CN110116825A - A kind of suspention Qi Xuan mechanism and microgravity tumbling state simulation system - Google Patents
A kind of suspention Qi Xuan mechanism and microgravity tumbling state simulation system Download PDFInfo
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- CN110116825A CN110116825A CN201910396752.7A CN201910396752A CN110116825A CN 110116825 A CN110116825 A CN 110116825A CN 201910396752 A CN201910396752 A CN 201910396752A CN 110116825 A CN110116825 A CN 110116825A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 230000005486 microgravity Effects 0.000 title claims abstract description 14
- 239000000725 suspension Substances 0.000 claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims abstract description 19
- 230000003028 elevating effect Effects 0.000 claims description 26
- 239000011159 matrix material Substances 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 3
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- 238000010168 coupling process Methods 0.000 description 42
- 238000005859 coupling reaction Methods 0.000 description 42
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 10
- 230000005484 gravity Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 238000002474 experimental method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 230000005520 electrodynamics Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The present invention provides a kind of suspention Qi Xuan mechanism and microgravity tumbling state simulation systems, are related to in-orbit service and maintenance technology field, comprising: play cyclone, be suitable for making to suspend in midair target around spin axis and generate spin；Hard and soft constraints conversion device is suitable for making to switch between rigid constraint and flexible constraint between the suspension gear and the suspention target；Angle and off-center adjustment apparatus are suitable for being adjusted the deflection angle of suspention target with eccentric position.Suspention Qi Xuan mechanism of the present invention can both realize that suspention target generates spin around spin axis, it can realize that suspention target spin axis generates swing again, and arbitrarily switch to the rigid constraint and flexible constraint state for suspending target in midair, to realize the ground simulation to a certain posture tumbling state that may be present of on-orbit fault satellite.
Description
Technical field
The present invention relates to in-orbit service and maintenance technology field, in particular to a kind of suspention Qi Xuan mechanism and microgravity are turned over
Roll state simulation system.
Background technique
Geostationary orbit (GEO) is the important Earth's orbit resource of the mankind, and in-orbit resource is limited by rail position, extremely tightly
It lacks.However as the rapid development of space mission, GEO band (GEO ± 200km) has been accumulated many uncontrollable or discarded
Satellite, these satellites lead to GEO rail position resource serious waste.For in-orbit inert satellite, in terms of attitude characteristic, due to
The effect of the energy dissipations such as celestial body solar wing and propellant sloshing, eventually shows rolling posture, and in-orbit capture is carried out to it is
A big difficulty.To solve this difficult point, it would be highly desirable to carry out in-orbit service and maintenance related key technical tackling key problem；And related keyword skill
During art tackling key problem, due to the problems such as being limited to scientific research cost and environmental protection, key technology cannot be carried out directly in space and tested
Card needs first to carry out a large amount of verification test on ground usually before engineer application.Therefore in key technology validating in orbit
And before application, urgent need provides one kind can be to in-orbit inert satellite in space working environment and the true in-orbit state of target
The system simulated.
Summary of the invention
In view of this, the present invention is directed to propose a kind of suspention Qi Xuan mechanism, to realize under space microgravity state, to mesh
Mark carries out the ground simulation of rolling posture.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of suspention Qi Xuan mechanism, comprising: play cyclone, be suitable for making to suspend in midair target around spin axis and generate spin；It is hard and soft
Constraints conversion device is suitable for making between the suspension gear and the suspention target between rigid constraint and flexible constraint
Switching；
Described cyclone includes: to revolve component and/or rotation motor for providing rising manually for rotation driving force；It is suitable for
Torque conversion is played into rotation rotation section for what is moved around own axis under the drive that described revolves driving force；Directly or
It connects and revolves the friction member that rotation section is connect with described；
The hard and soft constraints conversion device includes: passive matrix unit and flexible suspension unit, the passive matrix unit
It is selective to be connect with the friction member, receive the torque that the friction member passes over；The passive matrix unit with it is described
When friction member connects, the suspention Qi Xuan mechanism to the suspention target rigid constraint, the passive matrix unit with it is described
When friction member is detached from, flexible constraint is carried out to the suspention target by the flexible suspension unit.
Optionally, the passive matrix unit includes taper rotary shaft, and the taper rotary shaft and the friction member are coaxial
Setting；In the case where playing rotation state, the second rubbing surface of the taper rotary shaft fits with the first rubbing surface of the friction member,
The friction member drives the taper concentric rotation axis to rotate using frictional force.
Optionally, the suspention Qi Xuan mechanism further includes a drive lacking device, and the drive lacking device includes lifting unit；
The lifting unit controls the passive matrix in the case where the braking and drive force that hand brake component and/or/braking motor provide drives
Unit and the friction member are detached from or combine.
Optionally, the lifting unit includes: two-way lead screw, and the two-way lead screw receives the brake portion and transmitted
The torque come is around own axis；Positive feed screw nut seat is sheathed on the two-way lead screw top half, and described double
It under the drive of lead screw, is slided along lifting sliding rail, and bearing block elevating lever is driven to move；Reversed lead screw nut seat, is sheathed on institute
Two-way lead screw lower half portion is stated, and under the drive of the two-way lead screw, is slided along the lifting sliding rail, and drive brake disc
Elevating lever movement.
Optionally, the drive lacking device further include: brake disc is connect with the brake disc elevating lever, suitable for being in
The suspention target of rotation status is braked；Sleeve bearing seat is connect with the bearing block elevating lever, be suitable for directly or
The friction member is driven to move up and down in the axial direction indirectly.
Optionally, the flexible suspension unit includes: wirerope, and the wirerope lower end and wirerope sleeve one end are solid
Fixed connection, the wirerope sleeve other end are connect with tension sensor, and the tension sensor passes through ball nut and round nut
Seat is fixedly connected, and the round nut seat is fixedly connected on wirerope plate.
Optionally, the hard and soft constraints conversion device further include: guide part, the guide sleeve are set to the friction member
Inside, the guide part can carry out the limit of beat amplitude to the taper rotary shaft under flexible constraint state；Limit
Circular cone, the limit circular cone are set to one end end of the guide part far from the friction member, and the limit circular cone is along diameter
It is greater than the minimum diameter of the taper rotary shaft to direction size.
Optionally, the suspention Qi Xuan mechanism further includes an angle and off-center adjustment apparatus, is suitable for suspention target
Deflection angle is adjusted with eccentric position；The angle and off-center adjustment apparatus include:
First object pinboard is fixedly connected and moves synchronously with the taper rotary shaft；
Second target pinboard is fixedly connected with the suspention target；
First object pinboard bottom is provided with lead screw, and a feed screw nut cover for seat is set on the outside of lead screw, with lead screw
Rotation, the feed screw nut seat is moved forward and backward；The feed screw nut seat drives the second target pinboard movement.
Optionally, the angle and off-center adjustment apparatus include two groups of lead screws and two groups of feed screw nut seats；First group of lead screw
Nut seat connect with set square and does not relatively rotate；Second group of feed screw nut seat and connecting rod are connected by a pin shaft
It connects and can relatively rotate；The set square and the connecting rod are connect with the adapter by a pin shaft.
Compared with the existing technology, suspention Qi Xuan mechanism of the present invention has the advantage that
(1) suspention Qi Xuan mechanism provided by the invention is designed using manual/automatic integratedization drive lacking, has had rotation, hard and soft
The multiple functions such as constraints conversion, braking, suspention pose adjustment；It is controllable to play rotation speed, and has braking function, easy to operate, peace
It is complete reliable；Have manually with two kinds of driving methods of motor simultaneously, keeps two kinds of driving methods non-interference by configuring clutch；
(2) suspention Qi Xuan mechanism provided by the invention can not only realize that suspention target generates spin around spin axis, but also can realize
It suspends target spin axis in midair and generates swing, and arbitrarily switch the rigid constraint and flexible constraint state to suspention target, to realize
Ground simulation to a certain posture tumbling state that may be present of on-orbit fault satellite；
(3) the suspention Qi Xuan mechanism provided by the invention can adjust the deflection angle of suspention target by regulation handle
With position of centre of gravity, meet different experiment demands；Adjusting method is simple and convenient, only need to shake handwheel, does not have to mechanism for assembling-disassembling；
Another object of the present invention is to propose a kind of microgravity tumbling state simulation system, described includes such as above-mentioned institute
State suspention Qi Xuan mechanism.
The microgravity tumbling state simulation system is possessed excellent compared with the existing technology with above-mentioned suspention Qi Xuan mechanism
Gesture is identical, and details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention is schematic
Examples and descriptions thereof are used to explain the present invention, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is microgravity tumbling state simulation system overall structure diagram of the present invention；
Fig. 2 is present invention suspention Qi Xuan mechanism perspective view one；
The present invention suspention Qi Xuan mechanism perspective view two of Fig. 3；
Fig. 4 is hand-operated gear box structure schematic diagram of the present invention；
Fig. 5 is that the present invention plays rotation component perspective view；
Fig. 6 is that the present invention plays rotation component sectional view；
Fig. 7 is present invention suspention Qi Xuan mechanism local structure perspective；
Fig. 8 is lifting unit perspective view of the present invention；
Fig. 9 is enlarged drawing at A in Fig. 7；
Figure 10 is enlarged drawing at B in Fig. 7；
Figure 11 is brake disc of the present invention and sleeve bearing holder structure schematic diagram；
Figure 12 is present invention suspention Qi Xuan mechanism sectional view one；
Figure 13 is enlarged drawing at C in Figure 12；
Figure 14 is friction member of the present invention and taper rotation axis structure diagram；
Figure 15 is the flexible suspension unit schematic diagram of the present invention；
Figure 16 is steel wire rope component sectional view of the present invention；
Figure 17 is the non-brake status diagram of brake disc of the present invention；
Figure 18 is brake disc on-position schematic diagram of the present invention；
Figure 19 is angle of the present invention and off-center adjustment apparatus perspective view；
Figure 20 is that angle of the present invention and off-center adjustment apparatus angle adjust schematic diagram one；
Figure 21 is that angle of the present invention and off-center adjustment apparatus angle adjust schematic diagram two.
Description of symbols:
11- truss, 12- electric box, 13- truss connecting plate, 9- suspend target in midair；
2- manual component；21- hand-operated gear case, 22- play rotation gear-box, and 23- braking gear box, it is universal that 24- brakes first
Shaft coupling, 25- play the first Hooks coupling universal coupling of rotation, and 26- brakes the second Hooks coupling universal coupling, and 27- plays the second Hooks coupling universal coupling of rotation；
The first handwheel of 211-, the second handwheel of 212-, 213- first bore tooth, and 214- second bores tooth, 215- triconodont, and 216- the 4th is bored
Tooth, 221- the 5th bore tooth, and 222- the 6th bores tooth, and 421- the 7th bores tooth, and 422- the 8th bores tooth；
3- drive lacking device；31- braking motor, 32- brake portion, 33- lifting unit, 35- taper rotary shaft； 331-
Lifting pedestal, 332- lifting sliding rail, the two-way lead screw of 333-, 334- forward direction feed screw nut seat, the reversed lead screw nut seat of 335-,
336- bearing block elevating lever, 337- brake disc elevating lever, 338- lead screw fixing seat；341- mounting plate, 342- brake disc, 3421-
Brake, 343- sleeve bearing seat, 344- brake disc guide rod, 345- bearing block guide rod, 346- linear bearing, 347- are led
To part, 348- limits circular cone, the first rubbing surface of 351-, 352- compressed part, 353- 3rd bearing；
Electronic rotation component of 4-；41- plays rotation motor, and 42- plays rotation driving section, and 43- plays rotation rotation section, and it is flexible that 44- plays rotation
Portion, 45- friction member；411- shaft coupling, 423- gear drive shaft, the first freewheel clutch of 424-, the second overdrive clutch of 425-
Device, 431- play rotation bearing block, 432- upper sleeve, 433- first bearing, 434- second bearing, 441- extension sleeve, 442- company
Connect key, the first rubbing surface of 451-；
5- angle and off-center adjustment apparatus；51- first object pinboard, 52- the second target pinboard, the hand portion 53-,
54- lead screw portion, 55- link rod part；531- handwheel, 532- fixed disk；541- lead screw, 542- feed screw nut seat, the support of 543- lead screw
End, 544- lead screw fixing end, 545- guide rail, 546- sliding block；551- pin shaft, 552- connecting rod, 553- adapter, 554- set square,
555- lock clasp part；
6- flexibility suspension unit, 611- wirerope, 612- wirerope welding hemisphere, 613- wirerope upper stationary part,
614- wirerope sleeve, 615- tension sensor, 616- round nut seat, 617- ball nut；620- wirerope plate, 621- power pass
Sensor module, 631- grating, 632- photoelectric sensor, 633- speed measuring module.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.In addition, all directions being previously mentioned in embodiments herein or positional relationship (such as "upper", "lower", " preceding ",
" rear ", "left", "right") it is the positional relationship based on attached drawing, only for the purposes of understanding the application and simplifying description, rather than
It implies the specific orientation that signified device or element must have, should not be understood as the limitation to the application.
The present invention is directed to propose a kind of suspention Qi Xuan mechanism rolls to target with realizing under space microgravity state
The ground simulation of posture, thus on the basis of ground experiment, the reasonability and technical feasibility of clarifying space task scheme.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with specific technical solution.
A kind of suspention Qi Xuan mechanism, in conjunction with shown in Fig. 1-Fig. 3 comprising:
Cyclone is played, is suitable for making to suspend in midair target 9 around spin axis and generates spin；
Hard and soft constraints conversion device is suitable for making between suspension gear and suspention target in rigid constraint and flexible constraint
Between switch；
Angle and off-center adjustment apparatus 5 are suitable for being adjusted the deflection angle of suspention target 9 with eccentric position.
The suspention Qi Xuan mechanism is carried out by 13 installation settings of truss connecting plate on truss 11, and with electric box 12
Electrical connection, to realize that the operation to the suspention Qi Xuan mechanism controls.
The truss connecting plate 13 is installed on the studdle of truss 11 by four double nuts, using nut tune
Truss connecting plate 13 is saved to horizontal position, so as to adjust the installation level of the main part of entire mechanism.
[playing cyclone]
Described cyclone is suitable for making to suspend in midair target 9 around spin axis and generates spin；It include: for providing rotation driving
Power plays rotation component and/or rotation motor 41 manually；By torque conversion for around certainly under drive suitable for revolving driving force at described
Body axis rotational motion plays rotation rotation section 43；Directly or indirectly the friction member 45 that rotation section 43 is connect is revolved with described.
As concrete implementation form, in conjunction with shown in Fig. 4-Fig. 6, described cyclone includes: to play rotation component, electricity manually
Rotation component 4 is moved；Described cyclone plays rotation form using manual/automatic integratedization, can play manually rotation and electronic rotation two
Switch between kind driving method.
The rotation component that rises manually specifically includes: sequentially connected hand-operated gear case 21 plays the first Hooks coupling universal coupling of rotation
25, it plays rotation gear-box 22, play the second Hooks coupling universal coupling 27 of rotation.
Wherein, as specific implementation form of the invention, the hand-operated gear case 21 includes: the first handwheel 211, first
It bores tooth 213, second and bores tooth 214；Wherein, the first handwheel 211, first cone tooth 213, second bore tooth 214 be sequentially connected, for pair
Turn is played to be manually controlled；Described rotation gear-box 22 includes the 5th cone tooth 221 and the 6th cone tooth 222 of engagement connection；
The second cone tooth 214 is fixedly connected with described rotation 25 first end of the first Hooks coupling universal coupling, described rotation first
25 second end of Hooks coupling universal coupling is fixedly connected with the 5th cone tooth 221, the 6th cone tooth 222 and described rotation the 20000th
It is fixedly connected to 27 first end of shaft coupling.
It is described first cone tooth 213 with it is described second cone tooth 214 engage by driving force progress first time deflecting, the described 5th
Cone tooth 221 engages with the 6th cone tooth 222 driving force carrying out second of deflecting；To make on first handwheel 211
Hand power is transmitted.
Additional, the hand-operated gear case 21 further include: sequentially connected second handwheel 212, triconodont the 215, the 4th
Tooth 216 is bored, for manually controlling to braking maneuver；The structure member for being used for turn work and braking maneuver is set to
In the same hand-operated gear case 21, operator can be facilitated to control, in the Manual test stage, can quickly risen
Switching is adjusted between rotation and braking.Preferably, manual actuation mode is mainly manipulated by manual component 2, it is described manual
Component 2 further comprises playing rotation component and hand brake component manually, will play rotation component manually and is placed on hand brake component
Together, compact-sized, it is controlled convenient for operator.
The specific works form for playing rotation component manually is described as follows: shaking the first handwheel 211, first handwheel
211 connect with the first cone tooth 213, transmit torque；The first cone tooth 213 is engaged with the second cone tooth 214, and driving force is carried out
First time deflecting；Second cone tooth 214 is connected by described the first Hooks coupling universal coupling 25 of rotation with the 5th cone tooth 221, and transmitting turns
Square；The 5th cone tooth 221 is engaged with the 6th cone tooth 222, and driving force is carried out second of deflecting；The 6th cone tooth
222 are fixedly connected with described rotation 27 first end of the second Hooks coupling universal coupling, continue through described rise and revolve the second Hooks coupling universal coupling 27
Torque is transmitted.
The electronic rotation component 4 includes:
Rotation motor 41 is played, rotation driving section 42 is played, plays rotation rotation section 43, plays rotation pars contractilis 44, friction member 45；
Described rotation motor 41 is suitable for providing electric driving force to the electronic rotation component 4；
Described rotation driving section 42 is suitable for transmitting driving force, specifically, described rotation driving section 42 includes engagement connection
7th cone tooth 421 and the 8th cone tooth 422；The second end of described the second Hooks coupling universal coupling 27 of rotation passes through the first freewheel clutch
424 connect with the 7th cone tooth 421, and then in a manual mode, the torque that described revolves the second Hooks coupling universal coupling 27 is passed
Pass the 7th cone tooth 421；The 7th cone tooth 421 is engaged with the 8th cone tooth 422, and driving force is carried out third time
Deflecting.
Described rotation driving section 42 further includes a shaft coupling 411,411 first end of shaft coupling and described rotation motor
41 output axis connection, 411 second end of shaft coupling are connect with gear drive shaft 423, and the 8th cone tooth 422 is set in
In the gear drive shaft 423, the 8th cone tooth 422 is synchronous with the gear drive shaft 423 and rotates coaxially, the tooth
Wheel drive shaft 423 is connect by the second freewheel clutch 425 with described rotation rotation section 43, specifically, the gear drive shaft
423 are connect by the upper sleeve 432 that the second freewheel clutch 425 revolves rotation section 43 with described.
Described cyclone plays rotation form using manual/automatic integratedization, can play manually two kinds of drives of rotation and electronic rotation
Switch between flowing mode.The rotation component that serves manually is suitable for for the hand power on hand-operated gear case 21 being transferred to rotation biography
Dynamic portion 42, meanwhile, described rotation motor 41 is also suitable for having transmitted torque to rotation driving section 42.By setting first surmount from
Clutch 424 and the second freewheel clutch 425 keep a rotation manually non-interference with electronic rotation；In the case where playing rotation state manually, the
One freewheel clutch 424 couples with described the second Hooks coupling universal coupling 27 of rotation, by torque via the 7th cone tooth 421 and institute
It states the 8th cone tooth 422 and passes to upper sleeve 432；Under electronic rotation state, the first freewheel clutch 424 and described rotation
Second Hooks coupling universal coupling 27 disengages, and the 7th cone tooth 421 dallies, and plays the torque on rotation motor 41 via shaft coupling 411, tooth
Wheel drive shaft 423 is transferred to upper sleeve 432.
Described rotation rotation section 43 is suitable under the drive of external motivating force, is upper sleeve 432 around certainly by torque conversion
The rotational motion of body axis.Described rotation rotation section 43 includes: upper sleeve 432, and the upper sleeve 432 has been set to rotation
In bearing block 431, and it is provided with rolling bearing between the upper sleeve 432 and described rotation bearing block 431, made on described
Portion's sleeve 432 can rotate in described rotation bearing block 431 under the drive of driving force；Preferably, as specific reality
Existing form, the rolling bearing include first bearing 433 and second bearing 434, the first bearing 433 and second bearing 434
The both ends of the upper sleeve 432 are respectively arranged at, convenient for making 432 smooth rotation of upper sleeve.
Described rotation pars contractilis 44 includes extension sleeve 441, the extension sleeve 441 by connecting key 442 and it is described on
Portion's sleeve 432 is slidably connected, and the extension sleeve 441 is coaxially disposed with the upper sleeve 432, makes the extension sleeve 441
It can be slided relatively in the axial direction with the upper sleeve 432, meanwhile, the extension sleeve 441 can follow the top
Sleeve 432 rotates coaxially.
The extension sleeve 441 is fixedly connected with the friction member 45, institute far from 432 one end end of upper sleeve
It states friction member 45 and the extension sleeve 441 is coaxially disposed, rotate synchronously, it is described to rub under the extension sleeve 441 drive
Wipe the frictional force that the first rubbing surface 451 of part 45 is rotated about axis, and then produces relative rotation with subsequent parts.
The specific works form of described cyclone is described as follows: by playing rotation component or described rotation motor 41 manually
Torque is provided, torque is transferred to upper sleeve 432 via shaft coupling 411, gear drive shaft 423；The upper sleeve 432
Around own axis in described rotation bearing block 431, and then the upper sleeve 432 drives the extension sleeve 441,
The extension sleeve 441 is further driven to 45 pivoting of friction member；Meanwhile the extension sleeve 441 is able to drive institute
Friction member 45 is stated to stretch in the axial direction.
The suspention Qi Xuan mechanism provided by the invention, while having manually with two kinds of driving methods of motor, configure clutch
Device, two kinds of driving methods are non-interference, can once arbitrarily switch, not have between manual actuation and motor driven after the assembly is completed
Again hardware is changed, it is not necessary to debug again.It can be driven according to unrestricted choices such as test needs, test maturity and test safeties
Flowing mode.
The suspention Qi Xuan mechanism provided by the invention plays rotation speed controllably, and manual actuation can be used using initial stage and guarantee
Safety, it is ensured that be changed to motor driven after no security risk, can voluntarily control revolving speed and torque, security risk is small.
[hard and soft constraints conversion device]
In conjunction with shown in Fig. 7-Figure 14, the hard and soft constraints conversion device is suitable for making between suspension gear and suspention target
Switch between rigid constraint and flexible constraint；It is rigid constraint between the suspension gear and suspention target during playing rotation
Constraint, after the suspention target is in stable tumbling state, the hard and soft constraints conversion device make the suspension gear and
It is changed into flexible constraint between suspention target.
The hard and soft constraints conversion device includes: passive matrix unit, drive lacking device 3 and flexible suspension unit 6；Institute
It states passive matrix unit to be suitable under the driving of described cyclone, passively be acted, and transfer the force to suspention mesh
Mark 9；The drive lacking device 3 be suitable for suspention target 9 reach desired speed after, by rise a cyclone be detached from, and be suitable for pair
Suspention target 9 in tumbling state is braked；The flexibility suspension unit 6 is suitable for carrying out flexibility to the suspention target 9
Constraint.
As specific implementation form of the invention, the passive matrix unit includes taper rotary shaft 35, the taper rotation
Shaft 35 is oppositely arranged with the friction member 45, preferably, in the present invention, the taper rotary shaft 35 and the friction member
45 coaxial arrangements；In the case where playing rotation state, the second rubbing surface 351 and the first of the friction member 45 of the taper rotary shaft 35
Rubbing surface 451 fits, and the friction member 45 drives the taper rotary shaft 35 using frictional force, makes the taper rotary shaft
35 rotate coaxially with the friction member 45.
[drive lacking device]
The drive lacking device 3 includes: mounting plate 341, braking motor 31, brake portion 32, lifting unit 33；
The mounting plate 341 is fixedly connected with the truss connecting plate 13；
The brake portion 32 is for transmitting the torque that the braking motor 31 or hand brake component are applied；Institute
State hand brake component be suitable for will be applied in the torque transfer on the second handwheel 212 to the brake portion 32, for pair
Braking maneuver is manually controlled；The hand brake component include sequentially connected second handwheel 212, triconodont 215,
4th cone tooth 216, the first Hooks coupling universal coupling 24 of braking, braking gear box 23, the second Hooks coupling universal coupling 26 of braking；It is described manual
Brake assemblies are identical as the rotation modular construction form manually, and details are not described herein.Further, the brake portion
32 is identical as described rotation 42 structure type of driving section, is all made of manual/automatic integratedization braking model, and pass through freewheel clutch
Switch between two kinds of driving methods of hand brake and electrodynamic braking, details are not described herein；
The lifting unit 33 includes: lifting pedestal 331, and the lifting pedestal 331 and the mounting plate 341 are jointly fixed
It is set on the truss connecting plate 13；Lifting sliding rail 332, the lifting sliding rail 332 are fixedly installed on the lifting pedestal
On 331；Two-way lead screw 333, the two-way lead screw half be it is left-handed, half is dextrorotation, the two-way lead screw 333 receives described
The torque that brake portion 32 passes over is around own axis；Lead screw fixing seat 338, the lead screw fixing seat 338 are fixed
It is set on the lifting pedestal 331, and the two-way lead screw 333 is disposed through in the lead screw fixing seat 338, it is described
Bearing is provided between lead screw fixing seat 338 and the two-way lead screw 333, the lead screw fixing seat 338 is suitable for described two-way
Lead screw 333 carries out radial limit；Positive feed screw nut seat 334 is sheathed on 333 top half of two-way lead screw, and described
Under the drive of two-way lead screw 333, slided along the lifting sliding rail 332；Reversed lead screw nut seat 335, is sheathed on the two-way silk
333 lower half portion of thick stick, and under the drive of the two-way lead screw 333, it is slided along the lifting sliding rail 332；Bearing block lifting
Bar 336 is fixedly connected with the positive feed screw nut seat 334, and the positive feed screw nut seat 334 is followed to move；Brake disc
Elevating lever 337 is fixedly connected with the reversed lead screw nut seat 335, and the reversed lead screw nut seat 335 is followed to move.
The drive lacking device 3 further include:
Brake disc 342, the brake disc elevating lever 337 are fixed by brake disc elevating lever flange and the brake disc 342
Connection, the brake disc 342 move synchronously under the brake disc elevating lever 337 drive；
At least one brake disc guide rod 344, described 344 one end of brake disc guide rod and the brake disc 342 are fixed to be connected
It connects, the brake disc guide rod 344 is slidably connected by linear bearing 346 with the mounting plate 341, in the brake disc 342
When movement, the brake disc elevating lever 337 is that the brake disc 342 provides driving force, and the brake disc guide rod 344 is institute
Brake disc 342 is stated to be oriented to；
Sleeve bearing seat 343, the bearing block elevating lever 336 pass through bearing block elevating lever flange and the sleeve bearing
Seat 343 is fixedly connected, and the sleeve bearing seat 343 moves synchronously under the bearing block elevating lever 336 drive；The sleeve
Bearing block 343 is sheathed on outside the extension sleeve 441, and is rotatablely connected by bearing and the extension sleeve 441, and institute
It states sleeve bearing seat 343 and the extension sleeve 441 is coaxially disposed, meanwhile, the sleeve bearing seat 343 is able to drive described
Extension sleeve 441 moves up and down in the axial direction, and then the friction member 45 is driven to move up and down in the axial direction；
An at least bearing block guide rod 345, described 345 one end of bearing block guide rod and the sleeve bearing seat 343 are fixed
Connection, the bearing block guide rod 345 is slidably connected by linear bearing 346 with the mounting plate 341, in the quill
When holding the movement of seat 343, the bearing block elevating lever 336 is that the sleeve bearing seat 343 provides driving force, and the bearing block is led
It is that the sleeve bearing seat 343 is oriented to bar 345；
342 bottom of brake disc is additionally provided at least one brake 3421.
The specific action form of the drive lacking device 3 is as follows: being applied by the braking motor 31 or hand brake component
The torque added drives the brake portion 32 to act, and then will transmit torque to the two-way lead screw 333, when two-way silk
When thick stick 333 rotates forward, two-way lead screw 333 drives positive feed screw nut seat 334 to move upwards, and positive feed screw nut seat 334 is with moving axis
It holds an elevating lever 336 to move upwards, in turn, bearing block elevating lever 336 drives sleeve bearing seat 343 to move upwards, and makes described stretch
Contracting sleeve 441 moves upwards, so that the friction member 45 be made to move upwards and disengage with the taper rotary shaft 35；At this point, double
It rotates forward the reversed lead screw nut seat 335 of synchronous drive to lead screw 333 to move downward, reversed lead screw nut seat 335 drives brake disc liter
Drop bar 337 moves downward, and brake disc elevating lever 337 is further driven to the brake disc 342 and moves downward, when the brake disc
342 when dropping to certain altitude, and the brake 3421 in the brake disc 342 will brake first object pinboard 51,
It stops operating to make to suspend in midair target 9.
Similarly, when two-way lead screw 333 inverts, two-way lead screw 333 drives positive feed screw nut seat 334 to move downward, and
Successively drive positive feed screw nut seat 334, bearing block elevating lever 336, sleeve bearing seat 343, extension sleeve 441, friction member 45
It moves downward, and then is bonded the friction member 45 with the taper rotary shaft 35；At this point, two-way 333 synchronous drive of lead screw is anti-
It is moved upwards to feed screw nut seat 335, and successively brake disc elevating lever 337, brake disc 342, brake 3421 is driven to transport upwards
It is dynamic, and then disengage brake 3421 and first object pinboard 51.
Preferably, in conjunction with shown in Figure 17-Figure 18, wherein Figure 18 is brake disc on-position schematic diagram, brake disc lifting
Bar 337 drives the brake disc 342 to move downward, when the brake disc 342 drops to certain altitude, the brake disc 342
On brake 3421 first object pinboard 51 will be braked, thus make suspend in midair target 9 stop operating.
Preferably, described rotation bearing block 431 is fixedly installed on the installation as specific implementation form of the invention
341 top of plate, the upper sleeve 432 have been set in rotation bearing block 431 and through the mounting plate 341, the top sets
Cylinder 432 can be rotated relative to the mounting plate 341.
Preferably, the output shaft in the brake portion 32 is connect by shaft coupling with two-way lead screw 333, the shaft coupling
Threaded hole is offered on device, it is locking by being screwed into jackscrew progress.
Preferably, keeping structure simple while guaranteeing stroke instead of two lead screws using two-way lead screw.
Preferably, two-way lead screw one end is installed on lead screw fixing seat 338, one end is cased with after bearing loaded on lifting pedestal 331
Space and cost are saved in bottom end.
Preferably, being punched on feed screw nut seat, while side grooving, bearing block elevating lever/brake disc elevating lever is packed into
It is locking using screw-driving after in hole.
Preferably, brake disc guide rod 344, bearing block guide rod 345 are respectively set three groups, it can prevent target from generating
Beat.
Preferably, brake disc guide rod 344, bearing block guide rod 345 are mounted in linear bearing, when guaranteeing lifting
Fluency.
[flexible suspension unit]
In conjunction with shown in Figure 15-Figure 16, the flexibility suspension unit 6 includes: wirerope 611,611 upper end of wirerope
It is fixedly connected with wirerope welding hemisphere 612, wirerope welding hemisphere 612 is set in wirerope upper stationary part 613；Institute
It states 611 lower end of wirerope to be fixedly connected with 614 one end of wirerope sleeve, 614 other end of wirerope sleeve and pull sensing
Device 615 is threadedly coupled, and the tension sensor 615 is fixedly connected by ball nut 617 with round nut seat 616, the round nut
Seat 616 is fixedly connected on wirerope plate 620, so that wirerope 611 be made to carry out flexible suspention to the wirerope plate 620.
Preferably, wirerope upper stationary part 613, which is fixedly connected on described rise, revolves 431 lower section of bearing block, i.e., the described steel wire
Rope upper stationary part 613 and the mounting plate 341, the truss connecting plate 13 are relatively fixed setting, to make the steel
Cord plate 620 and the mounting plate 341, the truss connecting plate 13 are relatively fixed be arranged.
Preferably, the wirerope 611 is welded to connect with wirerope sleeve 614,614 external threading of wirerope sleeve, and
It machined 4 gaps, the wirerope sleeve 614 can be held tightly, and 614 side of wirerope sleeve is rectangle, facilitate dress
Folder.
As specific implementation form of the invention, at test initial stage, the friction member 45 drives the taper rotary shaft 35
Rotation, and then the suspention target 9 is rotated, it is described to rub after the suspention target 9 reaches expected stabilized (steady-state) speed
It wipes part 45 to move upwards, releases rigid constraint, play rotation motor 41 and power is no longer provided, so that suspention target 9 rotates freely, only
Gravity is born by wirerope 611, simulation load state of weightlessness switchs to flexible constraint at this time.
Preferably, being slidably connected between the taper rotary shaft 35 and wirerope plate 620 by 3rd bearing 353；It is described
35 bottom of taper rotary shaft is fixedly connected with first object pinboard 51, and the wirerope plate 620 is transferred with the first object
Plate 51 is relatively rotatable to each other；Flexible suspension unit 6 carries out flexible constraint under suspended state, to the taper rotary shaft 35, this
When, the taper rotary shaft 35 can relatively rotate with wirerope plate 620, so that taper rotary shaft 35 be made to drive first
Target pinboard 51 rotates, and then suspention target 9 is driven to rotate.
Preferably, the tension sensor 615 is electrically connected with force snesor module 621, convenient for monitoring pulling force data；Institute
It states 620 bottom of wirerope plate and is additionally provided with photoelectric sensor 632, be additionally provided with grating on the first object pinboard 51
631, the taper rotary shaft 35 rotates, and first object pinboard 51 is driven to rotate, and then grating 631 is driven to rotate, to make
Grating 631 relatively rotates with photoelectric sensor 632, and the photoelectric sensor 632 is electrically connected with speed measuring module 633, thus
Monitor rotary speed data.
The hard and soft constraints conversion device further include: guide and limit unit, the guide and limit unit are suitable for described in limitation
The beat amplitude of passive matrix unit.
Specifically, the guide and limit unit includes a guide part 347, the guide part 347 is sheathed on the friction member
It inside 45, and is relatively rotated and is connected by bearing and the friction member 45, the guide part 347 can follow the friction member
45 move up and down in the axial direction, and the guide part 347 runs through the taper rotary shaft 35, and the guide part 347 can be soft
Property restrained condition under, to the taper rotary shaft 35 carry out beat amplitude limit；The guide and limit unit further includes limit
Circular cone 348, the limit circular cone 348 are set to one end end of the guide part 347 far from the friction member 45, the limit
Radially size can prevent the taper from rotating to position circular cone 348 greater than the minimum diameter of the taper rotary shaft 35
Axis 35 is moved along the vertical direction beyond limitation, and the bearing block guide rod 345 is avoided to slip out of described mounting plate 341.
The suspention Qi Xuan mechanism provided by the invention has braking function, can be right as needed at any time in use process
Suspend in midair target braking, and increase rotary stopper circular cone can limited target beat amplitude, increase safety.
Preferably, the flexibility suspension unit 6 is installed on 620 top of wirerope plate being connected with bearing outer ring, therefore,
The flexibility suspension unit 6 can keep vertical state and be not involved in rotation.
Preferably, it is described flexibility 6 lower end of suspension unit connect tension sensor, can real-time measurement wirerope bear weight,
So that operator is become more apparent upon trystate, is conducive to analysis of experiments；
Preferably, taper rotary shaft 35 is using similar structure of friction wheel.
Suspention Qi Xuan mechanism provided by the invention is rigid constraint before suspention target reaches specified revolving speed, reaches specified
After revolving speed, rigid constraint is disengaged, and only bears gravity, simulated microgravity state by wirerope；It arbitrarily switches to the rigid of suspention target
Property constraint and flexible constraint state, to realize the ground to a certain posture tumbling state that may be present of on-orbit fault satellite
Face mould is quasi-.
[angle and off-center adjustment apparatus]
In conjunction with shown in Figure 19, angle and off-center adjustment apparatus 5 are suitable for the deflection angle and eccentric position to suspention target 9
It sets and is adjusted.The angle and off-center adjustment apparatus 5 include: first object pinboard 51, the second target pinboard 52, hand
Shake portion 53, lead screw portion 54, link rod part 55；
The first object pinboard 51 is fixedly connected and moves synchronously with the taper rotary shaft 35；
51 bottom of first object pinboard is provided with lead screw 541, the lead screw 541 by lead screw support end 543 with
Lead screw fixing end 544 is connect with the first object pinboard 51, and the lead screw 541 is fixedly connected with fixed disk 532, handwheel
531 are eccentrically mounted in fixed disk 532, by shaking handwheel 531, and then fixed disk 532 are driven to transmit torque to lead screw
On 541, driving lead screw 541 is rotated；
One feed screw nut seat 542 is sheathed on 541 outside of lead screw, with the rotation of lead screw 541, the feed screw nut seat 542
It is moved forward and backward；
51 bottom of first object pinboard is fixedly connected with an at least guide rail 545, and the feed screw nut seat 542 is logical
It crosses sliding block 546 to be slidably connected relatively with the guide rail 545, the sliding block 546 is installed on the guide rail 545, to the silk
Guiding role is played in the movement of thick stick nut seat 542；
The angle and off-center adjustment apparatus 5 include altogether two groups of lead screws 541 and corresponding two groups of lead screw support ends 543,
Lead screw fixing end 544, feed screw nut seat 542；
Wherein, at least one piece of set square 554 is connected on first group of feed screw nut seat, is connected on second group of feed screw nut seat
At least one piece of connecting rod 552；As specific implementation form of the invention, two pieces of set squares are connected on first group of feed screw nut seat 542
554, two pieces of connecting rods 552 are connected on second group of feed screw nut seat 542；
The set square 554 is connect by adapter 553 with the second target pinboard 52 with two pieces of connecting rods 552,
The second target pinboard 52 is fixedly connected with the suspention target.
First group of feed screw nut seat is fixedly connected with the set square 554, preferably, first group of lead screw spiral shell
Base is fixed with the set square 554 by least two tie points, and first group of feed screw nut seat and the set square are made
554 can not relatively rotate；
Second group of feed screw nut seat is connect with connecting rod 552 by a pin shaft 551, second group of feed screw nut
Seat can relatively rotate with connecting rod 552；
The set square 554 and the connecting rod 552 are connect with the adapter 553 by a pin shaft 551；Institute
Stating set square 554 and the connecting rod 552 can relatively rotate with the adapter 553；
In conjunction with shown in Figure 20-Figure 21, by rotation hand wheel 531, lead screw 541 is driven to rotate, when two lead screw rotations are identical
When angle, i.e., described first group of feed screw nut seat and the mobile same distance of second group of feed screw nut seat are then adjustable outstanding
Hang the center of gravity of target 9；
When two lead screws rotate different angle, first group of feed screw nut seat and second group of feed screw nut seat
Mobile different distance, then the connecting rod 552 is simultaneously around the pin shaft of second group of feed screw nut seat and the adapter 553
Pin shaft rotation, and the set square 554 can only be rotated around the pin shaft of the adapter 553, to make the second target pinboard
52 occur a ° of angle of deflection, and then adjust the angle of suspention target 9.
Preferably, the fixed disk 532 is rotatablely connected with the lead screw fixing end 544 in the present embodiment；
Preferably, tapping female bore in the lead screw fixing end for being additionally provided with hole in the fixed disk 532, and being attached thereto,
After suspending target 9 in midair and adjusting to target position or center of gravity, by the hole by the fixed disk 532 and the lead screw fixing end
544 is fixed, and lead screw 541 is made to be fixed on target position or center of gravity；By increasing fixed plate at handwheel 531, adjusts and arrive target angle
The state can be kept after degree or center of gravity；
Preferably, the pin shaft 551 is locked by lock clasp part 555, suspention target is avoided during rotation
Generate offset；
Preferably, being cased with copper sheathing outside the pin shaft 551, the frictional force of rotation is reduced.
Preferably, the angle and off-center adjustment apparatus are oriented to using sliding block 546 and guide rail 545, guarantee lead screw spiral shell
Fluency when base is mobile.
Preferably, adapter 553 is U-shaped adapter, cantilever beam structure is avoided, increases structural strength.
In an alternative embodiment, lock clasp part is installed to pin shaft one end in adapter, and there are surpluses, make
Pin shaft is fixed using frictional force when being connected with screw.
The suspention Qi Xuan mechanism provided by the invention, can by regulation handle adjust suspention target deflection angle with
Position of centre of gravity meets different experiment demands；Adjusting method is simple and convenient, only need to shake handwheel, does not have to mechanism for assembling-disassembling；Lead screw
Portion 54 has guiding, keeps adjustment process more smooth；
Suspention Qi Xuan mechanism provided by the invention is designed using manual/automatic integratedization drive lacking, has had rotation, hard and soft constraint
The multiple functions such as conversion, braking, suspention pose adjustment；It is controllable to play rotation speed, and has braking function, it is easy to operate, safely may be used
It leans on；Have manually with two kinds of driving methods of motor simultaneously, keeps two kinds of driving methods non-interference by configuring clutch；
Suspention Qi Xuan mechanism provided by the invention can not only realize that suspention target generates spin around spin axis, but also can realize outstanding
It hangs target spin axis and generates swing, and arbitrarily switch the rigid constraint and flexible constraint state to suspention target, thus realization pair
The ground simulation of a certain posture tumbling state that may be present of on-orbit fault satellite.
A kind of microgravity tumbling state simulation system, the microgravity tumbling state simulation system is using described above
Suspend Qi Xuan mechanism in midair, the suspention Qi Xuan mechanism passes through 13 installation settings of truss connecting plate on truss 11, and with electric box 12
It is electrically connected, to realize that the operation to the suspention Qi Xuan mechanism controls.
As the ground validation key component that space tasks are implemented, the target of ground experiment is clarifying space task scheme
Reasonability and technical feasibility, and its success or not depend greatly on used by verification method to its space
Whether task-cycle process feature is really to reflect, therefore, microgravity tumbling state simulation system provided by the invention is to sky
Between the in-orbit state of target ground simulation have very important engineering significance.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of suspention Qi Xuan mechanism characterized by comprising
Cyclone is played, is suitable for making to suspend in midair target (9) around spin axis and generates spin；
Hard and soft constraints conversion device is suitable for making between the suspension gear and the suspention target (9) in rigid constraint and soft
Property constraint between switch；
Described cyclone includes: to revolve component and/or rotation motor (41) for providing rising manually for rotation driving force；Suitable for
Torque conversion is played into rotation rotation section (43) for what is moved around own axis under the drive of described rotation driving force；Directly or
It connects and revolves the friction member (45) that rotation section (43) are connect with described；
The hard and soft constraints conversion device includes: passive matrix unit and flexible suspension unit (6), the passive matrix unit choosing
Selecting property is connect with the friction member (45), receives the torque that the friction member (45) passes over；In the passive matrix unit
When connecting with the friction member (45), the suspention Qi Xuan mechanism is to suspention target (9) rigid constraint, in the passive drive
When moving cell and the friction member (45) are detached from, the suspention target (9) is carried out by the flexible suspension unit (6) flexible
Constraint.
2. suspention Qi Xuan mechanism according to claim 1, which is characterized in that the passive matrix unit includes taper rotation
Axis (35), the taper rotary shaft (35) and the friction member (45) are coaxially disposed；In the case where playing rotation state, the taper rotary shaft
(35) the first rubbing surface (451) of the second rubbing surface (351) and the friction member (45) fits, friction member (45) benefit
The taper rotary shaft (35) is driven to rotate coaxially with frictional force.
3. suspention Qi Xuan mechanism according to claim 1, which is characterized in that the suspention Qi Xuan mechanism further includes a deficient drive
Dynamic device (3), the drive lacking device (3) includes lifting unit (33), hand brake component and/or/braking motor (31)；It is described
For lifting unit (33) in the case where the braking and drive force that hand brake component and/or/braking motor (31) provide drives, it is described passive to control
Driving unit and the friction member (45) are detached from or combine.
4. suspention Qi Xuan mechanism according to claim 3, which is characterized in that the lifting unit (33) includes:
Two-way lead screw (333), the two-way lead screw (333) receive torque that brake portion (32) passes over around own axes
Rotation；
Positive feed screw nut seat (334) is sheathed on two-way lead screw (333) top half, and in the two-way lead screw (333)
Drive under, along lifting sliding rail (332) slide, and drive bearing block elevating lever (336) move；
Reversed lead screw nut seat (335), is sheathed on two-way lead screw (333) lower half portion, and in the two-way lead screw (333)
Drive under, along the lifting sliding rail (332) slide, and drive brake disc elevating lever (337) move.
5. suspention Qi Xuan mechanism according to claim 4, which is characterized in that the drive lacking device (3) further include: braking
Disk (342) is connect with the brake disc elevating lever (337), suitable for making to the suspention target (9) in rotation status
It is dynamic；Sleeve bearing seat (343) is connect, suitable for directly or indirectly driving the friction member with the bearing block elevating lever (336)
(45) it moves up and down in the axial direction.
6. suspention Qi Xuan mechanism according to claim 1, which is characterized in that the flexibility suspension unit (6) includes: steel wire
It restricts (611), wirerope (611) lower end is fixedly connected with wirerope sleeve (614) one end, the wirerope sleeve (614)
The other end is connect with tension sensor (615), and the tension sensor (615) passes through ball nut (617) and round nut seat (616)
It is fixedly connected, the round nut seat (616) is fixedly connected on wirerope plate (620).
7. suspention Qi Xuan mechanism according to claim 1, which is characterized in that the hard and soft constraints conversion device further include:
Guide part (347), the guide part (347) are sheathed on the friction member (45) inside, and the guide part (347) can be in flexibility
Under restrained condition, taper rotary shaft (35) are carried out with the limit of beat amplitude；It limits circular cone (348), the limit circular cone
(348) it is set to one end end of guide part (347) far from the friction member (45), the limit circular cone (348) is radially
Direction size is greater than the minimum diameter of the taper rotary shaft (35).
8. suspention Qi Xuan mechanism according to claim 2, which is characterized in that the suspention Qi Xuan mechanism further includes an angle
With off-center adjustment apparatus (5), it is suitable for being adjusted the deflection angle of suspention target (9) with eccentric position；The angle and
Off-center adjustment apparatus (5) includes:
First object pinboard (51) is fixedly connected and moves synchronously with the taper rotary shaft (35)；
Second target pinboard (52) is fixedly connected with the suspention target；
First object pinboard (51) bottom is provided with lead screw (541), and a feed screw nut seat (542) is sheathed on lead screw
(541) outside, with the rotation of lead screw (541), the feed screw nut seat (542) is moved forward and backward；The feed screw nut seat (542)
The second target pinboard (52) is driven to move.
9. suspention Qi Xuan mechanism according to claim 8, which is characterized in that the angle and off-center adjustment apparatus (5) packet
Include two groups of lead screws (541) and two groups of feed screw nut seats (542)；First group of feed screw nut seat connect with set square (554) and does not send out
It is raw to relatively rotate；Second group of feed screw nut seat is connect by a pin shaft (551) with connecting rod (552) and can be occurred opposite
Rotation；The set square (554) and the connecting rod (552) are connected with the adapter (553) by a pin shaft (551)
It connects.
10. a kind of microgravity tumbling state simulation system, which is characterized in that the microgravity tumbling state simulation system includes such as
Suspend Qi Xuan mechanism described in claim 1-9 any one in midair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910396752.7A CN110116825B (en) | 2019-05-14 | 2019-05-14 | Suspension rotation mechanism and microgravity rolling state simulation system |
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| CN201910396752.7A CN110116825B (en) | 2019-05-14 | 2019-05-14 | Suspension rotation mechanism and microgravity rolling state simulation system |
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| CN110116825B CN110116825B (en) | 2021-02-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247318A (en) * | 2021-06-28 | 2021-08-13 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
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| US3734613A (en) * | 1971-03-19 | 1973-05-22 | Us Army | Orbital simulation facility |
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| CN108263645A (en) * | 2018-03-15 | 2018-07-10 | 哈尔滨工业大学 | It is arrested for spatial spin target and the ground physical emulation test system of racemization |
| CN207712320U (en) * | 2017-12-13 | 2018-08-10 | 中国航空工业集团公司成都飞机设计研究所 | A kind of ground microgravity simulation system based on constant force spring |
| CN108382616A (en) * | 2018-05-17 | 2018-08-10 | 燕山大学 | The suspention gravity-compensated device being servo-actuated based on magnetic suspension |
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2019
- 2019-05-14 CN CN201910396752.7A patent/CN110116825B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3734613A (en) * | 1971-03-19 | 1973-05-22 | Us Army | Orbital simulation facility |
| CN106809406A (en) * | 2017-01-19 | 2017-06-09 | 上海航天控制技术研究所 | A kind of flywheel based on geomagnetic torque plays rotation control method |
| CN207712320U (en) * | 2017-12-13 | 2018-08-10 | 中国航空工业集团公司成都飞机设计研究所 | A kind of ground microgravity simulation system based on constant force spring |
| CN108263645A (en) * | 2018-03-15 | 2018-07-10 | 哈尔滨工业大学 | It is arrested for spatial spin target and the ground physical emulation test system of racemization |
| CN108382616A (en) * | 2018-05-17 | 2018-08-10 | 燕山大学 | The suspention gravity-compensated device being servo-actuated based on magnetic suspension |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113247318A (en) * | 2021-06-28 | 2021-08-13 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
| CN113247318B (en) * | 2021-06-28 | 2022-05-31 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
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