CN106005497B - A kind of suspension type six degree of freedom microgravity environment simulation system - Google Patents
A kind of suspension type six degree of freedom microgravity environment simulation system Download PDFInfo
- Publication number
- CN106005497B CN106005497B CN201610414344.6A CN201610414344A CN106005497B CN 106005497 B CN106005497 B CN 106005497B CN 201610414344 A CN201610414344 A CN 201610414344A CN 106005497 B CN106005497 B CN 106005497B
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- module
- fixed
- sensor
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
A kind of suspension type six degree of freedom microgravity environment simulation system of the present invention includes Simulated Spacecraft, space three-dimensional actively with moving cell, gesture follow-up and fixed cell, buffering and sensor mounting unit and control unit, space three-dimensional actively actively follows the position of spacecraft to move with moving cell, and compensates the gravity suffered by spacecraft；Gesture follow-up and fixed cell can follow the Attitude control of spacecraft, and the existing posture of spacecraft can be kept after spacecraft attitude is adjusted；Buffering and sensor mounting unit include buffer module and sensor installation measurement module, the property that buffer module will not be changed moment using the power on spring improves the precision of system gravity compensation, sensor installation measurement module includes wireless tilt angle sensor and tension sensor, and closed-loop control is provided for system；Control unit controls the motion of servomotor according to the measurement result of sensor, actively follows the motion of spacecraft.
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 six degree of freedom microgravity environment of spatial movement ground validation.
Background technology
Currently, the core content of space tasks is Spatial Cooperation, and Spatial Cooperation is primarily referred to as including spacecrafts rendezvous
All kinds of in-orbit services, the supply of space station, reparation and spacefarer rotate.The general step bag that these space tasks are implemented
Include：The determination of task definition, the design to carry into execution a plan, scheme ground experiment checking, the development of task performer, scheme
Rail is verified, and six stages of last implementation of space tasks, each stage are indispensable.The ground implemented as space tasks
Verify key component, the target of ground experiment is the reasonability and technical feasibility of clarifying space task scheme, and its success with
It is no to depend greatly on whether used verification method is really to reflect to its space tasks implementation process feature.
Put it briefly, these features include：Space tasks implementation process is in microgravity environment and spacecraft attitude position is moved not
It is constrained etc..And reflection of the currently used ground validation method to features described above all exist it is clearly disadvantageous, such as：System
System emulation can not describe task process in real time；Semi-physical simulation is but logical although it is contemplated that the relative orbit operation of cooperative target
Often it is not related to the influence of microgravity environment, and also usually only a certain subsystem in space tasks or specific function is tested
Card, and the satisfaction of each subsystem performance is not meant to that the overall performance of integrated system meets.Considered in full physical simulation
Gravity compensation and conventional method without constrained motion have weight-loss method, liquid float glass process, Bubble-floating Method and suspension method.Weight-loss method it is common be
Parabolic flies and freely falling body, the shortcomings that the method be that the time is short, the space that takes is big, the space that can provide is limited and into
This height；The damping of liquid float glass process is big, maintenance cost is high and is only suitable for the situation of low-speed motion；Bubble-floating Method can only typically provide five freedom
The motion of degree, in the limitation of movement of vertical direction.Space shared by suspension method is small, not by spatio-temporal constraint, is gravity
The conventional method of compensation, suspension method can be generally divided into active gravity compensation and passive gravity compensation.The benefit of passive gravity compensation
It is relatively low to repay precision, has considerable influence to test effect；Active gravity compensation can improve compensation precision, but the gravity of active at present is mended
Compensation method is typically hung by single-point provides three-degree-of-freedom motion space or multi-point suspended offer six-freedom motion space, for
This target of spacecraft motion reappearance is realized, three-degree-of-freedom motion space is obviously inadequate, the six degree of freedom that multi-point suspended is provided
Space can cause test effect bad due to the difficult conduct of complicated, system, and therefore, development one kind can more truly reflect space
Task-cycle process microgravity environment is without constrained motion environment, to promoting future space experiment more precisely to enter on ground in advance
OK, to reduce developing risk, reliability is improved, shortens research cycle, reduces investment outlay, correlative study achievement is entered the world as early as possible
Leading ranks, significantly lift the space flight ability in China and the potentiality of sustainable development are very important.
The content of the invention
The present invention, which proposes a kind of single-point suspension, can provide the ground compensation checking in spacecraft six-freedom motion space
System, the complexity of control is reduced, improves system reliability.
Technical scheme：
A kind of suspension type six degree of freedom microgravity environment simulation system of the present invention includes Simulated Spacecraft, space three-dimensional actively
With moving cell, gesture follow-up and fixed cell, buffering and sensor mounting unit and control unit.Simulated Spacecraft is used for verifying
Gravity compensation precision and the spacecraft motion of the present invention and pose adjustment follow effect；Space three-dimensional is actively with moving cell active
Follow the position of spacecraft to move, and compensate the gravity suffered by spacecraft；Gesture follow-up and fixed cell can follow spacecraft
Attitude control, and the existing posture of spacecraft can be kept after spacecraft attitude is adjusted；Buffering and sensor installation are single
Member includes buffer module and sensor installation measurement module, and the property that buffer module will not be changed moment using the power on spring carries
The precision of high system gravity compensation, sensor installation measurement module include wireless tilt angle sensor and tension sensor, are system
Closed-loop control is provided；Control unit controls the motion of servomotor according to the measurement result of sensor, actively follows spacecraft
Motion.
The Simulated Spacecraft include spacecraft bottom plate, spacecraft main body, spacecraft launching site end with to extension bar, spacecraft bottom
Plate is arranged on the both sides of spacecraft main body with spacecraft launching site end, spacecraft launching site end is arranged on to extension bar, to extension bar by two
Be grouped into, big end is the end of thread connect with spacecraft launching site end, small end for polished rod to be fitted without to the another of extension bar
The spacecraft launching site end docking of one Simulated Spacecraft.
The space three-dimensional actively with moving cell include triangle fixed block, column, gusset, crossbeam, horizontal linear module and
Cross motor, vertical linear module and longitudinal motor and vertical linear module and vertical motor.Triangle fixed block is connected to column
Side is used for being connected column with the external world, and it is actively servo-actuated single that triangle fixed block, column, gusset and crossbeam constitute space three-dimensional
The triangular support configurations of member, the range of movement of Simulated Spacecraft can be expanded from triangular support configurations；Horizontal linear module and horizontal stroke
On the crossbeam installed to motor, the sliding block under the drive of cross motor thereon can transversely linear module motion；Vertical linear
Module and longitudinal motor are arranged on the sliding block of horizontal linear module and cross motor, and the sliding block of vertical linear module is in longitudinal electricity
It can be moved under the drive of machine along vertical linear module；Vertical linear module and vertical motor are arranged on vertical linear module and longitudinal direction
On the sliding block of motor, the rack of vertical linear module can be moved vertically under the drive of vertical motor；Then rack can be in transverse direction
The three-dimensional motion in space is realized under the drive of linear module, vertical linear module and vertical linear module and its associated motor.
The gesture follow-up and fixed cell include rolling module, pitching and posture and keep module, hanger bracket and driftage mould
Block, rolling module are directly connected to fixed spacecraft with spacecraft and follow the rolling movement of spacecraft, the connection of rolling module
Kept to pitching and posture in module, pitching and posture keep module to be connected on the side plate of hanger bracket and can follow spacecraft
Elevating movement and the existing posture that can keep spacecraft, driftage module, which is connected on the crossbeam of hanger bracket, can follow the inclined of spacecraft
Shipping is moved.
The buffering and sensor mounting unit, which include buffer module and sensor installation measurement module, buffer module, to be included
Lower spring end fixed block, stage clip, interior axle, spring overcoat and extended type linear bearing, extended type linear bearing are arranged on outside spring
Set upper side, its inwall coordinate with interior axle, ensure that interior axle is moved relative to spring overcoat without micro tribology is rocked, stage clip upper end is with lengthening
End in contact under type linear bearing, lower end are fixed by lower spring end fixed block, when interior axle is moved relative to spring overcoat, stage clip
Reduction length change therewith；Sensor installation measurement module includes sensor installing plate, candan universal joint, wireless tilt sensing
Device, battery installing plate, tension sensor connecting pole and tension sensor, wireless tilt angle sensor are arranged on sensor installing plate
On, sensor installing plate is arranged in interior axle, and interior axle is connected by pin and candan universal joint lower end, the upper end of cross coupler
It is connected to by tension sensor connecting pole on tension sensor, battery installing plate is also equipped with tension sensor connecting pole.
Described control unit includes motor driver, wireless receiver and control card, and wireless receiver is wireless to receive
The information of obliquity sensor, control card carries out the motion that processing controls associated motor by motor driver to various signals, main
It is dynamic to follow the motion of spacecraft and compensate the gravity of spacecraft.
The Simulated Spacecraft is arranged in the scrolling module of gesture follow-up and fixed cell, gesture follow-up and fixed cell
It is connected with buffering and sensor mounting unit, buffering and sensor mounting unit are connected to rack of the space three-dimensional with moving cell
On.
The operation principle and the course of work of a kind of suspension type six degree of freedom microgravity environment simulation system of the present invention be：Work as boat
When its device carries out pose adjustment, gesture follow-up and fixed cell follow the Attitude control of spacecraft, gesture follow-up and fixation
Unit ensure that both sides uniform quality distribution of the spacecraft in the axisymmetrical of its rotary motion, and the gravity of spacecraft in itself is to it
Attitude control is without influence；When spacecraft carry out orbit maneuver, when adjusting its position, spacecraft horizontal movement drive buffering and
Sensor mounting unit is swung around candan universal joint, and the deflection angle that measurement obtains is passed to control by wireless tilt angle sensor
Card, control card rotate linear module motion elimination deflection corresponding to drive by the motor of motor driver control laterally and longitudinally
Angle follows the horizontal movement of spacecraft, and when spacecraft vertical motion, rigidly connected spring overcoat is transported with respect to interior axle therewith
Dynamic, the power of stage clip reduction length change thereon changes therewith, and tension sensor measures this change and passes to control card, control card
The vertical motor of controlled motor driver control rotate the change that drives vertical linear module motion to eliminate amount of spring compression so as to
With spacecraft vertical motion and compensate the gravity suffered by spacecraft.
The present invention, which contrasts existing technology, following features：
1st, the compensation precision that spring bumper improves system is added；
2nd, single-point suspension can provide the movement environment of spacecraft six degree of freedom and compensate the gravity that spacecraft is subject to；
3rd, add posture and keep module, extend the application of the present invention；
4th, the interference of pair of connecting wires system motion is reduced using wireless tilt angle sensor.
Brief description of the drawings
Fig. 1 is a kind of overview and front view of suspension type six degree of freedom microgravity environment simulation system.
Label in figure：1：Simulated Spacecraft；2：Gesture follow-up and fixed cell；3：Buffering and sensor mounting unit；4：
Space three-dimensional is with moving cell.
Fig. 2 is Simulated Spacecraft.
Label in figure：11：Spacecraft bottom plate；12：Spacecraft main body：13：Spacecraft launching site end；14：To extension bar.
Fig. 3 is gesture follow-up and fixed cell.
Label in figure：21:Rolling module；22：Pitching and posture keep module；23：Hanger bracket；24：Driftage module.
Fig. 4 is rolling module.
Label in figure：211：Interior fishplate bar fixing bolt；212：Rolling bearing fixes jackscrew；213：The inscribed connection of rolling bearing
Plate；214：Rolling bearing；215：It is fixed in rolling bearing；216：Cambered surface pad；217：Fixing nut.
Fig. 5 is that pitching and posture keep module.
Label in figure：221：Electromagnetic braking；222：Pitch linkage plate；223：Pitch bearing；224：The big outer fixed frame of bearing.
Fig. 6 is driftage module.
Label in figure：241：Driftage is outer fixed；242：Driftage interior axle；243：Driftage angular contact bearing；244：Go off course external
End.
Fig. 7 is buffering and sensor mounting unit.
Label in figure：31：Buffer module；32：Sensor installs measurement module；311：Lower spring end fixed block；312：Pressure
Spring；313：Interior axle；314：Spring overcoat；315：Extended type linear bearing；321：Sensor installing plate；322：Candan universal joint；
323：Wireless tilt angle sensor；324：Battery installing plate；325：Tension sensor connecting pole；326：Tension sensor.
Fig. 8 is space three-dimensional with moving cell.
Label in figure：41：Triangle fixed block；42：Column；43：Gusset；44：Crossbeam；45：Horizontal linear module and transverse direction
Motor；46：Vertical linear module and longitudinal motor；47 vertical linear modules and vertical motor.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of suspension type six degree of freedom microgravity environment simulation system of the present invention includes Simulated Spacecraft 1, appearance
State is servo-actuated and fixed cell 2, buffering and sensor mounting unit 3 with space three-dimensional with moving cell 4.Simulated Spacecraft 1 passes through appearance
State is servo-actuated and fixed cell 2 is connected on buffering and sensor mounting unit 3, and buffering and sensor mounting unit 3 are connected to sky
Between three-dimensional with moving cell 4.
With reference to Fig. 2, Simulated Spacecraft 1 includes spacecraft bottom plate 11, spacecraft main body 12, spacecraft launching site end 13 with docking
Bar 14, spacecraft bottom plate 1 are arranged on the both ends of spacecraft main body 12 with spacecraft launching site end 13, spacecraft are arranged on to extension bar 14
On the end-face helical hole of butt end 13.
With reference to Fig. 3~Fig. 6, gesture follow-up and fixed cell 2 include rolling module 21, pitching and posture keep module 22,
Hanger bracket 23 and driftage module 24.Simulated Spacecraft 1 is connected by rolling module 21 with gesture follow-up and fixed cell 2, rolling
Module 21 keeps module 22 to be connected with pitching and posture, and pitching and posture keep module 22 to be arranged on the both sides of hanger bracket 23, hang
End floor beam center position is provided with driftage module 24 on hanger 23.Rolling module 21 includes interior fishplate bar fixing bolt 211, wobble shaft
Hold fixed jackscrew 212, connecting plate 213 is inscribed in rolling bearing, fixes 215, cambered surface pad 216 in rolling bearing 214, rolling bearing
With fixing nut 217, specific annexation is shown in Fig. 4；Pitching and posture keep module 22 to include electromagnetic braking 221, pitching connection
Plate 222, pitch bearing 223 and the outer fixed frame 224 of big bearing, specific annexation are shown in Fig. 5；It is outer solid that module 24 of going off course includes driftage
Fixed 241, driftage interior axle 242, driftage angular contact bearing 243 and driftage external connection end 245, specific annexation are shown in Fig. 6.
Connection installation steps with reference to Fig. 3~Fig. 6 Simulated Spacecrafts 1 and gesture follow-up and fixed cell 2 are：
1) 215 will be fixed in rolling bearing to be connected with spacecraft main body 12, pass through cambered surface pad 216 and fixing nut 217
Tentatively it is fixed it is above-mentioned between link position, the same mode of opposite side installs, ensures to fix 215 in the rolling bearing of both sides
Thread spindle axis is on the same line；
2) spacecraft launching site end 13 is connected with spacecraft main body 12, spacecraft bottom plate 11 is installed to spacecraft main body 12
On, extension bar 14 will be installed on spacecraft launching site end 13；
3) 215 cooperations will be fixed in the inner ring of rolling bearing 214 and rolling bearing, will by interior fishplate bar fixing bolt 211
Connecting plate 213 is fixed on the screwed hole that 215 are fixed in rolling bearing in rolling bearing, and jackscrew 212 is fixed by rolling bearing
The inner ring of rolling bearing 214 is connected with connecting plate 213 in rolling bearing with fixing 215 in rolling bearing, opposite side is with same
Step is installed；
4) pitch bearing 223 is installed in pitch linkage plate 222；
5) fixed frame 224 outside big bearing is fixed on the outer ring of rolling bearing 214, and by fixed frame 224 outside big bearing
Fixed on pitch bearing 223；
6) pitch linkage plate 222 is fixed on hanger bracket 23；
7) to other side repeat step 4)~6)；
8) crossbeam of hanger bracket 23 is horizontal fixed, both sides adjust and 215 and spacecraft main body are fixed in rolling bearing simultaneously
The link position of 12 rolling locating slot, until the keep level of Simulated Spacecraft 1；
9) pull down the spacecraft bottom plate 11 of Simulated Spacecraft 1, tighten fixing nut 217, will be fixed in rolling bearing 215 with
Spacecraft main body 12 is connected, and spacecraft bottom plate 11 is installed in spacecraft main body 12；
10) electromagnetic braking 221 of both sides is arranged on corresponding pitch linkage plate 212；
11) driftage interior axle 242 is connected with driftage angular contact bearing 243, driftage angular contact bearing 243 is installed to driftage
It is outer to fix in 241, driftage external connection end 244 is installed in driftage interior axle 242, its lower end is with going off course in angular contact ball bearing 243
Side fastening is enclosed, forms yawing unit 24；
12) yawing unit 24 is installed to the upper end of hanger bracket 23.
Include buffer module 31 and sensor installation measurement module 32, buffering with reference to Fig. 7 bufferings and sensor mounting unit 3
Module 31 includes lower spring end fixed block 311, stage clip 312, interior axle 313, spring overcoat 314 and extended type linear bearing 315；Pressure
Spring 312 is arranged in spring overcoat 314, its upper end and 315 times terminations of extended type linear bearing in spring overcoat 314
Touch, its lower end by lower spring end fixed block 311 be connected to in the interior axle 313 of the fit inside of extended type linear bearing 315, when
When spring overcoat 314 moves with respect to interior axle 313, the decrement of stage clip 312 changes therewith.Sensor installation measurement module 32 includes
Sensor installing plate 321, candan universal joint 322, wireless tilt angle sensor 323, battery installing plate 324, tension sensor connection
Post 325 and tension sensor 326, wireless tilt angle sensor 323 are arranged on sensor installing plate 321, sensor installing plate 321
It is fixed in the interior axle 313 of buffer module 31, the upper end of interior axle 313 is connected with the lower end of candan universal joint 322, candan universal joint
322 upper end is connected on tension sensor 326 by tension sensor connecting pole 325, on tension sensor connecting pole 325 also
Battery installing plate 324 is installed.Wireless tilt angle sensor 323 is measuring interior axle 313 relative to the fixing end of candan universal joint 322
Pivot angle, i.e., angle of inclination with respect to the horizontal plane, tension sensor 326 is measuring the change of power on stage clip 312.
With reference to Fig. 8, space three-dimensional includes triangle fixed block 41, column 42, gusset 43, crossbeam 44, x wire with moving cell 4
Property module and cross motor 45, vertical linear module and longitudinal motor 46 and vertical linear module and vertical motor 47.Triangle is consolidated
Block 41 is determined installed in the both sides of column 42 to be fixed with the external world, and triangle fixed block 41, column 42, gusset 43 and crossbeam 44 are formed
The support frame of this unit, horizontal linear module and cross motor 45 are arranged on crossbeam 44, vertical linear module and longitudinal motor
46 are arranged on the sliding block of horizontal linear module and cross motor 45, and vertical linear module and vertical motor 47 are arranged on vertical line
On property module and the sliding block of longitudinal motor 46.
With reference to Fig. 1~Fig. 3 and Fig. 7~Fig. 8, the order of connection between each unit for Simulated Spacecraft 1 be arranged on posture with
On dynamic and fixed cell 2, gesture follow-up and fixed cell 2 pass through the driftage external connection end 244 of module 24 and buffering and the sensor of going off course
The spring overcoat 314 of installation unit 3 connects, buffering and sensor mounting unit 3 by the connector of tension sensor 326 with it is empty
Between three-dimensional connected with the rack lower end of the vertical linear module and vertical motor 47 of moving cell 4.When the horizontal movement of Simulated Spacecraft 1
When drive buffer module 31 around sensor installation measurement module 32 Hooke's joint 322 swing, wireless tilt angle sensor 323
Measure angle change and pass information to control unit, control unit is by information processing drive motor driver control x wire
Property module and cross motor 45 and vertical linear module and the motion of longitudinal motor 46 eliminate angle change and actively follow simulation space flight
The horizontal movement of device 1；The spring overcoat 314 of buffer cell 31 is driven to be transported with respect to interior axle 313 when 1 vertical motion of Simulated Spacecraft
Dynamic, the power on stage clip 312 changes therewith, and the numerical value that measurement obtains is passed to control unit, control unit by tension sensor 326
The numerical value of tension sensor 326 is set to recover to the numerical value of setting by the vertical linear module of processing control and vertical motor movement,
So as to follow the vertical motion of Simulated Spacecraft 1 and compensate its gravity.When 1 pose adjustment of Simulated Spacecraft, gesture follow-up and
Fixed cell 2 can follow the Attitude control of Simulated Spacecraft 1, and to reduce external interference, Simulated Spacecraft 1 is completed posture and adjusted
When being docked after whole, by pitching and posture the electromagnetic braking 221 of module 22 can be kept to keep the existing posture of spacecraft.
Claims (1)
1. a kind of suspension type six degree of freedom microgravity environment simulation system, it is characterized in that：System includes Simulated Spacecraft, space three
Dimension is actively with moving cell, gesture follow-up and fixed cell, buffering and sensor mounting unit and control unit, buffering and sensor
Installation unit includes buffer module and sensor installation measurement module, and sensor installation measurement module includes wireless tilt angle sensor
And tension sensor；
Space three-dimensional actively with moving cell include triangle fixed block, column, gusset, crossbeam, horizontal linear module and cross motor,
Vertical linear module and longitudinal motor and vertical linear module and vertical motor, triangle fixed block are connected to column side for outer
Boundary is connected column, and triangle fixed block, column, gusset and crossbeam constitute space three-dimensional actively with the gusseted of moving cell
Structure, on the crossbeam of horizontal linear module and cross motor installation, vertical linear module and longitudinal motor are arranged on horizontal linear
On the sliding block of module and cross motor, vertical linear module and vertical motor are installed in vertical linear module and the cunning of longitudinal motor
On block；
The gesture follow-up and fixed cell include rolling module, pitching and posture and keep module, hanger bracket and driftage module, mould
Intend spacecraft to be connected with gesture follow-up and fixed cell by rolling module, rolling module keeps module to connect with pitching and posture
Connecing, pitching and posture keep module end floor beam center position on the both sides of hanger bracket, hanger bracket to be provided with driftage module,
Rolling module includes interior fishplate bar fixing bolt, rolling bearing fixes jackscrew, connecting plate, rolling bearing, rolling is inscribed in rolling bearing
Fixed, cambered surface pad and fixing nut in bearing；Pitching and posture keep module to include electromagnetic braking, pitch linkage plate, pitching
Bearing and the outer fixed frame of big bearing；It is external with going off course that module of going off course includes outer fixed, the driftage interior axle of driftage, driftage angular contact bearing
End；
The connection installation steps of Simulated Spacecraft and gesture follow-up and fixed cell are：
1) will fix in rolling bearing and be connected with spacecraft main body, by cambered surface pad and fixing nut tentatively fix it is above-mentioned between
Link position, the same mode of opposite side installs, and ensures thread spindle axis fixed in the rolling bearing of both sides with always
On line；
2) 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；
3) by secure fit in the inner ring of rolling bearing and rolling bearing, will be connected by interior fishplate bar fixing bolt in rolling bearing
Plate is fixed on screwed hole fixed in rolling bearing, and jackscrew is fixed by rolling bearing inner race and rolling bearing by rolling bearing
Interior connecting plate is connected with fixed in rolling bearing, and opposite side is installed with same step；
4) pitch bearing is installed in pitch linkage plate；
5) fixed frame outside big bearing is fixed on the outer ring of rolling bearing, and fixed frame outside big bearing is fixed to pitch bearing
On；
6) pitch linkage plate is fixed on hanger bracket；
7) to other side repeat step 4)~6)；
8) crossbeam of hanger bracket is horizontal fixed, both sides adjust the fixed rolling with spacecraft main body in rolling bearing and positioned simultaneously
The link position of groove, 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 of both sides is arranged on corresponding pitch linkage plate；
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；
The buffering and sensor mounting unit, which include buffer module and sensor installation measurement module, buffer module, includes spring
Lower end fixed block, stage clip, interior axle, spring overcoat and extended type linear bearing, extended type linear bearing are arranged on spring overcoat
End, its inwall coordinate with interior axle, and stage clip upper end and end in contact under extended type linear bearing, lower end is consolidated by lower spring end fixed block
It is fixed, sensor installation measurement module include sensor installing plate, candan universal joint, wireless tilt angle sensor, battery installing plate,
Force snesor connecting pole and tension sensor, wireless tilt angle sensor are arranged on sensor installing plate, sensor installing plate peace
In interior axle, interior axle is connected by pin and candan universal joint lower end, and the upper end of cross coupler is connected by tension sensor
Connect post to be connected on tension sensor, battery installing plate is also equipped with tension sensor connecting pole；
Simulated Spacecraft is arranged on gesture follow-up and fixed cell, the driftage that gesture follow-up and fixed cell pass through module of going off course
External connection end is connected with the spring overcoat of buffering and sensor mounting unit, and buffering and sensor mounting unit pass through tension sensor
Connector and space three-dimensional be connected with the vertical linear module of moving cell and the rack lower end of vertical motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414344.6A CN106005497B (en) | 2016-06-13 | 2016-06-13 | A kind of suspension type six degree of freedom microgravity environment simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414344.6A CN106005497B (en) | 2016-06-13 | 2016-06-13 | A kind of suspension type six degree of freedom microgravity environment simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106005497A CN106005497A (en) | 2016-10-12 |
| CN106005497B true CN106005497B (en) | 2018-01-02 |
Family
ID=57087780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610414344.6A Active CN106005497B (en) | 2016-06-13 | 2016-06-13 | A kind of suspension type six degree of freedom microgravity environment simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106005497B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742089B (en) * | 2016-11-16 | 2019-06-28 | 上海卫星工程研究所 | Three-axis air-bearing table variable bit rate Satellite General orbital simulation device and method |
| CN106980265B (en) * | 2017-06-06 | 2020-06-30 | 北京航空航天大学 | Output feedback robust H-infinity control method of suspension type low-gravity environment simulation system |
| CN107458630B (en) * | 2017-06-07 | 2020-06-30 | 北京航空航天大学 | Suspension point cross-scale tracking method for suspension type active gravity compensation system |
| CN107121931B (en) * | 2017-06-07 | 2019-11-12 | 北京航空航天大学 | Suspension type six degree of freedom microgravity environment simulation system TSM control method |
| CN107176312B (en) * | 2017-06-07 | 2019-09-20 | 北京航空航天大学 | Interfere measurable constant force suspension |
| CN107680466B (en) * | 2017-09-11 | 2019-05-31 | 西北工业大学 | The impeller system of the general payload platform of the magnet mixing suspended microgravity experiment of liquid |
| CN108674698B (en) * | 2018-05-21 | 2019-12-31 | 哈尔滨工业大学 | Gravity compensation device for seven-degree-of-freedom mechanical arm |
| CN109305394B (en) * | 2018-11-09 | 2020-08-07 | 北京空间技术研制试验中心 | Spacecraft close-range rendezvous test simplification method |
| CN110001328B (en) * | 2019-03-05 | 2021-09-28 | 上海宇航系统工程研究所 | Spacecraft simulation device |
| CN110481819B (en) * | 2019-08-22 | 2020-12-29 | 燕山大学 | Micro-gravity experiment platform based on halbach array permanent magnet |
| CN111554169B (en) * | 2020-06-01 | 2022-02-25 | 北京航宇振控科技有限责任公司 | Spacecraft space rendezvous ground control experiment system |
| CN111959833B (en) * | 2020-08-18 | 2022-02-15 | 天津航天机电设备研究所 | Butt joint device for spacecraft neutral buoyancy simulation test |
| CN113371235B (en) * | 2021-05-31 | 2022-07-22 | 哈尔滨工业大学 | Active and passive combined suspension type double-layer motion platform and using method |
| CN113264203B (en) * | 2021-05-31 | 2022-07-15 | 哈尔滨工业大学 | Multi-target six-degree-of-freedom microgravity ground simulation system and use method |
| CN113212816B (en) * | 2021-05-31 | 2022-04-12 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion simulation system and use method |
| CN114162352B (en) * | 2021-12-16 | 2023-11-10 | 北京卫星环境工程研究所 | Portable foot limiter for extravehicular activities of astronauts |
| CN114148554B (en) * | 2022-02-10 | 2022-04-15 | 伸瑞科技（北京）有限公司 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
| CN114571202B (en) * | 2022-02-24 | 2023-02-03 | 哈尔滨工业大学 | Low-stress assembly method for components in vertical direction |
| CN116767519B (en) * | 2023-06-18 | 2024-02-09 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103482089B (en) * | 2013-10-09 | 2015-04-08 | 北京航空航天大学 | Unrestricted suspension type initiative gravity compensation system |
| CN103818567B (en) * | 2014-03-24 | 2015-04-08 | 北京航空航天大学 | Design method of unconstrained suspension system with center of mass automatic alignment function |
| CN103879571B (en) * | 2014-04-10 | 2015-04-08 | 北京航空航天大学 | Design method for vertical constant force system |
-
2016
- 2016-06-13 CN CN201610414344.6A patent/CN106005497B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106005497A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106005497B (en) | A kind of suspension type six degree of freedom microgravity environment simulation system | |
| CN106005496B (en) | A kind of multi-point suspended formula active gravity compensation system | |
| CN103482089B (en) | Unrestricted suspension type initiative gravity compensation system | |
| CN105905320B (en) | A kind of active gravity compensation system for having driftage servo-actuated | |
| CN107161360B (en) | Replaceable free across the scale verifying device of pedestal motion reappearance of space tasks | |
| CN103085992A (en) | Spatial microgravity simulation experiment system | |
| CN106240841A (en) | A kind of gear test charger | |
| CN103818567B (en) | Design method of unconstrained suspension system with center of mass automatic alignment function | |
| CN103879571A (en) | Design method for vertical constant force system | |
| US20130104670A1 (en) | Test system for measuring and evaluating dynamic body forces | |
| CN105459086B (en) | A kind of freedom degree parallel connection posture adjustment platform of horizontal direction and yaw steering | |
| CN101509820A (en) | Triaxial air bearing table balance method and apparatus thereof | |
| CN107052735A (en) | Self-adapting flexible dress calibration system based on self-balancing | |
| CN105109713B (en) | The vertical subsystem control method of gravity compensation based on sliding-mode surface | |
| CN109159914A (en) | Unmanned plane with rotary inertia compensation function debugs platform | |
| Jia et al. | Preliminary design and development of an active suspension gravity compensation system for ground verification | |
| CN106081172B (en) | A kind of irregular spacecraft attitude servomechanism with inertia compensation | |
| CN105115685B (en) | Car body mass center test macro and method based on vehicle vibration test platform | |
| CN106275525B (en) | A kind of sun wing plate air supporting support ground simulation hanging expanding unit | |
| CN107244430A (en) | Magnetic hangs across the yardstick checking device of the free pedestal space tasks of comprehensive compensation | |
| CN204679828U (en) | The locating device of free form surface thin-walled parts | |
| CN216611662U (en) | Unmanned aerial vehicle aeromagnetic attitude calibration platform | |
| CN106005495B (en) | It is a kind of to maintain system without constraint suspension posture | |
| CN203241228U (en) | Device for simulating center of gravity of car trunk cover | |
| CN115791042A (en) | Suspension type spacecraft micro-vibration ground test free boundary simulation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |