CN110077633B - Angle and eccentric adjusting device and microgravity rolling state simulation system - Google Patents
Angle and eccentric adjusting device and microgravity rolling state simulation system Download PDFInfo
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- CN110077633B CN110077633B CN201910396747.6A CN201910396747A CN110077633B CN 110077633 B CN110077633 B CN 110077633B CN 201910396747 A CN201910396747 A CN 201910396747A CN 110077633 B CN110077633 B CN 110077633B
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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 invention provides an angle and eccentricity adjusting device and a microgravity rolling state simulation system, and relates to the technical field of on-orbit service and maintenance, wherein the angle and eccentricity adjusting device is suitable for hoisting a suspended target and adjusting the deflection angle and the eccentricity position of the suspended target; the method comprises the following steps: a first target patch panel; the second target adapter plate is oppositely arranged at the lower side of the first target adapter plate and is fixedly connected with the suspension target; the screw rod is horizontally arranged at the bottom of the first target adapter plate along the axis direction of the screw rod; the screw nut seat is sleeved outside the screw; the screw nut seat is directly or indirectly connected with the second target adapter plate and is suitable for driving the second target adapter plate and the first target adapter plate to move relatively. The angle and eccentricity adjusting device can adjust the deflection angle and the eccentricity position of a suspension target, and meets different test requirements.
Description
Technical Field
The invention relates to the technical field of on-orbit service and maintenance, in particular to an angle and eccentricity adjusting device and a microgravity rolling state simulation system.
Background
Geostationary orbit (GEO) is an important earth orbit resource for human beings, and the on-orbit resource is limited by the orbit position and is in short supply. However, with the rapid development of space missions, the GEO band (GEO ± 200km) has accumulated many uncontrollable or obsolete satellites that result in a significant waste of GEO orbital resources. Aiming at the in-orbit failure satellite, in the aspect of attitude characteristics, due to the energy dissipation effects of the satellite solar wing, propellant shaking and the like, the rolling attitude can be presented finally, and the in-orbit capture of the satellite is a great difficulty. In order to solve the difficulty, the key technology related to on-orbit service and maintenance needs to be urgently developed; in the related critical technology attacking and closing process, due to the limitation of scientific research cost, environmental protection and other problems, the critical technology verification cannot be directly carried out in the space, and a large number of verification tests need to be carried out on the ground before engineering application. Therefore, before the in-orbit verification and application of the key technology, a system capable of simulating the real in-orbit state of an in-orbit failure satellite in a space working environment and a target is urgently needed to be provided, however, in order to achieve the purpose, firstly, the ground-oriented suspension target spinning state simulation needs to be met, in the process of simulating the suspension target spinning state, in order to simulate the in-orbit state more truly, according to different test requirements, the deflection angle and the eccentric position of the suspension target also need to be adjusted sometimes, and therefore a device capable of adjusting the suspension state pose of the suspension target needs to be provided, so that different test requirements can be met.
Disclosure of Invention
In view of this, the present invention provides a manual-automatic integrated rotation starting device to realize ground simulation of rolling posture of a target under a space microgravity state.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an angle and eccentricity adjusting device adapted to adjust a yaw angle and an eccentricity position of a suspended object; the angle and eccentricity adjustment device includes:
the first target adapter plate is fixedly connected with the conical rotating shaft and moves synchronously;
the second target adapter plate is fixedly connected with the suspension target;
the bottom of the first target adapter plate is provided with a screw rod, a screw rod nut seat is sleeved outside the screw rod, and the screw rod nut seat moves back and forth along with the rotation of the screw rod; and the screw nut seat drives the second target adapter plate to move.
Optionally, the first target adapter plate is fixedly connected with the conical rotating shaft and moves synchronously, and the conical rotating shaft is driven by the friction piece and rotates coaxially with the friction piece.
Optionally, the angle and eccentricity adjusting device includes two sets of lead screws and two sets of lead screw nut seats; the first group of screw nut seats is connected with the set square and does not rotate relatively; the second group of screw nut seats is connected with the connecting rod through a pin shaft and can rotate relatively; the set square and the connecting rod are connected with the adapter through a pin shaft.
Optionally, the triangle and the two connecting rods are connected with a second target adapter plate through adapters.
Optionally, when the two groups of screws rotate by the same angle, the first group of screw nut seats and the second group of screw nut seats move by the same distance, and the angle and eccentricity adjusting device drives the suspension target to translate, so as to adjust the center of gravity of the suspension target.
Optionally, when the two sets of screws rotate at different angles, the first set of screw nut seats and the second set of screw nut seats move at different distances, the connecting rod simultaneously rotates around the pin shaft of the second set of screw nut seats and the pin shaft of the adaptor, and the triangular plate only can rotate around the pin shaft of the adaptor, so that the second target adaptor plate deflects by an angle of a degrees, and the angle of the suspended target is adjusted.
Optionally, the bottom of the first target adapter plate is fixedly connected with at least one guide rail, and the screw nut seat is in relative sliding connection with the guide rail through a slider.
Optionally, angle and eccentric adjusting device still include a fixed disk, the lead screw is along axis direction one end and fixed disk fixed connection, and a hand wheel eccentric mounting is on the fixed disk, through waveing the hand wheel, and then drives the fixed disk and transmits the torque to the lead screw on, the drive lead screw rotates.
Optionally, the lead screw is connected with the first target adapter plate through a lead screw supporting end and a lead screw fixing end.
Compared with the prior art, the angle and eccentricity adjusting device has the following advantages:
the angle and eccentricity adjusting device provided by the invention can adjust the deflection angle and the eccentricity position of the suspension target, and meets different test requirements.
Another object of the present invention is to provide a microgravity roll state simulation system, which includes the angle and eccentricity adjusting device as described above.
The microgravity rolling state simulation system has the same advantages as the angle and eccentricity adjusting device in comparison with the prior art, and is not described in detail herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of a microgravity rolling state simulation system according to the present invention;
FIG. 2 is a first perspective view of a suspension rotation mechanism according to the present invention;
FIG. 3 is a second perspective view of the suspension swing mechanism of the present invention;
FIG. 4 is a schematic view of the hand gear box of the present invention;
FIG. 5 is a perspective view of the spinner assembly of the present invention;
FIG. 6 is a cross-sectional view of a spinner assembly in accordance with the present invention;
FIG. 7 is a perspective view of a partial structure of the suspension rotation mechanism of the present invention;
FIG. 8 is a perspective view of the lift unit of the present invention;
FIG. 9 is an enlarged view at A in FIG. 7;
FIG. 10 is an enlarged view of FIG. 7 at B;
FIG. 11 is a schematic view of a brake disc and sleeve bearing housing of the present invention;
FIG. 12 is a first cross-sectional view of the suspension winding mechanism of the present invention;
FIG. 13 is an enlarged view at C of FIG. 13;
FIG. 14 is a schematic view of the friction member and the tapered rotary shaft according to the present invention;
fig. 15 is a schematic view of a flexible suspension unit of the invention;
FIG. 16 is a cross-sectional view of a steel cord assembly of the present invention;
FIG. 17 is a schematic view of a brake disc according to the present invention in a non-braking state;
FIG. 18 is a schematic view of a brake disc according to the present invention in a braking condition;
FIG. 19 is a perspective view of the angle and eccentricity adjustment device of the present invention;
FIG. 20 is a first schematic view of the angle and eccentric adjustment device of the present invention;
FIG. 21 is a second schematic view of the angle and eccentric adjustment device of the present invention.
Description of reference numerals:
11-truss, 12-electrical box, 13-truss connection plate, 9-suspended target;
2-a manual assembly; 21-a hand-operated gear box, 22-a rotation starting gear box, 23-a braking gear box, 24-a braking first universal coupling, 25-a rotation starting first universal coupling, 26-a braking second universal coupling and 27-a rotation starting second universal coupling; 211-first handwheel, 212-second handwheel, 213-first bevel gear, 214-second bevel gear, 215-third bevel gear, 216-fourth bevel gear, 221-fifth bevel gear, 222-sixth bevel gear, 421-seventh bevel gear, 422-eighth bevel gear;
3-an under-actuated device; 31-a brake motor, 32-a brake transmission part, 33-a lifting part and 35-a conical rotating shaft; 331-a lifting base, 332-a lifting slide rail, 333-a bidirectional screw, 334-a forward screw nut seat, 335-a reverse screw nut seat, 336-a bearing seat lifting rod, 337-a brake disc lifting rod and 338-a screw fixing seat; 341-mounting plate, 342-brake disc, 3421-brake, 343-sleeve bearing seat, 344-brake disc guide bar, 345-bearing seat guide bar, 346-linear bearing, 347-guide, 348-limit cone, 351-first friction surface, 352-pressing part, 353-third bearing;
4, an electric rotation starting component; 41-start rotating motor, 42-start rotating transmission part, 43-start rotating part, 44-start rotating telescopic part and 45-friction piece; 411-coupling, 423-gear drive shaft, 424-first overrunning clutch, 425-second overrunning clutch, 431-start bearing block, 432-upper sleeve, 433-first bearing, 434-second bearing, 441-telescopic sleeve, 442-connecting key, 451-first friction surface;
5-angular and eccentric adjustment means; 51-a first target adapter plate, 52-a second target adapter plate, 53-a hand-cranking portion, 54-a lead screw portion, 55-a connecting rod portion; 531-handwheel, 532-fixed disk; 541-a screw, 542-a screw nut seat, 543-a screw supporting end, 544-a screw fixing end, 545-a guide rail and 546-a slider; 551-pin shaft, 552-connecting rod, 553-adapter, 554-triangle and 555-pin shaft locking piece;
6-flexible suspension unit, 611-steel wire rope, 612-steel wire rope welding hemisphere, 613-steel wire rope upper fixing piece, 614-steel wire rope sleeve, 615-tension sensor, 616-round nut seat and 617-ball nut; 620-steel wire rope plate, 621-force sensor module, 631-grating, 632-photoelectric sensor, 633-speed measuring module.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. In addition, all directions or positional relationships (for example, "upper", "lower", "front", "rear", "left", "right") mentioned in the embodiments of the present application are positional relationships based on the drawings, and are only for convenience of understanding the present application and simplifying the description, and do not imply that a specific orientation of a device or an element referred to must be provided, and cannot be construed as limiting the present application.
The invention aims to protect an angle and eccentricity adjusting device which is used as a component of a suspension rotation mechanism and can adjust the deflection angle and the eccentric position of a suspension target to meet different test requirements; for the sake of better clarity, the angle and eccentricity adjusting device will be described, and the present invention will be made into a complete technical solution, the whole technical solution of the suspension rotation starting mechanism will be described below, and in the description process, the specific implementation form of the angle and eccentricity adjusting device will be described with emphasis.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with the detailed description.
The suspension rotation starting mechanism provided by the invention can realize ground simulation of a rolling posture of a target under a space microgravity state, so that the reasonability and the technical feasibility of a space task scheme are verified on the basis of a ground test.
A suspension rotation-starting mechanism, as shown in fig. 1-3, comprising:
a manual-automatic integrated spin-up device adapted to spin the suspended target 9 around a spin axis;
a rigid-flexible constraint switching device adapted to switch between rigid constraint and flexible constraint between the suspension mechanism and the suspension target;
an angle and eccentricity adjusting device 5 adapted to adjust a yaw angle and an eccentricity position of the suspension target 9.
The suspension rotation-starting mechanism is arranged on the truss 11 through a truss connecting plate 13 and is electrically connected with the electrical box 12, so that the operation control of the suspension rotation-starting mechanism is realized.
The truss connecting plate 13 is arranged on a supporting screw rod of the truss 11 through four double nuts, and the truss connecting plate 13 can be adjusted to a horizontal position through the nuts, so that the installation levelness of the main body part of the whole mechanism is adjusted.
[ Manual and automatic integrated start-up device ]
The manual-automatic integrated rotation starting device is suitable for enabling the suspended target 9 to generate rotation around a rotation axis; the method comprises the following steps: a manual rotation-starting assembly and/or a rotation-starting motor 41 for providing a rotation-starting driving force; a rotation starting part 43 adapted to convert the torque into a rotation motion around its axis under the driving of the rotation starting driving force; and a friction member 45 directly or indirectly connected to the rotation-starting portion 43.
As a specific implementation form, with reference to fig. 4 to 6, the manual-automatic integrated rotation starting device includes: a manual rotation starting component and an electric rotation starting component 4; the manual and automatic integrated screwing device adopts a manual and automatic integrated screwing form and can be switched between two driving modes of manual screwing and electric screwing.
The manual rotation starting assembly specifically comprises: the hand-operated gear box 21, the first universal coupling 25 for starting rotation, the gear box 22 for starting rotation and the second universal coupling 27 for starting rotation are connected in sequence.
As a specific implementation form of the present invention, the hand-operated gear box 21 includes: a first hand wheel 211, a first bevel tooth 213, and a second bevel tooth 214; the first hand wheel 211, the first bevel gear 213 and the second bevel gear 214 are connected in sequence and used for manually controlling the starting motion; the rotation starting gear box 22 comprises a fifth bevel gear 221 and a sixth bevel gear 222 which are in meshing connection;
the second bevel gear 214 is fixedly connected with the first end of the first universal coupler 25, the second end of the first universal coupler 25 is fixedly connected with the fifth bevel gear 221, and the sixth bevel gear 222 is fixedly connected with the first end of the second universal coupler 27.
The first bevel gear 213 is engaged with the second bevel gear 214 to change the direction of the transmission force for the first time, and the fifth bevel gear 221 is engaged with the sixth bevel gear 222 to change the direction of the transmission force for the second time; thereby transmitting the hand shaking force applied to the first hand wheel 211.
Additionally, the hand crank gear box 21 further comprises: the second hand wheel 212, the third bevel gear 215 and the fourth bevel gear 216 are connected in sequence and used for manually controlling the braking action; structural component that will be used for the action of rotating up and the braking action sets up in same hand gear case 21, can make things convenient for operating personnel to control, and in the manual test stage, can be quick adjust the switching between rotating up and the braking. Preferably, the manual driving mode is mainly controlled by the manual assembly 2, the manual assembly 2 further comprises a manual rotation starting assembly and a manual braking assembly, and the manual rotation starting assembly and the manual braking assembly are placed together, so that the structure is compact and the manual driving mode is convenient for an operator to control.
The specific working form of the manual rotation starting assembly is described as follows: swinging a first hand wheel 211, wherein the first hand wheel 211 is connected with a first bevel gear 213 and transmits torque; the first bevel gear 213 is meshed with the second bevel gear 214 to change the transmission force for the first time; the second conical tooth 214 is connected with the fifth conical tooth 221 through the first universal coupling 25 for starting rotation and transmitting torque; the fifth bevel gear 221 is meshed with the sixth bevel gear 222, so that the transmission force is changed for the second time; the sixth bevel gear 222 is fixedly connected to the first end of the second turning-off universal coupling 27, and continuously transmits torque through the second turning-off universal coupling 27.
The electric spin-up assembly 4 comprises:
a rotation starting motor 41, a rotation starting transmission part 42, a rotation starting rotation part 43, a rotation starting telescopic part 44 and a friction piece 45;
the rotation starting motor 41 is suitable for providing electric driving force for the rotation starting transmission part 42 of the electric rotation starting assembly 4;
the rotation starting transmission part 42 is suitable for transmitting driving force, and specifically, the rotation starting transmission part 42 includes a seventh bevel gear 421 and an eighth bevel gear 422 which are in meshed connection; a second end of the second turning-off universal coupling 27 is connected with the seventh bevel gear 421 through a first overrunning clutch 424, so that in a manual mode, the torque of the second turning-off universal coupling 27 is transmitted to the seventh bevel gear 421; the seventh bevel gear 421 is engaged with the eighth bevel gear 422, so as to change the direction of the transmission force for the third time.
The rotation starting transmission part 42 further comprises a coupler 411, a first end of the coupler 411 is connected with an output shaft of the rotation starting motor 41, a second end of the coupler 411 is connected with the gear driving shaft 423, the eighth bevel gear 422 is sleeved on the gear driving shaft 423, the eighth bevel gear 422 and the gear driving shaft 423 rotate synchronously and coaxially, the gear driving shaft 423 is connected with the rotation starting part 43 through a second overrunning clutch 425, and particularly, the gear driving shaft 423 is connected with an upper sleeve 432 of the rotation starting part 43 through the second overrunning clutch 425.
The manual and automatic integrated screwing device adopts a manual and automatic integrated screwing form and can be switched between two driving modes of manual screwing and electric screwing. The manual rotation-starting assembly is adapted to transfer the hand-cranking force acting on the hand-cranking gear box 21 to the rotation-starting transmission 42, while the rotation-starting motor 41 is also adapted to transfer the torque to the rotation-starting transmission 42. The manual starting and the electric starting are not interfered with each other by arranging the first overrunning clutch 424 and the second overrunning clutch 425; in the manual rotation starting state, the first overrunning clutch 424 is coupled to the second universal coupling 27, and transmits torque to the upper sleeve 432 via the seventh bevel teeth 421 and the eighth bevel teeth 422; in the electric rotation start state, the first overrunning clutch 424 is disengaged from the rotation start second universal coupling 27, the seventh bevel gear 421 idles, and the torque of the rotation start motor 41 is transmitted to the upper sleeve 432 via the coupling 411 and the gear drive shaft 423.
The rotation starting portion 43 is adapted to convert the torque into a rotational movement of the upper sleeve 432 around its axis by the external driving force. The rotation starting portion 43 includes: the upper sleeve 432 is arranged in the swing bearing seat 431, and a rotating bearing is arranged between the upper sleeve 432 and the swing bearing seat 431, so that the upper sleeve 432 can rotate in the swing bearing seat 431 under the driving of a driving force; preferably, as a specific implementation form, the rotating bearing includes a first bearing 433 and a second bearing 434, and the first bearing 433 and the second bearing 434 are respectively disposed at two ends of the upper sleeve 432, so as to enable the upper sleeve 432 to rotate smoothly.
The telescopic lifting portion 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 and the upper sleeve 432 are coaxially disposed, so that the telescopic sleeve 441 and the upper sleeve 432 can relatively slide in the axial direction, and the telescopic sleeve 441 can coaxially rotate along with the upper sleeve 432.
The end part of one end, far away from the upper sleeve 432, of the telescopic sleeve 441 is fixedly connected with the friction piece 45, the friction piece 45 and the telescopic sleeve 441 are coaxially arranged and synchronously rotate, and under the driving of the telescopic sleeve 441, a first friction surface 451 of the friction piece 45 rotates around an axis, so that relative rotation friction force is generated between the friction piece 45 and a subsequent component.
The specific working form of the manual and automatic integrated screwing device is described as follows: torque is provided by a manual rotation starting assembly or the rotation starting motor 41, and is transmitted to the upper sleeve 432 through the coupling 411 and the gear driving shaft 423; the upper sleeve 432 rotates around its own axis in the swing bearing seat 431, and then the upper sleeve 432 drives the telescopic sleeve 441, and the telescopic sleeve 441 further drives the friction piece 45 to rotate around the axis; meanwhile, the telescopic sleeve 441 can drive the friction piece 45 to extend and retract along the axial direction.
The suspension rotation starting mechanism provided by the invention has two driving modes of manual driving and motor driving, a clutch is configured, the two driving modes are not interfered with each other, the manual driving and the motor driving can be switched at will after one-time assembly is finished, hardware does not need to be changed again, and debugging is not needed again. The driving mode can be freely selected according to the test requirement, the test maturity, the test safety and the like.
The suspension rotation starting mechanism provided by the invention has controllable rotation starting speed, can adopt manual drive to ensure safety in the initial use stage, changes the motor drive into the motor drive after ensuring no potential safety hazard, can automatically control the rotation speed and the torque, and has small potential safety hazard.
[ rigid-flexible restraint conversion device ]
As shown in connection with fig. 7-14, the rigid-flexible constraint switching device is adapted to switch between rigid and flexible constraints between the suspension mechanism and the suspended object; during the rotation starting process, rigid constraint is formed between the suspension mechanism and the suspension target, and after the suspension target is in a stable rolling state, the rigid-flexible constraint conversion device converts the rigid-flexible constraint between the suspension mechanism and the suspension target into flexible constraint.
The rigid-flexible constraint conversion device comprises: a passive driving unit, an under-actuated device 3 and a flexible suspension unit 6; the passive driving unit is suitable for performing passive action under the driving of the manual-automatic integrated rotation starting device and transmitting acting force to the suspension target 9; the under-actuated device 3 is suitable for disengaging the manual and automatic integrated rotation starting device after the suspension target 9 reaches a preset rotating speed and braking the suspension target 9 in a rolling state; the flexible suspension unit 6 is adapted to flexibly constrain the suspended object 9.
As a specific implementation form of the present invention, the passive driving unit includes a conical rotating shaft 35, the conical rotating shaft 35 is disposed opposite to the friction member 45, and preferably, in the present invention, the conical rotating shaft 35 is disposed coaxially with the friction member 45; in the starting state, the second friction surface 351 of the conical rotating shaft 35 is in contact with the first friction surface 451 of the friction material 45, and the friction material 45 drives the conical rotating shaft 35 by a frictional force to rotate the conical rotating shaft 35 and the friction material 45 coaxially.
[ under-actuated device ]
The under-actuated device 3 includes: the mounting plate 341, the brake motor 31, the brake transmission unit 32, and the lifting unit 33;
the mounting plate 341 is fixedly connected with the truss connecting plate 13;
the brake transmission part 32 is used for transmitting the torque applied by the brake motor 31 or the manual brake assembly; the manual brake assembly is adapted to transfer torque applied to the second wheel 212 to the brake actuator 32 for manual control of the braking action; the manual brake component comprises a second hand wheel 212, a third bevel gear 215, a fourth bevel gear 216, a first universal coupling 24, a brake gear box 23 and a second universal coupling 26 which are connected in sequence; the manual braking component and the manual rotation starting component have the same structural form, and are not described in detail herein. Further, the brake transmission part 32 and the rotation starting transmission part 42 have the same structural form, both adopt a manual and automatic integrated brake form, and switch between two driving modes of manual brake and electric brake through an overrunning clutch, which is not described again;
the lifting portion 33 includes: the lifting base 331 and the mounting plate 341 are jointly and fixedly arranged on the truss connecting plate 13; the lifting slide rail 332 is fixedly arranged on the lifting base 331; the two-way screw 333, half of the said two-way screw is left-handed, half is right-handed, the said two-way screw 333 accepts the torque that the said brake drive part 32 transmits and rotates around its own axis; the lead screw fixing seat 338 is fixedly arranged on the lifting base 331, the bidirectional lead screw 333 is arranged in the lead screw fixing seat 338 in a penetrating manner, a bearing is arranged between the lead screw fixing seat 338 and the bidirectional lead screw 333, and the lead screw fixing seat 338 is suitable for radially limiting the bidirectional lead screw 333; the forward screw nut seat 334 is sleeved on the upper half part of the bidirectional screw 333 and driven by the bidirectional screw 333 to slide along the lifting slide rail 332; the reverse screw nut seat 335 is sleeved on the lower half part of the bidirectional screw 333 and slides along the lifting slide rail 332 under the driving of the bidirectional screw 333; a bearing seat lifting rod 336 which is fixedly connected with the forward lead screw nut seat 334 and moves along with the forward lead screw nut seat 334; and a brake disc lifting rod 337 fixedly connected to the reverse lead screw nut base 335 and moving along with the reverse lead screw nut base 335.
The under-actuated device 3 further includes:
the brake disc 342, the brake disc lifting rod 337 is fixedly connected with the brake disc 342 through a brake disc lifting rod flange, and the brake disc 342 moves synchronously under the driving of the brake disc lifting 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, the brake disc lifting rod 337 provides a driving force to the brake disc 342 when the brake disc 342 moves, and the brake disc guide rod 344 guides the brake disc 342;
the sleeve bearing seat 343, the said bearing seat lifter 336 is fixedly connected with said sleeve bearing seat 343 through the bearing seat lifter flange, the said sleeve bearing seat 343 is driven by the said bearing seat lifter 336 to move synchronously; the sleeve bearing seat 343 is sleeved outside the telescopic sleeve 441 and is rotationally connected with the telescopic sleeve 441 through a bearing, the sleeve bearing seat 343 and the telescopic sleeve 441 are coaxially arranged, and meanwhile, the sleeve bearing seat 343 can drive the telescopic sleeve 441 to move up and down along the axial direction, so as to drive the friction piece 45 to move up and down along the axial 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, the bearing seat guide rod 345 is slidably connected with the mounting plate 341 through a linear bearing 346, when the sleeve bearing seat 343 moves, the bearing seat lifting rod 336 provides driving force for the sleeve bearing seat 343, and the bearing seat guide rod 345 guides the sleeve bearing seat 343;
the brake disk 342 is further provided with at least one brake 3421 at the bottom.
The specific operation form of the under-actuated device 3 is as follows: the brake transmission part 32 is driven to act by the torque applied by the brake motor 31 or the manual brake component, so that the torque is transmitted to the bidirectional screw 333, when the bidirectional screw 333 rotates forward, the bidirectional screw 333 drives the forward screw nut seat 334 to move upward, the forward screw nut seat 334 drives the bearing seat lifting rod 336 to move upward, the bearing seat lifting rod 336 drives the sleeve bearing seat 343 to move upward, so that the telescopic sleeve 441 moves upward, and the friction piece 45 moves upward and is disengaged from the conical rotating shaft 35; at this time, the bidirectional screw 333 rotates forward and synchronously drives the reverse screw nut seat 335 to move downward, the reverse screw nut seat 335 drives the brake disc lifting rod 337 to move downward, the brake disc lifting rod 337 further drives the brake disc 342 to move downward, and when the brake disc 342 descends to a certain height, the brake 3421 on the brake disc 342 brakes the first target adapter plate 51, so that the suspended target 9 stops rotating.
Similarly, when the bidirectional screw 5 rotates reversely, the bidirectional screw 333 drives the forward screw nut seat 334 to move downward, and sequentially drives the forward screw nut seat 334, the bearing seat lifting rod 336, the sleeve bearing seat 343, the telescopic sleeve 441, and the friction member 45 to move downward, so that the friction member 45 is attached to the tapered rotating shaft 35; at this time, the bidirectional screw 333 synchronously drives the reverse screw nut seat 335 to move upward, and sequentially drives the brake disc lifting rod 337, the brake disc 342, and the brake 3421 to move upward, so that the brake 3421 is disengaged from the first target adapter plate 51.
Preferably, referring to fig. 17 to 18, in which fig. 18 is a schematic diagram illustrating a braking state of the brake disc, the brake disc 342 is moved downward by the brake disc lifting rod 337, and 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, so as to stop the rotation of the suspended target 9.
Preferably, as a specific implementation form of the present invention, the swing bearing seat 431 is fixedly disposed above the mounting plate 341, the upper sleeve 432 is disposed in the swing bearing seat 431 and penetrates through the mounting plate 341, and the upper sleeve 432 is rotatable relative to the mounting plate 341.
Preferably, the output shaft of the brake transmission part 32 is connected with a bidirectional screw 333 through a coupler, and the coupler is provided with a threaded hole for preventing looseness by screwing in a jackscrew.
Preferably, two screw rods are replaced by the two-way screw rods, so that the structure is simple while the stroke is ensured.
Preferably, one end of the bidirectional screw is mounted on the screw fixing seat 338, and one end of the bidirectional screw is sleeved with the bearing and then mounted at the bottom end of the lifting base 331, so that space and cost are saved.
Preferably, the screw nut seat is punched, the side face of the screw nut seat is grooved, and the bearing seat lifting rod/brake disc lifting rod is arranged in the hole and then is screwed down and prevented from loosening.
Preferably, three sets of the brake disc guide rods 344 and the bearing seat guide rods 345 are provided, respectively, so as to prevent the target from generating yaw.
Preferably, the brake disc guide rod 344 and the bearing seat guide rod 345 are installed in a linear bearing, so as to ensure smoothness during lifting.
[ Flexible suspension Unit ]
As shown in fig. 15 to 16, the flexible suspension unit 6 includes: the steel wire rope 611, the upper end of the steel wire rope 611 is fixedly connected with a steel wire rope welding hemisphere 612, and the steel wire rope welding hemisphere 612 is arranged in the steel wire rope upper fixing piece 613; the lower end of the steel wire rope 611 is fixedly connected with one end of a steel wire rope sleeve 614, the other end of the steel wire rope sleeve 614 is in threaded connection with a tension sensor 615, the tension sensor 615 is fixedly connected with a round nut seat 616 through a ball nut 617, and the round nut seat 616 is fixedly connected to a steel wire rope plate 620, so that the steel wire rope 611 flexibly suspends the steel wire rope plate 620.
Preferably, the upper steel cable fixing piece 613 is fixedly connected below the swing bearing seat 431, that is, the upper steel cable fixing piece 613 is relatively fixedly disposed with respect to the mounting plate 341 and the truss connection plate 13, so that the steel cable plate 620 is relatively fixedly disposed with respect to the mounting plate 341 and the truss connection plate 13.
Preferably, the steel wire rope 611 is connected with the steel wire rope sleeve 614 in a welding mode, the steel wire rope sleeve 614 is provided with external threads, 4 gaps are machined, the steel wire rope sleeve 614 can be held tightly, and the side face of the steel wire rope sleeve 614 is rectangular, so that clamping is facilitated.
As a specific implementation form of the present invention, in an initial stage of a test, the friction member 45 drives the conical rotating shaft 35 to rotate, so as to rotate the suspended target 9, and after the suspended target 9 reaches an expected stable rotating speed, the friction member 45 moves upward, so as to remove rigid constraint, the rotation starting motor 41 no longer provides power, so that the suspended target 9 rotates freely, only the steel wire rope 611 bears gravity, a load weightless state is simulated, and at this time, flexible constraint is changed.
Preferably, the conical rotating shaft 35 is slidably connected with the wire rope plate 620 through a third bearing 353; the bottom of the conical rotating shaft 35 is fixedly connected with a first target adapter plate 51, and the steel wire rope plate 620 and the first target adapter plate 51 can rotate relatively; the flexible suspension unit 6 flexibly constrains the tapered rotating shaft 35 in a suspended state, and at this time, the tapered rotating shaft 35 can rotate relative to the wire rope plate 620, so that the tapered rotating shaft 35 drives the first target adaptor plate 51 to rotate, and further drives the suspended target 9 to rotate.
Preferably, the tension sensor 615 is electrically connected with the force sensor module 621, so as to monitor tension data; still be provided with photoelectric sensor 632 bottom wire rope board 620, still be provided with grating 631 on the first target keysets 51, toper rotation axis 35 rotates, drives first target keysets 51 and rotates, and then drives grating 631 and rotates to make grating 631 and photoelectric sensor 632 take place relative rotation, photoelectric sensor 632 is connected with speed measuring module 633 electricity, thereby monitoring rotational speed data.
The rigid-flexible constraint conversion device further comprises: and the guide limiting unit is suitable for limiting the deflection amplitude of the passive driving unit.
Specifically, the guide limiting unit includes a guide member 347, the guide member 347 is sleeved inside the friction member 45 and is relatively rotatably connected with the friction member 45 through a bearing, the guide member 347 can move up and down along the axial direction along with the friction member 45, the guide member 347 penetrates through the conical rotating shaft 35, and the guide member 347 can limit the deflection amplitude of the conical rotating shaft 35 in a flexible constraint state; the guiding and limiting unit further comprises a limiting conical block 348, the limiting conical block 348 is arranged at one end part of the guiding element 347 far away from the friction element 45, the size of the limiting conical block 348 in the radial direction is larger than the minimum inner diameter of the conical rotating shaft 35, the conical rotating shaft 35 can be prevented from moving beyond the limit in the up-down direction, and the bearing seat guiding rod 345 is prevented from slipping out of the mounting plate 341.
The suspension rotation-starting mechanism provided by the invention has a braking function, can brake a suspended target at any time according to needs in the use process, and is additionally provided with the rotation limiting conical block, so that the deflection amplitude of the target can be limited, and the safety is improved.
Preferably, the flexible suspension unit 6 is installed at an upper portion of the wire rope plate 620 connected to the outer race of the bearing, so that the flexible suspension unit 6 can be maintained in a vertical state without participating in rotation.
Preferably, the lower end of the flexible suspension unit 6 is connected with a tension sensor, so that the weight borne by the steel wire rope can be measured in real time, an operator can know the test state more, and test analysis is facilitated;
preferably, the conical rotating shaft 35 is constructed like a friction wheel.
The suspension rotation starting mechanism provided by the invention is rigidly restrained before a suspension target reaches a specified rotating speed, and after the suspension target reaches the specified rotating speed, the rigid restraint is released, only a steel wire rope bears the gravity, and a microgravity state is simulated; and the rigid constraint state and the flexible constraint state of the suspension target are switched at will, so that the ground simulation of a certain possible attitude rolling state of the in-orbit fault satellite is realized.
[ Angle and eccentricity adjustment device ]
Referring to fig. 19, an angle and eccentricity adjusting device 5 is adapted to adjust a yaw angle and an eccentricity position of the suspension target 9. The angle and eccentricity adjusting device 5 comprises: a first target adapter plate 51, a second target adapter plate 52, a hand-cranking portion 53, a screw rod portion 54, and a link portion 55;
the first target adapter plate 51 is fixedly arranged at the top end of the angle and eccentricity adjusting device and is constructed as a reference plate, and as a specific implementation form of the present invention, the first target adapter plate 51 is fixedly connected with the conical rotating shaft 35 and moves synchronously;
the second target adapter plate 52 is arranged at the lower side of the first target adapter plate 51 relatively and is fixedly connected with the suspension target 9;
a screw 541 is arranged at the bottom of the first target adapter plate 51, and specifically, the screw 541 is horizontally arranged at the bottom of the first target adapter plate 51 along the axis direction thereof;
the angle and eccentricity adjustment apparatus further comprises: at least one lead screw supporting end 543 and at least one lead screw fixing end 544; the lead screw supporting end 543 and the lead screw fixing end 544 are arranged in pair and respectively arranged at two ends of the lead screw 541 along the axial direction; the lead screw 541 is connected with the first target adapter plate 51 through a lead screw supporting end 543 and a lead screw fixing end 544, the lead screw supporting end 543 and the lead screw fixing end 544 are fixedly mounted at the lower part of the first target adapter plate 51, and the lead screw supporting end 543 and a first end of the lead screw 541 along the axial direction are connected through a bearing; the lead screw fixing end 544 is connected with the second end of the lead screw 541 along the axial direction through a bearing; the lead screw supporting end 543 and the lead screw fixing end 544 suspend the lead screw 541 and guide the axial movement of the lead screw 541, so that the adjustment process is smoother;
the deflection angle and the eccentric position further comprise at least one fixed disc 532, one end of the lead screw 541 along the axis direction is fixedly connected with the fixed disc 532, the hand wheel 531 is eccentrically installed on the fixed disc 532, the hand wheel 531 is shaken, the fixed disc 532 is driven to transmit torque to the lead screw 541, and the lead screw 541 is driven to rotate;
a lead screw nut seat 542 is sleeved outside the lead screw 541, and the lead screw nut seat 542 moves along the horizontal direction along with the rotation of the lead screw 541; the screw nut seat 542 is directly or indirectly connected to the second target adapter plate 52, 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 relatively.
At least one guide rail 545 is fixedly connected to the bottom of the first target adapter plate 51, the screw nut block 542 is connected to the guide rail 545 in a relatively sliding manner through a sliding block 546, and the sliding block 546 is installed on the guide rail 545 and guides the movement of the screw nut block 542;
the angle and eccentricity adjusting device 5 comprises two groups of lead screws 541, and two corresponding groups of lead screw supporting ends 543, lead screw fixing ends 544 and lead screw nut seats 542;
the first group of screw nut bases is connected with at least one triangular plate 554, and the triangular plate 554 and the first group of screw nut bases are connected through at least two fixed shafts and do not rotate relatively; at least one connecting rod 552 is connected to the second group of screw nut seats; the connecting rod 552 is connected with the second group of screw nut seats through a pin 551 and can rotate relatively; as a specific implementation form of the present invention, the first set of screw nut bases 542 is connected to two triangular plates 554, and the second set of screw nut bases 542 is connected to two connecting rods 552;
the triangular plate 554 and the two connecting rods 552 are both connected to a second target adapter plate 52 through an adapter 553, and the second target adapter plate 52 is fixedly connected to the suspension target.
The first set of screw-nut bases is fixedly connected to the triangular plate 554, and preferably, the first set of screw-nut bases is fixed to the triangular plate 554 by at least two fixing shafts, so that the first set of screw-nut bases cannot rotate relative to the triangular plate 554;
the second group of screw nut bases is connected with the connecting rod 552 through a pin 551, and the second group of screw nut bases and the connecting rod 552 can rotate relatively;
the triangular plate 554 and the connecting rod 552 are rotatably connected with the adaptor 553 through a pin 551; the triangle 554 and the connecting rod 552 can rotate relative to the adaptor 553;
the first group of screw nut seats and the second group of screw nut seats move for the same distance when the two groups of screws rotate for the same angle, so that the angle and eccentricity adjusting device drives the suspended target 9 to translate;
when the two sets of screws rotate at different angles, the first set of screw nut seats and the second set of screw nut seats move at different distances, so that the connecting rod 552 simultaneously rotates around the pin shaft of the second set of screw nut seats and the pin shaft of the adaptor 553, and the triangle 554 can only rotate around the pin shaft of the adaptor 553, thereby driving the second target adaptor plate 52 to deflect by an angle of a °.
As shown in fig. 20-21, the hand wheel 531 is rotated to drive the lead screws 541 to rotate, and when the two lead screws rotate by the same angle, that is, the first set of lead screw nut bases and the second set of lead screw nut bases move by the same distance, the angle and eccentricity adjusting device drives the suspension target 9 to translate, so as to adjust the center of gravity of the suspension target 9;
when the two screws rotate at different angles, the first group of screw nut seats and the second group of screw nut seats move at different distances, the connecting rod 552 simultaneously rotates around the pin shaft of the second group of screw nut seats and the pin shaft of the adaptor 553, and the triangle 554 can only rotate around the pin shaft of the adaptor 553, so that the second target adaptor plate 52 deflects by an angle of a °, and the angle of the suspended target 9 is adjusted.
Preferably, in this embodiment, the fixed disk 532 is rotatably connected to the lead screw fixing end 544;
preferably, the fixed disk 532 is further provided with a hole, and a screw fixing end connected with the fixed disk is tapped with a threaded hole, after the suspension target 9 is adjusted to a target position or a center of gravity, the fixed disk 532 and the screw fixing end 544 are fixed through the hole, so that the screw 541 is fixed at the target position or the center of gravity; the state can be kept after the target angle or the gravity center is adjusted by adding a fixing plate at the hand wheel 531;
preferably, the pin 551 is locked by the pin locking piece 555, so that the suspended target is prevented from deviating in the rotating process;
preferably, the pin 551 is externally sleeved with a copper sleeve to reduce the friction force of rotation.
Preferably, the angle and eccentricity adjusting device is guided by the sliding block 546 and the guide rail 545, so as to ensure the smoothness of the movement of the lead screw nut seat.
Preferably, the adaptor 553 is a U-shaped adaptor, avoids the cantilever beam structure, increases structural strength.
In an alternative embodiment, a pin locking member is mounted to one end of the pin in the adapter, and a margin is left, and the pin is fixed by friction when using the screw connection.
The suspension rotation starting mechanism provided by the invention can adjust the deflection angle and the gravity center position of a suspension target through the adjusting handle, thereby meeting different experimental requirements; the adjusting method is simple and convenient, only the hand wheel needs to be shaken, and a disassembly and assembly mechanism is not needed; the screw part 54 has guiding function, so that the adjusting process is smoother;
the suspension start-up mechanism provided by the invention adopts a manual automatic integrated under-actuated design and has multiple functions of start-up, rigid-flexible constraint conversion, braking, suspension pose adjustment and the like; the rotation starting speed is controllable, and the brake function is realized, so that the operation is simple, safe and reliable; the clutch is configured to ensure that the two driving modes do not interfere with each other;
the suspension rotation starting mechanism provided by the invention can realize that a suspension target spins around the spin axis and swings around the spin axis, and can randomly switch the rigid constraint state and the flexible constraint state of the suspension target, thereby realizing the ground simulation of a certain possible attitude rolling state of an in-orbit fault satellite.
The utility model provides a microgravity state analog system that rolls, microgravity state analog system that rolls adopts the aforesaid suspend in midair and play to revolve the mechanism, suspend in midair and play to revolve the mechanism and install through truss connecting plate 13 and set up on truss 11 to carry out the electricity with electric box 12 and be connected, it is right to realize suspend in midair and play the operation control who revolves the mechanism.
As a ground verification key part for implementing the space task, the ground test aims at verifying the rationality and the technical feasibility of the space task scheme, and the success or failure of the ground test depends on whether the adopted verification method truly reflects the characteristics of the space task implementation process, so that the microgravity rolling state simulation system provided by the invention has very important engineering significance for ground simulation of the space target in-orbit state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An angle and eccentricity adjusting device is characterized by being suitable for hoisting a suspended target (9) and adjusting the deflection angle and the eccentricity position of the suspended target (9); the angular and eccentric adjustment device (5) comprises:
a first target adapter plate (51) fixedly disposed at a top end of the angle and eccentricity adjusting apparatus and configured as a reference plate;
a second target adapter plate (52) which is arranged opposite to the lower side of the first target adapter plate (51) and is fixedly connected with the suspension target (9);
the screw rod (541) is horizontally arranged at the bottom of the first target adapter plate (51) along the axis direction of the screw rod (541);
the screw nut seat (542) is sleeved outside the screw (541), and the screw nut seat (542) moves along the horizontal direction along with the rotation of the screw (541);
the screw nut seat (542) is directly or indirectly connected with the second target adapter plate (52), and the screw nut seat (542) is suitable for driving the second target adapter plate (52) and the first target adapter plate (51) to move relatively;
the angle and eccentricity adjusting device (5) comprises two groups of lead screws (541) and two groups of lead screw nut seats (542);
the angle and eccentricity adjustment device (5) further comprises:
at least one set of triangles (554) connected to the first set of lead screw nut mounts and not rotating relative thereto;
at least one connecting rod (552) connected to the second set of lead screw nut mounts and capable of relative rotation;
at least one adapter (553), the triangle (554) and the connecting rod (552) each being connected to a second target adapter (52) by means of the adapter (553).
2. The angular and eccentric adjustment device according to claim 1, characterized in that the triangle (554) is connected with the first set of lead screw-nut mounts by at least two fixed shafts;
the connecting rod (552) is connected with the second group of screw nut seats through a pin shaft (551).
3. The angular and eccentric adjustment device according to claim 2, characterized in that the triangle (554) and the link (552) are both rotatably connected to the adapter (553) by means of a pin (551).
4. The angular and eccentric adjustment device according to claim 3, characterized in that the first set of lead screw-nut mounts and the second set of lead screw-nut mounts move the same distance when both sets of lead screws rotate the same angle, causing the angular and eccentric adjustment device to translate the suspended object (9).
5. The angular and eccentric adjustment device according to claim 3, characterized in that the first set of lead screw nut mounts and the second set of lead screw nut mounts move different distances when the two sets of lead screws rotate at different angles, so that the connecting rod (552) rotates simultaneously about the pin of the second set of lead screw nut mounts and the pin of the adaptor (553), while the triangle (554) can only rotate about the pin of the adaptor (553), thereby driving the second target adaptor (52) to deflect by an angle a °.
6. The angle and eccentricity adjustment 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) is slidably connected to the guide rail (545) through a slide block (546).
7. The angular and eccentric adjustment device according to claim 6, further comprising:
the lead screw (541) is fixedly connected with the fixed disc (532) along one end of the axial direction;
at least one hand wheel (531), eccentric mounting is on fixed disk (532), and through rocking hand wheel (531), and then drive fixed disk (532) and transmit torque to lead screw (541) on, drive lead screw (541) rotates.
8. The angular and eccentric adjustment device according to claim 7, characterized in that it further comprises:
at least one lead screw supporting end (543), at least one lead 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 two ends of the lead screw (541) along the axial direction; the lead screw (541) is connected with the first target adapter plate (51) through a lead screw supporting end (543) and a lead screw fixing end (544).
9. A microgravity roll condition simulation system comprising an angular and eccentric adjustment device according to any one of claims 1-8.
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| CN110562504B (en) * | 2019-09-30 | 2020-12-08 | 华中科技大学 | Cold air propeller thrust measuring device |
| CN113928603B (en) * | 2021-09-13 | 2022-10-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
| CN115123918A (en) * | 2022-08-29 | 2022-09-30 | 江苏博锐达电力设备有限公司 | Multi-functional electric power hoist of multi-direction portable |
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| WO2008133187A1 (en) * | 2007-04-19 | 2008-11-06 | Kokusai Keisokuki Kabushiki Kaisha | General-purpose test device, linear actuator, and twist test device |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
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| CN107758506A (en) * | 2016-08-19 | 2018-03-06 | 中石化重型起重运输工程有限责任公司 | Spliced operating platform |
| CN108761855A (en) * | 2018-05-04 | 2018-11-06 | 芜湖良匠机械制造有限公司 | A kind of apparatus for correcting for position of glass substrate correction |
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| US7097592B2 (en) * | 2005-01-31 | 2006-08-29 | Leao Wang | Oval-tracked exercise apparatus with an adjustable exercise track (I) |
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| WO2008133187A1 (en) * | 2007-04-19 | 2008-11-06 | Kokusai Keisokuki Kabushiki Kaisha | General-purpose test device, linear actuator, and twist test device |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
| CN107758506A (en) * | 2016-08-19 | 2018-03-06 | 中石化重型起重运输工程有限责任公司 | Spliced operating platform |
| CN206696086U (en) * | 2016-12-08 | 2017-12-01 | 吉林大学 | Eccentric load stretch bending in-situ testing device under temperature match curing conditions |
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