CN106005495B - It is a kind of to maintain system without constraint suspension posture - Google Patents
It is a kind of to maintain system without constraint suspension posture Download PDFInfo
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- CN106005495B CN106005495B CN201610409154.5A CN201610409154A CN106005495B CN 106005495 B CN106005495 B CN 106005495B CN 201610409154 A CN201610409154 A CN 201610409154A CN 106005495 B CN106005495 B CN 106005495B
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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
It is a kind of to maintain system to include Simulated Spacecraft without constraint suspension posture, pitching and posture holding unit, rolling unit, hanger bracket and yawing unit, with three kinds of different ways of realization, it can ensure that spacecraft its pose adjustment in ground validation is not influenced by gravitation, and the existing posture of spacecraft is kept to smoothly complete docking after the completion of spacecraft attitude adjustment, the tasks such as in-orbit service, the present invention need to only change simple Additional connections and can just complete to verify the task of different spacecrafts, it is applied widely, different gesture follow-ups can be selected according to specific mission requirements and keeps system, and it can be combined with spatial three-dimensional movement system, reproduce the spatial movement of spacecraft, further improve the confidence level of spacecraft ground checking.
Description
Art
The invention belongs to the space tasks ground validation technical field such as spacecraft and detector, and in particular to provide spacecraft
The environment of ground free movement.
Background technology
In order to smoothly complete space mission, must sufficiently be tested on ground before spacecraft execution task, therefore state
Inside and outside each space flight mechanism all pays much attention to experimental verification of the spacecraft on ground, and its success or not depends greatly on
Whether used verification method is really to reflect to its space tasks implementation process feature, is put it briefly, these feature bags
Include：Space tasks implementation process is in microgravity environment and the motion of spacecraft attitude position is unfettered etc..And current institute
Reflection of the ground validation method of use to features described above all exist it is clearly disadvantageous, such as：System emulation can not describe in real time
Task process；Semi-physical simulation although it is contemplated that the relative orbit operation of cooperative target, but be not related to generally it is unconfined from
By moving；Consider that gravity compensation and the conventional method without constrained motion have weight-loss method, liquid float glass process, air supporting in full physical simulation
Method and suspension method.Weight-loss method is common for parabolic flight and freely falling body, is the space that the time is short, takes the shortcomings that the method
Greatly, the space that can be provided is limited and cost is high；The damping of liquid float glass process is big, maintenance cost is high and is only suitable for the feelings of low-speed motion
Condition；Bubble-floating Method can only typically provide the motion of five frees degree, in the limitation of movement of vertical direction.Space shared by suspension method
It is small, not by spatio-temporal constraint, be the conventional method of gravity compensation, suspension method can be generally divided into active gravity compensation and by
Dynamic gravity compensation.The compensation precision of passive gravity compensation is relatively low, has considerable influence to test effect；Active gravity compensation can carry
High compensation precision, but the gravitational compensation method of active at present typically hangs offer three-degree-of-freedom motion space by single-point or multiple spot hangs
Hang and six-freedom motion space is provided, for realizing this target of spacecraft motion reappearance, three-degree-of-freedom motion space is obviously not
Enough, the Six-freedom-degree space that multi-point suspended is provided can cause test effect bad because complicated, system are unmanageable, because
This, development one kind can provide spacecraft six degree of freedom without constrained motion on the basis of single-point suspension, to promoting future space
Experiment is more precisely carried out on ground in advance, to reduce developing risk, is improved reliability, is shortened research cycle, reduce investment outlay,
Correlative study achievement is entered ranks leading in the world as early as possible, significantly lift the space flight ability in China and the potentiality of sustainable development
It is very important.
The content of the invention
One kind proposed by the present invention maintains system to ensure spacecraft its posture in ground validation without constraint suspension posture
Adjustment is not influenced by gravitation, and spacecraft attitude adjust after keep the existing posture of spacecraft with smoothly complete docking,
The tasks such as rail service.The system need to only change simple Additional connections and can just complete to verify the task of different spacecrafts, fit
It is wide with scope, can select different gesture follow-up according to specific mission requirements and keep system, and can and space three-dimensional
Kinematic system combines, and reproduces the spatial movement of spacecraft, further improves the confidence level of spacecraft ground checking.
Technical scheme：
One kind of the invention maintains system to include Simulated Spacecraft, pitching and posture holding unit, rolling without constraint suspension posture
Turn unit, hanger bracket and yawing unit, there are three kinds of different ways of realization.In three kinds of different ways of realization, yawing unit
There is similar structure with hanger bracket, pitching and posture holding unit respectively have feature.Rolling unit directly contacts simultaneously with spacecraft
The rolling movement of spacecraft can be followed；Pitching and posture holding unit are connected with rolling unit by corresponding axle and pass through suspension
Frame is connected with yawing unit, can follow the elevating movement of spacecraft；Yawing unit is connected with hanger bracket, can follow the inclined of spacecraft
Shipping is moved；When spacecraft attitude is adjusted, before starting docking, the posture of spacecraft can be consolidated by pitching and posture holding unit
It is fixed, it is ensured that the posture of spacecraft is kept constant when spacecraft position of centre of gravity changes after docking operation；Finally realize to space flight
The servo-actuated and holding of device posture.
The present invention the course of work be：Spacecraft is arranged on rolling unit, adjusts it to correct position, the present invention one
Kind maintains system to follow the attitude motion of spacecraft without constraint suspension posture, and after the pose adjustment of spacecraft is good, startup is bowed
Face upward and the corresponding module of posture holding unit fixes spacecraft current pose, start the docking facilities of spacecraft.
The present invention, which contrasts existing technology, following features：
1st, pitching and posture holding unit and rolling unit connected mode are simple, and it acts on spaceborne power and is easy to adjust
It is whole；
2nd, suitable for a variety of different spacecrafts, need to only change connector can fix various sizes of spacecraft operation letter
Just；
3rd, pitching and posture holding unit complete servo-actuated and spacecraft attitude the holding to spacecraft pitch attitude, can
The adjustment motion of full simulation spacecraft attitude is with docking overall process, without adding complicated structure；
4th, a variety of different connected modes are provided；
5th, structure is simplified, and is easy to extend its application.
Brief description of the drawings
Fig. 1 is of the invention a kind of without constraint suspension posture maintenance system implementations one.
Fig. 2 is of the invention a kind of without constraint suspension posture maintenance system implementations two.
Fig. 3 is of the invention a kind of without constraint suspension posture maintenance system implementations three.
Fig. 1 labels into Fig. 3：1：Simulated Spacecraft；2：Rolling unit one；3：Pitching and posture holding unit one；4：It is outstanding
Hanger；5：Yawing unit；6：Rolling unit two；7：Pitching and posture holding unit two；8：Rolling unit three.
Fig. 4 is Simulated Spacecraft schematic diagram.
Label in figure：11：Spacecraft bottom plate；12：Spacecraft main body：13：Spacecraft launching site end；14：To extension bar；121：Sail
Plate mounting hole；122：Rolling locating slot.
Fig. 5 is rolling unit one.
Label in figure：21：Interior fishplate bar fixing bolt；22：Rolling bearing fixes jackscrew；23：Connecting plate is inscribed in rolling bearing；
24：Rolling bearing；25：It is fixed in rolling bearing；26：Cambered surface pad；27：Fixing nut.
Fig. 6 is fixed in the rolling bearing in rolling unit one.
Label in figure：251：Thread spindle；252：Positioning end；253：The shaft shoulder；254：Screwed hole；255：Extrados
Fig. 7 is pitching and posture holding unit one.
Label in figure：31：Electromagnetic braking one；32：Pitch linkage plate one；33：Pitch bearing one；34：It is fixed outside big bearing
Frame；341：Big fixed frame screwed hole.
Fig. 8 is yawing unit.
Label in figure：51：Driftage is outer fixed；52：Driftage interior axle；53：Driftage angular contact bearing；54：Driftage external connection end.
Fig. 9 is the rolling frame in Fig. 9 rollings unit two.
Label in figure：64：Rolling frame；641：Arc shaped slider；642：Ball；643：Outer support frame.
Figure 10 is pitching and posture holding unit two.
Label in figure：71：Electromagnetic braking two；72：Positioning stud；73：Pitching interior axle；74：Pitch bearing two；75：Pitching
Connecting plate two.
Figure 11 is rolling unit three
Label in figure：81：Rolling bearing；82：Scroll box；83：Bearing fixing axle, 821：Square opening；822：Bearing is fixed
Shaft mounting hole；823：Bearing fixing axle positions jackscrew.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 to Fig. 3, give the entirety that a kind of no constraint suspension posture of the present invention maintains three kinds of different ways of realization of system
View and front view, they are all by Simulated Spacecraft, rolling unit, pitching and posture holding unit, hanger bracket and yawing unit
Form, wherein rolling unit, pitching and posture holding unit and yawing unit follow the rolling, pitching and driftage of spacecraft respectively
Three kinds of attitude motions, specific way of realization one of the present invention include：Simulated Spacecraft 1, pitching and posture holding unit 1, rolling
Turn unit 1, hanger bracket 4 and yawing unit 5；Way of realization two include Simulated Spacecraft 1, pitching and posture holding unit 1,
Rolling unit 26, hanger bracket 4 and yawing unit 5；Way of realization three includes Simulated Spacecraft 1, pitching and posture holding unit two
7th, rolling unit 38, hanger bracket 4 and yawing unit 5.
With reference to Fig. 4, Simulated Spacecraft 1 includes spacecraft bottom plate 11, spacecraft main body 12, spacecraft launching site end 13 with docking
Bar 14.Spacecraft bottom plate 11 is connected by bolt with spacecraft main body 12, and the other end of spacecraft main body 12 is connected with spacecraft
Butt end 13, it is provided with to extension bar 14 on spacecraft launching site end 13.Spacecraft battery windsurfing is reserved with spacecraft main body 12
Mounting hole 121 and rolling locating slot 122.
With reference to Fig. 1, Fig. 5 and Fig. 6, rolling unit 1 includes interior fishplate bar fixing bolt 21, rolling bearing fixes jackscrew 22,
Connecting plate 23 in rolling bearing, rolling bearing 24,25, cambered surface pad 26 and fixing nut 27 are fixed in rolling bearing.Wobble shaft
Hold interior 25 positioning ends 252 of fixing and pass through cambered surface pad 26, fixing nut 27 through the rolling locating slot 122 in spacecraft main body 12
It is connected with Simulated Spacecraft 1, connecting plate 23 is fixed in rolling bearing fixed by interior fishplate bar fixing bolt 21 in rolling bearing
On 25 screwed holes 254, it is extrados 255 that 25 faces coordinated with the inner ring of rolling bearing 24 are fixed in rolling bearing, and rolling bearing is consolidated
Determine jackscrew 22 inner ring of rolling bearing 24, rolling bearing are inscribed connecting plate 23 and be solidly fixed with fixing 25 in rolling bearing, roll
The outer ring that rotating shaft holds 24 is connected with the related components in pitching and posture holding unit 1.Spacecraft in Simulated Spacecraft 1
Rolling locating slot 122 in main body 12 is designed as rectangular slot, convenient adjustment and the link position of rolling unit 1, ensures boat
Its device is connected with the present invention has indifferent equilibrium.
Include electromagnetic braking 1, pitch linkage plate 1, pitch bearing with reference to Fig. 7 pitching and posture holding unit 1
One 33 and the outer fixed frame 34 of big bearing.The big outer fixed frame 34 of bearing is connected by pitch bearing 1 with pitch linkage plate 1,
It is fixed with electromagnetic braking 1 on pitch linkage plate 1, electromagnetic braking 1 is controlling fixed frame 34 and pitching outside big bearing
The relative motion of connecting plate 32, when it is powered, the outer fixed frame 34 of big bearing relative can be bowed under the support of pitch bearing 1
The rolling of connecting plate 1 is faced upward, when electromagnetic braking 1 powers off, it is combined with fixed frame 34 outside big bearing, now, outside big bearing
Fixed frame 34 is with pitch linkage plate 1 without relative motion.Big fixed frame screwed hole 341 is designed with the big outer fixed frame 34 of bearing
Coordinate to the rolling bearing 24 in fixed rolling unit 1, with reference to the right figure in Fig. 5, the upper table of the outer fixed frame 34 of big bearing
Face is intrados, and the size of intrados is determined by the outer ring of rolling bearing 24 in rolling unit 1, and passes through big fixed frame screw thread
Hole 341 is connected with the outer ring of rolling bearing 24.
With reference to Fig. 8, yawing unit 5 outside driftage including fixing outside 51, driftage interior axle 52, driftage angular contact bearing 53 and driftage
Connect end 54.Driftage angular contact bearing 53 outer ring is arranged on outside driftage and fixed in 51, and inner ring is connected with driftage interior axle 52, interior axle of going off course
52 are connected by the end of thread of upper end with driftage external connection end 54, and driftage interior axle 52 is designed with installation with driftage external connection end 54 and fixed
Force side.
With reference to Fig. 1, Simulated Spacecraft 1 is fixed on rolling unit 1, and rolling unit 1 keeps single with pitching and posture
Member 3 is connected, and pitching and posture holding unit 1 are connected with hanger bracket 4, and the top of hanger bracket 4 is provided with yawing unit 5.Its work
It is as process：Simulated Spacecraft 1 is installed on rolling unit 1, adjusts its fixed position to Simulated Spacecraft 1 in any position
Put can keep balance, in the presence of external force adjustment Simulated Spacecraft 1 posture to mission requirements posture when, closing electromagnetism
1 are braked, keeps 1 existing posture of Simulated Spacecraft, starts docking facilities and completes docking.Spacecraft centroid in docking operation
Change can only change its angle of pitch, therefore the pitching of the fixed present invention is servo-actuated can keep the existing posture of Simulated Spacecraft.
With reference to Fig. 1, Fig. 2 and Fig. 9, the difference of rolling unit 1 and rolling unit 26 is in the rolling in rolling unit 1
Rotating shaft is held 24 and substituted by the rolling frame 64 in Fig. 9, reduces the additional inertance of Simulated Spacecraft connection, rolling frame 64 is by arc shaped slider
641st, ball 642, ball retainer (not provided in figure) and outer support frame 643 are formed.
With reference to Fig. 1, Fig. 2, Fig. 5 and Fig. 6, the length of change rolling bearing inner stationary shaft shoulder 253 is suitable for different boats
Its device, it is simple in construction, it is applied widely.
With reference to Figure 10, pitching and posture holding unit 27 by electromagnetic braking 2 71, positioning stud 72, pitching interior axle 73, bow
Bearing 2 74 is faced upward to form with pitch bearing connecting plate 2 75.Positioning stud 72 is connected by the screw thread of pitching interior axle 73,
And the adjustable in length of its precession pitching interior axle 73, pitching interior axle 73 are connected on the inner ring of pitch bearing 2 74, pitch bearing
2 74 outer ring is connected with pitch linkage plate 2 75, electromagnetic braking 2 71 is also equipped with pitch linkage plate 2 75, to control
Pitching interior axle 73 and the relative rotation of pitch linkage plate 2 75.
With reference to Fig. 3 and Figure 11, rolling unit 38 includes rolling bearing 81, scroll box 82 and bearing fixing axle 83.The axis of rolling
Hold 82 to be arranged on scroll box 82 by bearing fixing axle 83, bearing fixing axle 83 is in the position that bearing is fixed in shaft mounting hole 822
Put fine-tuning, to control the size of rolling bearing 81 and the contact force of Simulated Spacecraft 1, its position is determined after determining by bearing fixing axle
Position jackscrew 823 is fixed.Top surface is designed with square opening 821 and the pitching interior axle 73 in pitching unit 2 and positioning spiral shell on scroll box 82
Post 72 coordinates.
With reference to Fig. 3, Figure 10 and Figure 11, pitching interior axle 73 and the inwall of the square opening 821 of scroll box 82 coordinate, with square opening
821 bottoms at least keep more than 2mm distance, and positioning stud 72 contacts with the bottom of square opening 821, fixes it along pitch bearing two
74 axial location.It is applicable to change positioning stud threaded portion and pitching interior axle 73 and the mating part size of square opening 821
In the spacecraft of different size model numbers.
With reference to Fig. 1, Fig. 4~Fig. 8, a kind of no constraint suspension posture of the present invention maintains the installation step of system implementations one
For：
1) positioning end 252 that 25 are fixed in rolling bearing is connected by rolling locating slot 122 with spacecraft main body 12, led to
Cross cambered surface pad 26 and fixing nut 27 tentatively it is fixed it is above-mentioned between link position, the same mode of opposite side installs, ensures
The axis of 25 thread spindle 251 is fixed in the rolling bearing of both sides on the same line；
2) spacecraft launching site end 13 is connected with spacecraft main body 12, spacecraft launching site end 13 will be installed to extension bar 14
On, spacecraft bottom plate 11 is installed in spacecraft main body 12；
3) inner ring of rolling bearing 24 is coordinated with fixing 25 extrados 255 in rolling bearing, fixed by interior fishplate bar
Connecting plate 23 in rolling bearing is fixed on the screwed hole 254 that 25 are fixed in rolling bearing by bolt 21, is consolidated by rolling bearing
Determine jackscrew 22 inner ring of rolling bearing 24 is connected with connecting plate 23 in rolling bearing with fixing 25 in rolling bearing, opposite side is with same
The step of sample, installs；
4) pitch bearing 1 is installed in pitch linkage plate 1；
5) fixed frame 34 outside big bearing is fixed on the outer ring of rolling bearing 24, and fixed frame 34 outside big bearing is fixed
Onto pitch bearing 1；
6) pitch linkage plate 1 is fixed on hanger bracket 4；
7) to other side repeat step 4)~6)；
8) crossbeam of hanger bracket 4 is horizontal fixed, both sides adjust the positioning end 252 that 25 are fixed in rolling bearing with navigating simultaneously
The link position of the rolling locating slot 122 of its device main body 12, extremely arrive the keep level of Simulated Spacecraft 1；
9) the spacecraft bottom plate 11 of Simulated Spacecraft 1 is pulled down, tightens fixing nut 27,25 and boat will be fixed in rolling bearing
Its device main body 12 is connected, and spacecraft bottom plate 11 is installed in spacecraft main body 12；
10) electromagnetic braking 1 of both sides is arranged on corresponding pitch linkage plate 1；
11) driftage interior axle 52 is connected with driftage angular contact bearing 53, it is outer that driftage angular contact bearing 53 is installed into driftage
Fix in 51, driftage external connection end 54 is installed in driftage interior axle 52, its lower end and driftage angular contact ball bearing 53 inner ring side
Fastening, form yawing unit 5；
12) yawing unit 5 is installed to the upper end of hanger bracket 4.
The specific assembling of system implementations two is maintained with reference to a kind of no constraint suspension posture of Fig. 2, Fig. 4~Fig. 9 present invention
Step is：
1) arc shaped slider 641, ball 642, ball retainer and outer support frame 643 are assembled, and consolidated with auxiliary installation piece
It is fixed, prevent their relative motions；
2) positioning end 252 that 25 are fixed in rolling bearing is connected by rolling locating slot 122 with spacecraft main body 12, led to
Cross cambered surface pad 26 and fixing nut 27 tentatively it is fixed it is above-mentioned between link position, the same mode of opposite side installs, ensures
The axis of 25 thread spindle 251 is fixed in the rolling bearing of both sides on the same line；
3) spacecraft launching site end 13 is connected with spacecraft main body 12, spacecraft launching site end 13 will be installed to extension bar 14
On, spacecraft bottom plate 11 is installed in spacecraft main body 12；
4) arc shaped slider 641 of rolling frame 64 is coordinated with fixing 25 extrados 255 in rolling bearing, passes through interior fishplate bar
Connecting plate 23 in rolling bearing is fixed on the screwed hole 254 that 25 are fixed in rolling bearing by fixing bolt 21, passes through wobble shaft
Fixed jackscrew 22 is held to consolidate the arc shaped slider 641 of rolling frame 64 with fixing 25 in rolling bearing with connecting plate 23 in rolling bearing
Even, opposite side is installed with same step；
5) pitch bearing 1 is installed in pitch linkage plate 1；
6) fixed frame 34 outside big bearing is fixed on the outer support frame 643 of rolling frame 64, and by fixed frame outside big bearing
34 are fixed on pitch bearing 1；
7) pitch linkage plate 1 is fixed on hanger bracket 4；
8) to other side repeat step 5)~7)；
9) crossbeam of hanger bracket 4 is horizontal fixed, both sides adjust the positioning end 252 that 25 are fixed in rolling bearing with navigating simultaneously
The link position of the rolling locating slot of its device main body 12, extremely arrive the keep level of Simulated Spacecraft 1；
10) pull down the spacecraft bottom plate 11 of Simulated Spacecraft 1, be fastened and fixed nut 27, will be fixed in rolling bearing 25 with
Spacecraft main body 12 is connected, and spacecraft bottom plate 11 is installed in spacecraft main body 12；
11) electromagnetic braking 1 of both sides is arranged on corresponding pitch linkage plate 1；
12) driftage interior axle 52 is connected with driftage angular contact bearing 53, it is outer that driftage angular contact bearing 53 is installed into driftage
Fix in 51, driftage external connection end 54 is installed in driftage interior axle 52, its lower end and driftage angular contact ball bearing 53 inner ring side
Fastening, form yawing unit 5；
13) yawing unit 5 is installed to the upper end of hanger bracket 4；
14) auxiliary installation piece of the dismounting to rolling frame 64.
It is a kind of without constraint suspension posture maintenance system implementations three with reference to Fig. 3, Fig. 4, Fig. 8, Figure 10 and Figure 11 present invention
Specific installation step be：
1) yawing unit 5 is assembled, and yawing unit 5 is installed on hanger bracket 4；
2) assembling pitching and posture holding unit 27, positioning stud 72 screws out in two groups of pitching and posture holding unit 27
Size is identical；
3) bearing that bearing fixing axle 83 is installed to scroll box 82 is fixed in shaft mounting hole 822, utilizes bearing fixing axle
Positioning jackscrew 823 tentatively fixes its position, and the position of upper and lower two bearings fixing axle 83 is consistent, rolling bearing 81 is fixed to
In bearing fixing axle 83, rolling unit 38 is formed；
4) rolling unit 38 is connected by positioning stud 72 with pitching interior axle 73, wherein positioning stud 73 and scroll box
82 bottom of square opening 821 contact, pitching interior axle 73 and the side wall of square opening 821 coordinate；
5) pitching and posture holding unit 27 are installed on hanger bracket 4 with the part that rolling unit 38 combines；
6) Simulated Spacecraft 1 is assembled；
7) adjust both sides pitching and posture holding unit 27 in positioning stud 72, Simulated Spacecraft 1 is installed to step
It is rapid 5) in formed part in, adjust Simulated Spacecraft 1 position until its can reach the state of indifferent equilibrium, fix positioning
Stud 72.
Claims (8)
1. a kind of maintain system without constraint suspension posture, it is characterized in that：The system includes Simulated Spacecraft, pitching and posture and kept
Unit, rolling unit, hanger bracket and yawing unit, Simulated Spacecraft are fixed on rolling unit, rolling unit and pitching and appearance
State holding unit is connected, and pitching and posture holding unit are connected with hanger bracket, and the top of hanger bracket is provided with yawing unit, can
Realized by one kind in following three kinds of ways of realization；
The way of realization one includes：Simulated Spacecraft, pitching and posture holding unit one, rolling unit one, hanger bracket and partially
Navigate unit；Way of realization two includes Simulated Spacecraft, pitching and posture holding unit one, rolling unit two, hanger bracket and driftage
Unit；It is single that way of realization three includes Simulated Spacecraft, pitching and posture holding unit two, rolling unit three, hanger bracket and driftage
Member；
Spacecraft attitude keeps being controlled by electromagnetic brake in pitching and posture holding unit；
Yawing unit includes outer fixed, the driftage interior axle of driftage, driftage angular contact bearing and driftage external connection end, angular contact bearing of going off course
Outer ring is arranged in fixed outside driftage, and inner ring is connected with driftage interior axle, and driftage interior axle is external with going off course by the end of thread of upper end
End is connected, and driftage interior axle is designed with installing fixed force side with driftage external connection end；
Rolling unit one includes interior fishplate bar fixing bolt, rolling bearing fixes jackscrew, connecting plate in rolling bearing, rolling bearing,
Cambered surface pad and fixing nut are fixed in rolling bearing；Fixed positioning end passes through the rolling in spacecraft main body in rolling bearing
Locating slot is connected by cambered surface pad, fixing nut and Simulated Spacecraft, and connecting plate fixes spiral shell by interior fishplate bar in rolling bearing
Bolt is fixed on screwed hole fixed in rolling bearing, and the fixed face coordinated with rolling bearing inner race is outer arc in rolling bearing
Face, rolling bearing, which fixes jackscrew, to be fixed into one in rolling bearing inner race, the inscribed connecting plate of rolling bearing and rolling bearing
Body, the rolling locating slot in spacecraft main body in Simulated Spacecraft are designed as rectangular slot.
2. it is according to claim 1 a kind of without constraint suspension posture maintenance system, it is characterized in that：The pitching and posture are protected
Holding unit one includes electromagnetic braking one, pitch linkage plate one, pitch bearing one and the outer fixed frame of big bearing, the outer fixed frame of big bearing
It is connected by pitch bearing one with pitch linkage plate one, electromagnetic braking one is fixed with pitch linkage plate one, is fixed outside big bearing
Big fixed frame screwed hole is designed with frame, the upper surface of the outer fixed frame of big bearing is intrados, and the size of intrados is by rolling list
Rolling bearing outer ring in member one determines, and is connected by big fixed frame screwed hole with rolling bearing outer ring.
3. it is according to claim 2 a kind of without constraint suspension posture maintenance system, it is characterized in that：The rolling unit two with
The difference of rolling unit one is substituted in the rolling bearing in rolling unit one by rolling frame, rolling frame by arc shaped slider, ball,
Ball retainer and outer support frame are formed.
4. it is according to claim 1 a kind of without constraint suspension posture maintenance system, it is characterized in that：Pitching and posture keep single
Member two is made up of electromagnetic braking two, positioning stud, pitching interior axle, pitch bearing two and pitch bearing connecting plate two, positioning stud
Screw thread by pitching interior axle is connected, and pitching interior axle is connected on the inner ring of pitch bearing two, outside pitch bearing two
Circle is connected with pitch linkage plate two, and electromagnetic braking two is also equipped with pitch linkage plate two.
5. it is according to claim 4 a kind of without constraint suspension posture maintenance system, it is characterized in that：Rolling unit three includes rolling
Dynamic bearing, scroll box and bearing fixing axle, rolling bearing are arranged on scroll box by bearing fixing axle, and bearing fixing axle is in axle
The position held in fixed shaft mounting hole be can adjust, and its position is fixed by bearing fixing axle positioning jackscrew, and top surface designs on scroll box
There are pitching interior axle and positioning stud of the square opening with pitching and in posture holding unit two to coordinate.
6. it is according to claim 2 a kind of without constraint suspension posture maintenance system, it is characterized in that：It is described a kind of outstanding without constraint
Hang posture maintain system implementations one installation step be：
1) positioning end fixed in rolling bearing is connected by rolling locating slot with spacecraft main body, by cambered surface pad and admittedly
Determine nut tentatively fix it is above-mentioned between link position, the same mode of opposite side installs, and ensures solid in the rolling bearing of both sides
The axis of fixed thread spindle is on the same line；
2) spacecraft launching site end is connected with spacecraft main body, extension bar will be installed on spacecraft launching site end, by spacecraft bottom
Plate is installed in spacecraft main body；
3) extrados fixed in the inner ring of rolling bearing and rolling bearing is coordinated, by interior fishplate bar fixing bolt by wobble shaft
Interior connecting plate is held fixed on fixed screwed hole in rolling bearing, by rolling bearing fix jackscrew by rolling bearing inner race with
Connecting plate is connected with fixed in rolling bearing in rolling bearing, and opposite side is installed with same step；
4) pitch bearing one is installed in pitch linkage plate one；
5) fixed frame outside big bearing is fixed on the outer ring of rolling bearing, fixed frame outside big bearing is consolidated with pitch bearing one
It is fixed；
6) pitch linkage plate one is fixed on hanger bracket；
7) to other side repeat step 4)~6)；
8) crossbeam of hanger bracket is horizontal fixed, both sides adjust positioning end fixed in rolling bearing and spacecraft main body simultaneously
The link position of rolling locating slot, until Simulated Spacecraft keep level；
9) the spacecraft bottom plate of Simulated Spacecraft is pulled down, tightens fixing nut, is consolidated being fixed in rolling bearing with spacecraft main body
Even, spacecraft bottom plate is installed in spacecraft main body；
10) electromagnetic braking one of both sides is arranged on corresponding pitch linkage plate one；
11) interior axle that will go off course is connected with driftage angular contact bearing, and driftage angular contact bearing is installed to and gone off course in outer fix, will be inclined
Boat external connection end is installed in driftage interior axle, its lower end and driftage angular contact ball bearing inner ring side fastening, forms yawing unit；
12) yawing unit is installed to the upper end of hanger bracket.
7. it is according to claim 3 a kind of without constraint suspension posture maintenance system, it is characterized in that：It is described a kind of outstanding without constraint
Hang posture maintain system implementations two specific installation step be：
1) arc shaped slider, ball, ball retainer and outer support frame are assembled, and fixed with auxiliary installation piece；
2) positioning end fixed in rolling bearing is connected by rolling locating slot with spacecraft main body, by cambered surface pad and admittedly
Determine nut tentatively fix it is above-mentioned between link position, the same mode of opposite side installs, and ensures solid in the rolling bearing of both sides
The axis of fixed thread spindle is on the same line；
3) spacecraft launching site end is connected with spacecraft main body, spacecraft bottom plate is installed in spacecraft main body, will be to extension bar
It is installed on spacecraft launching site end；
4) extrados fixed in the arc shaped slider of rolling frame and rolling bearing is coordinated, by interior fishplate bar fixing bolt by rolling
Connecting plate is fixed on screwed hole fixed in rolling bearing in bearing, and jackscrew is fixed by the arc of rolling frame by rolling bearing
Sliding block is connected with connecting plate in rolling bearing with fixed in rolling bearing, and opposite side is installed with same step；
5) pitch bearing one is installed in pitch linkage plate one；
6) fixed frame outside big bearing is fixed on the outer support frame of rolling frame, and fixed frame outside big bearing is fixed to pitch axis
Hold on one；
7) pitch linkage plate one is fixed on hanger bracket；
8) to other side repeat step 5)~7)；
9) crossbeam of hanger bracket is horizontal fixed, both sides adjust positioning end fixed in rolling bearing and spacecraft main body simultaneously
The link position of rolling locating slot, until Simulated Spacecraft keep level；
10) the spacecraft bottom plate of Simulated Spacecraft is pulled down, is fastened and fixed nut, is consolidated being fixed in rolling bearing with spacecraft main body
Even, spacecraft bottom plate is installed in spacecraft main body；
11) electromagnetic braking one of both sides is arranged on corresponding pitch linkage plate one；
12) interior axle that will go off course is connected with driftage angular contact bearing, and driftage angular contact bearing is installed to and gone off course in outer fix, will be inclined
Boat external connection end is installed in driftage interior axle, its lower end and driftage angular contact ball bearing inner ring side fastening, forms yawing unit；
13) yawing unit is installed to the upper end of hanger bracket；
14) auxiliary installation piece of rolling frame is dismantled.
8. it is according to claim 5 a kind of without constraint suspension posture maintenance system, it is characterized in that：It is described a kind of outstanding without constraint
Hang posture maintain system implementations three specific installation step be：
1) yawing unit is assembled, and yawing unit is installed on hanger bracket；
2) assembling pitching and posture holding unit two, positioning stud screws out size phase in two groups of pitching and posture holding unit two
Together；
3) bearing that bearing fixing axle is installed to scroll box is fixed in shaft mounting hole, and it is preliminary to position jackscrew using bearing fixing axle
Its position is fixed, the position of upper and lower two bearings fixing axle is consistent, and rolling bearing is fixed in bearing fixing axle, forms rolling
Turn unit three；
4) rolling unit three is connected by positioning stud with pitching interior axle, wherein the square opening bottom of positioning stud and scroll box
The side wall of contact, pitching interior axle and square opening coordinates；
5) pitching and posture holding unit two are installed on hanger bracket with the part that rolling unit three combines；
6) Simulated Spacecraft is assembled；
7) adjust both sides pitching and posture holding unit two in positioning stud, Simulated Spacecraft is installed to shape in step 5)
Into part in, adjust Simulated Spacecraft position until its can reach the state of indifferent equilibrium, stationary positioned stud.
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| CN101614622A (en) * | 2009-07-28 | 2009-12-30 | 北京航空航天大学 | A kind of gravity unloading mechanism for solar array ground experiment |
| CN103192999A (en) * | 2013-03-08 | 2013-07-10 | 北京航空航天大学 | Ground zero-gravity test device for small-space one-dimension extension mechanism |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN103818567A (en) * | 2014-03-24 | 2014-05-28 | 北京航空航天大学 | Design method of unconstrained suspension system with center of mass automatic alignment function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614622A (en) * | 2009-07-28 | 2009-12-30 | 北京航空航天大学 | A kind of gravity unloading mechanism for solar array ground experiment |
| CN103192999A (en) * | 2013-03-08 | 2013-07-10 | 北京航空航天大学 | Ground zero-gravity test device for small-space one-dimension extension mechanism |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN103818567A (en) * | 2014-03-24 | 2014-05-28 | 北京航空航天大学 | Design method of unconstrained suspension system with center of mass automatic alignment function |
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