CN106365044A - Gravity balance suspension following device and system and work method of system - Google Patents
Gravity balance suspension following device and system and work method of system Download PDFInfo
- Publication number
- CN106365044A CN106365044A CN201610915789.2A CN201610915789A CN106365044A CN 106365044 A CN106365044 A CN 106365044A CN 201610915789 A CN201610915789 A CN 201610915789A CN 106365044 A CN106365044 A CN 106365044A
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- China
- Prior art keywords
- steel wire
- motion
- wire rope
- obliquity sensor
- timing belt
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
Abstract
The invention discloses a gravity balance suspension following device and system and a work method of the system. The device comprises a system support, a Y-direction moving mechanism, an X-direction moving mechanism and a gravity direction suspension mechanism. The gravity direction suspension mechanism comprises a motor gear case combination, a winding wheel, a force sensor, a buffering cylinder, a buffering spring, a buffering guiding rod, a reversing buffering pulley, a guiding wheel, a steel wire rope, a hoisting wire traction handle, an X-direction tilt angle sensor, a Y-direction tilt angle sensor and a tilt angle sensor support. Tension of the steel wire rope is synthesized into pressure to be exerted on the force sensor through the intermediate reversing buffering pulley. The buffering spring in the buffering cylinder can passively and rapidly respond to the pressure change caused by the displacement of a space mechanism through the steel wire rope. According to the active and passive combined suspension mechanism and system, the tension sensor is fixed to the suspension mechanism, the problem about serial connection of the sensors is solved, and the system reliability is improved. Meanwhile, the active and passive combined manner is adopted, and the responding speed of the system is increased.
Description
Technical field
The present invention relates to a kind of gravitational equilibrium suspention hunting gear, system and its method of work, belong to field of mechanical technique.
Technical background
Simulation for ground space microgravity environment mainly adopts gravitational equilibrium mode, implements main inclusion outstanding
The mode such as hang, support.Sus-pension mainly includes active suspention and passive type suspends two ways in midair.Active sus-pension is adopted
With sensor as feedback quantity, by suitable control law by Motor drive suspension gear in the horizontal plane with the shifting of space mechanism
Move and move, and pull space mechanism with the gravity of the tension balanced space mechanism of steel wire rope by tightening up release steel wire rope,
Thus realizing space microgravity environment simulation.Active suspension system is limited to the response speed of motor, and system response time is slow, but
Control accuracy is high.And passive type suspention passively overcomes the gravity of space mechanism by balancing weight, keep steel wire rope perseverance pulling force, experiment
Device is simple；The general response ratio of passive type suspending way is very fast, but control accuracy is poor.Pulling force sensor in active mode realization
It is typically used in series in the middle of steel wire rope, due to the impact of sensor power cable etc., sensor is easily damaged, simultaneity factor needs to locate
The problem that reason cable moves up and down, system complex, reliability is low.
Content of the invention
Present invention aim at being directed to above-mentioned the deficiencies in the prior art, a kind of gravitational equilibrium suspention hunting gear being provided, is
System and its method of work, to solve active suspension system low-response in prior art, to be connected on steel wire due to pulling force sensor
In the middle of rope, the reliability that leads to is low, system complex the problems such as, improve the reliability of system；Adopted actively and passively simultaneously
The mode combining, also improves the response speed of system.
The present invention solves its technical problem and is adopted the technical scheme that: a kind of gravitational equilibrium suspends hunting gear, this dress in midair
Put including support 14, y to motion 11, x to motion 12, gravity direction suspension gear 13.
Y includes y to motor gearbox combination 111, y to Timing Belt 112 and y to synchronous pulley 113, y to motion 11
To motion guide rail 114, y to moving slide block 115.Wherein y is arranged in system frame 14 to synchronous pulley 113 by axle, and y is to electricity
Machine gear box combination 111, y are fixed in system frame to motion guide rail 114, and y is wound on y to synchronous pulley 113 to Timing Belt 112
On, y is fixed on x on motion 12 to moving slide block 115, and y is connected to motion 12 to Timing Belt 113 with x.Y is to electricity
Machine gear box combination 111 drives y to synchronous pulley 113, and synchronous pulley drives y to move to Timing Belt 113, is further driven to and y
To Timing Belt 113 connect x to motion 12 pass through y to moving slide block 115 along fixed system support on guide rail 114 move
Dynamic.
X includes x to motion substrate 121, x to motor gearbox combination 122, x to Timing Belt 123 to motion 12
And x is to synchronous pulley 124, x to motion guide rail 125, x to moving slide block 126.Wherein x is to motion substrate 121 and y to together
Step band 112 connection, x is arranged on x to synchronous pulley 124 on motion substrate 121 by axle, and x combines to motor gearbox
122nd, x is fixed on x on motion substrate 121 to motion guide rail 125, and x is wound on x to synchronous pulley 124 to Timing Belt 123
On, x is arranged on gravity direction suspension gear 13 to moving slide block 126, and x is to Timing Belt 123 and gravity direction suspension gear 13
Connect.X drives x to synchronous pulley 124 to motor gearbox combination 122, and synchronous pulley drives x to move to Timing Belt 123, enters one
Step drives passes through x to moving slide block 126 along x to motion guide rail with x to the gravity direction suspension gear 13 that Timing Belt 123 is connected
125 is mobile.
Gravity direction suspension gear 13 comprises base plate 1301, electric machine support 1302, motor gearbox combination 1303, reel
Support 1304, reel 1305, force transducer 1306, cushion dashpot 1307, buffer spring 1308, buffer-oriented bar 1309, commutation
Buffering pulley 1310, guide wheel bracket 1311, directive wheel 1312, steel wire rope 1313, hang spring traction handle 1314, x sense to inclination angle
Device 1315, y are to obliquity sensor 1316, obliquity sensor support 1317.Wherein base plate 1301 and x from x to motion 12 to
Timing Belt 123 connects.Electric machine support 1302, winding wheel support 1304, guide wheel bracket 1311, obliquity sensor support 1317 are solid
It is scheduled on base plate 1301.Motor gearbox combination 1303 is arranged on electric machine support 1302, and reel 1305 is arranged on by axle
On winding wheel support 1304, the output shaft of motor gearbox combination 1303 passes through shaft coupling and axle drives reel 1305 to rotate,
Steel wire rope 1313 is tightened up/discharged to reel 1305 by rotation.Force transducer 1306 one end is arranged on base plate 1301, the other end
It is connected with cushion dashpot 1307 bottom；Buffer spring 1308 is arranged in cushion dashpot 1307, and buffer-oriented bar 1309 one end is arranged on
In cushion dashpot 1307, withstand buffer spring 1309；Commutation buffering pulley 1310 is arranged on the another of buffer-oriented bar 1309 by axle
One end.By the steel wire rope 1313 laying out inside reel 1305, it is wound on commutation buffering pulley 1310 from outside.
It is connected when motor gearbox combination 1303 driving reel 1305 rotation pulling steel wire rope or with steel wire rope 1313
External loading motion when, by commutation buffering 1310 liang of side draws of pulley make a concerted effort, steel wire rope 1313 change successively be delivered to slow
Rush the pressure of guide post 1309, buffer spring 1308 and buffering cylinder body 1307, change further and be applied on force transducer 1306
Power, such that it is able to the change of pressure is obtained by force transducer 1306 measurement.
The pulling force of steel wire rope 1313 is synthesized pressure and is applied to force transducer 1306 by middle commutation buffering pulley 1310
On；Buffer spring 1308 in simultaneous buffering cylinder 1307 can pass through steel wire by fast respone space mechanism displacement in passive manner
The change of the pressure that rope 1313 leads to.
Directive wheel 1312 is arranged on guide wheel bracket 1311, by the steel wire rope laying out outside commutation buffering pulley 1310
1313, it is wound on directive wheel 1312 from inner side, the hole through on hang spring traction handle 1314, the last sling point with mechanism to be measured is even
Connect.Obliquity sensor support 1317 is arranged on base plate 1301, and y is arranged on obliquity sensor to the shell of obliquity sensor 1316
Support 1317, input shaft is connected to the shell of obliquity sensor 1315 with x.X is to the input shaft of obliquity sensor 1315 and hang spring
Traction handle 1314 is connected.
When space mechanism to be measured moves along x, y direction, steel wire rope 1313 can be made to produce skew, hang spring traction handle 1314
Producing skew with steel wire rope 1313, leading to x to rotate thus recording x to the axle of obliquity sensor 1316 to obliquity sensor 1315, y
To inclination angle, y to inclination angle.
Present invention also offers a kind of gravitational equilibrium suspends servo system in midair, comprising: above-mentioned gravitational equilibrium suspends servo-actuated dress in midair
Put 1, drive control module 2, man-machine interaction and display module 3；Drive control module 2 is suspended in midair in hunting gear 1 with gravitational equilibrium
Gravity direction suspension gear 13 in x to obliquity sensor 1315, y to obliquity sensor 1316, force transducer 1306 and electricity
Machine gear box combination 1303, x are connected to motor gearbox combination 122, y to motor gearbox combination 111, for motor gearbox
Combination 1303, x combine 111 motor control to motor gearbox combination 122, y to motor gearbox；Man-machine interaction and display mould
Parameter setting, the status displays such as block 3 is used for starting, stop, the input of servo-actuated and dependent instruction, balancing gravity and control,
Send instruction to control gravitational equilibrium suspention hunting gear 1 to drive control module 2 by instruction, and carry out status display.
Further, said system of the present invention is applied to the kinesiology of space mechanism and/or power in space environmental simulation
The test of situation.
Present invention also offers a kind of gravitational equilibrium suspends the method for work of servo system in midair, comprising:
First pass through the gravity that man-machine interaction display module 3 sets ready to balance, then pass through drive control module 2 and start weight
Dynamic balance suspends hunting gear 1 in midair.The change of the real-time measuring steel wire rope tension of force transducer 1306, and pulling force feedback of the information is given
Drive control module 2, drive control module controlled motor gear box combination 1303 is tightened up or is discharged steel wire rope, thus changing steel
Pulling force in cord, makes pulling force reach setting value.
X measures what space mechanism current with to be measured was connected to obliquity sensor 1315, y to obliquity sensor 1316 simultaneously
Steel wire rope offsets the angle of gravity direction, passes through x to motor gear box combination, y to motor tooth according to inclination angle size
Roller box combination control x make gravity direction suspension gear 13 along x and y to moving to motion 12, y to motion 11, make with
The angle that the steel wire rope that space mechanism to be measured connects offsets gravity direction is 0.
Then start the motion of space mechanism to be measured, when moving along x, y direction, x to obliquity sensor 1315, y to
The x that obliquity sensor 1316 records to inclination angle, y to inclination angle be not 0 when, according to inclination angle size pass through x to motor gear-box
Combination, y control x to make gravity direction suspension gear 13 to motion 12, y to motion 11 to motor gear box combination
Along x and y to moving, inclination angle is made to level off to 0.
Due to the motion of space mechanism to be measured, lineoutofservice signal pull can be made to produce change simultaneously, therefore same with said process
When, the change of the real-time measuring steel wire rope tension of force transducer 1306, and by pulling force feedback of the information to drive control module 2, drive
Dynamic control module 2 controlled motor gear box combination 1303 is tightened up by reel 1305 or is discharged steel wire rope 1313, thus changing
Become the pulling force on steel wire rope, make the force value that force transducer 1306 measures reach setting value.
Beneficial effect:
1, present invention achieves a kind of suspension gear actively and passively combining and system, pulling force sensor is fixed on
On suspension gear, solve sensor series relevant issues, improve the reliability of system.
2nd, the present invention using actively and passively combine by the way of, the buffer spring in cushion dashpot can be in passive manner
The change of the pressure that fast respone space mechanism displacement is led to by steel wire rope, improves the response speed of system.
3rd, the present invention is directed to general gravitational equilibrium suspension gear problem, devises one in combination with mode actively and passively
Plant suspension apparatus and system, pulling force sensor is fixed on suspension gear, solves the problems, such as sensor wire, improves system
Reliability；Simultaneously using actively and passively combine by the way of, also improve the response speed of system.
Brief description
Fig. 1 is to illustrate the schematic diagram that gravitational equilibrium of the present invention suspends servo system in midair.
Identifier declaration: 1- gravitational equilibrium suspention hunting gear；2- drive control module；3- man-machine interaction shows mould；14- props up
Frame；13- gravity direction suspension gear；111-y combines to motor gearbox；112-y is to Timing Belt；113-y is to synchronous pulley；
114-y is to motion guide rail；115-y is to moving slide block；121-x is to motion substrate；122-x combines to motor gearbox；
123-x is to Timing Belt；124-x is to synchronous pulley；125-x is to motion guide rail；126-x is to moving slide block.Fig. 2 is to illustrate gravity to put down
The upward view of weighing apparatus suspention hunting gear.
Identifier declaration: 13- gravity direction suspension gear；111-y combines to motor gearbox；112-y is to Timing Belt；113-
Y is to synchronous pulley；114-y is to motion guide rail；115-y is to moving slide block；122-x combines to motor gearbox；123-x is to synchronization
Band；124-x is to synchronous pulley；125-x is to motion guide rail.
Fig. 3 is the structural representation illustrating gravity direction suspension gear.
126-x is to moving slide block；1301- base plate；1302- electric machine support；1303- motor gearbox combines；1304- winds
Wheel support；1305- reel；1306- force transducer；1307- cushion dashpot；1308- buffer spring；1309- buffer-oriented bar；
1310- commutation buffering pulley；1311- guide wheel bracket；1312- directive wheel；1313- steel wire rope；1314- hang spring traction handle；
1315-x is to obliquity sensor；1316-y is to obliquity sensor；1317- obliquity sensor support.
Fig. 4 is the front view illustrating gravity direction suspension gear.
Identifier declaration: 1306- force transducer；1307- cushion dashpot；1308- buffer spring；1309- buffer-oriented bar；
1316-y is to obliquity sensor.
Fig. 5 is the rearview illustrating gravity direction suspension gear.
Identifier declaration: 1307- cushion dashpot；1309- buffer-oriented bar；1315-x is to obliquity sensor；1316-y is to inclination angle
Sensor.
Specific embodiment
With reference to Figure of description, the invention is described in further detail.
As shown in Figures 1 to 5, the invention provides a kind of gravitational equilibrium suspention hunting gear, this device include support 14,
Y is to motion 11, x to motion 12, gravity direction suspension gear 13.
Y includes y to motor gearbox combination 111, y to Timing Belt 112 and y to synchronous pulley 113, y to motion 11
To motion guide rail 114, y to moving slide block 115.Wherein y is arranged in system frame 14 to synchronous pulley 113 by axle, and y is to electricity
Machine gear box combination 111, y are fixed in system frame to motion guide rail 114, and y is wound on y to synchronous pulley 113 to Timing Belt 112
On, y is fixed on x on motion 12 to moving slide block 115, and y is connected to motion 12 to Timing Belt 113 with x.Y is to electricity
Machine gear box combination 111 drives y to synchronous pulley 113, and synchronous pulley drives y to move to Timing Belt 113, is further driven to and y
To Timing Belt 113 connect x to motion 12 pass through y to moving slide block 115 along fixed system support on guide rail 114 move
Dynamic.
X includes x to motion substrate 121, x to motor gearbox combination 122, x to Timing Belt 123 to motion 12
And x is to synchronous pulley 124, x to motion guide rail 125, x to moving slide block 126.Wherein x is to motion substrate 121 and y to together
Step band 112 connection, x is arranged on x to synchronous pulley 124 on motion substrate 121 by axle, and x combines to motor gearbox
122nd, x is fixed on x on motion substrate 121 to motion guide rail 125, and x is wound on x to synchronous pulley 124 to Timing Belt 123
On, x is arranged on gravity direction suspension gear 13 to moving slide block 126, and x is to Timing Belt 123 and gravity direction suspension gear 13
Connect.X drives x to synchronous pulley 124 to motor gearbox combination 122, and synchronous pulley drives x to move to Timing Belt 123, enters one
Step drives passes through x to moving slide block 126 along x to motion guide rail with x to the gravity direction suspension gear 13 that Timing Belt 123 is connected
125 is mobile.
Gravity direction suspension gear 13 comprises base plate 1301, electric machine support 1302, motor gearbox combination 1303, reel
Support 1304, reel 1305, force transducer 1306, cushion dashpot 1307, buffer spring 1308, buffer-oriented bar 1309, commutation
Buffering pulley 1310, guide wheel bracket 1311, directive wheel 1312, steel wire rope 1313, hang spring traction handle 1314, x sense to inclination angle
Device 1315, y are to obliquity sensor 1316, obliquity sensor support 1317.Wherein base plate 1301 and x from x to motion 12 to
Timing Belt 123 connects.Electric machine support 1302, winding wheel support 1304, guide wheel bracket 1311, obliquity sensor support 1317 are solid
It is scheduled on base plate 1301.Motor gearbox combination 1303 is arranged on electric machine support 1302, and reel 1305 is arranged on by axle
On winding wheel support 1304, the output shaft of motor gearbox combination 1303 passes through shaft coupling and axle drives reel 1305 to rotate,
Steel wire rope 1313 is tightened up/discharged to reel 1305 by rotation.Force transducer 1306 one end is arranged on base plate 1301, the other end
It is connected with cushion dashpot 1307 bottom；Buffer spring 1308 is arranged in cushion dashpot 1307, and buffer-oriented bar 1309 one end is arranged on
In cushion dashpot 1307, withstand buffer spring 1309；Commutation buffering pulley 1310 is arranged on the another of buffer-oriented bar 1309 by axle
One end.By the steel wire rope 1313 laying out inside reel 1305, it is wound on commutation buffering pulley 1310 from outside.
It is connected when motor gearbox combination 1303 driving reel 1305 rotation pulling steel wire rope or with steel wire rope 1313
External loading motion when, by commutation buffering 1310 liang of side draws of pulley make a concerted effort, steel wire rope 1313 change successively be delivered to slow
Rush the pressure of guide post 1309, buffer spring 1308 and buffering cylinder body 1307, change further and be applied on force transducer 1306
Power, such that it is able to the change of pressure is obtained by force transducer 1306 measurement.
The pulling force of steel wire rope 1313 is synthesized pressure and is applied to force transducer 1306 by middle commutation buffering pulley 1310
On；Buffer spring 1308 in simultaneous buffering cylinder 1307 can pass through steel wire by fast respone space mechanism displacement in passive manner
The change of the pressure that rope 1313 leads to.
Directive wheel 1312 is arranged on guide wheel bracket 1311, by the steel wire rope laying out outside commutation buffering pulley 1310
1313, it is wound on directive wheel 1312 from inner side, the hole through on hang spring traction handle 1314, the last sling point with mechanism to be measured is even
Connect.Obliquity sensor support 1317 is arranged on base plate 1301, and y is arranged on obliquity sensor to the shell of obliquity sensor 1316
Support 1317, input shaft is connected to the shell of obliquity sensor 1315 with x.X is to the input shaft of obliquity sensor 1315 and hang spring
Traction handle 1314 is connected.
When space mechanism to be measured moves along x, y direction, steel wire rope 1313 can be made to produce skew, hang spring traction handle 1314
Producing skew with steel wire rope 1313, leading to x to rotate thus recording x to the axle of obliquity sensor 1316 to obliquity sensor 1315, y
To inclination angle, y to inclination angle.
The gravitational equilibrium suspention servo system of the present invention, comprising: above-mentioned gravitational equilibrium suspention hunting gear 1, driving are controlled
Molding block 2, man-machine interaction and display module 3；Drive control module 2 suspends the gravity direction in hunting gear 1 in midair with gravitational equilibrium
X in suspension gear 13 is to obliquity sensor 1315, y to obliquity sensor 1316, force transducer 1306 and motor gearbox group
Close 1303, x to be connected to motor gearbox combination 122, y to motor gearbox combination 111, for motor gearbox combination 1303, x
Combine 111 motor control to motor gearbox combination 122, y to motor gearbox；Man-machine interaction and display module 3 are used for opening
Dynamic, stop, the input of servo-actuated and dependent instruction, parameter setting, the status display such as balancing gravity and control, send instructions to drive
Dynamic control module 2 is pressed instruction and is controlled gravitational equilibrium suspention hunting gear 1, and carries out status display.
The gravitational equilibrium of the present invention suspends the method for work of servo system in midair, comprising:
First pass through the gravity that man-machine interaction display module 3 sets ready to balance, then pass through drive control module 2 and start weight
Dynamic balance suspends hunting gear 1 in midair.The change of the real-time measuring steel wire rope tension of force transducer 1306, and pulling force feedback of the information is given
Drive control module 2, drive control module controlled motor gear box combination 1303 is tightened up or is discharged steel wire rope, thus changing steel
Pulling force in cord, makes pulling force reach setting value.
X measures what space mechanism current with to be measured was connected to obliquity sensor 1315, y to obliquity sensor 1316 simultaneously
Steel wire rope offsets the angle of gravity direction, passes through x to motor gear box combination, y to motor tooth according to inclination angle size
Roller box combination control x make gravity direction suspension gear 13 along x and y to moving to motion 12, y to motion 11, make with
The angle that the steel wire rope that space mechanism to be measured connects offsets gravity direction is 0.
Then start the motion of space mechanism to be measured, when moving along x, y direction, x to obliquity sensor 1315, y to
The x that obliquity sensor 1316 records to inclination angle, y to inclination angle be not 0 when, according to inclination angle size pass through x to motor gear-box
Combination, y control x to make gravity direction suspension gear to motion 12, y to motion 111 to motor gear box combination
13 along x and y to moving, and makes space mechanism inclination angle to be measured be 0.
Due to the motion of space mechanism to be measured, lineoutofservice signal pull can be made to produce change simultaneously, therefore same with said process
When, the change of force transducer 1306 system real-time measuring steel wire rope tension, and by pulling force feedback of the information to drive control module
2, drive control module 2 controlled motor gear box combination 1303 is tightened up by reel 1305 or is discharged steel wire rope 1313, from
And change the pulling force on steel wire rope, make the force value that force transducer 1306 measures reach setting value.
X wherein of the present invention employs encoder to y to obliquity sensor.Concrete digit is determined by the precision of required control
Fixed.
Concrete application approach of the present invention is a lot, the above be only the preferred embodiment of the present invention it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this
A little improvement also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of gravitational equilibrium suspention hunting gear it is characterised in that: described inclusion system frame, y are to motion, x to fortune
Motivation structure, gravity direction suspension gear；
Y includes y to motor gearbox combination, y to Timing Belt and y to synchronous pulley, y to motion guide rail, y to fortune to motion
Movable slider, wherein y are arranged in system frame to synchronous pulley by axle, and y combines to motor gearbox, y is solid to motion guide rail
Be scheduled in system frame, y is wound on y on synchronous pulley to Timing Belt, y is fixed on x on motion to moving slide block, y to
Timing Belt is connected to motion with x, and y combines to motor gearbox and drives y to synchronous pulley, and synchronous pulley drives y to synchronization
Band motion, be further driven to the x that is connected to Timing Belt with y to motion by y to moving slide block along along fixed system support
Guide rail move；
Described x includes x to motion substrate, x to motor gearbox combination, x to Timing Belt and x to Timing Belt to motion
, to motion guide rail, x to moving slide block, wherein x is connected to Timing Belt to motion substrate with y, and x passes through to synchronous pulley for wheel, x
Axle is arranged on x on motion substrate, x to motor gearbox combine, x be fixed on x to motion substrate to motion guide rail
On, x is wound on x on synchronous pulley to Timing Belt, and x is arranged on gravity direction suspension gear to moving slide block, x to Timing Belt with
Gravity direction suspension gear connects, and x combines to motor gearbox and drives x to synchronous pulley, and synchronous pulley drives x to transport to Timing Belt
Dynamic, it is further driven to pass through x to moving slide block along x to motion guide rail shifting with x to the gravity direction suspension gear that Timing Belt is connected
Dynamic.
2. a kind of gravitational equilibrium suspention hunting gear according to claim 1 it is characterised in that: described gravity direction suspention
Mechanism comprises base plate, electric machine support, motor gearbox combination, winding wheel support, reel, force transducer, cushion dashpot, buffering elastic
Spring, buffer-oriented bar, commutation buffering pulley, guide wheel bracket, directive wheel, steel wire rope, hang spring traction handle, x to obliquity sensor,
Y is connected to the x of motion to Timing Belt to obliquity sensor, obliquity sensor support, wherein base plate with x, electric machine support, volume
It is fixed on base plate around wheel support, guide wheel bracket, obliquity sensor support, motor gearbox combination is arranged on electric machine support
On, reel is arranged on winding wheel support by axle, and the output shaft of motor gearbox combination passes through shaft coupling and axle drives volume
Rotate around wheel, reel tightens up/discharge steel wire rope by rotation, force transducer one end is arranged on base plate, the other end and buffering
Cylinder bottom portion connects；Buffer spring is arranged in cushion dashpot, and buffer-oriented bar one end is arranged in cushion dashpot, withstands buffer spring；
Commutation buffering pulley is arranged on the other end of buffer-oriented bar by axle, by the steel wire rope laying out inside reel, from outside around
On commutation buffering pulley.
3. a kind of gravitational equilibrium suspention hunting gear according to claim 2 it is characterised in that: when motor gearbox combination
When driving reel rotation pulling steel wire rope or the external loading being connected with steel wire rope are moved, pulley both sides are buffered by commutation
Pulling force is made a concerted effort, and steel wire rope changes the pressure being delivered to buffer-oriented bar, buffer spring and buffering cylinder body successively, changes further and applies
It is added in the power on force transducer, thus obtain the change of pressure by force sensor measuring.
4. a kind of gravitational equilibrium according to claim 3 suspend hunting gear in midair it is characterised in that: middle commutation snubber slide
The pulling force of steel wire rope is synthesized pressure and is applied on force transducer by wheel；Buffer spring in simultaneous buffering cylinder can be with passive
The change of the pressure that mode fast respone space mechanism displacement is led to by steel wire rope.
5. a kind of gravitational equilibrium suspention hunting gear according to claim 2 it is characterised in that: directive wheel is arranged on guiding
On wheel support, by the steel wire rope laying out outside commutation buffering pulley, it is wound on directive wheel from inner side, through on hang spring traction handle
Hole, is finally connected with the sling point of mechanism to be measured, obliquity sensor support is arranged on base plate, and y is to the shell of obliquity sensor
Be arranged on obliquity sensor support, input shaft is connected to the shell of obliquity sensor with x, input shaft from x to obliquity sensor with
Hang spring traction handle is connected.
6. a kind of gravitational equilibrium suspention hunting gear according to claim 5 it is characterised in that: when space mechanism to be measured
Along steel wire rope when moving in x, y direction, can be made to produce skew, hang spring traction handle produces skew with steel wire rope, leads to x to sense to inclination angle
Device, y rotate thus recording x to inclination angle, y to inclination angle to the axle of obliquity sensor.
7. a kind of gravitational equilibrium suspends servo system in midair it is characterised in that including: above-mentioned gravitational equilibrium suspends hunting gear, drive in midair
Dynamic control module, man-machine interaction and display module；Drive control module suspends the gravity direction in hunting gear in midair with gravitational equilibrium
X in suspension gear is to obliquity sensor, y to the combination of obliquity sensor, force transducer and motor gearbox, x to motor gear
Case combination, y are connected to motor gearbox combination, for motor gearbox combination, x to motor gearbox combination, y to motor gear
The motor control of case combination；Man-machine interaction and display module be used for starting, stop, the input of servo-actuated and dependent instruction, balance weight
The parameter setting such as power and control, status display, send instructions to drive control module by instruction control gravitational equilibrium suspention with
Dynamic device, and carry out status display.
8. a kind of gravitational equilibrium suspends the method for work of servo system in midair it is characterised in that including:
Set the gravity of ready to balance by man-machine interaction display module, then gravitational equilibrium suspention is started by drive control module
Hunting gear, the change of force transducer real-time measuring steel wire rope tension, and by pulling force feedback of the information to drive control module, drive
Dynamic control module controlled motor gear box combination is tightened up or is discharged steel wire rope, thus changing the pulling force on steel wire rope, makes pulling force
Reach setting value；
The steel wire rope skew gravity side that x is currently connected with space mechanism to be measured to obliquity sensor, y to obliquity sensor measurement
To angle, according to inclination angle size pass through x to motor gear box combination, y to motor gear box combination control x to fortune
Motivation structure, y make gravity direction suspension gear along x and y to moving to motion, make the steel wire being connected with space mechanism to be measured
The angle of rope skew gravity direction is 0；
Start the motion of space mechanism to be measured, when moving along x, y direction, x surveys to obliquity sensor, y to obliquity sensor
X to inclination angle, y to inclination angle be not 0 when, according to inclination angle size pass through x to motor gear box combination, y to motor
Gear box combination controls x to make gravity direction suspension gear along x and y to moving to motion, y to motion, makes to be measured
Space mechanism inclination angle levels off to 0.
9. a kind of gravitational equilibrium according to claim 8 suspend in midair servo system method of work it is characterised in that: to be measured
The motion of space mechanism, can make lineoutofservice signal pull produce simultaneously and change, the change of force transducer real-time measuring steel wire rope tension, and
And by pulling force feedback of the information to drive control module, drive control module controlled motor gear box combination tightened up by reel or
Person discharges steel wire rope, thus changing the pulling force on steel wire rope, makes the force value of force sensor measuring reach setting value.
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| CN107175657A (en) * | 2017-05-11 | 2017-09-19 | 东北大学 | A kind of permanent magnetism variation rigidity drive module for flexible robot |
| CN108665762A (en) * | 2018-05-21 | 2018-10-16 | 哈尔滨工业大学 | A kind of lifting type constant force system |
| CN109540198A (en) * | 2018-10-17 | 2019-03-29 | 南京航空航天大学 | A kind of parabolic-cylinder antenna expansion reflecting surface ground-testing plant |
| CN113459314A (en) * | 2021-07-21 | 2021-10-01 | 钢研纳克检测技术股份有限公司 | Hyperboloid crystal forming device |
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