CN110077633B - An angle and eccentricity adjustment device and a microgravity roll state simulation system - Google Patents

Abstract

The invention provides an angle and eccentricity adjustment device and a microgravity roll state simulation system, which relate to the technical field of on-orbit service and maintenance. The angle and eccentricity adjustment device is suitable for hoisting a suspension target and has The yaw angle and eccentric position are adjusted; including: a first target adapter plate; a second target adapter plate, which is relatively disposed on the lower side of the first target adapter plate and is fixedly connected with the suspended target; A lead screw is horizontally arranged at the bottom of the first target adapter plate along its axis direction; a lead screw nut seat is sleeved on the outside of the lead screw; the lead screw nut seat is directly or indirectly rotated with the second target The connecting plate is connected, and the screw nut seat is suitable for driving the second target adapter plate and the first target adapter plate to move relative to each other. The angle and eccentric adjustment device of the present invention can adjust the yaw angle and eccentric position of the suspended target to meet different test requirements.

Description

An angle and eccentricity adjustment device and a microgravity roll state simulation system

technical field

The invention relates to the technical field of on-orbit service and maintenance, in particular to an angle and eccentricity adjustment device and a microgravity roll state simulation system.

Background technique

Geostationary orbit (GEO) is an important earth orbit resource for mankind, and the in-orbit resource is extremely scarce due to the limitation of orbital position. However, with the rapid development of space missions, the GEO belt (GEO±200km) has accumulated many uncontrollable or abandoned satellites, which lead to a serious waste of GEO orbital space resources. For satellites that fail in orbit, in terms of attitude characteristics, due to the energy dissipation effects of the star's solar wings and propellant swaying, they will eventually show a rolling attitude, and it is a big difficulty to capture them on-orbit. In order to solve this difficulty, it is urgent to carry out key technical research related to on-orbit service and maintenance; and in the process of researching related key technologies, due to the limitations of scientific research costs and environmental protection issues, it is not possible to directly verify key technologies in space, usually before engineering applications. , it is necessary to carry out a large number of verification tests on the ground first. Therefore, before the on-orbit verification and application of key technologies, it is urgent to provide a system capable of simulating the real on-orbit state of the in-orbit satellite working environment and target in space. Simulation of the spin state of the suspended target, in the process of simulating the spin state of the suspended target, in order to simulate the on-orbit state more realistically, according to different test requirements, sometimes the yaw angle of the suspended target needs to be calculated. Therefore, it is necessary to provide such a device so that the suspended target can adjust the posture and posture of the suspended state in order to meet different test requirements.

SUMMARY OF THE INVENTION

In view of this, the present invention aims to provide a hand-automatic integrated spinning device, so as to realize the ground simulation of the rolling attitude of the target in the state of space microgravity.

In order to achieve the above object, the technical scheme of the present invention is achieved in this way:

An angle and eccentric adjustment device, which is suitable for adjusting the yaw angle and eccentric position of a suspended target; the angle and eccentric adjustment device includes:

a first target adapter plate, which is fixedly connected with the conical rotating shaft and moves synchronously;

a second target adapter plate, which is fixedly connected to the suspended target;

A lead screw is arranged at the bottom of the first target adapter plate, and a lead screw nut seat is sleeved on the outside of the lead screw. With the rotation of the lead screw, the lead screw nut seat moves back and forth; the lead screw nut seat drives the The second target adapter board moves.

Optionally, the first target adapter plate is fixedly connected to the conical rotating shaft and moves synchronously, and the conical rotating shaft is driven by the friction member and rotates coaxially with the friction member.

Optionally, the angle and eccentricity adjustment device includes two sets of lead screws and two sets of lead screw nut seats; the first set of lead screw nut seats is connected with the triangle plate and does not rotate relative to each other; the second set of lead screw nut seats and connecting rods The triangular plate and the connecting rod are connected with the adapter through a pin and are connected by a pin and can rotate relative to each other.

Optionally, both the triangular plate and the two connecting rods are connected to the second target adapter plate through an adapter.

Optionally, when the two sets of lead screws rotate at the same angle, the first set of lead screw nut seats and the second set of lead screw nut seats move the same distance, and the angle and eccentric adjustment device drives the suspension. The target is translated to adjust the center of gravity of the suspended target.

Optionally, when the two sets of lead screws are rotated at different angles, the first set of lead screw nut seats and the second set of lead screw nut seats move by different distances, and the connecting rods simultaneously wrap around the second set of leads. The pin of the lever nut seat and the pin of the adapter rotate, while the triangular plate can only rotate around the pin of the adapter, so that the second target adapter plate is deflected by an angle a°, and then Adjust the angle of the hanging target.

Optionally, at least one guide rail is fixedly connected to the bottom of the first target adapter plate, and the lead screw nut seat is relatively slidingly connected to the guide rail through a slider.

Optionally, the angle and eccentric adjustment device further includes a fixed plate, one end of the lead screw is fixedly connected to the fixed plate along the axis direction, and a hand wheel is eccentrically installed on the fixed plate, and by shaking the hand wheel, the fixed plate is further driven to move. The torque is transmitted to the lead screw, which drives the lead screw to rotate.

Optionally, the lead screw is connected to the first target adapter board through a lead screw support end and a lead screw fixed end.

Compared with the prior art, the angle and eccentric adjustment device of the present invention has the following advantages:

The angle and eccentric adjustment device provided by the present invention can adjust the yaw angle and eccentric position of the suspended target to meet different test requirements.

Another object of the present invention is to provide a microgravity roll state simulation system, which includes the angle and eccentricity adjustment devices described above.

The microgravity tumbling state simulation system has the same advantages as the above-mentioned angle and eccentricity adjustment device relative to the prior art, which will not be repeated here.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic diagram of the overall structure of the microgravity tumbling state simulation system of the present invention;

Fig. 2 is a perspective view one of the suspension and swivel mechanism of the present invention;

Figure 3 is a perspective view two of the suspension and swivel mechanism of the present invention;

4 is a schematic structural diagram of the hand crank gearbox of the present invention;

5 is a perspective view of the spinning assembly of the present invention;

6 is a cross-sectional view of the spinning assembly of the present invention;

Figure 7 is a perspective view of the partial structure of the suspension and swivel mechanism of the present invention;

8 is a perspective view of the lifting unit of the present invention;

Fig. 9 is an enlarged view at A place in Fig. 7;

Figure 10 is an enlarged view at B in Figure 7;

Figure 11 is a schematic structural diagram of the brake disc and the sleeve bearing seat of the present invention;

Fig. 12 is the sectional view one of the suspension hoisting mechanism of the present invention;

Figure 13 is an enlarged view at C in Figure 13;

14 is a schematic structural diagram of the friction member and the conical rotating shaft of the present invention;

15 is a schematic diagram of the flexible suspension unit of the present invention;

Figure 16 is a sectional view of the wire rope assembly of the present invention;

17 is a schematic diagram of the non-braking state of the brake disc of the present invention;

18 is a schematic diagram of the braking state of the brake disc of the present invention;

Figure 19 is a perspective view of the angle and eccentricity adjustment device of the present invention;

20 is a schematic diagram 1 of the angle adjustment of the angle and eccentric adjustment device of the present invention;

Fig. 21 is the second schematic diagram of the angle adjustment of the angle and eccentric adjustment device of the present invention.

Description of reference numbers:

11-truss, 12-electrical box, 13-truss connecting plate, 9-suspension target;

2-Manual components; 21-hand gear box, 22-starting gear box, 23-braking gear box, 24-braking the first universal joint, 25-starting the first universal joint, 26-brake the second universal joint, 27-spin the second universal joint; 211-first hand wheel, 212-second hand wheel, 213-first bevel tooth, 214-second cone Teeth, 215-third bevel tooth, 216-fourth bevel tooth, 221-fifth bevel tooth, 222-sixth bevel tooth, 421-seventh bevel tooth, 422-eighth bevel tooth;

3-Under drive device; 31-Brake motor, 32-Brake transmission part, 33-Lifting part, 35-Conical rotating shaft; 331-Lifting base, 332-Lifting slide rail, 333-Two-way screw, 334- Forward screw nut seat, 335-reverse screw nut seat, 336-bearing seat lifting rod, 337-brake disc lifting rod, 338-screw fixing seat; 341-installation plate, 342-brake disc, 3421 -brake, 343-sleeve bearing seat, 344-brake disc guide rod, 345-bearing seat guide rod, 346-linear bearing, 347-guide piece, 348-limiting cone block, 351-first friction surface, 352-pressing part, 353-third bearing;

4-Electric winking assembly; 41- Spinning motor, 42- Spinning transmission part, 43- Spinning moving part, 44- Spinning telescopic part, 45- Friction part; 411- Coupling, 423- Gear drive shaft , 424-first overrunning clutch, 425-second overrunning clutch, 431-spin bearing seat, 432-upper sleeve, 433-first bearing, 434-second bearing, 441-telescopic sleeve, 442-connection key , 451 - the first friction surface;

5-angle and eccentric adjustment device; 51-first target adapter plate, 52-second target adapter plate, 53-hand crank part, 54-screw part, 55-connecting rod part; 531-handwheel, 532 -Fixed plate; 541-screw, 542-screw nut seat, 543-screw support end, 544-screw fixed end, 545-guide rail, 546-slider; 551-pin, 552-connecting rod, 553 - Adapter, 554-triangle plate, 555-pin lock;

6-Flexible Suspension Unit, 611-Wire Rope, 612-Wire Rope Welding Hemisphere, 613-Wire Rope Upper Fixing, 614-Wire Rope Sleeve, 615-Tension Sensor, 616-Round Nut Seat, 617-Ball Nut; 620-Wire Rope Plate , 621-force sensor module, 631-grating, 632-photoelectric sensor, 633-speed module.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. In addition, all directions or positional relationships (such as "up", "down", "front", "rear", "left", "right") mentioned in the embodiments of the present application are based on the drawings The positional relationship is only for the purpose of facilitating the understanding of the present application and simplifying the description, rather than implying a specific orientation that the indicated device or element must have, and should not be construed as a limitation on the present application.

The present invention aims to protect an angle and eccentricity adjustment device, which, as a component of a suspension hoisting mechanism, can adjust the yaw angle and eccentric position of a suspension target to meet different test requirements ; In order to describe the angle and the eccentric adjustment device more clearly, and to make the present invention constitute a complete technical solution, the following will describe the overall technical solution of the suspension and swivel mechanism, and in the description process, focus on all The specific implementation form of the above-mentioned angle and eccentric adjustment device will be described.

The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with specific technical solutions.

The suspension and swivel mechanism proposed by the invention can realize ground simulation of the target's rolling attitude under the state of microgravity in space, so as to verify the rationality and technical feasibility of the space mission scheme on the basis of ground tests.

A suspension hoisting mechanism, as shown in Fig. 1-Fig. 3, includes:

A hand-automatic integrated spinning device, which is suitable for making the suspended target 9 spin around the spin axis;

A rigid-flexible constraint conversion device, which is suitable for switching between a suspension mechanism and a suspension target between rigid constraints and flexible constraints;

The angle and eccentric adjustment device 5 is suitable for adjusting the yaw angle and eccentric position of the suspended target 9 .

The suspending and hoisting mechanism is installed on the truss 11 through the truss connecting plate 13, and is electrically connected with the electrical box 12, so as to realize the operation control of the suspending and hoisting mechanism.

The truss connecting plate 13 is installed on the support screw of the truss 11 through four double nuts, and the truss connecting plate 13 can be adjusted to a horizontal position by means of nuts, thereby adjusting the installation level of the main body of the whole mechanism.

[Hand-automatic integrated spinning device]

The hand-automatic integrated spinning device is suitable for making the suspended target 9 spin around the spin axis; including: a manual spinning assembly and/or a spinning motor 41 for providing spinning driving force; suitable for Driven by the start-up driving force, the torque is converted into a start-up rotating part 43 that rotates around its own axis; the friction member 45 is directly or indirectly connected to the start-up rotating part 43 .

As a specific implementation form, with reference to Figures 4-6, the hand-automatic integrated winking device includes: a manual winking assembly and an electric winking assembly 4; the hand-automatic integrated winking device adopts a manual automatic winking It can switch between two driving modes, manual and electric.

The manual spinning assembly specifically includes: a hand cranked gear box 21 , a spinning first universal coupling 25 , a spinning gearbox 22 , and a spinning second universal coupling 27 , which are connected in sequence.

Wherein, as a specific implementation form of the present invention, the hand crank gearbox 21 includes: a first hand wheel 211, a first bevel tooth 213, a second bevel tooth 214; wherein, the first hand wheel 211, the first bevel tooth 213 The second bevel teeth 214 are connected in sequence for manual control of the spinning action; the spinning gear box 22 includes a fifth bevel tooth 221 and a sixth bevel tooth 222 that are meshed and connected;

The second bevel tooth 214 is fixedly connected with the first end of the first unscrewed universal coupling 25 , and the second end of the unscrewed first universal joint 25 is fixed with the fifth bevel tooth 221 connected, the sixth bevel tooth 222 is fixedly connected with the first end of the second universal joint 27 .

The first bevel tooth 213 meshes with the second bevel tooth 214 to change the transmission force for the first time, and the fifth bevel tooth 221 meshes with the sixth bevel tooth 222 to change the transmission force for the second time. so as to transmit the hand crank force acting on the first hand wheel 211 .

In addition, the manual gear box 21 also includes: a second hand wheel 212, a third bevel tooth 215, and a fourth bevel tooth 216 connected in sequence, for manual control of the braking action; it will be used for the spinning action The structural components of the braking action are arranged in the same manual gearbox 21, which can facilitate the operator to control, and can quickly adjust and switch between spinning and braking in the manual test stage. Preferably, the manual driving mode is mainly controlled by the manual assembly 2, and the manual assembly 2 further includes a manual winch assembly and a manual brake assembly. The manual winch assembly and the manual brake assembly are placed together, and the structure is compact and convenient. Operator control.

The specific working form of the manual spinning assembly is described as follows: shake the first hand wheel 211, the first hand wheel 211 is connected with the first bevel tooth 213 to transmit torque; the first bevel tooth 213 is connected with the second bevel tooth 213. The teeth 214 are meshed to change the direction of the transmission force for the first time; the second bevel teeth 214 are connected to the fifth bevel teeth 221 through the spinning first universal coupling 25 to transmit torque; the fifth bevel teeth 221 meshes with the sixth bevel tooth 222 to change the direction of the transmission force for the second time; the sixth bevel tooth 222 is fixedly connected with the first end of the second universal coupling 27, and continues to pass through the The spinning second universal joint 27 transmits torque.

The electric spinning assembly 4 includes:

Spinning motor 41, spinning transmission part 42, spinning moving part 43, spinning telescopic part 44, friction member 45;

The spinning motor 41 is suitable for providing electric driving force to the spinning transmission part 42 of the electric spinning assembly 4;

The spin-up transmission portion 42 is suitable for transmitting driving force. Specifically, the spin-up transmission portion 42 includes a seventh bevel tooth 421 and an eighth bevel tooth 422 that are meshed and connected; the spin-up second universal coupling The second end of 27 is connected with the seventh bevel tooth 421 through the first overrunning clutch 424, and then in the manual mode, the torque of the second universal joint 27 is transmitted to the seventh bevel Tooth 421; the seventh bevel tooth 421 meshes with the eighth bevel tooth 422 to change the direction of the transmission force for the third time.

The spinning transmission part 42 further includes a coupling 411 , the first end of the coupling 411 is connected with the output shaft of the spinning motor 41 , and the second end of the coupling 411 is connected with the gear drive shaft 423 connected, the eighth bevel tooth 422 is sleeved on the gear drive shaft 423, the eighth bevel tooth 422 and the gear drive shaft 423 rotate synchronously and coaxially, and the gear drive shaft 423 passes the second overrun The clutch 425 is connected with the starting rotating part 43 . Specifically, the gear drive shaft 423 is connected with the upper sleeve 432 of the starting rotating part 43 through the second overrunning clutch 425 .

The manual-automatic integrated spinning device adopts the manual-automatic integrated spinning form, and can switch between two driving modes of manual spinning and electric spinning. The manual spin-up assembly is suitable for transmitting the hand crank force acting on the hand crank gearbox 21 to the spin-up transmission part 42 , and at the same time, the spin-up motor 41 is also suitable for transmitting torque to the spin-up transmission part 42 . By setting the first overrunning clutch 424 and the second overrunning clutch 425, the manual spinning and the electric spinning do not interfere with each other; in the manual spinning state, the first overrunning clutch 424 and the spinning second universal joint 27 is coupled to transmit the torque to the upper sleeve 432 through the seventh bevel tooth 421 and the eighth bevel tooth 422; in the electric spinning state, the first overrunning clutch 424 and the spinning second universal The coupling 27 is disengaged, the seventh bevel tooth 421 is idling, and the torque on the spinning motor 41 is transmitted to the upper sleeve 432 via the coupling 411 and the gear drive shaft 423 .

The starting and rotating part 43 is adapted to be driven by an external driving force to convert the torque into a rotating motion of the upper sleeve 432 around its own axis. The start-up rotating part 43 includes: an upper sleeve 432 , the upper sleeve 432 is arranged in the start-up bearing seat 431 , and a rotating bearing is arranged between the upper sleeve 432 and the start-up bearing seat 431 , so that the upper sleeve 432 can be driven by the driving force to rotate in the spinning bearing seat 431; preferably, as a specific implementation form, the rotating bearing includes a first bearing 433 and a second bearing. 434, the first bearing 433 and the second bearing 434 are respectively disposed at both ends of the upper sleeve 432, so as to facilitate the smooth rotation of the upper sleeve 432.

The spinning telescopic part 44 includes a telescopic sleeve 441, the telescopic sleeve 441 is slidably connected to the upper sleeve 432 through a connecting key 442, and the telescopic sleeve 441 is coaxially arranged with the upper sleeve 432, The telescopic sleeve 441 and the upper sleeve 432 can slide relative to each other in the axial direction, and at the same time, the telescopic sleeve 441 can follow the upper sleeve 432 to rotate coaxially.

The friction member 45 is fixedly connected to one end of the telescopic sleeve 441 away from the upper sleeve 432. The friction member 45 is coaxially arranged with the telescopic sleeve 441 and rotates synchronously. Driven by 441, the first friction surface 451 of the friction member 45 rotates around the axis, thereby generating a frictional force for relative rotation with the subsequent components.

The specific working form of the manual-automatic integrated spinning device is described as follows: torque is provided by the manual spinning assembly or the spinning motor 41, and the torque is transmitted to the upper sleeve via the coupling 411 and the gear drive shaft 423 432; the upper sleeve 432 rotates around its own axis in the unscrewing bearing seat 431, and then the upper sleeve 432 drives the telescopic sleeve 441, and the telescopic sleeve 441 further drives the friction member 45 Rotate around the axis; at the same time, the telescopic sleeve 441 can drive the friction member 45 to expand and contract along the axis direction.

The suspension hoisting mechanism provided by the present invention has two driving modes, manual and motor, and is equipped with a clutch. The two driving modes do not interfere with each other. Change hardware without re-commissioning. The drive mode can be freely selected according to the test needs, test maturity and test safety.

The suspension hoisting mechanism provided by the present invention has a controllable start-up rotation speed, can be manually driven to ensure safety at the initial stage of use, and then changed to motor-driven after ensuring that there is no safety hazard, and can control the rotational speed and torque by itself, with little safety hazard.

[rigid-flexible constraint conversion device]

7-14, the rigid-flexible constraint conversion device is suitable for switching between the suspension mechanism and the suspension target between rigid constraints and flexible constraints; during the spinning process, the suspension mechanism and The suspension targets are rigid constraints, and after the suspension targets are in a stable rolling state, the rigid-flexible constraint conversion device converts the suspension mechanism and the suspension targets into flexible constraints.

The rigid-flexible constraint conversion device includes: a passive driving unit, an under-actuated device 3 and a flexible suspension unit 6; The acting force is transmitted to the suspension target 9; the underactuated device 3 is suitable for disengaging the hand-integrated spinning device after the suspension target 9 reaches a predetermined rotation speed, and is suitable for the suspension target in a rolling state 9 for braking; the flexible suspension unit 6 is adapted to flexibly restrain the suspension target 9 .

As a specific implementation form of the present invention, the passive drive unit includes a conical rotating shaft 35, and the conical rotating shaft 35 is disposed opposite to the friction member 45. Preferably, in the present invention, the conical rotating shaft 35 is arranged opposite to the friction member 45. The shaft 35 and the friction member 45 are coaxially arranged; in the spinning state, the second friction surface 351 of the tapered rotating shaft 35 is in contact with the first friction surface 451 of the friction member 45, and the friction The friction member 45 drives the conical rotating shaft 35 by the friction force, so that the conical rotating shaft 35 and the friction member 45 rotate coaxially.

[underactuated device]

The under-actuated device 3 includes: a mounting plate 341, a braking motor 31, a braking transmission part 32, and a lifting part 33;

The mounting plate 341 is fixedly connected to the truss connecting plate 13;

The brake transmission part 32 is used to transmit the torque applied by the brake motor 31 or the manual brake assembly; the manual brake assembly is suitable for transmitting the torque applied on the second hand wheel 212 to the The brake transmission part 32 is used for manual control of the braking action; the manual brake assembly includes a second hand wheel 212, a third bevel tooth 215, a fourth bevel tooth 216, and a brake first hand wheel 212 connected in sequence. The universal joint 24 , the braking gear box 23 , and the second braking universal joint 26 ; the manual braking assembly has the same structure as the manual spinning assembly, and will not be repeated here. Further, the brake transmission part 32 and the spin transmission part 42 have the same structure, both adopt the manual and automatic integrated braking form, and use the overrunning clutch between the two driving modes of manual braking and electric braking. switch, which will not be repeated here;

The lifting portion 33 includes: a lifting base 331, the lifting base 331 and the mounting plate 341 are fixedly arranged on the truss connecting plate 13; On the lifting base 331; a two-way screw 333, half of the two-way screw is left-handed and half of the two-way screw is right-handed, the two-way screw 333 receives the torque transmitted by the brake transmission part 32 and rotates around its own axis; the screw is fixed The screw fixing base 338 is fixedly arranged on the lifting base 331, and the bidirectional screw 333 is disposed through the screw fixing base 338, and the screw fixing base 338 is connected to the bidirectional screw Bearings are arranged between the lead screws 333 , and the lead screw fixing seat 338 is suitable for radially limiting the bidirectional lead screw 333 ; and slide along the lift rail 332 driven by the bidirectional screw 333; the reverse screw nut seat 335 is sleeved on the lower half of the bidirectional screw 333, and is connected to the bidirectional screw 333. Driven by the rod 333, it slides along the lifting rail 332; the bearing seat lifting rod 336 is fixedly connected with the forward screw nut seat 334 and moves with the forward screw nut seat 334; the brake disc The lifting rod 337 is fixedly connected with the reverse screw nut seat 335 and moves with the reverse screw nut seat 335 .

The underactuated device 3 further includes:

The brake disc 342, the brake disc lift rod 337 is fixedly connected to the brake disc 342 through the brake disc lift rod flange, and the brake disc 342 moves synchronously under the drive of the brake disc lift rod 337 ;

At least one brake disc guide rod 344, one end of the brake disc guide rod 344 is fixedly connected to the brake disc 342, the brake disc guide rod 344 is slidably connected to the mounting plate 341 through a linear bearing 346, When the brake disc 342 moves, the brake disc lift rod 337 provides a driving force for the brake disc 342, and the brake disc guide rod 344 guides the brake disc 342;

Sleeve bearing seat 343, the bearing seat lifting rod 336 is fixedly connected to the sleeve bearing seat 343 through the bearing seat lifting rod flange, and the sleeve bearing seat 343 is driven by the bearing seat lifting rod 336 to move synchronously ; The sleeve bearing seat 343 is sleeved on the outside of the telescopic sleeve 441, and is rotatably connected with the telescopic sleeve 441 through a bearing, and the sleeve bearing seat 343 and the telescopic sleeve 441 are arranged coaxially At the same time, the sleeve bearing seat 343 can drive the telescopic sleeve 441 to move up and down along the axis direction, and then drive the friction member 45 to move up and down along the axis direction;

At least one bearing seat guide rod 345, one end of the bearing seat guide rod 345 is fixedly connected with the sleeve bearing seat 343, and the bearing seat guide rod 345 is slidably connected with the mounting plate 341 through the linear bearing 346. When the sleeve bearing seat 343 moves, the bearing seat lifting rod 336 provides a driving force for the sleeve bearing seat 343, and the bearing seat guide rod 345 guides the sleeve bearing seat 343;

At least one brake 3421 is also provided at the bottom of the brake disc 342 .

The specific action form of the underactuated device 3 is as follows: through the torque applied by the brake motor 31 or the manual brake assembly, the brake transmission part 32 is driven to act, and then the torque is transmitted to the bidirectional wire When the two-way screw 333 rotates forward, the two-way screw 333 drives the forward screw nut seat 334 to move upward, and the forward screw nut seat 334 drives the bearing seat lifting rod 336 to move upward, and then the bearing seat lifting rod 336 The sleeve bearing seat 343 is driven to move upward, so that the telescopic sleeve 441 moves upward, so that the friction member 45 moves upward and disengages from the conical rotating shaft 35; at this time, the bidirectional screw 333 rotates synchronously The reverse screw nut seat 335 is driven to move downward, the reverse screw nut seat 335 drives the brake disc lift rod 337 to move downward, and the brake disc lift rod 337 further drives the brake disc 342 to move downward. When the brake disc 342 descends to a certain height, the brake 3421 on the brake disc 342 will brake the first target adapter plate 51 , thereby stopping the rotation of the suspended target 9 .

Similarly, when the two-way screw 5 is reversed, the two-way screw 333 drives the forward screw nut seat 334 to move downward, and in turn drives the forward screw nut seat 334, the bearing seat lifting rod 336, and the sleeve bearing seat 343. , the telescopic sleeve 441 and the friction member 45 move downward, so that the friction member 45 is fitted with the tapered rotating shaft 35; at this time, the bidirectional screw 333 synchronously drives the reverse screw nut seat 335 to move upward, And the brake disc lift rod 337 , the brake disc 342 , and the brake 3421 are driven to move upward in sequence, so that the brake 3421 is disengaged from the first target adapter plate 51 .

Preferably, with reference to FIGS. 17-18 , in which, FIG. 18 is a schematic diagram of the braking state of the brake disc. The brake disc lifting rod 337 drives the brake disc 342 to move downward. When the brake disc 342 When descending to a certain height, the brake 3421 on the brake disc 342 will brake the first target adapter plate 51 , thereby stopping the rotation of the suspended target 9 .

Preferably, as a specific implementation form of the present invention, the lifting bearing seat 431 is fixedly arranged above the mounting plate 341 , and the upper sleeve 432 is arranged in the lifting bearing seat 431 and penetrates the mounting plate 341 . , the upper sleeve 432 can rotate relative to the mounting plate 341 .

Preferably, the output shaft of the brake transmission part 32 is connected to the bidirectional lead screw 333 through a coupling, and the coupling is provided with a threaded hole, which can be prevented from loosening by screwing a jack screw.

Preferably, a bidirectional lead screw is used instead of two lead screws, so that the structure is simple while ensuring the stroke.

Preferably, one end of the bidirectional lead screw is mounted on the lead screw fixing seat 338, and one end is mounted on the bottom end of the lifting base 331 after being sleeved with a bearing, which saves space and cost.

Preferably, holes are drilled on the screw nut seat, and at the same time the side is notched, and the bearing seat lifting rod/brake disc lifting rod is installed into the hole and then tightened with screws to prevent loosening.

Preferably, three groups of the brake disc guide rods 344 and the bearing seat guide rods 345 are respectively arranged, which can prevent the target from swinging.

Preferably, the guide rod 344 of the brake disc and the guide rod 345 of the bearing seat are installed in the linear bearing to ensure the smoothness of the lifting.

[Flexible Suspension Unit]

15-16, the flexible suspension unit 6 includes: a wire rope 611, the upper end of the wire rope 611 is fixedly connected with the wire rope welding hemisphere 612, and the wire rope welding hemisphere 612 is arranged in the upper fixing member 613 of the wire rope; the wire rope The lower end of 611 is fixedly connected to one end of the wire rope sleeve 614, the other end of the wire rope sleeve 614 is threadedly connected to the tension sensor 615, the tension sensor 615 is fixedly connected to the round nut seat 616 through the ball nut 617, and the round nut seat 616 is fixed It is connected to the wire rope plate 620 , so that the wire rope 611 can flexibly suspend the wire rope plate 620 .

Preferably, the wire rope upper fixing member 613 is fixedly connected to the lower part of the swivel bearing seat 431, that is, the wire rope upper fixing member 613, the mounting plate 341 and the truss connecting plate 13 are all relatively fixed, so that the The wire rope plate 620, the mounting plate 341 and the truss connecting plate 13 are all relatively fixed.

Preferably, the wire rope 611 and the wire rope sleeve 614 are welded and connected, the wire rope sleeve 614 taps the external thread, and has 4 gaps processed, the wire rope sleeve 614 can be held tightly, and the side of the wire rope sleeve 614 is Rectangular for easy clamping.

As a specific implementation form of the present invention, in the early stage of the test, the friction member 45 drives the conical rotating shaft 35 to rotate, thereby making the suspension target 9 rotate. When the suspension target 9 reaches the expected stable rotational speed Afterwards, the friction member 45 moves upward to release the rigid constraint, and the spinning motor 41 no longer provides power, so that the suspended target 9 rotates freely, and only the wire rope 611 bears the gravity, simulating a weightless state of the load, and at this time it becomes a flexible constraint.

Preferably, the conical rotating shaft 35 and the wire rope plate 620 are slidably connected through a third bearing 353; the bottom of the conical rotating shaft 35 is fixedly connected to the first target adapter plate 51, and the wire rope plate 620 is connected to the first target adapter plate 51. The first target adapter plate 51 can rotate relatively; the flexible suspension unit 6 can flexibly constrain the tapered rotating shaft 35 in the suspended state. At this time, the tapered rotating shaft 35 can be connected to the wire rope plate 620 rotates relatively, so that the conical rotating shaft 35 drives the first target adapter plate 51 to rotate, and then drives the suspended target 9 to rotate.

Preferably, the tension sensor 615 is electrically connected to the force sensor module 621 to facilitate monitoring of tension data; a photoelectric sensor 632 is also provided at the bottom of the wire rope plate 620, and a grating 631 is also provided on the first target adapter plate 51 , the tapered rotating shaft 35 rotates, which drives the first target adapter plate 51 to rotate, and then drives the grating 631 to rotate, so that the grating 631 and the photoelectric sensor 632 rotate relative to each other, and the photoelectric sensor 632 is electrically connected to the speed measuring module 633. Thereby monitoring the speed data.

The rigid-flexible constraint conversion device further includes: a guide limiting unit, which is adapted to limit the yaw amplitude of the passive driving unit.

Specifically, the guiding and limiting unit includes a guiding member 347, the guiding member 347 is sleeved inside the friction member 45, and is connected to the friction member 45 through a bearing for relative rotation, and the guiding member 347 can follow The friction member 45 moves up and down along the axis direction, and the guide member 347 penetrates the conical rotating shaft 35 , and the guide member 347 can swing the conical rotating shaft 35 in a flexible and restrained state. Limit; the guide limit unit further includes a limit cone block 348 , the limit cone block 348 is arranged at one end of the guide member 347 away from the friction member 45 , and the limit cone block 348 The size in the radial direction is larger than the minimum inner diameter of the conical rotating shaft 35 , which can prevent the conical rotating shaft 35 from moving beyond the limit in the up-down direction, and prevent the bearing seat guide rod 345 from slipping off the mounting plate 341 .

The suspension hoisting mechanism provided by the present invention has a braking function, which can brake the suspended target at any time as required during use, and the rotation limit cone block is added to limit the deflection range of the target, thereby increasing the safety. .

Preferably, the flexible suspension unit 6 is installed on the upper part of the wire rope plate 620 connected to the outer ring of the bearing. Therefore, the flexible suspension unit 6 can maintain a vertical state without participating in rotation.

Preferably, the lower end of the flexible suspension unit 6 is connected with a tension sensor, which can measure the bearing weight of the steel wire rope in real time, so that the operator can better understand the test state, which is conducive to the test analysis;

Preferably, the conical rotating shaft 35 adopts a structure similar to a friction wheel.

The suspension hoisting mechanism provided by the present invention is rigidly constrained before the suspension target reaches the specified rotational speed. After reaching the specified rotational speed, the rigid constraint is disengaged, and only the wire rope bears the gravity, simulating a microgravity state; Rigid constraint and flexible constraint state, so as to realize the ground simulation of a possible attitude rollover state of a faulty satellite in orbit.

[Angle and eccentric adjustment device]

Referring to FIG. 19 , the angle and eccentric adjustment device 5 is suitable for adjusting the yaw angle and eccentric position of the suspended target 9 . The angle and eccentricity adjusting device 5 includes: a first target adapter plate 51 , a second target adapter plate 52 , a hand crank part 53 , a screw part 54 , and a connecting rod part 55 ;

The first target adapter plate 51 is fixedly arranged on the top of the angle and eccentricity adjustment device and is configured as a reference plate. As a specific implementation form of the present invention, the first target adapter plate 51 rotates with the cone. The shaft 35 is fixedly connected and moves synchronously;

The second target adapter plate 52 is relatively disposed on the lower side of the first target adapter plate 51 and is fixedly connected with the suspension target 9;

A lead screw 541 is disposed at the bottom of the first target adapter plate 51. Specifically, the lead screw 541 is horizontally arranged at the bottom of the first target adapter plate 51 along its axis direction;

The angle and eccentricity adjustment device further includes: at least one screw support end 543 and at least one screw fixed end 544; the screw support end 543 and the screw fixed end 544 are arranged in pairs, and are respectively arranged on the screw Both ends of the screw 541 along the axis direction; the screw 541 is connected to the first target adapter plate 51 through the screw support end 543 and the screw fixed end 544, and the screw support end 543 is connected to the screw The fixed end 544 is fixedly mounted on the lower part of the first target adapter plate 51, and the lead screw support end 543 and the first end of the lead screw 541 in the axial direction are connected by a bearing; the lead screw fixed end 544 is connected to the The second ends of the lead screw 541 in the axial direction are connected by bearings; the lead screw support end 543 and the lead screw fixed end 544 suspend the lead screw 541 and move the lead screw 541 around the axis Guiding to make the adjustment process smoother;

The yaw angle and eccentric position also include at least one fixed plate 532, one end of the lead screw 541 is fixedly connected to the fixed plate 532 along the axis direction, and the hand wheel 531 is eccentrically installed on the fixed plate 532. Drive the fixed plate 532 to transmit the torque to the lead screw 541, and drive the lead screw 541 to rotate;

A lead screw nut seat 542 is sleeved on the outer side of the lead screw 541. With the rotation of the lead screw 541, the lead screw nut seat 542 moves in the horizontal direction; the lead screw nut seat 542 directly or indirectly rotates with the second target The connecting plate 52 is connected, and the screw nut seat 542 is adapted to drive the second target adapter plate 52 and the first target adapter plate 51 to move relative to each other.

At least one guide rail 545 is fixedly connected to the bottom of the first target adapter plate 51 , and the lead screw nut seat 542 is relatively slidably connected to the guide rail 545 through a slider 546 , and the slider 546 is installed between the guide rails 545 . , to guide the movement of the screw nut seat 542;

The angle and eccentricity adjusting device 5 includes two sets of lead screws 541, and two corresponding sets of lead screw support ends 543, lead screw fixed ends 544, and lead screw nut seats 542;

Among them, at least one triangular plate 554 is connected to the first group of screw nut seats, and the triangle plate 554 is connected to the first group of screw nut seats through at least two fixed shafts without relative rotation; the second group of screw nut seats is connected to At least one connecting rod 552; the connecting rod 552 is connected with the second group of screw nut seats through a pin shaft 551 and can rotate relative to each other; as a specific implementation form of the present invention, the first group of screw nut seats 542 are connected Two triangular plates 554, and two connecting rods 552 are connected to the second set of screw nut seats 542;

The triangular plate 554 and the two connecting rods 552 are connected to the second target adapter plate 52 through the adapter 553 , and the second target adapter plate 52 is fixedly connected to the suspension target.

The first group of screw nut seats and the triangle plate 554 are fixedly connected. Preferably, the first group of screw nut seats and the triangle plate 554 are fixed by at least two fixed shafts, so that the first group of screws The rod nut seat and the triangular plate 554 cannot rotate relative to each other;

The second group of screw nut seats and the connecting rod 552 are connected by a pin shaft 551, and the second group of screw nut seats and the connecting rod 552 can rotate relative to each other;

The triangular plate 554 and the connecting rod 552 are both rotatably connected to the adapter 553 through a pin shaft 551; the triangular plate 554 and the connecting rod 552 can rotate relative to the adapter 553;

The first set of lead screw nut seats and the second set of lead screw nut seats move the same distance when the two sets of lead screws rotate at the same angle, so that the angle and eccentric adjustment device drives the suspension target 9 to translate;

The first set of lead screw nut seats and the second set of lead screw nut seats move by different distances when the two sets of lead screws rotate at different angles, so that the connecting rod 552 simultaneously wraps around the second set of lead screw nut seats. The pin and the pin of the adapter 553 rotate, and the triangular plate 554 can only rotate around the pin of the adapter 553 , thereby driving the second target adapter 52 to deflect by an angle a°.

20-21, by rotating the hand wheel 531, the lead screw 541 is driven to rotate, when the two lead screws rotate at the same angle, that is, the first set of lead screw nut seats and the second set of lead screw nuts If the seat moves the same distance, the angle and eccentric adjustment device drives the suspension target 9 to translate, and the center of gravity of the suspension target 9 can be adjusted;

When the two lead screws rotate at different angles, the first set of lead screw nut seats and the second set of lead screw nut seats move by different distances, and the connecting rod 552 simultaneously surrounds the second set of lead screw nut seats The pin of the adapter 553 and the pin of the adapter 553 rotate, and the triangular plate 554 can only rotate around the pin of the adapter 553, so that the second target adapter plate 52 is deflected by an angle a°, Further, the angle of the suspended target 9 is adjusted.

Preferably, in this embodiment, the fixing plate 532 is rotatably connected with the fixing end 544 of the lead screw;

Preferably, the fixing plate 532 is also provided with a hole, and the fixed end of the lead screw connected to it is tapped with a threaded hole. The disc 532 is fixed with the fixed end 544 of the lead screw, so that the lead screw 541 is fixed at the target position or center of gravity; by adding a fixing plate at the handwheel 531, the state can be maintained after adjusting to the target angle or center of gravity;

Preferably, the pin shaft 551 is locked by the pin shaft locking member 555 to prevent the suspension target from being offset during the rotation process;

Preferably, the pin shaft 551 is covered with a copper sleeve to reduce the frictional force of rotation.

Preferably, the angle and eccentricity adjustment device is guided by the slider 546 and the guide rail 545 to ensure the smoothness of the movement of the screw nut seat.

Preferably, the adapter 553 is a U-shaped adapter to avoid the cantilever beam structure and increase the structural strength.

In an optional embodiment, a pin shaft locking member is installed on one end of the pin shaft in the adapter with a margin, and friction force is used to fix the pin shaft when screwing is used.

The suspension hoisting mechanism provided by the present invention can adjust the yaw angle and the position of the center of gravity of the suspension target by adjusting the handle, so as to meet different experimental requirements; The screw part 54 has a guide, which makes the adjustment process smoother;

The suspension hoisting mechanism provided by the present invention adopts a hand-automatic integrated under-drive design, and has various functions such as hoisting, rigid-flexible constraint conversion, braking, and suspension posture adjustment; the hoisting speed is controllable, and it has braking Function, simple operation, safety and reliability; at the same time, it has two driving modes, manual and motor, and the two driving modes do not interfere with each other by configuring the clutch;

The suspension-spinning mechanism provided by the present invention can not only realize the suspension target to generate spin around the spin axis, but also realize the suspension target's spin axis to swing, and arbitrarily switch the rigid constraint and flexible constraint states on the suspension target, In this way, the ground simulation of a possible state of attitude rollover of a faulty satellite in orbit can be realized.

A microgravity tumbling state simulation system, the microgravity tumbling state simulation system adopts the above-mentioned suspension and swivel mechanism. The box 12 is electrically connected to realize the operation control of the suspending and hoisting mechanism.

As a key part of the ground verification of space mission implementation, the goal of ground test is to verify the rationality and technical feasibility of the space mission scheme, and its success depends largely on the verification method used to implement its space mission process. Whether the feature is a real reflection, therefore, the microgravity roll state simulation system provided by the present invention has very important engineering significance for the ground simulation of the space target on-orbit state.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (9)

1. An angle and eccentric adjustment device, characterized in that, it is suitable for hoisting a suspension target (9) and adjusts the yaw angle and eccentric position of the suspension target (9); the angle and eccentricity are adjusted The device (5) includes: a first target adapter plate (51), which is fixedly arranged on the top of the angle and eccentricity adjusting device and is configured as a reference plate; a second target adapter plate (52), which is relatively disposed on the lower side of the first target adapter plate (51) and is fixedly connected to the suspended target (9); a lead screw (541), the lead screw (541) is horizontally arranged at the bottom of the first target adapter plate (51) along its axis direction; A lead screw nut seat (542) is sleeved on the outer side of the lead screw (541), and with the rotation of the lead screw (541), the lead screw nut seat (542) moves in a horizontal direction; The lead screw nut seat (542) is directly or indirectly connected with the second target adapter plate (52), and the lead screw nut seat (542) is suitable for driving the second target adapter plate (52) to connect with the second target adapter plate (52). The first target adapter plate (51) undergoes relative movement; The angle and eccentricity adjusting device (5) includes two sets of the lead screws (541) and two sets of the lead screw nut seats (542); The angle and eccentric adjustment device (5) also includes: At least one triangular plate (554), which is connected with the first group of screw nut seats and does not rotate relative to each other; at least one connecting rod (552), which is connected with the second set of screw nut seats and is capable of relative rotation; At least one adapter (553), the triangular plate (554) and the connecting rod (552) are connected to the second target adapter plate (52) through the adapter (553). 2. The angle and eccentricity adjusting device according to claim 1, wherein the triangular plate (554) is connected with the first group of screw nut seats through at least two fixed shafts; The connecting rod (552) is connected with the second set of screw nut seats through a pin shaft (551). 3. The angle and eccentricity adjusting device according to claim 2, wherein the triangular plate (554) and the connecting rod (552) pass through a pin (551) with the adapter (553) ) to turn the connection. 4 . The angle and eccentricity adjusting device according to claim 3 , wherein the first set of screw nut seats and the second set of screw nut seats move the same distance when the two sets of screws rotate at the same angle. 5 . , so that the angle and eccentric adjustment device drives the suspension target (9) to translate. 5 . The angle and eccentricity adjusting device according to claim 3 , wherein the first set of screw nut seats and the second set of screw nut seats move different distances when the two sets of screws rotate at different angles. 6 . , so that the connecting rod (552) rotates around the pin of the second set of screw nut seats and the pin of the adapter (553) at the same time, while the triangular plate (554) can only rotate around the The pin shaft of the connector (553) rotates, thereby driving the second target adapter plate (52) to deflect by an angle a°. 6. The angle and eccentricity adjusting device according to claim 3, wherein at least one guide rail (545) is fixedly connected to the bottom of the first target adapter plate (51), and the lead screw nut seat (542) The sliding block (546) is relatively slidably connected to the guide rail (545). 7. The angle and eccentricity adjustment device according to claim 6, wherein the angle and eccentricity adjustment device further comprises: at least one fixing plate (532), one end of the lead screw (541) along the axis direction is fixedly connected with the fixing plate (532); At least one hand wheel (531) is eccentrically mounted on the fixed plate (532), and by shaking the hand wheel (531), the fixed plate (532) is driven to transmit torque to the lead screw (541), and the lead screw (541) is driven turn. 8. The angle and eccentricity adjustment device according to claim 7, wherein the angle and eccentricity adjustment device further comprises: at least one screw supporting end (543) and at least one screw fixing end (544); The lead screw supporting end (543) and the lead screw fixing end (544) are arranged in pairs, and are respectively arranged at both ends of the lead screw (541) along the axis direction; the lead screw (541) is connected through the screw The rod supporting end (543) and the screw fixing end (544) are connected to the first target adapter plate (51). 9 . A microgravity tumbling state simulation system, characterized in that, the microgravity tumbling state simulation system comprises the angle and eccentricity adjustment device according to any one of claims 1 to 8 .

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