CN107757955A - Multi-joint space mechanism gravity unloading device - Google Patents
Multi-joint space mechanism gravity unloading device Download PDFInfo
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- CN107757955A CN107757955A CN201710840028.XA CN201710840028A CN107757955A CN 107757955 A CN107757955 A CN 107757955A CN 201710840028 A CN201710840028 A CN 201710840028A CN 107757955 A CN107757955 A CN 107757955A
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- hoist cable
- platform
- space mechanism
- dimentional
- flexible
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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 invention discloses a kind of multi-joint space mechanism gravity unloading device, there is a mounting platform wherein in frame, two-dimentional compliant platform is set on platform, each compliant platform can move in horizontal both direction, permanent tension control unit is set on platform, it is connected by flexible hoist cable with force transfer mechanism and tension force is controlled by folding and unfolding hoist cable, force transfer mechanism is connected with the multi-joint space mechanism that need to be tested, by by hoist cable transmission Lai power be assigned in space mechanism, during experiment, compliant platform tracks the motion of space mechanism, hoist cable is set to be in vertical state all the time, force transfer mechanism follows motion simultaneously, make joint barycenter of the hoist cable extended line all the time by space mechanism's counterpart member.Use level position servo tracking of the present invention keeps hoist cable vertical, keeps hoist cable pulling force by being controlled to hoist cable pulling force, rope number is few, space is big, gravity unloading precision can be surveyed.
Description
Technical field
The invention belongs to spacecraft ground experimental technique field, and in particular to a kind of multi-joint space mechanism gravity unloading dress
Put, it meets multi-joint space mechanism ground microgravity using two-dimentional compliant platform, permanent tension control unit, force transfer mechanism
The requirement of environmental test.
Background technology
The ground microgravity environment test method of domestic multi-joint space mechanism is broadly divided into：Water float glass process, balloon suspension method,
Air floating table method, guide rail-pulley suspension method.Wherein, water float glass process reaches the purpose of unloading product gravity using liquid buoyancy；Balloon
Suspension method is suspended in midair to unload product gravity using the buoyancy of helium balloon to generation；Air floating table method is using gases at high pressure in gas foot
Air film is formed between bottom and smooth platform to unload product gravity；Guide rail-pulley suspension method produces unloading using counterweight
Power, the horizontal movement of product is tracked with guide rail, unloading force is commutated with pulley, and then be applied on product.
The gravity unloading of water float glass process relies on liquid buoyancy, and under normal circumstances, unloading ratio is related to the density of product.When need
Otherwise with unloading ratio when, it is necessary to using counterweight or the mode with ball float is adjusted.The advantages of water float glass process, can be achieved on
The microgravity environment simulation of multi-joint space mechanism six degree of freedom, shortcoming are that have the motion of sealing requirements and product fast to product
Degree can not be too fast, and the otherwise influence of liquid body flow resistance, gravity unloading precision can be reduced seriously.Water float glass process is mostly and in space flight
The operation training of member, also occasionally be used for the exercise test of space manipulator abroad.
Balloon suspension method is similar with water float glass process, but because in atmosphere, not being strict with to the sealing of product,
Resistance during high-speed motion is also relatively small.But balloon suspension method is only used for the product of small quality because the volume of balloon with
Unloading force is directly proportional.Balloon suspension method is mainly used in the expansion of antenna.
Air floating table method forms air film between gas foot and air floating table and produces support by passing to high pressure draught enough to gas
Power, offset product gravity.Air floating table method can make product do approximate frictionless motion in the horizontal plane, and generation is similar to microgravity
State.Air floating table method is widely used in the microgravity simulation of large space mechanical arm, but air floating table itself can only realize level
Microgravity motion simulation in face, translation and the horizontal revolving motion of horizontal both direction can only be realized, it is impossible to realize vertical side
To translation and two other direction flip-flop movement, which limits the freedom of motion of space mechanism, the scope of application by
One definite limitation.
Guide rail-pulley suspension method realizes that the horizontal component of space mechanism's motion tracks using Guide rollerses, real using counterweight
The unloading of existing space mechanism vertical direction gravity.Guide rollerses suspension method is used for the microgravity mould at a slow speed of simple space mechanism
Intend, the especially microgravity simulation of vertical direction at a slow speed because counterweight is more sensitive to the acceleration of vertical direction, when hoist cable plus
When speed is a (direction is all mutually forward direction with tension direction) and a is less than or equal to gravity acceleration g, the tension force of hoist cable is：
F=m × (g-a),
When hoist cable acceleration is a and a is more than gravity speed g, the tension force of hoist cable is 0, because hoist cable can only bearing tension force
Pressure can not be born.Therefore counterweight method is only applicable to the less microgravity simulation of acceleration.
A kind of space mechanism is currently, there are, the space mechanism is formed by connecting by multiple armed levers by cradle head, whole
Whether just after the completion of arm general assembly, ground spreading and exercise test experiment are carried out as requested, to verify the motor function of mechanical arm
Often.For this reason, it may be necessary to establish a set of ground microgravity test accessory system, influence of the gravity to mechanism joint is offset, is had following
Major requirement：
1) the full free degree microgravity simulation of space mechanism can be realized, the freedom of motion of space mechanism must not be limited；
2) precision of gravity unloading is not less than 95%；
3) adapt to by the movement velocity (maximum 200mm/s) and acceleration (maximum 100mm/s of test object2)。
Existing water float glass process requires space mechanism's waterproof sealing, it is difficult to realizes；Balloon suspension method bearing capacity is too small, it is impossible to
Meet to require；Air floating table method limits the freedom of motion of space mechanism, is unsatisfactory for requiring；Guide rail-pulley suspension method is by space
The influence of mechanism kinematic acceleration, gravity unloading precision are unsatisfactory for requiring.
The content of the invention
It is an object of the present invention to provide a kind of gravity unloading device for the ground motion experiment of multi-joint space mechanism and side
Method, meet the requirement of space mechanism's ground microgravity test.
To achieve these goals, present invention employs following technical scheme：
Multi-joint space mechanism gravity unloading device, including frame, two-dimentional compliant platform, tension control unit, power transmission
Mechanism, there is a mounting platform in frame, one or more two-dimentional compliant platforms are set on mounting platform, each two dimension is servo-actuated flat
Platform can in horizontal both direction accurate movement, persevering tension control unit, permanent pulling force control are set on two-dimentional compliant platform
Unit processed is connected by flexible hoist cable with force transfer mechanism, and permanent tension control unit can be controlled soft by folding and unfolding flexibility hoist cable
Property hoist cable tension force, force transfer mechanism with need carry out ground motion experiment multi-joint space mechanism be connected, force transfer mechanism
By by flexible hoist cable transmission Lai power be assigned to according to pre-designed rule in multi-joint space mechanism, experiment process
In, the motion of two-dimentional compliant platform tracking space mechanism, flexible hoist cable is in the state of near vertical, permanent pulling force control all the time
Unit controls flexible rope tension force fixed proportion equal or equal to gravity with the gravity of space mechanism counterpart member, power transmission machine
Structure follows motion simultaneously, flexible hoist cable extended line is combined matter by force transfer mechanism and space mechanism counterpart member all the time
The heart.
Wherein, force transfer mechanism includes horizontal lever, the vertical suspension rod of one-level and the vertical suspension rod of two level, triangle component plate, cunning
Dynamic-to rotate two degrees of freedom composite bearing, slideway, slideway-product connector, center upper portion position is used for the level for connecting hoist cable
Lever both ends are fixed with two vertical suspension rods of one-level, and each vertical boom foot of one-level is fixedly connected on the several of triangle component plate again
On what center, the power on the vertical suspension rod of one-level is again through respective triangle component plate by dynamic pro rate to triangle component plate both sides
On the vertical suspension rod of two level being fixedly connected, and then it is delivered on slideway through slip-rotation composite bearing, then connects through slideway both ends again
The slideway connect-product connector is delivered to the space mechanism for lifting.
Wherein, the space mechanism is multi-joint space mechanism.
Wherein, two-dimentional compliant platform is arranged on the mounting platform of frame top.
Wherein, two-dimentional compliant platform obtains flexible hoist cable and plumb line by way of camera shooting and image procossing
Angle.
Wherein, two-dimentional compliant platform moves to specified location by motor driven platform.
Wherein, permanent tension control unit carries out closed-loop control to flexible rope tension force.
Wherein, permanent tension control unit is measured using pulling force sensor to flexible hanger tension.
Wherein, permanent tension control unit carries out folding and unfolding using motor and capstan winch to flexible hoist cable, so as to flexible hoist cable
Power is controlled.
Wherein, the extended line that force transfer mechanism is used to ensure flexible rope is all the time by product barycenter.
Compared with prior art, present invention can apply to space mechanism's ground microgravity exercise test, the device to use master
The control of gravity unloading precision is realized in dynamic pulling force control, is servo-actuated servo platform by horizontal two-dimension and is realized space mechanism's sports level
The tracking of component.The characteristics of present invention has the simulation of the full free degree, and gravity unloading precision is high, and movement velocity is adaptable.
Brief description of the drawings
Fig. 1 is the structural representation of the multi-joint space mechanism gravity unloading device of the present invention；
Wherein, 11 be frame；12 be two-dimentional compliant platform；13 be permanent tension control unit；14 be hoist cable；15 be power transmission
Mechanism.
Fig. 2 be the embodiment of the invention multi-joint space mechanism gravity unloading device in force transfer mechanism knot
Structure schematic diagram.
Wherein, 21 be horizontal lever；22 be the vertical suspension rod of one-level；23 be the vertical suspension rod of two level；24 be triangle component plate；25
For slip-rotation two degrees of freedom composite bearing；26 be slideway；27 be slideway-product connector；28 be space mechanism, and 14 be to hang
Rope.
Fig. 3 be the embodiment of the invention multi-joint space mechanism gravity unloading device in slip-rotation two from
By the structural representation of degree composite bearing.
Wherein, 23 be the vertical suspension rod of two level；31 be revolute pair；32 be sliding pair；25 be that slip-rotation two degrees of freedom is compound
Bearing；26 be slideway.
Fig. 4 is the multi-joint space mechanism gravity unloading device middle slideway product connector of the embodiment of the invention
Structural representation.
Wherein, 41 be space mechanism cradle head；26 be slideway；27 be slideway-product connector；28 be space mechanism.
Embodiment
Introduced below is the embodiment as content of the present invention, below by embodiment to this
The content of invention is made further to illustrate.Certainly, it is only the not Tongfang of the example present invention to describe following detailed description
The content in face, and should not be construed as limiting the scope of the invention.
Fig. 1 is the structural representation of the multi-joint space mechanism gravity unloading device of the present invention.As shown in figure 1, door shape
Frame 11 provide certain altitude, stable mounting platform for the remainder of whole system, install three on mounting platform
Adjacent two-dimentional compliant platform 12, each two-dimentional compliant platform 12 can in horizontal both direction accurate movement, two dimension with
Persevering tension control unit 13 is respectively mounted on moving platform 12, permanent tension control unit 13 passes through steel wire rope and the phase of force transfer mechanism 15
Even, permanent tension control unit 13 can control the tension force of rope by folding and unfolding flexibility hoist cable 14, and force transfer mechanism 15 is with needing
Carry out ground motion experiment multi-joint space mechanism be connected, force transfer mechanism 15 can by by flexible rope transmission Lai power press
It is assigned to according to pre-designed rule in multi-joint space mechanism.
Fig. 2 be the embodiment of the invention multi-joint space mechanism gravity unloading device in force transfer mechanism knot
Structure schematic diagram.As shown in Fig. 2 the force transfer mechanism in present system is by horizontal lever 21, the vertical suspension rod 22 of one-level and two level
Vertical suspension rod 23, triangle component plate 24, slip-rotation two degrees of freedom composite bearing 25, slideway 26, slideway-product connector 27
Composition, the horizontal lever 21 that center upper portion position is used to connect hoist cable 14 are assigned to the both ends of horizontal lever 21 by fixed proportion and are connected
The vertical suspension rod 22 of two one-levels on, each vertical bottom of suspension rod 22 of one-level is fixedly connected in the geometry of triangle component plate 23 again
In the heart, the power on the vertical suspension rod 22 of one-level is again through respective triangle component plate 24 by dynamic pro rate to 24 liang of triangle component plate
On the vertical suspension rod 23 of two level that side is fixedly connected, and then it is delivered to again through slip-rotation composite bearing 25 on slideway 26, then through cunning
Slideway-product connector 27 of the both ends of road 26 connection is delivered to the space mechanism 28 for lifting, i.e., on product.In the embodiment party
In formula, the vertical suspension rod 22 of two one-levels of the both sides of horizontal lever 21 is connected to a triangle component plate 24, each triangle point
The vertical suspension rods 23 of two level of the both sides of power plate 24 is connected to a slip-rotation two degrees of freedom composite bearing 25 again, i.e., and totally four
Individual slip-rotation two degrees of freedom composite bearing 25, each slip-rotation two degrees of freedom 25 arc by being slidably connected of composite bearing
Shape slideway 26 is transmitted power through slideway-product connector 27.In the motion process of space mechanism 28, force transfer mechanism 13 can
To ensure hoist cable extended line by the center of rotation of space mechanism 28, and the distance away from space mechanism's barycenter is in scope of design, from
And ensure that space mechanism's gravity is effectively unloaded.
Fig. 3 be the embodiment of the invention multi-joint space mechanism gravity unloading device in slip-rotation two from
By the structural representation of degree composite bearing.In a particular embodiment, as shown in figure 3, slip-rotation two degrees of freedom composite shaft
Hold 25 to be arranged between the vertical suspension rod 23 of two level and cambered way, be made up of revolute pair 31 and sliding pair 32, revolute pair 31 uses
Common rolling bearing, can be ball bearing or roller bearing, only a rotational freedom.Sliding pair 32 is cunning
The connected mode of block and slideway 26, only a free sliding degree.The cross section of slideway can be triangle, or quadrangle,
Pentagon or hexagon, but can not be circle, to ensure to only have a free sliding degree.Slideway is generally semicircle or fan-shaped,
Its center of circle is on space mechanism's pivot center.
Fig. 4 is the multi-joint space mechanism gravity unloading device middle slideway product connector of the embodiment of the invention
Structural representation.As shown in figure 4, slideway-product connector 27 is used to connect between two spaces mechanism cradle head 41
Product and slideway 26, to be fixedly connected entirely, when space mechanism 28 moves, slideway is synchronized with the movement with space mechanism.
During experiment, two-dimentional compliant platform 12 tracks the motion of space mechanism, makes flexible rope all the time in approximation
Vertical state, permanent tension control unit 13 control flexible rope tension force equal with the gravity of space mechanism counterpart member or are equal to
The fixed proportion of gravity, force transfer mechanism 15 follow motion simultaneously, flexible rope extended line is passed through force transfer mechanism all the time
15 combine barycenter with space mechanism counterpart member.So that influence of space mechanism's gravity to exercise test is eliminated, it is empty
Between mechanism be in a kind of microgravity environment state.
The gravity unloading method is carried out effectively by way of rigidity and flexible structure are combined to the gravity of space mechanism
Unloading, unloading precision is controllable and measurable, and ground microgravity expansion or exercise test especially suitable for space mechanism, it will not be as water
Float glass process and balloon method produce additional drag to product like that, and plane two-freedom mould can only be also carried out unlike air floating table method
Intend, the scope of application is therefore more extensive.
Although the embodiment of the present invention is described in detail and illustrated above, it should be noted that
We can make various changes and modifications to above-mentioned embodiment, but these without departure from the present invention spiritual and appended power
Profit requires described scope.
Claims (9)
1. multi-joint space mechanism gravity unloading device, including frame, two-dimentional compliant platform, tension control unit, power transmit machine
Structure, there is a mounting platform in frame, one or more two-dimentional compliant platforms, each two-dimentional compliant platform are set on mounting platform
Can in horizontal both direction accurate movement, persevering tension control unit, permanent pulling force control are set on two-dimentional compliant platform
Unit is connected by flexible hoist cable with force transfer mechanism, and permanent tension control unit can control flexibility by folding and unfolding flexibility hoist cable
The tension force of hoist cable, force transfer mechanism are connected with the multi-joint space mechanism for needing to carry out ground motion experiment, and force transfer mechanism will
By flexible hoist cable transmission Lai power be assigned to according to pre-designed rule in multi-joint space mechanism, during experiment,
The motion of two-dimentional compliant platform tracking space mechanism, makes flexible hoist cable be in the state of near vertical all the time, and permanent pulling force control is single
Member control flexible rope tension force fixed proportion equal or equal to gravity with the gravity of space mechanism counterpart member, force transfer mechanism
Motion is followed simultaneously, flexible hoist cable extended line is combined matter by force transfer mechanism and space mechanism counterpart member all the time
The heart.
2. device as claimed in claim 1, wherein, force transfer mechanism erects including horizontal lever, the vertical suspension rod of one-level and two level
Straight suspension rod, triangle component plate, slip-rotation two degrees of freedom composite bearing, slideway, slideway-product connector, center upper portion portion
The horizontal lever both ends that position is used to connect hoist cable are fixed with two vertical suspension rods of one-level, and each vertical boom foot of one-level is again fixed
It is connected in the geometric center of triangle component plate, the power on the vertical suspension rod of one-level presses dynamic proportion through respective triangle component plate again
It is assigned on the vertical suspension rod of two level that triangle component plate both sides are fixedly connected, and then is delivered to again through slip-rotation composite bearing
On slideway, then the slideway-product connector connected through slideway both ends is delivered to the space mechanism for lifting.
3. device as claimed in claim 1, wherein, two-dimentional compliant platform is arranged on the mounting platform of frame top.
4. device as claimed in claim 1, wherein, two-dimentional compliant platform is obtained by way of camera shooting and image procossing
Obtain the angle of flexible hoist cable and plumb line.
5. device as claimed in claim 1, wherein, two-dimentional compliant platform moves to specified location by motor driven platform.
6. device as claimed in claim 1, wherein, permanent tension control unit carries out closed-loop control to flexible rope tension force.
7. device as claimed in claim 1, wherein, permanent tension control unit is entered using pulling force sensor to flexible hanger tension
Row measurement.
8. device as claimed in claim 7, wherein, permanent tension control unit is received using motor and capstan winch to flexible hoist cable
Put, so as to be controlled to flexible hanger tension.
9. device as claimed in claim 7, wherein, force transfer mechanism is used to ensure that the extended line of flexible rope passes through production all the time
The quality heart.
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| CN108516113A (en) * | 2018-03-09 | 2018-09-11 | 中国科学院长春光学精密机械与物理研究所 | One kind being eccentrically rotated space loading ground debugging gravity unloading method and device |
| CN108674698A (en) * | 2018-05-21 | 2018-10-19 | 哈尔滨工业大学 | A kind of seven freedom mechanical arm gravity-compensated device |
| CN109029813A (en) * | 2018-07-27 | 2018-12-18 | 中北大学 | A kind of electric cylinder push-and-pull force test system and test method based on force divided base |
| CN109080860A (en) * | 2018-06-11 | 2018-12-25 | 燕山大学 | A kind of universe self-balancing gravity unloading device |
| CN109118931A (en) * | 2018-08-03 | 2019-01-01 | 上海宇航系统工程研究所 | A kind of zero-g for big displacement multidimensional deployed configuration is without friction expanding unit |
| CN111017273A (en) * | 2019-12-09 | 2020-04-17 | 北京卫星制造厂有限公司 | Space rod unit microgravity simulation system based on flexible mechanical arm assembly |
| CN112416028A (en) * | 2020-11-12 | 2021-02-26 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN112461259A (en) * | 2020-10-22 | 2021-03-09 | 中国科学院长春光学精密机械与物理研究所 | Gravity balancing device for large-caliber space camera |
| CN113212816A (en) * | 2021-05-31 | 2021-08-06 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion simulation system and use method |
| CN113252315A (en) * | 2021-05-18 | 2021-08-13 | 北京理工大学 | Follow-up gravity unloading suspension device |
| CN113479354A (en) * | 2021-06-03 | 2021-10-08 | 天津大学 | Passive self-adaptive distributed human body gravity unloading system |
| CN114194424A (en) * | 2021-12-10 | 2022-03-18 | 清华大学 | Gravity unloading device for satellite gripper and using method thereof |
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| CN108516113B (en) * | 2018-03-09 | 2021-05-14 | 中国科学院长春光学精密机械与物理研究所 | Gravity unloading method and device for ground debugging of eccentric rotation space load |
| CN108516113A (en) * | 2018-03-09 | 2018-09-11 | 中国科学院长春光学精密机械与物理研究所 | One kind being eccentrically rotated space loading ground debugging gravity unloading method and device |
| CN108674698A (en) * | 2018-05-21 | 2018-10-19 | 哈尔滨工业大学 | A kind of seven freedom mechanical arm gravity-compensated device |
| CN109080860A (en) * | 2018-06-11 | 2018-12-25 | 燕山大学 | A kind of universe self-balancing gravity unloading device |
| CN109080860B (en) * | 2018-06-11 | 2021-07-23 | 燕山大学 | Global self-balancing gravity unloading device |
| CN109029813A (en) * | 2018-07-27 | 2018-12-18 | 中北大学 | A kind of electric cylinder push-and-pull force test system and test method based on force divided base |
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| CN109118931A (en) * | 2018-08-03 | 2019-01-01 | 上海宇航系统工程研究所 | A kind of zero-g for big displacement multidimensional deployed configuration is without friction expanding unit |
| CN111017273A (en) * | 2019-12-09 | 2020-04-17 | 北京卫星制造厂有限公司 | Space rod unit microgravity simulation system based on flexible mechanical arm assembly |
| CN112461259A (en) * | 2020-10-22 | 2021-03-09 | 中国科学院长春光学精密机械与物理研究所 | Gravity balancing device for large-caliber space camera |
| CN112416028A (en) * | 2020-11-12 | 2021-02-26 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN113252315A (en) * | 2021-05-18 | 2021-08-13 | 北京理工大学 | Follow-up gravity unloading suspension device |
| CN113252315B (en) * | 2021-05-18 | 2022-07-15 | 北京理工大学 | Follow-up gravity unloading suspension device |
| CN113212816A (en) * | 2021-05-31 | 2021-08-06 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion 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 |
| CN113479354A (en) * | 2021-06-03 | 2021-10-08 | 天津大学 | Passive self-adaptive distributed human body gravity unloading system |
| CN114194424A (en) * | 2021-12-10 | 2022-03-18 | 清华大学 | Gravity unloading device for satellite gripper and using method thereof |
| CN114194424B (en) * | 2021-12-10 | 2023-10-31 | 清华大学 | Satellite gripper gravity unloading device and application method thereof |
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| Publication number | Publication date |
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| CN107757955B (en) | 2019-05-17 |
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