CN108665762A - A kind of lifting type constant force system - Google Patents
A kind of lifting type constant force system Download PDFInfo
- Publication number
- CN108665762A CN108665762A CN201810489946.7A CN201810489946A CN108665762A CN 108665762 A CN108665762 A CN 108665762A CN 201810489946 A CN201810489946 A CN 201810489946A CN 108665762 A CN108665762 A CN 108665762A
- Authority
- CN
- China
- Prior art keywords
- horizontal
- fixed pulley
- rope
- constant force
- lifting type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
A kind of lifting type constant force system, it is related to a kind of constant force system, and in particular to a kind of lifting type constant force system.The present invention is in order to solve when multiple astronaut are carried out at the same time trained, full active gravity compensation system is covered to work on the same trained region more, the problem of fork cannot be worn between multiple systems mutually, therefore limit the phase of multiple astronaut space in the same time and influence astronaut's coorinated training.The present invention includes permanent puller system, rope, fixed pulley assembly, compensating platform, horizontal mobile mechanism and two vertical guide rails, permanent puller system is mounted on horizontal mobile mechanism, the initiating terminal of rope is connect with permanent puller system, the end of rope is connect by fixed pulley assembly with compensating platform, two vertical guide rails are mounted side by side on horizontal mobile mechanism, and the both ends of compensating platform are slidably connected with two vertical guide rails.The invention belongs to aerospace fields.
Description
Technical field
The present invention relates to a kind of constant force systems, and in particular to a kind of lifting type constant force system belongs to aerospace field.
Background technology
In manned space flight task, it is desirable that astronaut executes under the outer space environment of microgravity and accurately moves, skillfully
Operation etc..In ground training, the passive gravitational compensation method such as water float glass process and weightless flight method is mostly used.In this training
Under method, training duration and space are rather limited.It is to use full active suspension type gravity compensation system to compare new method,
This system is as shown in Figure 1：Plane tracking system is made of the trolley on crossbeam and crossbeam, and the two tracks astronaut in water respectively
Two component motions in plane；The vertical movement of astronaut is tracked with the hoisting mechanism on trolley.When multiple astronaut simultaneously
When being trained, covers full active gravity compensation system more and work on the same trained region, it cannot be mutual between two systems
Fork is worn, therefore limits the space of multiple astronaut mutually in the same time, influences the cooperating training experiment of astronaut.
Invention content
The present invention is to solve when multiple astronaut are carried out at the same time trained, covers full active gravity compensation system more and works in together
On one trained region, fork cannot be worn between multiple systems mutually, therefore limit the movement of the phase of multiple astronaut in the same time
Space and the problem of influence astronaut's coorinated training, and then propose a kind of lifting type constant force system.
The present invention adopts the technical scheme that in order to solve the above problem：The present invention includes permanent puller system, rope, fixed pulley
Component, compensating platform, horizontal mobile mechanism and two vertical guide rails, permanent puller system are mounted on horizontal mobile mechanism, rope
Initiating terminal connect with permanent puller system, the end of rope is connect by fixed pulley assembly with compensating platform, two vertical guide rails
It is mounted side by side on horizontal mobile mechanism, the both ends of compensating platform are slidably connected with two vertical guide rails.
Further, permanent puller system includes that permanent tensile machine, horizontal reel and roller stand, horizontal reel pass through reel
Holder is mounted on horizontal mobile mechanism, and the rotation axis of permanent tensile machine is connect with horizontal reel, initiating terminal and the level of rope
Reel connects.
Further, fixed pulley assembly includes the first fixed pulley and the second fixed pulley, the first fixed pulley and the second fixed pulley
It is arranged in linear type, the end of rope is connect after bypassing the first fixed pulley, the second fixed pulley successively with compensating platform.
Further, horizontal mobile mechanism includes horizontal guide rail, horizontal shifting platform and at least two sliding blocks, horizontal guide rail
Horizontally disposed, sliding block is mounted on horizontal guide rail, and sliding block can be along horizontal guide rail straight reciprocating, horizontal shifting platform installation
On sliding block.
The beneficial effects of the invention are as follows：The technology of the present invention is ripe, and scheme is simple, wherein the mechanical realization of permanent puller system,
Control rate designs and automatically controlled design full maturity, and good constant force precision may be implemented；This system has only used simplest shifting
Dynamic secondary and necessary constant force device, is the method for additional mass minimum.The rope of the present invention can provide and compensating platform gravity
The opposite permanent pulling force of numerical value equal direction, achievees the effect that gravity compensation.But when there is disturbance in the external world, pulling force sensor inspection
Certain numerical value is measured, by certain algorithm, controlled level reel micro-positioning regulators corner displacement further keeps rope to carry out
Constant force exports, to achieve the effect that constant force compensates.When astronaut carry out horizontal direction it is mobile when, entire constant force system passes through
Horizontal guide rail is moved accordingly, the movement of tracking astronaut in the horizontal direction.
Description of the drawings
Fig. 1 is the structural schematic diagram of full active suspension type gravity compensation system；
Fig. 2 is the structure diagram of the present invention.
Specific implementation mode
Specific implementation mode one：Embodiment is described with reference to Fig. 2, a kind of lifting type constant force system described in present embodiment
Including permanent puller system 1, rope 2, fixed pulley assembly 3, compensating platform 4, horizontal mobile mechanism 5 and two vertical guide rails 6, perseverance is drawn
Force mechanisms 1 are mounted on horizontal mobile mechanism 5, and the initiating terminal of rope 2 is connect with permanent puller system 1, and the end of rope 2 is by fixed
Pulley assembly 3 is connect with compensating platform 4, and two vertical guide rails 6 are mounted side by side on horizontal mobile mechanism 5, and the two of compensating platform 4
End is slidably connected with two vertical guide rails 6.
Specific implementation mode two：Embodiment is described with reference to Fig. 2, a kind of lifting type constant force system described in present embodiment
Permanent puller system 1 include that permanent tensile machine 1-1, horizontal reel 1-2 and roller stand 1-3, horizontal reel 1-2 pass through reel branch
Frame 1-3 is mounted on horizontal mobile mechanism 5, and the rotation axis of permanent tensile machine 1-1 is connect with horizontal reel 1-2, the starting of rope 2
End is connect with horizontal reel 1-2.Other compositions and connection relation are same as the specific embodiment one.
Specific implementation mode three：Embodiment is described with reference to Fig. 2, a kind of lifting type constant force system described in present embodiment
Permanent puller system 1 further include pulling force sensor 1-4, the initiating terminal of rope 2 passes through pulling force sensor 1-4 and horizontal reel 1-2
Connection.Other compositions and connection relation are identical with embodiment two.
Specific implementation mode four：Embodiment is described with reference to Fig. 2, a kind of lifting type constant force system described in present embodiment
Fixed pulley assembly 3 be in including the first fixed pulley 3-1 and the second fixed pulley 3-2, the first fixed pulley 3-1 and the second fixed pulley 3-2
Linear type is arranged, and the end of rope 2 is connect after bypassing the first fixed pulley 3-1, the second fixed pulley 3-2 successively with compensating platform 4.Its
It is formed and connection relation is same as the specific embodiment one.
Specific implementation mode five：Embodiment is described with reference to Fig. 2, a kind of lifting type constant force system described in present embodiment
Horizontal mobile mechanism 5 include horizontal guide rail 5-1, horizontal shifting platform 5-2 and at least two sliding block 5-3, horizontal guide rail 5-1 water
Flat setting, sliding block 5-3 are mounted on horizontal guide rail 5-1, and sliding block 5-3 can be along horizontal guide rail 5-1 straight reciprocatings, and level is moved
Moving platform 5-2 is mounted on sliding block 5-3.Other compositions and connection relation are same as the specific embodiment one.
Operation principle
In vertical direction, rope 2 can provide the permanent pulling force opposite with 4 gravity numerical value equal direction of compensating platform, reach
The effect of gravity compensation.But when the external world has disturbance, pulling force sensor 8 detects certain numerical value, permanent tensile machine 1-1
By certain algorithm, controlled level reel 1-2 micro-positioning regulators corner displacements further keep rope 2 to carry out constant force output, from
And achievees the effect that constant force and compensate.When astronaut carry out horizontal direction it is mobile when, entire constant force system passes through horizontal guide rail 5-1
It is moved accordingly, accurately tracks the horizontal movement of astronaut.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical essence of the invention,
Within the spirit and principles in the present invention, to any simple modification, equivalent replacement and improvement etc. made by above example, still
Belong within the protection domain of technical solution of the present invention.
Claims (5)
1. a kind of lifting type constant force system, it is characterised in that：A kind of lifting type constant force system include permanent puller system (1),
Rope (2), fixed pulley assembly (3), compensating platform (4), horizontal mobile mechanism (5) and two vertical guide rails (6), permanent puller system
(1) it is mounted on horizontal mobile mechanism (5), the initiating terminal of rope (2) is connect with permanent puller system (1), the end warp of rope (2)
Fixed pulley assembly (3) to be crossed to connect with compensating platform (4), two vertical guide rails (6) are mounted side by side on horizontal mobile mechanism (5),
The both ends of compensating platform (4) are slidably connected with two vertical guide rails (6).
2. a kind of lifting type constant force system according to claim 1, it is characterised in that：Permanent puller system (1) includes permanent pulling force
Mechanism (1-1), horizontal reel (1-2) and roller stand (1-3), horizontal reel (1-2) are mounted on water by roller stand (1-3)
On flat mobile mechanism (5), the rotation axis of permanent tensile machine (1-1) is connect with horizontal reel (1-2), the initiating terminal of rope (2) with
Horizontal reel (1-2) connection.
3. a kind of lifting type constant force system according to claim 2, it is characterised in that：Permanent puller system (1) further includes pulling force
The initiating terminal of sensor (1-4), rope (2) is connect by pulling force sensor (1-4) with horizontal reel (1-2).
4. a kind of lifting type constant force system according to claim 1, it is characterised in that：Fixed pulley assembly (3) includes first fixed
Pulley (3-1) and the second fixed pulley (3-2), the first fixed pulley (3-1) and the second fixed pulley (3-2) are arranged in linear type, rope
(2) end bypasses the first fixed pulley (3-1) successively, the second fixed pulley (3-2) is connect with compensating platform (4) afterwards.
5. a kind of lifting type constant force system according to claim 1, it is characterised in that：Horizontal mobile mechanism (5) includes level
Guide rail (5-1), horizontal shifting platform (5-2) and at least two sliding blocks (5-3), horizontal guide rail (5-1) is horizontally disposed, sliding block (5-
3) it is mounted on horizontal guide rail (5-1), and sliding block (5-3) can be along horizontal guide rail (5-1) straight reciprocating, horizontal shifting platform
(5-2) is mounted on sliding block (5-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489946.7A CN108665762A (en) | 2018-05-21 | 2018-05-21 | A kind of lifting type constant force system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489946.7A CN108665762A (en) | 2018-05-21 | 2018-05-21 | A kind of lifting type constant force system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108665762A true CN108665762A (en) | 2018-10-16 |
Family
ID=63777217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810489946.7A Pending CN108665762A (en) | 2018-05-21 | 2018-05-21 | A kind of lifting type constant force system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108665762A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1251646A (en) * | 1996-12-27 | 2000-04-26 | 汤姆斯-无线电报总公司 | Modular device for starting loading with at least three degrees of mobility |
| CN103085992A (en) * | 2012-11-23 | 2013-05-08 | 北京理工大学 | Spatial microgravity simulation experiment system |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN103538733A (en) * | 2013-09-23 | 2014-01-29 | 上海卫星装备研究所 | Air floating suspension type three-dimensional unfolding testing device |
| CN105336251A (en) * | 2015-12-08 | 2016-02-17 | 天津航天机电设备研究所 | Auto-adaptive suspension mechanism |
| CN205281913U (en) * | 2016-01-19 | 2016-06-01 | 段佳彤 | Inclined plane gravity decomposes teaching demonstration ware |
| CN205375926U (en) * | 2015-12-08 | 2016-07-06 | 天津航天机电设备研究所 | Mechanism is suspended in midair to self -adaptation |
| CN105931522A (en) * | 2016-06-29 | 2016-09-07 | 中国科学院沈阳自动化研究所 | Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom |
| CN106005496A (en) * | 2016-06-12 | 2016-10-12 | 北京航空航天大学 | Multi-point suspension active gravity compensation system |
| CN106365044A (en) * | 2016-10-21 | 2017-02-01 | 南京邮电大学 | Gravity balance suspension following device and system and work method of system |
-
2018
- 2018-05-21 CN CN201810489946.7A patent/CN108665762A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1251646A (en) * | 1996-12-27 | 2000-04-26 | 汤姆斯-无线电报总公司 | Modular device for starting loading with at least three degrees of mobility |
| CN103085992A (en) * | 2012-11-23 | 2013-05-08 | 北京理工大学 | Spatial microgravity simulation experiment system |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN103538733A (en) * | 2013-09-23 | 2014-01-29 | 上海卫星装备研究所 | Air floating suspension type three-dimensional unfolding testing device |
| CN105336251A (en) * | 2015-12-08 | 2016-02-17 | 天津航天机电设备研究所 | Auto-adaptive suspension mechanism |
| CN205375926U (en) * | 2015-12-08 | 2016-07-06 | 天津航天机电设备研究所 | Mechanism is suspended in midair to self -adaptation |
| CN205281913U (en) * | 2016-01-19 | 2016-06-01 | 段佳彤 | Inclined plane gravity decomposes teaching demonstration ware |
| CN106005496A (en) * | 2016-06-12 | 2016-10-12 | 北京航空航天大学 | Multi-point suspension active gravity compensation system |
| CN105931522A (en) * | 2016-06-29 | 2016-09-07 | 中国科学院沈阳自动化研究所 | Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom |
| CN106365044A (en) * | 2016-10-21 | 2017-02-01 | 南京邮电大学 | Gravity balance suspension following device and system and work method of system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103010493B (en) | Suspended gravity compensation solar wing ground three-dimensional unfolding test device | |
| CN110341831A (en) | The collaboration handling system and its complex navigation device of double-movement robot flexibility connection | |
| CN109592084A (en) | The device of personnel's load test is dressed under a kind of simulation low-gravity environment | |
| Viet | Crane sway reduction using Coriolis force produced by radial spring and damper | |
| CN108665762A (en) | A kind of lifting type constant force system | |
| CN208842647U (en) | A kind of two-dimension suspension formula zero-g simulator | |
| CN103685959A (en) | TV type two-dimension cableway camera system | |
| CN102913553A (en) | Multi-layer air floatation hanging device capable of performing two-dimensional friction-free long-distance movement | |
| CN108674700B (en) | Low perturbed force supported planar position follower tracking system based on series connection double-lever mechanism | |
| CN103962847A (en) | Double-direction crawling light moving type parallel normal-direction hole forming device | |
| CN103803792B (en) | A kind of prefabricated rods dynamic collimation devices and methods therefor | |
| CN207242828U (en) | A kind of magnetic force rectifys inclined structure | |
| CN207583920U (en) | Compensating cylinder fixed structure | |
| CN205346567U (en) | Elevator | |
| CN108572671A (en) | Tension closed-loop control method with buffering and system | |
| CN207122110U (en) | A kind of high-precision full-automatic plastering machine | |
| CN207570937U (en) | The pressure-shear test machine of side guide and Plumb load oil cylinder | |
| FR3102165B1 (en) | Device for moving at least one tool relative to an aircraft surface | |
| CN208266600U (en) | A kind of track lining system of tamping car four-point method | |
| CN207258948U (en) | A kind of industry elevator bidirectional safe protection equipment | |
| CN102442437B (en) | Gravity balanced suspension device | |
| CN209259510U (en) | A kind of transporting and hoisting device for optical prism roller | |
| CN205366074U (en) | Detection apparatus for wired unmanned aerial vehicle is used for pier face | |
| CN209339966U (en) | Bracket mobile mechanism in a kind of trolley portal frame system | |
| CN209586430U (en) | A kind of scraper-trough conveyer Overbridge device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181016 |