CN110077632A - A kind of manual/automatic integratedization cyclone and microgravity tumbling state simulation system - Google Patents
A kind of manual/automatic integratedization cyclone and microgravity tumbling state simulation system Download PDFInfo
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- CN110077632A CN110077632A CN201910396735.3A CN201910396735A CN110077632A CN 110077632 A CN110077632 A CN 110077632A CN 201910396735 A CN201910396735 A CN 201910396735A CN 110077632 A CN110077632 A CN 110077632A
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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
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Abstract
The present invention provides a kind of manual/automatic integratedization to play cyclone and microgravity tumbling state simulation system, is related to in-orbit service and maintenance technology field, and manual/automatic integratedization plays cyclone, is suitable for making to suspend in midair target around spin axis and generates spin；It include: to revolve component and/or rotation motor for providing rising manually for rotation driving force；Suitable for torque conversion is played rotation rotation section for what is moved around own axis under revolving the drive of driving force at described；The friction member that rotation section is connect directly or indirectly is revolved with described, the friction member is suitable for being bonded with driven member, and drives the driven member that the friction member is followed to rotate coaxially.Manual/automatic integratedization of the present invention rise cyclone simultaneously have manually with two kinds of driving methods of motor, clutch is configured, two kinds of driving methods are non-interference, can once arbitrarily switch between manual actuation and motor driven after the assembly is completed, without changing hardware again, it is not necessary to debug again.
Description
Technical field
The present invention relates to in-orbit service and maintenance technology field, in particular to a kind of manual/automatic integratedization plays cyclone and micro-
Gravity tumbling state simulation system.
Background technique
Geostationary orbit (GEO) is the important Earth's orbit resource of the mankind, and in-orbit resource is limited by rail position, extremely tightly
It lacks.However as the rapid development of space mission, GEO band (GEO ± 200km) has been accumulated many uncontrollable or discarded
Satellite, these satellites lead to GEO rail position resource serious waste.For in-orbit inert satellite, in terms of attitude characteristic, due to celestial body
The effect of the energy dissipations such as solar wing and propellant sloshing, eventually shows rolling posture, and it is one big that in-orbit capture is carried out to it
Difficult point.To solve this difficult point, it would be highly desirable to carry out in-orbit service and maintenance related key technical tackling key problem；And related key technical is tackled key problems
In the process, due to the problems such as being limited to scientific research cost and environmental protection, key technology verifying cannot be carried out directly in space, is usually existed
Before engineer application, need first to carry out a large amount of verification test on ground.Therefore before key technology validating in orbit and application,
Urgent need, which provides one kind, to be what the true in-orbit state of space working environment and target was simulated to in-orbit inert satellite
System, however, to achieve the above object, it is necessary first to contentedly in face of suspention target spin states simulation, make suspend in midair target into
Enter to rotate tumbling state, therefore, it is necessary to a kind of cyclone be provided, so that suspention target enters rotation tumbling state, and should
Playing cyclone can be according to selection driving methods such as test needs, test maturity and test safeties, and ensures a variety of drivings
It is non-interference between mode.
Summary of the invention
In view of this, the present invention is directed to propose a kind of manual/automatic integratedization plays cyclone, to realize space microgravity state
Under, the ground simulation of rolling posture is carried out to target.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of manual/automatic integratedization cyclone is suitable for making to suspend in midair target around spin axis and generates spin；It include: for mentioning
For playing the rotation component manually of rotation driving force and/or playing rotation motor；Torque is turned under drive suitable for revolving driving force at described
Become moving around own axis plays rotation rotation section；Directly or indirectly the friction member that rotation section is connect, institute are revolved with described
It states friction member to be suitable for being bonded with driven member, and drives the driven member that the friction member is followed to rotate coaxially.
Optionally, it has further included rotation driving section that manual/automatic integratedization, which plays cyclone, is suitable for transmitting driving force, described
Playing rotation driving section includes gear drive shaft；The upper sleeve that the gear drive shaft revolves rotation section with described is connect, the tooth
Wheel drive shaft rotation drives the upper sleeve to move around own axis.
Optionally, it has further included rotation pars contractilis that manual/automatic integratedization, which plays cyclone, and described rotation pars contractilis includes stretching
Contracting sleeve, the extension sleeve are slidably connected by connecting key and the upper sleeve, and the extension sleeve and the top cover
Cylinder coaxial arrangement enables the extension sleeve and the upper sleeve opposite sliding in the axial direction, meanwhile, the telescopic
Cylinder can follow the upper sleeve to rotate coaxially.
Optionally, the extension sleeve is fixedly connected with the friction member far from described upper sleeve one end end, described
Friction member and the extension sleeve are coaxially disposed.
Optionally, the friction member includes first rubbing surface circular around axis direction, and first rubbing surface may be selected
Be bonded with the driven member, it is described to be driven under first rubbing surface and the driven member fit-state
Component follows the friction member to rotate coaxially.
Optionally, the rotation component that rises manually specifically includes: sequentially connected hand-operated gear case plays the first universal joint shaft of rotation
Device plays rotation gear-box, plays the second Hooks coupling universal coupling of rotation；Described the second Hooks coupling universal coupling of rotation is connect with rotation driving section is played, and will be turned
Square is transmitted.
Optionally, the hand-operated gear case is used to manually control a turn, including sequentially connected first-hand
Driving force is carried out first time deflecting by wheel, the first cone tooth, the second cone tooth, the first cone tooth and the second cone tooth engagement；Institute
The 5th cone tooth and the 6th cone tooth that rotation gear-box includes engagement connection are stated, the 5th cone tooth and the 6th cone tooth engagement will
Driving force carries out second of deflecting；The second cone tooth is fixedly connected with described the first Hooks coupling universal coupling first end of rotation, described
It plays the first Hooks coupling universal coupling second end of rotation to be fixedly connected with the 5th cone tooth, the 6th cone tooth and described rotation second are universal
Shaft coupling first end is fixedly connected.
Optionally, described rotation driving section includes the 7th cone tooth and the 8th cone tooth of engagement connection；Described rotation the 20000th
It is connect to the second end of shaft coupling by the first freewheel clutch with the 7th cone tooth.
Optionally, in the case where playing rotation state manually, first freewheel clutch joins with described the second Hooks coupling universal coupling of rotation
It connects, torque is passed into upper sleeve via the 7th cone tooth and the 8th cone tooth；Under electronic rotation state, the first surpass
More clutch is disengaged with described the second Hooks coupling universal coupling of rotation, the 7th cone tooth idle running, the torque warp on described rotation motor
Upper sleeve is transferred to by shaft coupling, gear drive shaft.
Compared with the existing technology, manual/automatic integratedization of the present invention plays cyclone and has the advantage that
(1) manual/automatic integratedization provided by the invention is played cyclone and is designed using manual/automatic integratedization drive lacking, plays rotation
It is fast controllable, and have braking function, it is easy to operate, securely and reliably；Simultaneously have manually with two kinds of driving methods of motor, by matching
Setting clutch keeps two kinds of driving methods non-interference；
(2) manual/automatic integratedization provided by the invention plays cyclone, can be in manual actuation once after the assembly is completed
It is arbitrarily switched between motor driven, without changing hardware again, it is not necessary to it debugs again, it can be according to test needs, test maturity
And the unrestricted choices driving method such as test safety；
(3) manual/automatic integratedization provided by the invention plays cyclone, plays rotation speed controllably, hand can be used using initial stage
Dynamic driving guarantees safety, it is ensured that is changed to motor driven after no security risk, can voluntarily control revolving speed and torque, security risk is small.
Another object of the present invention is to propose a kind of microgravity tumbling state simulation system, described includes as described above
Manual/automatic integratedization plays cyclone.
The microgravity tumbling state simulation system and above-mentioned manual/automatic integratedization play cyclone institute compared with the existing technology
Have the advantage that identical, details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is microgravity tumbling state simulation system overall structure diagram of the present invention；
Fig. 2 is present invention suspention Qi Xuan mechanism perspective view one；
The present invention suspention Qi Xuan mechanism perspective view two of Fig. 3；
Fig. 4 is hand-operated gear box structure schematic diagram of the present invention；
Fig. 5 is that the present invention plays rotation component perspective view；
Fig. 6 is that the present invention plays rotation component sectional view；
Fig. 7 is present invention suspention Qi Xuan mechanism local structure perspective；
Fig. 8 is lifting unit perspective view of the present invention；
Fig. 9 is enlarged drawing at A in Fig. 7；
Figure 10 is enlarged drawing at B in Fig. 7；
Figure 11 is brake disc of the present invention and sleeve bearing holder structure schematic diagram；
Figure 12 is present invention suspention Qi Xuan mechanism sectional view one；
Figure 13 is enlarged drawing at C in Figure 13；
Figure 14 is friction member of the present invention and taper rotation axis structure diagram；
Figure 15 is the flexible suspension unit schematic diagram of the present invention；
Figure 16 is steel wire rope component sectional view of the present invention；
Figure 17 is the non-brake status diagram of brake disc of the present invention；
Figure 18 is brake disc on-position schematic diagram of the present invention；
Figure 19 is angle of the present invention and off-center adjustment apparatus perspective view；
Figure 20 is that angle of the present invention and off-center adjustment apparatus angle adjust schematic diagram one；
Figure 21 is that angle of the present invention and off-center adjustment apparatus angle adjust schematic diagram two.
Description of symbols:
11- truss, 12- electric box, 13- truss connecting plate, 9- suspend target in midair；
2- manual component；21- hand-operated gear case, 22- play rotation gear-box, and 23- braking gear box, it is universal that 24- brakes first
Shaft coupling, 25- play the first Hooks coupling universal coupling of rotation, and 26- brakes the second Hooks coupling universal coupling, and 27- plays the second Hooks coupling universal coupling of rotation；211-
First handwheel, the second handwheel of 212-, 213- first bore tooth, and 214- second bores tooth, 215- triconodont, and 216- the 4th bores tooth,
221- the 5th bores tooth, and 222- the 6th bores tooth, and 421- the 7th bores tooth, and 422- the 8th bores tooth；
3- drive lacking device；31- braking motor, 32- brake portion, 33- lifting unit, 35- taper rotary shaft；331- liter
Pedestal, 332- lifting sliding rail, the two-way lead screw of 333-, 334- forward direction feed screw nut seat, the reversed lead screw nut seat of 335-, 336- axis drop
Hold an elevating lever, 337- brake disc elevating lever, 338- lead screw fixing seat；341- mounting plate, 342- brake disc, 3421- brake,
343- sleeve bearing seat, 344- brake disc guide rod, 345- bearing block guide rod, 346- linear bearing, 347- guide part, 348-
Limit circular cone, the first rubbing surface of 351-, 352- compressed part, 353- 3rd bearing；
Electronic rotation component of 4-；41- plays rotation motor, and 42- plays rotation driving section, and 43- plays rotation rotation section, and 44- plays rotation pars contractilis,
45- friction member；411- shaft coupling, 423- gear drive shaft, the first freewheel clutch of 424-, the second freewheel clutch of 425-,
431- plays rotation bearing block, 432- upper sleeve, 433- first bearing, 434- second bearing, 441- extension sleeve, 442- connection
Key, the first rubbing surface of 451-；
5- angle and off-center adjustment apparatus；51- first object pinboard, 52- the second target pinboard, the hand portion 53-,
54- lead screw portion, 55- link rod part；531- handwheel, 532- fixed disk；541- lead screw, 542- feed screw nut seat, the support of 543- lead screw
End, 544- lead screw fixing end, 545- guide rail, 546- sliding block；551- pin shaft, 552- connecting rod, 553- adapter, 554- set square,
555- lock clasp part；
6- flexibility suspension unit, 611- wirerope, 612- wirerope welding hemisphere, 613- wirerope upper stationary part,
614- wirerope sleeve, 615- tension sensor, 616- round nut seat, 617- ball nut；620- wirerope plate, 621- power sensing
Device module, 631- grating, 632- photoelectric sensor, 633- speed measuring module.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.In addition, all directions being previously mentioned in embodiments herein or positional relationship (such as "upper", "lower", " preceding ",
" rear ", "left", "right") it is the positional relationship based on attached drawing, only for the purposes of understanding the application and simplifying description, rather than it is dark
Show the specific orientation that signified device or element must have, should not be understood as the limitation to the application.
The present invention is directed to protect a kind of manual/automatic integratedization to play cyclone, manual/automatic integratedization plays cyclone as outstanding
The component part for slinging rotation mechanism can make to suspend in midair target 9 around spin axis generation spin；For convenient for it is clearer to the hand from
Movement and motor-driven integrative plays cyclone and is described, and the present invention is made to constitute complete technical solution, below will be whole to suspention Qi Xuan mechanism
Body technique scheme is described, and in the course of the description, plays the specific implementation shape of cyclone to manual/automatic integratedization emphatically
Formula is described.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with specific technical solution.
Suspention Qi Xuan mechanism proposed by the present invention, can be realized under space microgravity state, carry out rolling posture to target
Ground simulation, thus on the basis of ground experiment, the reasonability and technical feasibility of clarifying space task scheme.
A kind of suspention Qi Xuan mechanism, in conjunction with shown in Fig. 1-Fig. 3 comprising:
Manual/automatic integratedization plays cyclone, is suitable for making to suspend in midair target 9 around spin axis and generates spin；
Hard and soft constraints conversion device, be suitable for making between suspension gear and suspention target rigid constraint and flexible constraint it
Between switch；
Angle and off-center adjustment apparatus 5 are suitable for being adjusted the deflection angle of suspention target 9 with eccentric position.
The suspention Qi Xuan mechanism on truss 11, and carries out electricity with electric box 12 by 13 installation settings of truss connecting plate
Connection, to realize that the operation to the suspention Qi Xuan mechanism controls.
The truss connecting plate 13 is installed on the studdle of truss 11 by four double nuts, using nut adjustment
Truss connecting plate 13 is to horizontal position, so as to adjust the installation level of the main part of entire mechanism.
[manual/automatic integratedization plays cyclone]
Manual/automatic integratedization plays cyclone, is suitable for making to suspend in midair target 9 around spin axis and generates spin；It include: to be used for
There is provided rotation driving force plays rotation component and/or rotation motor 41 manually；It will turn under drive suitable for revolving driving force at described
Torque conversion is the rotation rotation section 43 moved around own axis；Directly or indirectly rub with what described rotation rotation section 43 was connect
Wipe part 45.
As concrete implementation form, in conjunction with shown in Fig. 4-Fig. 6, it includes: manual that manual/automatic integratedization, which plays cyclone,
Play rotation component, electronic rotation component 4；Manual/automatic integratedization plays cyclone and plays rotation form using manual/automatic integratedization, can
Switch between rotation and two kinds of driving methods of electronic rotation rising manually.
It is described manually rise rotation a component specifically include: sequentially connected hand-operated gear case 21, rise rotation the first Hooks coupling universal coupling 25,
It plays rotation gear-box 22, play the second Hooks coupling universal coupling 27 of rotation.
Wherein, as specific implementation form of the invention, the hand-operated gear case 21 includes: the first handwheel 211, first cone
Tooth 213, second bores tooth 214；Wherein, the first handwheel 211, first cone tooth 213, second is bored tooth 214 and is sequentially connected, for a rotation
Movement is manually controlled；Described rotation gear-box 22 includes the 5th cone tooth 221 and the 6th cone tooth 222 of engagement connection；
The second cone tooth 214 is fixedly connected with described rotation 25 first end of the first Hooks coupling universal coupling, described rotation first
25 second end of Hooks coupling universal coupling is fixedly connected with the 5th cone tooth 221, and the 6th cone tooth 222 and described rotation second are universal
27 first end of shaft coupling is fixedly connected.
The first cone tooth 213 is engaged with the second cone tooth 214 carries out first time deflecting, the 5th cone for driving force
Tooth 221 engages with the 6th cone tooth 222 driving force carrying out second of deflecting；To be acted on first handwheel 211
Hand power transmitted.
Additional, the hand-operated gear case 21 further include: sequentially connected second handwheel 212, triconodont the 215, the 4th
Tooth 216 is bored, for manually controlling to braking maneuver；The structure member for being used for turn work and braking maneuver is set to together
In one hand-operated gear case 21, operator can be facilitated to control, in the Manual test stage, can quickly rise rotation with
Switching is adjusted between braking.Preferably, manual actuation mode is mainly manipulated by manual component 2, the manual component 2
Further comprise playing rotation component and hand brake component manually, rotation component will be played manually and put together with hand brake component,
It is compact-sized, it is controlled convenient for operator.
The specific works form for playing rotation component manually is described as follows: shaking the first handwheel 211, first handwheel
211 connect with the first cone tooth 213, transmit torque；The first cone tooth 213 is engaged with the second cone tooth 214, by driving force progress the
Deflecting；Second cone tooth 214 is connected by described the first Hooks coupling universal coupling 25 of rotation with the 5th cone tooth 221, and torque is transmitted；Institute
It states the 5th cone tooth 221 to engage with the 6th cone tooth 222, driving force is subjected to second of deflecting；The 6th cone tooth 222 and institute
Rotation 27 first end of the second Hooks coupling universal coupling has been stated to be fixedly connected, continue through it is described rise the second Hooks coupling universal coupling 27 of rotation by torque into
Row transmitting.
The electronic rotation component 4 includes:
Rotation motor 41 is played, rotation driving section 42 is played, plays rotation rotation section 43, plays rotation pars contractilis 44, friction member 45；
The rotation driving section 42 of rising that described rotation motor 41 is suitable for revolving component 4 to described electronic provides electric driving force；
Described rotation driving section 42 is suitable for transmitting driving force, specifically, described rotation driving section 42 includes engagement connection
7th cone tooth 421 and the 8th cone tooth 422；The second end of described the second Hooks coupling universal coupling 27 of rotation passes through the first freewheel clutch
424 connect with the 7th cone tooth 421, and then in a manual mode, the torque that described revolves the second Hooks coupling universal coupling 27 is passed
Pass the 7th cone tooth 421；The 7th cone tooth 421 is engaged with the 8th cone tooth 422, and driving force is carried out third time change
To.
Described rotation driving section 42 further includes a shaft coupling 411,411 first end of shaft coupling and described rotation motor 41
Output axis connection, 411 second end of shaft coupling connect with gear drive shaft 423, and the 8th cone tooth 422 is set in described
In gear drive shaft 423, the 8th cone tooth 422 is synchronous with the gear drive shaft 423 and rotates coaxially, the gear driving
Axis 423 is connect by the second freewheel clutch 425 with described rotation rotation section 43, specifically, the gear drive shaft 423 passes through
The upper sleeve 432 that second freewheel clutch 425 revolves rotation section 43 with described is connect.
Manual/automatic integratedization rise cyclone using manual/automatic integratedization rise rotation form, can manually rise revolve with it is electronic
It rises and switches between two kinds of driving methods of rotation.The rotation component that serves manually is suitable for transmitting the hand power on hand-operated gear case 21
Driving section 42 is revolved to rising, meanwhile, described rotation motor 41 is also suitable for having transmitted torque to rotation driving section 42.Pass through setting first
Freewheel clutch 424 and the second freewheel clutch 425 keep a rotation manually non-interference with electronic rotation；Rotation state is being played manually
Under, the first freewheel clutch 424 couples with described the second Hooks coupling universal coupling 27 of rotation, by torque via the 7th cone tooth 421
Upper sleeve 432 is passed to the 8th cone tooth 422；Under electronic rotation state, the first freewheel clutch 424 with described
The disengagement of the second Hooks coupling universal coupling 27 is revolved, the 7th cone tooth 421 dallies, and plays the torque on rotation motor 41 via shaft coupling 411, tooth
Wheel drive shaft 423 is transferred to upper sleeve 432.
Described rotation rotation section 43 is suitable under the drive of external motivating force, as specific implementation form of the invention, institute
It has stated rotation rotation section 43 to be driven by described rotation driving section 42, specifically, the gear drive shaft 423 and the upper sleeve
432 are fixedly connected, thus, torque conversion is rotational motion of the upper sleeve 432 around own axes by described rotation driving section 42.
Described rotation rotation section 43 includes: upper sleeve 432, and the upper sleeve 432 has been set in rotation bearing block 431, and described
It is provided with rolling bearing between upper sleeve 432 and described rotation bearing block 431, the upper sleeve 432 is enable to drive
Under the drive of power, rotated in described rotation bearing block 431；Preferably, the rotation axis is contracted as concrete implementation form
First bearing 433 and second bearing 434 are included, the first bearing 433 is respectively arranged at the upper sleeve with second bearing 434
432 both ends, convenient for making 432 smooth rotation of upper sleeve.
Described rotation pars contractilis 44 is suitable for rotating coaxially with described rotation rotation section 43 and described rotation pars contractilis 44 can
It is slided up and down along own axes, preferably, described rotation pars contractilis 44 includes stretching as specific implementation form of the invention
Contracting sleeve 441, the extension sleeve 441 are slidably connected by connecting key 442 with the upper sleeve 432, the extension sleeve
441 with the upper sleeve 432 be coaxially disposed, enable the extension sleeve 441 with the upper sleeve 432 in the axial direction
Opposite sliding, meanwhile, the extension sleeve 441 can follow the upper sleeve 432 to rotate coaxially.
The extension sleeve 441 is fixedly connected with the friction member 45 far from 432 one end end of upper sleeve, described
Friction member 45 and the extension sleeve 441 are coaxially disposed, and are rotated synchronously, the friction member 45 include around axis direction it is circular the
One rubbing surface 451, under the extension sleeve 441 drive, the first rubbing surface 451 of the friction member 45 is rotated about axis, into
And the frictional force to produce relative rotation with subsequent parts, as specific implementation form of the invention, first rubbing surface 451 can
Selection is bonded with the driven member, described under first rubbing surface 451 and the driven member fit-state
Driven member follows the friction member 45 to rotate coaxially.
The specific works form that manual/automatic integratedization plays cyclone is described as follows: by playing rotation component or described manually
It plays rotation motor 41 and torque is provided, torque is transferred to upper sleeve 432 via shaft coupling 411, gear drive shaft 423；On described
Portion's sleeve 432 in described rotation bearing block 431 around own axis, and then the upper sleeve 432 drive it is described flexible
Sleeve 441, the extension sleeve 441 are further driven to 45 pivoting of friction member；Meanwhile 441 energy of extension sleeve
The friction member 45 is enough driven to stretch in the axial direction.
The suspention Qi Xuan mechanism provided by the invention, while having manually with two kinds of driving methods of motor, configure clutch
Device, two kinds of driving methods are non-interference, can once arbitrarily switch between manual actuation and motor driven after the assembly is completed, do not have to weight
New change hardware, it is not necessary to debug again.It can be according to unrestricted choices driving sides such as test needs, test maturity and test safeties
Formula.
The suspention Qi Xuan mechanism provided by the invention plays rotation speed controllably, and manual actuation can be used using initial stage and guarantee
Safety, it is ensured that be changed to motor driven after no security risk, can voluntarily control revolving speed and torque, security risk is small.
[hard and soft constraints conversion device]
In conjunction with shown in Fig. 7-Figure 14, the hard and soft constraints conversion device is suitable for making between suspension gear and suspention target rigid
Property constraint flexible constraint between switch；During playing rotation, between the suspension gear and suspention target about for rigid constraint
Beam, after the suspention target is in stable tumbling state, the hard and soft constraints conversion device makes the suspension gear and hangs
It hangs and is changed into flexible constraint between target.
The hard and soft constraints conversion device includes: passive matrix unit, drive lacking device 3 and flexible suspension unit 6；It is described
Passive matrix unit is suitable under the driving that manual/automatic integratedization plays cyclone, is passively acted, and active force is passed
Pass suspention target 9；The drive lacking device 3 is suitable for after suspention target 9 reaches desired speed, and manual/automatic integratedization is played rotation
Device is detached from, and is suitable for braking the suspention target 9 in tumbling state；It is described flexibility suspension unit 6 be suitable for pair
The suspention target 9 carries out flexible constraint.
As specific implementation form of the invention, the passive matrix unit includes taper rotary shaft 35, the taper rotation
Shaft 35 is oppositely arranged with the friction member 45, preferably, in the present invention, the taper rotary shaft 35 and the friction member 45
Coaxial arrangement；In the case where playing rotation state, the first friction of the second rubbing surface 351 and the friction member 45 of the taper rotary shaft 35
Face 451 fits, and the friction member 45 drives the taper rotary shaft 35 using frictional force, makes the taper rotary shaft 35 and institute
Friction member 45 is stated to rotate coaxially.
[drive lacking device]
The drive lacking device 3 includes: mounting plate 341, braking motor 31, brake portion 32, lifting unit 33；
The mounting plate 341 is fixedly connected with the truss connecting plate 13；
The brake portion 32 is for transmitting the torque that the braking motor 31 or hand brake component are applied；It is described
Hand brake component is suitable for be applied in the torque transfer on the second handwheel 212 to the brake portion 32, for system
Movement is manually controlled；The hand brake component includes sequentially connected second handwheel 212, triconodont the 215, the 4th
Bore tooth 216, the first Hooks coupling universal coupling 24 of braking, braking gear box 23, the second Hooks coupling universal coupling 26 of braking；The hand brake group
Part is identical as the rotation modular construction form manually, and details are not described herein.Further, the brake portion 32 with it is described
It is identical to play rotation 42 structure type of driving section, is all made of manual/automatic integratedization braking model, and making manually by freewheel clutch
Dynamic to switch between two kinds of driving methods of electrodynamic braking, details are not described herein；
The lifting unit 33 includes: lifting pedestal 331, and fixation is set the lifting pedestal 331 jointly with the mounting plate 341
It is placed on the truss connecting plate 13；Lifting sliding rail 332, the lifting sliding rail 332 are fixedly installed on the lifting pedestal 331
On；Two-way lead screw 333, the two-way lead screw half be it is left-handed, half is dextrorotation, the two-way lead screw 333 receives the braking
The torque that driving section 32 passes over is around own axis；Lead screw fixing seat 338, the lead screw fixing seat 338 are fixedly installed
In on the lifting pedestal 331, and the two-way lead screw 333 is disposed through in the lead screw fixing seat 338, and the lead screw is solid
Bearing is provided between reservation 338 and the two-way lead screw 333, the lead screw fixing seat 338 is suitable for the two-way lead screw 333
Carry out radial limit；Positive feed screw nut seat 334 is sheathed on 333 top half of two-way lead screw, and in the two-way lead screw
Under 333 drive, slided along the lifting sliding rail 332；Reversed lead screw nut seat 335, is sheathed on 333 lower half of two-way lead screw
Part, and under the drive of the two-way lead screw 333, it is slided along the lifting sliding rail 332；Bearing block elevating lever 336, and it is described
Positive feed screw nut seat 334 is fixedly connected, and the positive feed screw nut seat 334 is followed to move；Brake disc elevating lever 337, with
The reversed lead screw nut seat 335 is fixedly connected, and the reversed lead screw nut seat 335 is followed to move.
The drive lacking device 3 further include:
Brake disc 342, the brake disc elevating lever 337 are fixed by brake disc elevating lever flange and the brake disc 342
Connection, the brake disc 342 move synchronously under the brake disc elevating lever 337 drive；
At least one brake disc guide rod 344, described 344 one end of brake disc guide rod and the brake disc 342 are fixed to be connected
It connects, the brake disc guide rod 344 is slidably connected by linear bearing 346 with the mounting plate 341, in the brake disc 342
When movement, the brake disc elevating lever 337 is that the brake disc 342 provides driving force, and the brake disc guide rod 344 is described
Brake disc 342 is oriented to；
Sleeve bearing seat 343, the bearing block elevating lever 336 pass through bearing block elevating lever flange and the sleeve bearing seat
343 are fixedly connected, and the sleeve bearing seat 343 moves synchronously under the bearing block elevating lever 336 drive；The sleeve bearing
Seat 343 is sheathed on outside the extension sleeve 441, and is rotatablely connected by bearing and the extension sleeve 441, and the sleeve
Bearing block 343 and the extension sleeve 441 are coaxially disposed, meanwhile, the sleeve bearing seat 343 is able to drive the extension sleeve
441 move up and down in the axial direction, and then the friction member 45 is driven to move up and down in the axial direction；
An at least bearing block guide rod 345, described 345 one end of bearing block guide rod and the sleeve bearing seat 343 are fixed
Connection, the bearing block guide rod 345 is slidably connected by linear bearing 346 with the mounting plate 341, in the sleeve bearing
When seat 343 moves, the bearing block elevating lever 336 is that the sleeve bearing seat 343 provides driving force, the bearing block guide rod
345 are oriented to for the sleeve bearing seat 343；
342 bottom of brake disc is additionally provided at least one brake 3421.
The specific action form of the drive lacking device 3 is as follows: being applied by the braking motor 31 or hand brake component
The torque added drives the brake portion 32 to act, and then will transmit torque to the two-way lead screw 333, when two-way silk
When thick stick 333 rotates forward, two-way lead screw 333 drives positive feed screw nut seat 334 to move upwards, and positive feed screw nut seat 334 is with moving axis
It holds an elevating lever 336 to move upwards, in turn, bearing block elevating lever 336 drives sleeve bearing seat 343 to move upwards, and makes described stretch
Contracting sleeve 441 moves upwards, so that the friction member 45 be made to move upwards and disengage with the taper rotary shaft 35；At this point, double
It rotates forward the reversed lead screw nut seat 335 of synchronous drive to lead screw 333 to move downward, reversed lead screw nut seat 335 drives brake disc liter
Drop bar 337 moves downward, and brake disc elevating lever 337 is further driven to the brake disc 342 and moves downward, when the brake disc
342 when dropping to certain altitude, and the brake 3421 in the brake disc 342 will brake first object pinboard 51,
It stops operating to make to suspend in midair target 9.
Similarly, when two-way lead screw 5 inverts, two-way lead screw 333 drives positive feed screw nut seat 334 to move downward, and according to
The positive feed screw nut seat 334 of secondary drive, bearing block elevating lever 336, sleeve bearing seat 343, extension sleeve 441, friction member 45 to
Lower movement, and then it is bonded the friction member 45 with the taper rotary shaft 35；At this point, two-way 333 synchronous drive of lead screw is reversed
Feed screw nut seat 335 moves upwards, and successively brake disc elevating lever 337, brake disc 342, brake 3421 is driven to move upwards,
And then disengage brake 3421 and first object pinboard 51.
Preferably, in conjunction with shown in Figure 17-Figure 18, wherein Figure 18 is brake disc on-position schematic diagram, brake disc elevating lever
337 drive the brake disc 342 to move downward, when the brake disc 342 drops to certain altitude, in the brake disc 342
Brake 3421 first object pinboard 51 will be braked, thus make suspend in midair target 9 stop operating.
Preferably, described rotation bearing block 431 is fixedly installed on the mounting plate as specific implementation form of the invention
341 tops, the upper sleeve 432 have been set in rotation bearing block 431 and through the mounting plate 341, the upper sleeve
432 can rotate relative to the mounting plate 341.
Preferably, the output shaft in the brake portion 32 is connect by shaft coupling with two-way lead screw 333, the shaft coupling
On offer threaded hole, by be screwed into jackscrew carry out it is locking.
Preferably, keeping structure simple while guaranteeing stroke instead of two lead screws using two-way lead screw.
Preferably, two-way lead screw one end is installed on lead screw fixing seat 338, one end is cased with after bearing loaded on lifting pedestal 331
Space and cost are saved in bottom end.
Preferably, being punched on feed screw nut seat, while side grooving, bearing block elevating lever/brake disc elevating lever is packed into
It is locking using screw-driving after in hole.
Preferably, brake disc guide rod 344, bearing block guide rod 345 are respectively set three groups, it can prevent target from generating inclined
Pendulum.
Preferably, brake disc guide rod 344, bearing block guide rod 345 are mounted in linear bearing, when guaranteeing to go up and down
Fluency.
[flexible suspension unit]
In conjunction with shown in Figure 15-Figure 16, it is described flexibility suspension unit 6 include: wirerope 611,611 upper end of wirerope with
Wirerope welding hemisphere 612 is fixedly connected, and wirerope welding hemisphere 612 is set in wirerope upper stationary part 613；The steel
611 lower end of cord is fixedly connected with 614 one end of wirerope sleeve, 614 other end of wirerope sleeve and tension sensor 615
It is threadedly coupled, the tension sensor 615 is fixedly connected by ball nut 617 with round nut seat 616, the round nut seat 616
It is fixedly connected on wirerope plate 620, so that wirerope 611 be made to carry out flexible suspention to the wirerope plate 620.
Preferably, wirerope upper stationary part 613, which is fixedly connected on described rise, revolves 431 lower section of bearing block, i.e., the described steel wire
Rope upper stationary part 613 and the mounting plate 341, the truss connecting plate 13 are relatively fixed setting, to make the steel
Cord plate 620 and the mounting plate 341, the truss connecting plate 13 are relatively fixed be arranged.
Preferably, the wirerope 611 is welded to connect with wirerope sleeve 614,614 external threading of wirerope sleeve, and
It machined 4 gaps, the wirerope sleeve 614 can be held tightly, and 614 side of wirerope sleeve is rectangle, easy to setup.
As specific implementation form of the invention, at test initial stage, the friction member 45 drives the taper rotary shaft 35
Rotation, and then the suspention target 9 is rotated, after the suspention target 9 reaches expected stabilized (steady-state) speed, the friction
Part 45 moves upwards, and releases rigid constraint, plays rotation motor 41 and no longer provides power, so that suspention target 9 rotates freely, only by steel
Cord 611 bears gravity, and simulation load state of weightlessness switchs to flexible constraint at this time.
Preferably, being slidably connected between the taper rotary shaft 35 and wirerope plate 620 by 3rd bearing 353；It is described
35 bottom of taper rotary shaft is fixedly connected with first object pinboard 51, and the wirerope plate 620 is transferred with the first object
Plate 51 is relatively rotatable to each other；Flexible suspension unit 6 carries out flexible constraint under suspended state, to the taper rotary shaft 35, this
When, the taper rotary shaft 35 can relatively rotate with wirerope plate 620, so that taper rotary shaft 35 be made to drive the first mesh
It marks pinboard 51 to rotate, and then suspention target 9 is driven to rotate.
Preferably, the tension sensor 615 is electrically connected with force snesor module 621, convenient for monitoring pulling force data；It is described
620 bottom of wirerope plate is additionally provided with photoelectric sensor 632, and grating 631, institute are additionally provided on the first object pinboard 51
The rotation of taper rotary shaft 35 is stated, first object pinboard 51 is driven to rotate, and then grating 631 is driven to rotate, to make grating 631
It relatively rotates with photoelectric sensor 632, the photoelectric sensor 632 is electrically connected with speed measuring module 633, to monitor revolving speed
Data.
The hard and soft constraints conversion device further include: guide and limit unit, the guide and limit unit are suitable for described in limitation
The beat amplitude of passive matrix unit.
Specifically, the guide and limit unit includes a guide part 347, the guide part 347 is sheathed on the friction member
It inside 45, and is relatively rotated and is connected by bearing and the friction member 45, the guide part 347 can follow the friction member 45
It moves up and down in the axial direction, the guide part 347 runs through the taper rotary shaft 35, and the guide part 347 can be in flexibility
Under restrained condition, the limit of beat amplitude is carried out to the taper rotary shaft 35；The guide and limit unit further includes limit cone
Shape block 348, the limit circular cone 348 are set to one end end of the guide part 347 far from the friction member 45, the limit cone
Radially size can prevent the taper rotary shaft 35 greater than the minimum diameter of the taper rotary shaft 35 to shape block 348
Movement avoids the bearing block guide rod 345 from slipping out of described mounting plate 341 beyond limitation along the vertical direction.
The suspention Qi Xuan mechanism provided by the invention has braking function, can be at any time as needed to outstanding in use process
Hang target braking, and increase rotary stopper circular cone can limited target beat amplitude, increase safety.
Preferably, the flexibility suspension unit 6 is installed on 620 top of wirerope plate being connected with bearing outer ring, therefore, institute
Vertical state can be kept and be not involved in rotation by stating flexible suspension unit 6.
Preferably, it is described flexibility 6 lower end of suspension unit connect tension sensor, can real-time measurement wirerope bear weight,
So that operator is become more apparent upon trystate, is conducive to analysis of experiments；
Preferably, taper rotary shaft 35 is using similar structure of friction wheel.
Suspention Qi Xuan mechanism provided by the invention is rigid constraint before suspention target reaches specified revolving speed, reaches specified
After revolving speed, rigid constraint is disengaged, and only bears gravity, simulated microgravity state by wirerope；It arbitrarily switches to the rigid of suspention target
Property constraint and flexible constraint state, to realize the ground to a certain posture tumbling state that may be present of on-orbit fault satellite
Simulation.
[angle and off-center adjustment apparatus]
In conjunction with shown in Figure 19, angle and off-center adjustment apparatus 5 are suitable for the deflection angle and eccentric position to suspention target 9
It sets and is adjusted.The angle and off-center adjustment apparatus 5 include: first object pinboard 51, the second target pinboard 52, hand
Portion 53, lead screw portion 54, link rod part 55；
The first object pinboard 51 is fixedly connected and moves synchronously with the taper rotary shaft 35；
51 bottom of first object pinboard is provided with lead screw 541, the lead screw 541 by lead screw support end 543 with
Lead screw fixing end 544 is connect with the first object pinboard 51, and the lead screw 541 is fixedly connected with fixed disk 532, handwheel
531 are eccentrically mounted in fixed disk 532, by shaking handwheel 531, and then fixed disk 532 are driven to transmit torque to lead screw 541
On, driving lead screw 541 rotates；
One feed screw nut seat 542 is sheathed on 541 outside of lead screw, with the rotation of lead screw 541, the feed screw nut seat 542
It is moved forward and backward；
51 bottom of first object pinboard is fixedly connected with an at least guide rail 545, and the feed screw nut seat 542 passes through
Sliding block 546 is opposite with the guide rail 545 to be slidably connected, and the sliding block 546 is installed on the guide rail 545, to the lead screw
Guiding role is played in the movement of nut seat 542；
The angle and off-center adjustment apparatus 5 include two groups of lead screws 541 and corresponding two groups of lead screw support ends 543, silks altogether
Thick stick fixing end 544, feed screw nut seat 542；
Wherein, at least one piece of set square 554 is connected on first group of feed screw nut seat, is connected on second group of feed screw nut seat
Few one piece of connecting rod 552；As specific implementation form of the invention, two pieces of set squares are connected on first group of feed screw nut seat 542
554, two pieces of connecting rods 552 are connected on second group of feed screw nut seat 542；
The set square 554 is connect by adapter 553 with the second target pinboard 52 with two pieces of connecting rods 552,
The second target pinboard 52 is fixedly connected with the suspention target.
First group of feed screw nut seat is fixedly connected with the set square 554, preferably, first group of feed screw nut
Seat is fixed with the set square 554 by least two tie points, and first group of feed screw nut seat and the set square 554 are made
It can not relatively rotate；
Second group of feed screw nut seat is connect with connecting rod 552 by a pin shaft 551, second group of feed screw nut seat
It can relatively rotate with connecting rod 552；
The set square 554 and the connecting rod 552 are connect with the adapter 553 by a pin shaft 551；It is described
Set square 554 and the connecting rod 552 can relatively rotate with the adapter 553；
In conjunction with shown in Figure 20-Figure 21, by rotation hand wheel 531, lead screw 541 is driven to rotate, when two lead screw rotations are identical
When angle, i.e., described first group of feed screw nut seat and the mobile same distance of second group of feed screw nut seat are then adjustable outstanding
Hang the center of gravity of target 9；
When two lead screws rotate different angle, first group of feed screw nut seat and second group of feed screw nut seat are moved
Dynamic different distance, then the connecting rod 552 is simultaneously around the pin shaft of second group of feed screw nut seat and the pin shaft of the adapter 553
Rotation, and the set square 554 can only be rotated around the pin shaft of the adapter 553, so that the second target pinboard 52 be made to send out
The deflection of a ° of the male character types in Chinese operas, usu. referring tov the bearded character degree, and then adjust the angle of suspention target 9.
Preferably, the fixed disk 532 is rotatablely connected with the lead screw fixing end 544 in the present embodiment；
Preferably, tapping female bore in the lead screw fixing end for being additionally provided with hole in the fixed disk 532, and being attached thereto,
After suspending target 9 in midair and adjusting to target position or center of gravity, by the hole by the fixed disk 532 and the lead screw fixing end
544 is fixed, and lead screw 541 is made to be fixed on target position or center of gravity；By increasing fixed plate at handwheel 531, adjusts and arrive target angle
The state can be kept after degree or center of gravity；
Preferably, the pin shaft 551 is locked by lock clasp part 555, suspention target is avoided during rotation
Generate offset；
Preferably, being cased with copper sheathing outside the pin shaft 551, the frictional force of rotation is reduced.
Preferably, the angle and off-center adjustment apparatus are oriented to using sliding block 546 and guide rail 545, guarantee lead screw spiral shell
Fluency when base is mobile.
Preferably, adapter 553 is U-shaped adapter, cantilever beam structure is avoided, increases structural strength.
In an alternative embodiment, lock clasp part is installed to pin shaft one end in adapter, and there are surpluses, use
Screw is fixed pin shaft using frictional force when connecting.
The suspention Qi Xuan mechanism provided by the invention, can by regulation handle adjust suspention target deflection angle with again
Heart position meets different experiment demands；Adjusting method is simple and convenient, only need to shake handwheel, does not have to mechanism for assembling-disassembling；Lead screw portion 54
With guiding, keep adjustment process more smooth；
Suspention Qi Xuan mechanism provided by the invention is designed using manual/automatic integratedization drive lacking, has had rotation, hard and soft constraint
The multiple functions such as conversion, braking, suspention pose adjustment；It is controllable to play rotation speed, and has braking function, it is easy to operate, safely may be used
It leans on；Have manually with two kinds of driving methods of motor simultaneously, keeps two kinds of driving methods non-interference by configuring clutch；
Suspention Qi Xuan mechanism provided by the invention can not only realize that suspention target generates spin around spin axis, but also can realize suspention
Target spin axis generate swing, and arbitrarily switch to suspention target rigid constraint and flexible constraint state, thus realize to
The ground simulation of a certain posture tumbling state that may be present of rail fault satellites.
A kind of microgravity tumbling state simulation system, the microgravity tumbling state simulation system are hanged using described above
Sling rotation mechanism, the suspention Qi Xuan mechanism by 13 installation settings of truss connecting plate on truss 11, and with electric box 12 into
Row electrical connection, to realize that the operation to the suspention Qi Xuan mechanism controls.
As the ground validation key component that space tasks are implemented, the target of ground experiment is clarifying space task scheme
Reasonability and technical feasibility, and verification method used by its success or not depends greatly on is to its space tasks
Whether implementation process feature is really to reflect, therefore, microgravity tumbling state simulation system provided by the invention is to space mesh
The ground simulation for being marked on track-like state has very important engineering significance.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of manual/automatic integratedization plays cyclone, which is characterized in that it is suitable for making to suspend in midair target (9) and is produced from around spin axis
Rotation；Include:
Component and/or rotation motor (41) are revolved for providing rising manually for rotation driving force；
Suitable for torque conversion is played rotation rotation section for what is moved around own axis under revolving the drive of driving force at described
(43)；
The friction member (45) that rotation section (43) are connect directly or indirectly is revolved with described, the friction member (45) is suitable for and is driven
Component fitting, and drive the driven member that the friction member (45) is followed to rotate coaxially.
2. manual/automatic integratedization according to claim 1 plays cyclone, which is characterized in that manual/automatic integratedization plays rotation
Device has further included rotation driving section (42), is suitable for transmitting driving force, described rotation driving section (42) includes gear drive shaft
(423)；The upper sleeve (432) that the gear drive shaft (423) revolves rotation section (43) with described is connect, the gear driving
Axis (423) rotation drives the upper sleeve (432) to move around own axis.
3. manual/automatic integratedization according to claim 2 plays cyclone, which is characterized in that manual/automatic integratedization plays rotation
Device has further included rotation pars contractilis (44), and described rotation pars contractilis (44) includes extension sleeve (441), the extension sleeve
(441) it is slidably connected by connecting key (442) with the upper sleeve (432), the extension sleeve (441) and the top cover
Cylinder (432) coaxial arrangement slide the extension sleeve (441) can in the axial direction relatively with the upper sleeve (432),
Meanwhile the extension sleeve (441) can follow the upper sleeve (432) to rotate coaxially.
4. manual/automatic integratedization according to claim 3 plays cyclone, which is characterized in that the extension sleeve (441) is remote
It is fixedly connected with the friction member (45) from the upper sleeve (432) one end end, the friction member (45) is stretched with described
Sleeve (441) coaxial arrangement.
5. manual/automatic integratedization according to claim 3 rise cyclone, which is characterized in that the friction member (45) include around
Circular the first rubbing surface (451) of axis direction, first rubbing surface (451) is selectable to paste with the driven member
It closes, under first rubbing surface (451) and the driven member fit-state, the driven member follows the friction
Part (45) rotates coaxially.
6. manual/automatic integratedization according to claim 2 plays cyclone, which is characterized in that the rotation component manually is specific
Include: sequentially connected hand-operated gear case (21), plays rotation the first Hooks coupling universal coupling (25), play rotation gear-box (22), play rotation second
Hooks coupling universal coupling (27)；Described the second Hooks coupling universal coupling of rotation (27) connect with rotation driving section (42) is played, and torque is transmitted.
7. manual/automatic integratedization according to claim 6 plays cyclone, which is characterized in that the hand-operated gear case (21) is used
In to turn manually control, including sequentially connected first handwheel (211), first cone tooth (213), second cone tooth
(214), first cone tooth (213) engages with second cone tooth (214) driving force carrying out first time deflecting；
Described rotation gear-box (22) includes the 5th cone tooth (221) and the 6th cone tooth (222) of engagement connection, the 5th cone tooth
(221) it is engaged with the 6th cone tooth (222) and driving force is subjected to second of deflecting；
Second cone tooth (214) is fixedly connected with described rotation the first Hooks coupling universal coupling (25) first end, described rotation first
Hooks coupling universal coupling (25) second end is fixedly connected with the 5th cone tooth (221), the 6th cone tooth (222) and described rotation the
Two Hooks coupling universal couplings (27) first end is fixedly connected.
8. manual/automatic integratedization according to claim 7 plays cyclone, which is characterized in that described rotation driving section (42) packet
Include the 7th cone tooth (421) and the 8th cone tooth (422) of engagement connection；The second end of described rotation the second Hooks coupling universal coupling (27) is logical
The first freewheel clutch (424) is crossed to connect with the 7th cone tooth (421).
9. manual/automatic integratedization according to claim 8 plays cyclone, which is characterized in that in the case where playing rotation state manually, institute
It states the first freewheel clutch (424) to couple with described the second Hooks coupling universal coupling of rotation (27), by torque via the 7th cone tooth
(421) upper sleeve (432) are passed to the 8th cone tooth (422)；Under electronic rotation state, the first freewheel clutch
(424) it is disengaged with described the second Hooks coupling universal coupling of rotation (27), the 7th cone tooth (421) idle running, described rotation motor (41)
On torque be transferred to upper sleeve (432) via shaft coupling (411), gear drive shaft (423).
10. a kind of microgravity tumbling state simulation system, which is characterized in that the microgravity tumbling state simulation system includes such as
Manual/automatic integratedization described in claim 1-9 any one plays cyclone.
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|---|---|---|---|
| CN201910396735.3A CN110077632B (en) | 2019-05-14 | 2019-05-14 | Manual-automatic integrated spinning device and microgravity rolling state simulation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910396735.3A CN110077632B (en) | 2019-05-14 | 2019-05-14 | Manual-automatic integrated spinning device and microgravity rolling state simulation system |
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| CN110077632B CN110077632B (en) | 2023-08-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1104740A1 (en) * | 1999-12-02 | 2001-06-06 | TRW Systems Aeronautiques Civils | Manual override device, in particular for aircraft flight control |
| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN108263645A (en) * | 2018-03-15 | 2018-07-10 | 哈尔滨工业大学 | It is arrested for spatial spin target and the ground physical emulation test system of racemization |
| CN108382616A (en) * | 2018-05-17 | 2018-08-10 | 燕山大学 | The suspention gravity-compensated device being servo-actuated based on magnetic suspension |
-
2019
- 2019-05-14 CN CN201910396735.3A patent/CN110077632B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| EP1104740A1 (en) * | 1999-12-02 | 2001-06-06 | TRW Systems Aeronautiques Civils | Manual override device, in particular for aircraft flight control |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN108263645A (en) * | 2018-03-15 | 2018-07-10 | 哈尔滨工业大学 | It is arrested for spatial spin target and the ground physical emulation test system of racemization |
| CN108382616A (en) * | 2018-05-17 | 2018-08-10 | 燕山大学 | The suspention gravity-compensated device being servo-actuated based on magnetic suspension |
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