CN109110163B - Follow-up gravity compensation device of three-degree-of-freedom space station cloud table lamp - Google Patents
Follow-up gravity compensation device of three-degree-of-freedom space station cloud table lamp Download PDFInfo
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- CN109110163B CN109110163B CN201811184497.1A CN201811184497A CN109110163B CN 109110163 B CN109110163 B CN 109110163B CN 201811184497 A CN201811184497 A CN 201811184497A CN 109110163 B CN109110163 B CN 109110163B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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Abstract
A follow-up gravity compensation device of a three-degree-of-freedom space station cloud table lamp relates to a follow-up gravity compensation device, in particular to a follow-up gravity compensation device of a three-degree-of-freedom space station cloud table lamp. The invention aims to solve the problem that the existing ground simulation equipment can not completely simulate the unfolding action and the double-shaft driving action of the light projection lighting equipment in a zero-gravity state. The positioning plate is vertically fixed on the spherical support frame, the spherical support frame further comprises a large arm component, a small arm component, a front end re-compensation component and a rear end re-compensation component, the large arm component is connected with the positioning plate, the small arm component is connected with the large arm component, the front end of the small arm component is connected with the light projection lighting equipment through the front end re-compensation component, the rear end of the small arm component is connected with the middle part of the light projection lighting equipment through the rear end re-compensation component, the rear end of the light projection lighting equipment is connected with the positioning plate, and the rear end of the light projection lighting equipment is connected with the tail end of the large arm component through the synchronous compression release component. The invention belongs to the field of aerospace.
Description
Technical Field
The invention relates to a follow-up gravity compensation device, in particular to a follow-up gravity compensation device of a three-degree-of-freedom space station cloud table lamp, and belongs to the field of aerospace.
Background
With the increasing development of the aerospace industry, the technological level is continuously improved, and the exploration enthusiasm for the unknown field of the universe reaches the unprecedented rise. The space activity represents the comprehensive strength level of a country and is also a symbol of a strong country. At present, the development process of the exploration activity for space is generally as follows: earth-surrounding satellites, space stations and space exploration. The detection task requires high performance of all aspects of the system, and equipment entering the space must be subjected to corresponding experiments and a large amount of performance evaluation on the ground, so that the requirement can be met according to the target. This patent is the development gravity compensation device, and the zero gravity state of simulation test spare in the space ensures that it goes on smoothly at ground simulation test. The meaning of this patent aims at making the gravity compensation mechanism that the simulation accuracy is higher, has not only guaranteed like this that light projection lighting apparatus accomplishes to expand action and biax drive action under zero gravity state, provides more extensive scope for spacecraft, lunar exploration ware etc. carry out ground simulation test simultaneously.
Disclosure of Invention
The invention provides a follow-up gravity compensation device of a three-degree-of-freedom space station cloud table lamp, which aims to solve the problem that the existing ground simulation equipment cannot completely simulate the projection lighting equipment to complete unfolding action and double-shaft driving action in a zero-gravity state.
The technical scheme adopted by the invention for solving the problems is as follows: the light-projecting lighting device comprises a synchronous compression release assembly, a spherical support frame and a positioning plate, wherein the positioning plate is vertically fixed on the spherical support frame, the light-projecting lighting device further comprises a large arm assembly, a small arm assembly, a front end re-compensation assembly and a rear end re-compensation assembly, the large arm assembly is connected with the positioning plate, the small arm assembly is connected with the large arm assembly, the front end of the small arm assembly is connected with light-projecting lighting equipment through the front end re-compensation assembly, the rear end of the small arm assembly is connected with the middle part of the light-projecting lighting equipment through the rear end re-compensation assembly, the rear end of the light-projecting lighting equipment is connected with the positioning plate, and the rear end of the light-projecting lighting equipment is connected with the tail end of the large arm assembly through the synchronous compression release assembly.
Furthermore, the big arm component comprises a base, a big arm rotating shaft, a big arm and a big arm rotating support, the base is fixedly arranged on the positioning plate, the tail end of the big arm is connected with the big arm rotating support, and the big arm rotating support is rotatably connected with the base through the big arm rotating shaft.
Furthermore, the big arm component further comprises two blocking shafts and two constant torque springs, the upper end and the lower end of the base are respectively provided with one blocking shaft, and each blocking shaft is sleeved with one constant torque spring.
Furthermore, the big arm component also comprises a spring ball lock, and the lower end of the spring ball lock penetrates through the upper surface of the base from top to bottom and is inserted into the groove on the upper surface of the big arm rotary support.
Further, the spring ball lock includes the bulb lockpin, fixed overcoat, compression spring and adjusting nut, and fixed overcoat is vertical to be installed on the upper surface of base, and the adjusting nut cartridge is in the upper end of fixed overcoat, and the outer wall of adjusting nut passes through threaded connection with the inner wall of fixed overcoat, and compression spring, bulb lockpin set gradually in fixed overcoat from top to bottom, and the lower extreme of bulb lockpin passes the upper surface cartridge of base from top to bottom in the recess of big arm slewing bearing upper surface.
Furthermore, the small arm assembly comprises a small arm rotating shaft, a small arm frame, a guide rail, a small arm pulley, an electromagnetic brake and two limiting blocks, the small arm frame is rotatably connected with the front end of the large arm through the small arm rotating shaft, the guide rail is arranged on the lower surface of the small arm frame, the center line of the guide rail in the length direction is parallel to the center line of the small arm frame in the length direction, the two ends of the guide rail are connected with the two ends of the lower surface of the small arm frame through the two limiting blocks, the small arm pulley is arranged on the guide rail, and the upper end of the small arm rotating shaft is connected with the electromagnetic brake.
Further, the forearm coaster includes rope sheave mounting panel, slider, two rope pulley seats and two rope sheaves, and the slider is installed on the guide rail, and the slider can follow guide rail straight reciprocating motion, and the upper surface of rope sheave mounting panel and the lower fixed surface of slider are connected, and two rope pulley seats are installed side by side at the lower surface of rope sheave mounting panel along the length direction of rope sheave mounting panel, and a rope sheave is installed respectively to every rope pulley seat.
Further, the front end repaiies the subassembly again and includes wire rope, weight, gyration semi-ring, bearing outer housing, bearing inner housing and three bearing, and wire rope's one end is connected with the gyration semi-ring, and wire rope's the other end passes two rope pulleys and is connected with the weight, and the both ends of gyration semi-ring are rotated with the both sides of bearing outer housing and are connected, and the bearing inner housing sets up in the bearing outer housing, and three bearing along the circumferencial direction equipartition set up between the inner wall of bearing outer housing and the outer wall of bearing inner housing.
The invention has the beneficial effects that: 1. the invention ensures the dynamic illumination requirement of the projection illumination device in the zero gravity environment, namely, the requirement of the working condition motion of the projection illumination device in the zero gravity environment, namely, the working condition motion of the expansion angle of 90 degrees, the azimuth rotation range of plus/minus 175 degrees and the pitching rotation range of 90-45 degrees is met; 2. the invention has higher unloading precision; 3. according to the invention, the self-adaptive rotating ring is designed on the unloading device at the projection lamp component, so that bending moment can be avoided; 4. the ropes of the invention all pass through the center of gravity, and no moment exists in the ropes; 5. allowing multiple movements to independently perform an unloading test during the gravity unloading process; 6. the invention provides a more stable state for the light projecting lighting device; 7. the invention has extremely high assembly precision; 8. the unloading and mounting positions of the whole loading and unloading device are not at the positions of electronic elements, motors and the like of the projection lighting equipment; 9. the design size, the installation position and the support frame form of the invention can meet the single machine test.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the construction of a light projecting lighting device;
FIG. 3 is a schematic diagram of the structure of the armset;
FIG. 4 is a schematic diagram of the construction of a spring ball lock;
FIG. 5 is a schematic structural view of the forearm assembly;
fig. 6 is a schematic structural diagram of the front-end re-repair assembly.
Detailed Description
The first embodiment is as follows: the following gravity compensation device of the three-degree-of-freedom space station cloud table lamp comprises a synchronous pressing and releasing assembly 5, a spherical support frame 6 and a positioning plate 7, wherein the positioning plate 7 is vertically fixed on the spherical support frame 6, the embodiment further comprises a large arm assembly 1, forearm subassembly 2, subassembly 4 is mended again to front end repayment subassembly 3 and rear end, big arm component 1 is connected with locating plate 7, forearm subassembly 2 is connected with big arm component 1, the front end of forearm subassembly 2 is passed through the front end and is mended subassembly 3 again and be connected with light projection lighting apparatus 8, the rear end of forearm subassembly 2 is passed through rear end and is mended subassembly 4 again and is connected with light projection lighting apparatus 8's middle part, light projection lighting apparatus 8's rear end is connected with locating plate 7, light projection lighting apparatus 8's rear end compresses tightly through synchronous release subassembly 5 and big arm component 1's end-to-end connection.
The light projecting and illuminating equipment 8 is formed by sequentially connecting an unfolding locking mechanism 8-1, an azimuth driving mechanism 8-2, a pitching driving mechanism 8-3 and a light projecting lamp 8-4 end to end.
The large arm component 1 is used for hanging and unloading the rear end of the whole light projection lighting device 8; the forearm component 2 is used for the front end of the whole light projection lighting device 8 to suspend and unload, the front end re-compensation component 3 plays a role in suspending and unloading the rear section part of the light projection lighting device 8, the rear end re-compensation component 4 suspends and unloads the light projection lighting device 8, and the synchronous compression and release component 5 replaces a firer cutter to compress and unlock in a test.
The second embodiment is as follows: the following gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the embodiment is described with reference to fig. 3, wherein a big arm assembly 1 of the following gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the embodiment includes a base 1-1, a big arm rotating shaft 1-2, a big arm 1-3 and a big arm rotating support 1-4, the base 1-1 is fixedly installed on a positioning plate 7, the tail end of the big arm 1-3 is connected with the big arm rotating support 1-4, and the big arm rotating support 1-4 is rotatably connected with the base 1-1 through the big arm rotating shaft 1-2.
And the joint of the big arm rotary support 1-4 and the tail end of the big arm 1-3 is provided with an adjusting cushion block 1-5.
The upper end and the lower end of the big arm revolving shaft 1-2 are respectively provided with an angular contact ball bearing 1-6.
Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: the following gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the present embodiment is described with reference to fig. 3, and the large arm assembly 1 further includes two blocking shafts 1-7 and two constant moment springs 1-8, the upper end and the lower end of the base 1-1 are respectively provided with one blocking shaft 1-7, and each blocking shaft 1-7 is respectively sleeved with one constant moment spring 1-8. The constant torque springs 1-8 are made of 3Cr19Ni9Mo2N, and have excellent comprehensive performance, good surface quality, strict control of surface defects and decarburization and accurate appearance and size. Other components and connection relationships are the same as those in the second embodiment.
The fourth concrete implementation mode: the following gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the present embodiment is described with reference to fig. 3 and 4, the large arm assembly 1 further includes a spring ball lock 1-9, and a lower end of the spring ball lock 1-9 penetrates through an upper surface of the base 1-1 from top to bottom and is inserted into a groove 1-4-1 on an upper surface of the large arm rotation support 1-4. Other components and connection relationships are the same as those in the second embodiment.
The fifth concrete implementation mode: the following type gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the embodiment is described by combining fig. 3 and fig. 4, the spring ball lock 1-9 of the following type gravity compensation device of the three-degree-of-freedom space station cloud desk lamp according to the embodiment comprises a ball head lock pin 1-9-1, a fixing outer sleeve 1-9-2, a compression spring 1-9-3 and an adjusting nut 1-9-4, wherein the fixing outer sleeve 1-9-2 is vertically installed on the upper surface of a base 1-1, the adjusting nut 1-9-4 is inserted into the upper end of the fixing outer sleeve 1-9-2, the outer wall of the adjusting nut 1-9-4 is connected with the inner wall of the fixing outer sleeve 1-9-2 through threads, the compression spring 1-9-3 and the ball head lock pin 1-9-1 are sequentially arranged in the fixing outer sleeve 1-9-2 from top to bottom, the lower end of the ball head lock pin 1-9-1 penetrates through the upper surface of the base 1-1 from top to bottom and is inserted into a groove 1-4-1 on the upper surface of the large arm rotary support 1-4. Other components and connection relationships are the same as those in the fourth embodiment.
The sixth specific implementation mode: the following type gravity compensation device of the three-degree-of-freedom space station cloud desk lamp comprises a small arm rotating shaft 2-1, a small arm frame 2-2, a guide rail 2-3, a small arm pulley, an electromagnetic brake 2-9 and two limiting blocks 2-4, wherein the small arm frame 2-2 is rotatably connected with the front end of a large arm 1-3 through the small arm rotating shaft 2-1, the guide rail 2-3 is arranged on the lower surface of the small arm frame 2-2, the central line of the guide rail 2-3 in the length direction is parallel to the central line of the small arm frame 2-2 in the length direction, two ends of the guide rail 2-3 are connected with two ends of the lower surface of the small arm frame 2-2 through the two limiting blocks 2-4, the small arm pulley is arranged on the guide rail 2-3, the upper end of the small arm rotating shaft 2-1 is connected with an electromagnetic brake 2-9. Other components and connection relationships are the same as those in the first or second embodiment.
The seventh embodiment: the following type gravity compensation device of the three-degree-of-freedom space station cloud desk lamp comprises a rope wheel mounting plate 2-5, a sliding block 2-6, two rope wheel seats 2-7 and two rope wheels 2-8, wherein the sliding block 2-6 is mounted on a guide rail 2-3, the sliding block 2-6 can linearly reciprocate along the guide rail 2-3, the upper surface of the rope wheel mounting plate 2-5 is fixedly connected with the lower surface of the sliding block 2-6, the two rope wheel seats 2-7 are mounted on the lower surface of the rope wheel mounting plate 2-5 side by side along the length direction of the rope wheel mounting plate 2-5, and each rope wheel seat 2-7 is respectively provided with one rope wheel 2-8. Other components and connection relations are the same as those of the sixth embodiment.
The specific implementation mode is eight: the following gravity compensation device of a three-degree-of-freedom space station cloud desk lamp according to the present embodiment is described with reference to fig. 6, wherein the front-end re-compensation assembly 3 of the following gravity compensation device of a three-degree-of-freedom space station cloud desk lamp according to the present embodiment includes a steel wire rope 3-1, a weight 3-2, and a rotating half ring 3-3, the bearing comprises an outer bearing seat 3-4, an inner bearing seat 3-5 and three bearings 3-6, wherein one end of a steel wire rope 3-1 is connected with a rotary semi-ring 3-3, the other end of the steel wire rope 3-1 penetrates through two rope wheels 2-8 to be connected with a weight 3-2, two ends of the rotary semi-ring 3-3 are rotatably connected with two sides of the outer bearing seat 3-4, the inner bearing seat 3-5 is arranged in the outer bearing seat 3-3, and the three bearings 3-6 are uniformly distributed between the inner wall of the outer bearing seat 3-4 and the outer wall of the inner bearing seat 3-5 along the circumferential direction. Other components and connections are the same as those in the first embodiment.
Principle of operation
The large arm assembly 1 mainly plays a role in suspending and unloading the rear end of the whole light projection lighting device 8, and meanwhile, the rotary part at the rear end of the large arm realizes the follow-up unloading of the unlocking and unfolding actions of the root part of the lighting device. When the big arm component 1 is in an initial state, the direction of the rotating shaft 1-2 is vertical to the base 1-1, so that the initial compression state of the light projecting and illuminating equipment 8 is met; along with the release of 8 closing devices of light projecting lighting apparatus, when launching by the expansion hinge drive of equipment self, through rear end repacking subassembly 4, drive big arm component 1 motion, lock after moving 90, rotate and provide more stable state for anterior segment position and every single move rotation. In order to avoid the influence of inertia generated by the self mass of the unloading device on the tripod head lamp unfolding test, constant moment springs 1-8 with certain torque are additionally arranged at the roots of the large arms 1-3 of the unloading device, so that semi-active unloading is realized.
The small arm assembly 2 can self-adaptively realize the independent movement and the mixed movement of the azimuth rotation and the pitching rotation of the light projection lighting device 8 through the rotation of the root and the movement of the small arm pulley. The electromagnetic brake is used for locking the forearm joint in the unfolding process of the projection lamp equipment, and the forearm joint cannot swing due to the electromagnetic brake; and secondly, after the pitching 90-degree motion is completed, the small arm joint is locked when the azimuth rotation is carried out, so that the unloading precision influence of the azimuth rotation under the condition of reducing the pitching 90-degree motion is avoided.
A waist-shaped hole is reserved at the joint of the rope fixing screw and the large arm component 1 in the rear end re-repairing component structure of the whole device, and the purpose is to adjust the hanging position and ensure that the hanging position is on the mass center.
The bearing outer seat 3-4 is symmetrically provided with shafts at two sides for mounting the rotary semi-ring 3-3, so that the rotary semi-ring 3-3 can rotate around the shafts, and the bearing outer seat is convenient to adapt to unloading in a state that the azimuth rotation and the pitching rotation move simultaneously. The front end gravity compensation hoisting point position, the re-compensation assembly and the projection lamp are arranged and clamped by the clamping block.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a follow-up formula gravity compensation arrangement of three degree of freedom space station cloud desk lamps, it compresses tightly release subassembly (5), spherical support frame (6) and locating plate (7) including synchronous, and locating plate (7) are vertical to be fixed on spherical support frame (6), its characterized in that: the follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp further comprises a large arm component (1), a small arm component (2), a front end re-compensation component (3) and a rear end re-compensation component (4), the large arm component (1) is connected with a positioning plate (7), the small arm component (2) is connected with the large arm component (1), the front end of the small arm component (2) is connected with a light projection lighting device (8) through the front end re-compensation component (3), the rear end of the small arm component (2) is connected with the middle of the light projection lighting device (8) through the rear end re-compensation component (4), the rear end of the light projection lighting device (8) is connected with the positioning plate (7), and the rear end of the light projection lighting device (8) is connected with the tail end of the large arm component (1) through a synchronous compression release component (5).
2. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 1, wherein: the big arm assembly (1) comprises a base (1-1), a big arm rotating shaft (1-2), a big arm (1-3) and a big arm rotating support (1-4), the base (1-1) is fixedly arranged on a positioning plate (7), the tail end of the big arm (1-3) is connected with the big arm rotating support (1-4), and the big arm rotating support (1-4) is rotatably connected with the base (1-1) through the big arm rotating shaft (1-2).
3. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 2, wherein: the large arm component (1) further comprises two blocking shafts (1-7) and two constant moment springs (1-8), the upper end and the lower end of the base (1-1) are respectively provided with one blocking shaft (1-7), and each blocking shaft (1-7) is respectively sleeved with one constant moment spring (1-8).
4. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 2, wherein: the big arm component (1) also comprises a spring ball lock (1-9), and the lower end of the spring ball lock (1-9) penetrates through the upper surface of the base (1-1) from top to bottom and is inserted into a groove (1-4-1) on the upper surface of the big arm rotary support (1-4).
5. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 4, wherein: the spring ball lock (1-9) comprises a ball head lock pin (1-9-1), a fixing outer sleeve (1-9-2), a compression spring (1-9-3) and an adjusting nut (1-9-4), wherein the fixing outer sleeve (1-9-2) is vertically arranged on the upper surface of the base (1-1), the adjusting nut (1-9-4) is inserted into the upper end of the fixing outer sleeve (1-9-2), the outer wall of the adjusting nut (1-9-4) is connected with the inner wall of the fixing outer sleeve (1-9-2) through threads, the compression spring (1-9-3) and the ball head lock pin (1-9-1) are sequentially arranged in the fixing outer sleeve (1-9-2) from top to bottom, and the lower end of the ball head lock pin (1-9-1) penetrates through the upper surface of the base (1-1) from top to bottom The surface is inserted in a groove (1-4-1) on the upper surface of the large arm rotary support (1-4).
6. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 1 or 2, wherein: the small arm component (2) comprises a small arm rotating shaft (2-1), a small arm frame (2-2), a guide rail (2-3), a small arm pulley, an electromagnetic brake (2-9) and two limiting blocks (2-4), the small arm frame (2-2) is rotatably connected with the front end of the large arm (1-3) through the small arm rotating shaft (2-1), the guide rail (2-3) is arranged on the lower surface of the small arm frame (2-2), the central line of the guide rail (2-3) along the length direction is parallel to the central line of the small arm support (2-2) along the length direction, two ends of the guide rail (2-3) are connected with two ends of the lower surface of the small arm support (2-2) through two limiting blocks (2-4), the small arm pulley is arranged on the guide rail (2-3), and the upper end of the small arm rotating shaft (2-1) is connected with the electromagnetic brake (2-9).
7. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 6, wherein: the small-arm pulley comprises a rope pulley mounting plate (2-5), a sliding block (2-6), two rope pulley seats (2-7) and two rope pulleys (2-8), wherein the sliding block (2-6) is mounted on a guide rail (2-3), the sliding block (2-6) can linearly reciprocate along the guide rail (2-3), the upper surface of the rope pulley mounting plate (2-5) is fixedly connected with the lower surface of the sliding block (2-6), the two rope pulley seats (2-7) are mounted on the lower surface of the rope pulley mounting plate (2-5) side by side along the length direction of the rope pulley mounting plate (2-5), and each rope pulley seat (2-7) is respectively provided with one rope pulley (2-8).
8. The follow-up gravity compensation device of the three-degree-of-freedom space station cloud table lamp as claimed in claim 1, wherein: the front-end re-repairing component (3) comprises a steel wire rope (3-1), weights (3-2), a rotary semi-ring (3-3), a bearing outer seat (3-4), a bearing inner seat (3-5) and three bearings (3-6), one end of a steel wire rope (3-1) is connected with a rotary semi-ring (3-3), the other end of the steel wire rope (3-1) penetrates through two rope wheels (2-8) to be connected with a weight (3-2), two ends of the rotary semi-ring (3-3) are rotatably connected with two sides of a bearing outer seat (3-4), a bearing inner seat (3-5) is arranged in the bearing outer seat (3-4), and three bearings (3-6) are uniformly distributed between the inner wall of the bearing outer seat (3-4) and the outer wall of the bearing inner seat (3-5) along the circumferential direction.
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| CN201811184497.1A CN109110163B (en) | 2018-10-11 | 2018-10-11 | Follow-up gravity compensation device of three-degree-of-freedom space station cloud table lamp |
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| CN201811184497.1A CN109110163B (en) | 2018-10-11 | 2018-10-11 | Follow-up gravity compensation device of three-degree-of-freedom space station cloud table lamp |
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| CN111142573B (en) * | 2019-12-27 | 2023-06-13 | 兰州空间技术物理研究所 | Two-dimensional turntable accompanying light projection lighting equipment in space microgravity environment |
| CN112115547B (en) * | 2020-09-09 | 2022-08-16 | 天津航天机电设备研究所 | Suspension type gravity compensation lifting point position determination method |
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| US4860600A (en) * | 1987-04-20 | 1989-08-29 | Schumacher Larry L | Three degree of freedom micro-gravity simulator |
| JPH03289533A (en) * | 1990-04-05 | 1991-12-19 | Mitsubishi Electric Corp | Simulated testing method for unfolding testing apparatus |
| CN102145755B (en) * | 2010-02-10 | 2013-03-27 | 上海卫星工程研究所 | Zero-gravity suspension type deployment test device |
| RU2483991C1 (en) * | 2011-12-08 | 2013-06-10 | Федеральное Государственное Унитарное Предприятие "Государственный научно-производственный ракетно-космический центр "ЦСКБ-Прогресс" (ФГУП "ГНПРКЦ "ЦСКБ-Прогресс") | Bench for opening panels of solar battery |
| CN103878788B (en) * | 2014-04-04 | 2015-10-28 | 哈尔滨工业大学 | Two dimension straight line air-float guide rail formula mechanical arm gravity-compensated device |
| CN205418146U (en) * | 2015-11-30 | 2016-08-03 | 上海宇航系统工程研究所 | Experimental cable suspension device is expanded on miniature satellite multi freedom solar sail ground |
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