig. 1 is the quasi- zero stiffness air-flotation type gravity unloading device three dimensional structure 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.
Embodiment
A kind of quasi- zero stiffness air-flotation type gravity unloading device, it includes：Porous gas foot 101, height regulating rod 102, switching
Platform 103, buckled beam supporting rod 104, flexing adjust jackscrew 105, hinged block A106, buckled beam 107, load platform 108, spiral
Spring 109, hinged block B110, bearing (ball) cover A111, linear bearing 112, bearing (ball) cover B113 and spring locking nut 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 testing table top
Between form air film, to reduce force of sliding friction.102 one end of height regulating rod is connected with porous gas foot 101, and connection mode is screw thread
Connection；102 other end of height regulating rod is connected with transfer platform 103, and connection mode is threaded connection；Buckled beam supporting rod 104
One end is connected with transfer platform 103, and connection mode is threaded connection；104 other end of buckled beam supporting rod and hinged block A106 phases
Even, connection mode connects for axis pin；Hinged block A106 and hinged block B110 contains one section of hollow structure, 107 one end of buckled beam
It is inserted in the hollow hole of hinged block A106, the other end is inserted in the hollow hole of hinged block B110；Flexing adjust jackscrew 105 with
Hinged block A106 is connected through a screw thread, and applies axial compressive load to buckled beam 107；Hinged block B110 and 108 phase of load platform
Even, connection mode connects for axis pin；Helical spring 109 is sleeved on the protrusion of load platform 108, one end and load platform
108 lower surfaces connect, and the other end is connected with bearing (ball) cover A111 upper surfaces, and helical spring 109 is in compressive state；Bearing (ball) cover
A111 is connected with transfer platform 103, and connection mode is threaded connection；Bearing (ball) cover B113 is connected with transfer platform 103, connection side
Formula is threaded connection；112 both ends of the surface of linear bearing are contacted respectively at bearing (ball) cover A111 and bearing (ball) cover B113, linear bearing
112 inner surfaces are touched with the cylindrical pilot tap on load platform 108, and outer surface is contacted with the hole of transfer platform 103；Springlock
Tight nut 114 connects with the cylindrical pilot split-phase on load platform 108, and connection mode is threaded connection.
With reference to Fig. 1 and Fig. 2, the special case of the present invention is further illustrated.
For the helical spring that rigidity is k, the buckled beam 107 of former a length of L is set to meet formula：
EI=0.05kL3
In formula, E is the elasticity modulus of buckled beam 107, and I is the cross sectional moment of inertia of buckled beam 107.
Then meet the load object of the following formula for quality
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 suitable position by
Put.
(2) can determine that the dropping distance when helical spring balances is h by the rigidity k of load weight m and helical spring
=mg/k, fixes height herein by buckled beam supporting rod 104, keeps its distance between transfer platform 103 constant, and will load
Platform 108 is fixed on the non-loaded position of helical spring.
(3), which rotates flexing adjusting jackscrew 105, makes the buckled beam of former a length of L be pressurized, and makes the initial deflection tune at buckled beam center
Save to 0.01L.
(4) after carries out two buckled beams so operation, two buckled beams are combined into for a negative stiffness machine
Structure, helical spring bear load object equilbrium position be no more than 0.1L in the range of, the negative stiffness of the mechanism with it is spiral
Spring rate is approximately opposite number, so that whole mechanism realizes quasi- zero stiffness in equilbrium position.
Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence
Know those skilled in the art and make various corresponding changes and deformation in accordance with the present invention, but these change and become accordingly
Shape should all belong to the protection domain of appended claims of the invention.
Claims (4)
- A kind of 1. quasi- zero stiffness air-flotation type discharge mechanism, it is characterised in that including：Transfer platform (103), buckled beam supporting rod (104), flexing adjust 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 (ball) cover B (113) and spring locking nut (114)；Wherein, quasi- zero stiffness air-flotation type discharge mechanism is symmetrical structure, and hinged block A (106) and hinged block B (110) contain One section of hollow structure, is equipped with hole on bearing (ball) cover A (111), bearing (ball) cover B (113) and transfer platform (103)；Buckled beam supporting rod (104) one end is fixedly connected with transfer platform (103), and the other end connects with hinged block A (106) activities Connect；In the hollow structure of buckled beam (107) one end insertion hinged block A (106), the hollow knot of other end insertion hinged block B (110) In structure；Flexing adjusts jackscrew (105) and is fixedly connected with hinged block A (106), and flexing adjusts jackscrew (105) to buckled beam (107) Apply axial compressive load；Hinged block B (110) is flexibly connected with load platform (108)；The cylindrical pilot of load platform (108) Divide and sequentially pass through bearing (ball) cover A (111), transfer platform (103), the hole of bearing (ball) cover B (113), linear bearing (112) is positioned at negative The cylindrical pilot of carrying platform (108) point is between the hole wall of transfer platform (103), and spring locking nut (114) is positioned at switching The bottom surface of platform (103), and be fixedly connected with the cylindrical pilot on load platform (108) point, helical spring (109), which is sleeved on, to be turned Connect on the cylindrical pilot point of the load platform (108) between platform (103) and load platform (108), helical spring (109) one End is connected with load platform (108) lower surface, and the other end is connected with bearing (ball) cover A (111) upper surface, and helical spring (109) In compressive state.
- 2. a kind of quasi- zero stiffness air-flotation type discharge mechanism as claimed in claim 1, it is characterised in that further include：Porous gas foot (101) connect with height regulating rod (102), porous gas foot (101) with source of the gas, air film is formed between experiment table top；Highly adjust Bar (102) one end is fixedly connected with porous gas foot (101), and the other end is fixedly connected with transfer platform (103).
- A kind of 3. quasi- zero stiffness air-flotation type discharge mechanism as claimed in claim 1, it is characterised in that the side being fixedly connected Formula is threaded connection.
- A kind of 4. quasi- zero stiffness air-flotation type discharge mechanism as claimed in claim 1, it is characterised in that the side of the flexible connection Formula connects for axis pin.
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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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Families Citing this family (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 |
| 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 |
| CN112576689B (en) * | 2020-12-04 | 2021-08-13 | 哈尔滨工程大学 | Low-frequency heavy-load quasi-zero stiffness vibration isolation device |
| 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 |
| CN113942667B (en) * | 2021-11-15 | 2024-02-09 | 华中科技大学 | Micro-low gravity environment simulation method and device |
| CN114408230B (en) * | 2022-01-20 | 2023-03-31 | 浙江工商大学 | Gravity unloading system of multiple following movable air-floating trolleys |
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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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20140021740A (en) * | 2012-08-09 | 2014-02-20 | 한국전자통신연구원 | Apparatus for antenna weightlessness deployment test |
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Patent Citations (4)
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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 |
| 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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