CN107176312A - Disturb measurable constant force suspension - Google Patents
Disturb measurable constant force suspension Download PDFInfo
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- CN107176312A CN107176312A CN201710425154.9A CN201710425154A CN107176312A CN 107176312 A CN107176312 A CN 107176312A CN 201710425154 A CN201710425154 A CN 201710425154A CN 107176312 A CN107176312 A CN 107176312A
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- curled hair
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- extension spring
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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
The measurable constant force suspension of present invention interference gives two kinds of embodiments, embodiment one includes execution unit, sensing measurement unit, buffer cell and main control unit, the stress of the measurable buffer cell of sensing measurement unit simultaneously passes to main control unit, main control unit passes through the control to execution unit, it is ensured that the power of the output on buffer cell is constant；Measurable constant force suspension embodiment two is disturbed to include curled hair execution unit, curled hair sensing unit, curled hair stabilization unit and main control unit, curled hair stabilization unit can prevent influence of the swing of the steel wire rope of curled hair execution unit to system, and the flexible connection of steel wire rope and spacecraft is changed into be rigidly connected, main control unit, which passes through, to be controlled curled hair execution unit to ensure that curled hair stabilization unit exports constant power.The present invention can provide it is constant or setting suspension force with compensate spacecraft ground checking when gravity, have the advantages that it is stable, be difficult it is high by external interference and compensation precision.
Description
Art
The invention belongs to spacecraft Navigation, Guidance and Control system ground verification technique field, and in particular to interference can be surveyed
Constant force suspension implementation method.
Background technology
Aerospace engineering is an excessive risk, high investment, high repayment, highly complex and high-precision system engineering, it
Can development degree decision seize high-tech commanding elevation, farthest utilize space resources.Certainly, accumulated in China
Pole development space technology research is extremely urgent, but space environment is extremely severe, in order to smoothly complete space mission, it is necessary on ground
Face is sufficiently tested, therefore each space flight mechanism all pays much attention to experimental verification of the spacecraft on ground both at home and abroad.
One most important feature of space environment is microgravity, however, is there is gravity environment ground experiment room, in order to
Ground reproduces the real motion situation in spacecraft space microgravity environment, improves ground validation Navigation, Guidance and Control system
The confidence level of experiment is, it is necessary to be that spacecraft sets up a microgravity environment close with space real conditions on ground.Realize
This target, its key is to compensate spacecraft gravity suffered in ground experiment room environmental.Existing this target realized
Means have liquid float glass process, weight-loss method, Bubble-floating Method, suspension method.Weight-loss method it is common for parabolic flight and freely falling body, the method lack
Point is that the time is short, occupancy space is big, space that is can providing is limited and cost is high；The damping of liquid float glass process is big, maintenance cost is high
And it is only suitable for the situation of low-speed motion, and Bubble-floating Method and suspension method system architecture are relatively easy, it is easy to set up micro- in laboratory
Gravity environment.Bubble-floating Method can only typically carry out the motion simulation of five degree of freedom, and suspension rule can carry out the simulation of six degree of freedom.
Number of patent application is CN201220400797 " the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure "
Disclose and a kind of gravity suffered by spacecraft is compensated simultaneously by suspend " parallel connection " scheme of integration of motor ball-screw and cylinder
The freedom of motion of its vertical direction is provided, the problem of Bubble-floating Method can only carry out five degree of freedom motion simulation is solved, but it is tied
Structure is relative complex, and air compression processing equipment floor space is big, and marble involves great expense；Number of patent application is
CN201310466806 " one kind is without constraint suspension formula active gravity compensation design method " discloses one kind by hang spring
The gravity of tension force suspension compensation spacecraft provides the freedom of motion of vertical direction, but spacecraft moment stress is thought highly of more than space flight
During power, the tension force on hang spring is undergone mutation, and the performance to compensation system proposes high requirement；Thus need to seek a kind of letter
Single effective method provides constant force for suspension type compensation system.
In existing such constant force system, constant force is provided using steel wire rope, when the power change on steel wire rope, is actively mended
Repay, but the power moment on steel wire rope changes, when the external force that spacecraft is subject to is more than the gravity of spacecraft, steel wire rope pine
Relax, compensation has the risk of transient failure；The component designed by spring assembly meets spacecraft in certain range of movement,
The power that spring system provides is constant, but required precision of the method to spring constant is high, and range of movement is small and complicated；Pass through
The constant force system stage clip stiffness factor of stage clip design is small to produce lateral bending when weight is loaded, and friction can increase, stage clip stiffness
Coefficient can then reduce greatly system accuracy, and bi-motor adds the design method of torsion spring, and control is complicated, and vertical direction is easily disturbed.
The content of the invention
The present invention, which is proposed, to be difficult by ectocine, disturbs measurable constant force suspension design method, so as to ensure boat
Its device ground experiment is not influenceed when verifying by gravity, in microgravity environment, and can detect spacecraft motion and outer
Disturb the influence to system in boundary.
Technical scheme：
The measurable constant force suspension embodiment one of present invention interference includes execution unit, sensing measurement unit, buffering
Unit and main control unit.Execution unit includes linear module, motor mounting plate, servomotor, power transmission shaft, vertical baffle plate, transverse direction
Baffle plate and braking roll, servomotor are installed on linear module by motor mounting plate, and linear module is driven by power transmission shaft
Rack is moved；Sensing measurement unit includes wireless tilt angle sensor, the plate that is connected, fixed plate flange, flange fixing bolt, ten
Word shaft universal-joint and tension sensor, wireless tilt angle sensor are arranged on and are connected on plate, and fixed plate flange one end passes through method
Blue fixing bolt, which is affixed to, to be connected on plate, and its other end is connected with Hooke's joint one end, and Hooke's joint is another
End is connected with tension sensor, and tension sensor is connected with the rack of the linear module of execution unit；Buffer cell include outer pin,
Steel pipe, location nut, linear bearing, fixed cover, safety bolt, extension spring lower end are fixed, extension spring, extension spring upper end are fixed and fixed cover
Connecting bolt, fixed cover one end being connected on plate fixed to sensing measurement unit, the other end by fixed cover connecting bolt
Linear bearing is fixed with by location nut, the two ends of extension spring are connected respectively to the fixation of extension spring upper end and fixed with extension spring lower end,
Extension spring upper end is fixedly mounted in the fixed plate of sensing measurement unit, and extension spring lower end is fixedly mounted on steel pipe, to prevent extension spring
Fracture suddenly causes device failure, and extension spring lower end, which is fixed, is provided with safety bolt, and steel pipe coordinates with linear bearing, in linear axis
Reciprocally moved along a straight line in the presence of execution unit under the support held, outer pin is also combined with steel pipe and is conveniently connected with spacecraft
Connect；Main control unit includes control card and driver.
Disturb measurable constant force suspension embodiment two to include curled hair execution unit, curled hair sensing unit, curled hair to prevent
Unit and main control unit are trembled, curled hair execution unit includes main fixed plate, directive wheel, steel wire rope, curled hair motor mounting plate, pressure-sensitive biography
Sensor, curled hair Buffer Unit and curled hair motor, curled hair motor are arranged on curled hair motor mounting plate, and curled hair buffering is provided with thereon
Component, curled hair Buffer Unit include curled hair wheel, plane scroll spring, curled hair power transmission shaft and rolling bearing, curled hair wheel shaft with
The motor shaft of curled hair motor is connected, and with rolling bearing fit inside, coordinate with curled hair wheel on the outside of rolling bearing, plane scroll bullet
Spring two ends are connected with curled hair power transmission shaft and curled hair wheel respectively, and curled hair motor mounting plate is arranged in main fixed plate, is also fixed thereon
There are voltage sensitive sensor and directive wheel, steel wire rope is connected on the curled hair wheel of curled hair Buffer Unit, through voltage sensitive sensor, be oriented to
Wheel is connected with curled hair sensing unit with curled hair stabilization unit；Curled hair sensing unit includes wireless tilt angle sensor, supporting plate, support
Plate adpting flange, supporting plate connecting bolt and hollow universal joint, wireless tilt angle sensor are installed on the supporting plate, supporting plate connection
Flange one end is fixed in supporting plate by supporting plate connecting bolt, and the other end is connected with hollow universal joint, supporting plate and support
Plate adpting flange also leaves through hole, it is ensured that the steel wire rope of curled hair execution unit passes through；Curled hair stabilization unit includes outer pin, steel
Pipe, location nut, linear bearing, fixed cover, safety bolt, fixed cover connecting bolt and steel-wire fastener, linear bearing lead to
Cross location nut to be installed on fixed cover, be combined with steel pipe in it, one end of steel pipe is provided with outer pin, and the other end is fixed with steel
Wire rope fastener, steel-wire fastener is installed to curled hair by fixed cover connecting bolt and sensed to the steel wire rope that is connected, fixed cover
In the supporting plate of unit；Main control unit includes control card and driver.
It is the power of extension spring when spacecraft is static or during linear uniform motion to disturb measurable constant force suspension operation principle
Or the equivalent force of plane scroll spring moment of torsion is consistently equal to the gravity of spacecraft, spacecraft vertical motion is not influenced by gravitation, when
During spacecraft stress variable motion, the power of extension spring or the torque of plane scroll spring change, tension sensor or pressure-sensitive biography
Sensor measures this change, and main control unit is by controlling execution unit or curled hair execution unit to compensate, so as to ensure space flight
Device is not influenceed in vertical arbitrary motion by gravity.
The measurable constant force suspension of interference proposed by the present invention, it is easy to operate, spacecraft and steel pipe are passed through into outer pin
Connection, stable equilibrium point to be achieved, upper electricity can just work.
The existing technology of present invention contrast has following features：
1st, spring buffer is added, when the power that spacecraft vertical direction is subject to exceedes the gravity of spacecraft, spring is still
The compensation of degree of precision can be provided；
2nd, extension spring be easy to assembling, it is not necessary to pretightning force, and in the absence of stage clip lateral bending the problem of；
3rd, plane scroll spring can reduce the frictional force with connecting shaft relative to torsion spring；
4th, the probabilistic influence that can effectively prevent the flexible-belt of steel wire rope from coming.
Brief description of the drawings
Fig. 1 is the front view and axonometric drawing of embodiment of the present invention one.
Label in figure：1：Execution unit；2：Sensing measurement unit；3：Buffer cell.
Fig. 2 is the sectional view and axonometric drawing of the front view of the execution unit of embodiment of the present invention one.
Fig. 3 is the sectional view of the top view of the execution unit of embodiment of the present invention one.
Label in Fig. 2 and Fig. 3：10：Linear module；11：Motor mounting plate；12：Servomotor；13：Power transmission shaft；14：It is perpendicular
To baffle plate；15：Transverse baffle；16：Braking roll；101：Rack.
Fig. 4 is the vertical baffle plate of execution unit of the present invention.
Label in figure：141：Vertical baffle plate through hole；142：Vertical baffle plate screwed hole.
Fig. 5 is the braking roll of execution unit of the present invention.
Label in figure：161：Stop shaft relief
Fig. 6 is the sensing measurement unit of embodiment of the present invention one.
Label in figure：20：Wireless tilt angle sensor；21：Be connected plate；22：Fixed plate flange；23：Flange fixes spiral shell
Bolt；24：Hooke's joint；25：Tension sensor.
Fig. 7 is the sectional view and axonometric drawing of the front view of the buffer cell of embodiment of the present invention one.
Fig. 8 is the sectional view of the buffer cell of embodiment of the present invention one.
Label in Fig. 7 and Fig. 8：30：Outer pin；31：Steel pipe；32：Location nut；33：Linear bearing；34：Fixed cover；
35：Safety bolt；36：Extension spring lower end is fixed；37：Extension spring；38：Extension spring upper end is fixed；39：Fixed cover connecting bolt.
Fig. 9 is the front view of embodiment of the present invention two.
Label in figure：4：Curled hair execution unit；5：Curled hair sensing unit；6：Curled hair stabilization unit.
Figure 10 is the curled hair execution unit of embodiment of the present invention two
Label in figure：40：Main fixed plate；41：Directive wheel；42：Steel wire rope；43：Curled hair motor mounting plate；44：It is pressure-sensitive to pass
Sensor；45：Curled hair Buffer Unit；46：Curled hair motor.
Figure 11 is the curled hair Buffer Unit of embodiment of the present invention two.
Label in figure：451：Curled hair wheel；452：Plane scroll spring；453：Curled hair power transmission shaft；454：Rolling bearing.
Figure 12 is the curled hair sensing unit of embodiment of the present invention two.
Label in figure：50：Supporting plate；51：Supporting plate adpting flange；52：Supporting plate connecting bolt；53：Hollow universal joint.
Figure 13 is the curled hair stabilization unit of embodiment of the present invention two.
Label in figure：60：Steel-wire fastener.
Figure 14 is the curled hair stabilization unit sectional view of embodiment of the present invention two.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1, disturb measurable constant force suspension embodiment one include execution unit 1, sensing measurement unit 2,
Buffer cell 3 and main control unit.Buffer cell 3 is connected 2, sensing measurement unit 2 with execution unit 1 by sensing measurement unit
The stress of measurable buffer cell 3 and under various interference caused by buffer cell 3 and sensing measurement unit 2 swing, from
And relevant information is passed into main control unit, main control unit passes through the control to execution unit 1, it is ensured that defeated on buffer cell 3
The force spent is constant.
With reference to Fig. 2 to Fig. 5, execution unit 1 includes linear module 10, motor mounting plate 11, servomotor 12, power transmission shaft
13rd, vertical baffle plate 14, transverse baffle 15 and braking roll 16, rack 101 is the part of linear module, and power transmission shaft 13 is arranged on
On the motor shaft of servomotor 12, servomotor 12 is arranged on linear module 10 by motor mounting plate 11, so that with moving-wire
Property module 10 rack 101 move along a straight line, vertical baffle plate 14 and transverse baffle 15 are connected, and are fitted with linear module 10, erect
It is machined with that vertical baffle plate through hole 141 and vertical baffle plate are used to and the stop shaft relief 161 of braking roll 16 coordinates on to baffle plate 14, when
When needing to fix rack 101, the vertical baffle plate through hole 121 and the stop shaft relief 161 of braking roll 16 of vertical baffle plate 14 coordinate,
And passed through with bearing pin, now braking roll 16 can rotate certain limit relative to vertical baffle plate 14, facilitate capturing position by rack 101
It is fixed, when needing rack 101 being fixed on ad-hoc location, vertical baffle plate screwed hole 142 and the braking roll 16 of vertical baffle plate 14
Stop shaft relief 161 coordinate, vertical baffle plate 14 and braking roll 16 are connected with bolt.
With reference to Fig. 6, sensing measurement unit 2 include wireless tilt angle sensor 20, the plate 21 that is connected, fixed plate flange 22,
Flange fixing bolt 23, Hooke's joint 24 and tension sensor 25, wireless tilt angle sensor 20 are fixed on the plate that is connected
On 21, the one end of fixed plate flange 22 is connected by flange fixing bolt 23 and the plate 21 that is connected, its other end and cross axle ten thousand
To the connection of 24 one end of section, the other end of Hooke's joint 24 is connected with the one end of tension sensor 25, the other end of tension sensor 25
It is connected with the rack 101 of execution unit 1；Tension sensor 25 can detect the power on buffer cell 3, and wireless tilt angle sensor 20 can
When measuring spacecraft vertical motion spacecraft in itself and influence of the external disturbance to system level face of the present invention, to enter
The row later stage corrects.
Include outer pin 30, steel pipe 31, location nut 32, linear bearing 33, fixed cover with reference to Fig. 7 and Fig. 8 buffer cells 3
34th, safety bolt 35, extension spring lower end fix 36, extension spring 37, extension spring upper end and fix 38 and fixed cover connecting bolt 39, outer pin 30
Installed in one end of steel pipe 31, the other end of steel pipe 31 is fixed 36 with extension spring lower end and is connected, and steel pipe 31 by location nut 32 with being pacified
The inwall of linear bearing 33 in fixed cover 34 coordinates, and safety bolt 35 is fixed on 36 installed in extension spring lower end, extension spring 37
Two ends, which fix 37 with extension spring lower end respectively and fix 38 with extension spring upper end, to be connected, and extension spring upper end fixes 38 and is arranged on sensing measurement unit
2 are connected on plate 21, and fixed cover 34 is arranged on being connected for sensing measurement unit 2 also by fixed cover connecting bolt 39
On plate 21；When safety bolt 35 ensures to be broken caused by the fatigue fracture of extension spring 37 or other reasonses, steel pipe 31 not with buffer cell 3
Separation causes danger；When the power on steel pipe 31 changes, the power in extension spring 37 being attached thereto can also change therewith, finally
It is delivered on the tension sensor 25 of sensing measurement unit 2.
It is with reference to the installation step of Fig. 7 and Fig. 8 buffer cells 3
1) extension spring upper end is fixed 38 be installed to and be connected on plate 21；
2) safety bolt 35 is fixed on 36 installed in extension spring lower end；
3) two end portions of extension spring 37 are connected to extension spring upper end fix 38 and fix on 36 with extension spring lower end；
4) extension spring lower end is fixed into 36 to be connected on steel pipe 31；
5) steel pipe 31 is passed through into fixed cover 34；
6) inwall of linear bearing 33 is coordinated with steel pipe 31, and linear bearing 33 is installed to fixation by location nut 32
Set
On 34；
7) fixed cover 34 is fixed to by fixed cover connecting bolt 39 and be connected on plate 21；
8) finally outer pin 30 is installed on steel pipe 31.
Measurable constant force suspension embodiment two is disturbed to include curled hair execution unit 4, curled hair sensing unit with reference to Fig. 9
5th, curled hair stabilization unit 6 and main control unit, curled hair stabilization unit 6 are connected by curled hair sensing unit 5 with curled hair execution unit 4.
Include main fixed plate 40, directive wheel 41, steel wire rope 42, curled hair motor with reference to Figure 10 and Figure 11 curled hairs execution unit 4
Installing plate 43, voltage sensitive sensor 44, curled hair Buffer Unit 45 and curled hair motor 46, curled hair Buffer Unit 45 include curled hair wheel 451,
Plane scroll spring 452, curled hair power transmission shaft 453 and rolling bearing 454, inner ring and the curled hair power transmission shaft 453 of rolling bearing 454 are matched somebody with somebody
Close, its outer ring coordinates with curled hair wheel 451, and the both sides of plane scroll spring 452 are matched somebody with somebody with curled hair power transmission shaft 453 with curled hair wheel 452 respectively
Close, curled hair Buffer Unit 45 is installed to by curled hair power transmission shaft 453 on the motor shaft of curled hair motor 46, and curled hair motor 46 is arranged on
On curled hair motor mounting plate 43, curled hair motor mounting plate 43 is arranged in main fixed plate 40, and voltage sensitive sensor is also equipped with thereon
44 are fixed on the curled hair wheel 451 of curled hair Buffer Unit 45 with directive wheel 41, one end of steel wire rope 42, and voltage sensitive sensor 44 is used to
Power on measuring steel wire rope 42.
With reference to Figure 12 curled hairs sensing unit 5 include wireless tilt angle sensor 20, supporting plate 50, supporting plate adpting flange 51,
Supporting plate connecting bolt 52 and hollow universal joint 53, wireless tilt angle sensor 20 are arranged in supporting plate 50, supporting plate connection method
Blue 51 one end are connected in supporting plate 50 by supporting plate connecting bolt 52, and its other end is connected in hollow universal joint 53.
With reference to Figure 13 and Figure 14 curled hair stabilizations unit 6 include outer pin 30, steel pipe 31, location nut 32, linear bearing 33,
Fixed cover 34, safety bolt 35, fixed cover connecting bolt 39 and steel-wire fastener 60, the steel wire rope 42 of curled hair execution unit 4
The other end is connected with steel-wire fastener 60, and steel-wire fastener 60 is connected thereto with steel pipe 31 and is also equipped with safety bolt 36,
Steel pipe 31 coordinates with the inwall of linear bearing 33 being arranged on by location nut 32 on fixed cover 34, is further fixed on steel pipe 31 outer
Pin 30, fixed cover 34 is installed in the supporting plate 50 of curled hair sensing unit 5 by fixed cover connecting bolt 39.
With reference to Fig. 9 to Figure 14, curled hair stabilization unit 6 can prevent the swing of the steel wire rope 41 of curled hair execution unit 4 to system
Influence, and the flexible connection of steel wire rope 41 and spacecraft be changed into be rigidly connected, when the power change on steel pipe 31, therewith
41 power also changes therewith on the steel wire of connection, and voltage sensitive sensor 44 can detect the control that this change passes to main control unit
Card, motion compensation this change of control curled hair execution unit 4, so as to ensure that steel pipe 31 exports constant force.
Claims (7)
1. the measurable constant force suspension of interference, it is characterized in that：Embodiment of the present invention one includes execution unit, sensing measurement list
Member, buffer cell and main control unit, buffer cell are connected with execution unit by sensing measurement unit, and sensing measurement unit can be surveyed
Stress and buffer cell and the swing of sensing measurement unit of buffer cell are measured, main control unit passes through the control to execution unit
System, it is ensured that the power of the output on buffer cell is constant；
Execution unit includes linear module, motor mounting plate, servomotor, power transmission shaft, vertical baffle plate, transverse baffle and stop
Axle, rack is the part of linear module, and power transmission shaft is arranged on the motor shaft of servomotor, and servomotor is pacified by motor
Plate is filled to be arranged on linear module, so that the motion of the rack linear with linear module, vertical baffle plate is connected with transverse baffle, and
Fitted with linear module, be machined with vertical baffle plate vertical baffle plate through hole and vertical baffle plate be used to and braking roll stop axial trough
Mouth coordinates, when needing to fix rack, and the vertical baffle plate through hole of vertical baffle plate and the stop shaft relief of braking roll coordinate, and are used in combination
Bearing pin is passed through, now braking roll can relatively vertical flapper, capturing position fixes rack, when needing to be fixed on rack
During ad-hoc location, the stop shaft relief of the vertical baffle plate screwed hole of vertical baffle plate and braking roll coordinates, with bolt by vertical baffle plate
It is connected with braking roll.
2. the measurable constant force suspension of interference according to claim 1, it is characterized in that：Sensing measurement unit includes wireless
Obliquity sensor, the plate that is connected, fixed plate flange, flange fixing bolt, Hooke's joint and tension sensor, wirelessly incline
Angle transducer, which is fixed on, to be connected on plate, and fixed plate flange one end is connected by flange fixing bolt and the plate that is connected, its
The other end is connected with Hooke's joint one end, and the Hooke's joint other end is connected with tension sensor one end, tension force sensing
The rack of the device other end and execution unit is connected.
3. the measurable constant force suspension of interference according to claim 1 or 2, it is characterized in that：Buffer cell includes external
Pin, steel pipe, location nut, linear bearing, fixed cover, safety bolt, extension spring lower end are fixed, extension spring, extension spring upper end fix with it is solid
Surely cover connecting bolt, outer pin is arranged on one end of steel pipe, the steel pipe other end is fixedly connected with extension spring lower end, steel pipe with by calmly
The linear bearing inwall that position nut is arranged in fixed cover coordinates, and safety bolt is arranged on extension spring lower end and fixed, and the two of extension spring
End is fixed with extension spring lower end be fixedly connected with extension spring upper end respectively, and the connection that extension spring upper end is fixedly mounted on sensing measurement unit is consolidated
In fixed board, fixed cover being connected on plate installed in sensing measurement unit also by fixed cover connecting bolt；Safety bolt is protected
When demonstrate,proving extension spring fracture, steel pipe is not separated with buffer cell.
4. the measurable constant force suspension of interference according to claim 3, it is characterized in that：The installation step of buffer cell is
1) extension spring upper end is fixedly installed to and be connected on plate；
2) safety bolt is arranged on into extension spring lower end to fix；
3) two end portions of extension spring are connected into the fixation of extension spring upper end to fix with extension spring lower end；
4) extension spring lower end is fixedly attached on steel pipe；
5) steel pipe is passed through into fixed cover；
6) linear bearing inwall and steel pipe are coordinated, and linear bearing is installed on fixed cover by location nut；
7) fixed cover is fixed to by fixed cover connecting bolt and be connected on plate；
8) finally outer pin is installed on steel pipe.
5. the measurable constant force suspension of interference according to claim 1, it is characterized in that：Embodiment of the present invention two includes
Curled hair execution unit, curled hair sensing unit, curled hair stabilization unit and main control unit, curled hair stabilization unit pass through curled hair sensing unit
It is connected with curled hair execution unit；
Curled hair execution unit includes main fixed plate, directive wheel, steel wire rope, curled hair motor mounting plate, voltage sensitive sensor, curled hair buffering
Component and curled hair motor, curled hair Buffer Unit include curled hair wheel, plane scroll spring, curled hair power transmission shaft and rolling bearing, roll
The inner ring of bearing coordinates with curled hair power transmission shaft, and its outer ring coordinates with curled hair wheel, and plane scroll spring both sides are driven with curled hair respectively
Axle coordinates with curled hair wheel, and curled hair Buffer Unit is installed to by curled hair power transmission shaft on the motor shaft of curled hair motor, curled hair motor peace
On curled hair motor mounting plate, curled hair motor mounting plate be arranged on main fixed plate on, be also equipped with thereon voltage sensitive sensor with
Directive wheel, one end of steel wire rope is fixed on the curled hair wheel of curled hair Buffer Unit, and voltage sensitive sensor is on measuring steel wire rope
Power.
6. the measurable constant force suspension of interference according to claim 5, it is characterized in that：Curled hair sensing unit includes wireless
Obliquity sensor, supporting plate, supporting plate adpting flange, supporting plate connecting bolt and hollow universal joint, wireless tilt angle sensor peace
On the supporting plate, supporting plate adpting flange one end is connected in supporting plate dress by supporting plate connecting bolt, the connection of its other end
Onto hollow universal joint.
7. the measurable constant force suspension of interference according to claim 5 or 6, it is characterized in that：Curled hair stabilization unit includes
Outer pin, steel pipe, location nut, linear bearing, fixed cover, safety bolt, fixed cover connecting bolt and steel-wire fastener, volume
The steel wire rope other end of silk execution unit is connected with steel-wire fastener, and steel-wire fastener is also equipped with thereon with fastener for connection
Safety bolt, steel pipe coordinates with the linear bearing inwall being arranged on by location nut on fixed cover, is further fixed on steel pipe outer
Pin, fixed cover is installed to by fixed cover connecting bolt in the supporting plate of curled hair sensing unit, and curled hair stabilization unit can be prevented
Influence of the swing of the steel wire rope of curled hair execution unit to system, and the flexible connection of steel wire rope and spacecraft is changed into rigidity
Connection, when the power change on steel pipe, the power on steel wire being attached thereto also changes therewith, and voltage sensitive sensor can detect this
Change passes to the control card of main control unit, this change of control curled hair execution unit motion compensation, so as to ensure that steel pipe is exported
Constant force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425154.9A CN107176312B (en) | 2017-06-07 | 2017-06-07 | Interfere measurable constant force suspension |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425154.9A CN107176312B (en) | 2017-06-07 | 2017-06-07 | Interfere measurable constant force suspension |
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| CN107176312B CN107176312B (en) | 2019-09-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111792461A (en) * | 2020-06-29 | 2020-10-20 | 南京理工大学 | Rope winding and unwinding mechanism with small tension and winding prevention and slow release functions |
| CN112098036A (en) * | 2020-11-23 | 2020-12-18 | 中国空气动力研究与发展中心高速空气动力研究所 | Interference force calibration device and method for wind tunnel test blade supporting device |
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| CN106005497A (en) * | 2016-06-13 | 2016-10-12 | 北京航空航天大学 | Suspension type six-degree-of-freedom micro-gravity environment simulating system |
| CN106218926A (en) * | 2016-07-20 | 2016-12-14 | 上海宇航系统工程研究所 | A kind of low resistance suspension suspension type developing test device |
| CN106628279A (en) * | 2016-11-08 | 2017-05-10 | 上海宇航系统工程研究所 | System and method for balancing friction force of solar cell array suspension unfolding device |
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| CN111792461A (en) * | 2020-06-29 | 2020-10-20 | 南京理工大学 | Rope winding and unwinding mechanism with small tension and winding prevention and slow release functions |
| CN112098036A (en) * | 2020-11-23 | 2020-12-18 | 中国空气动力研究与发展中心高速空气动力研究所 | Interference force calibration device and method for wind tunnel test blade supporting device |
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