CN111661781B - Combined type gravity uninstallation device - Google Patents

Combined type gravity uninstallation device Download PDF

Info

Publication number
CN111661781B
CN111661781B CN202010537396.9A CN202010537396A CN111661781B CN 111661781 B CN111661781 B CN 111661781B CN 202010537396 A CN202010537396 A CN 202010537396A CN 111661781 B CN111661781 B CN 111661781B
Authority
CN
China
Prior art keywords
connecting piece
unloaded
piece
unloading
rigid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010537396.9A
Other languages
Chinese (zh)
Other versions
CN111661781A (en
Inventor
夏明一
徐振邦
李鑫
秦超
李博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changchun Institute of Optics Fine Mechanics and Physics of CAS
Original Assignee
Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changchun Institute of Optics Fine Mechanics and Physics of CAS filed Critical Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority to CN202010537396.9A priority Critical patent/CN111661781B/en
Publication of CN111661781A publication Critical patent/CN111661781A/en
Application granted granted Critical
Publication of CN111661781B publication Critical patent/CN111661781B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/04—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/16—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes for action on ropes or cables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D2700/00—Capstans, winches or hoists
    • B66D2700/02—Hoists or accessories for hoists
    • B66D2700/026—Pulleys, sheaves, pulley blocks or their mounting

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Remote Sensing (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention discloses a combined type gravity unloading device, which comprises a composite connecting piece and a lifting mechanism, wherein the composite connecting piece is used for being connected with a piece to be unloaded; the lifting mechanism is characterized by further comprising a locking mechanism, a support and a fixed pulley provided with a rigid connecting piece, wherein the fixed pulley is connected to the support, the rigid connecting piece winds around the fixed pulley, the first end of the rigid connecting piece is connected with the lifting mechanism, and the second end of the rigid connecting piece is detachably connected to the support; and locking the composite connecting piece through a locking mechanism so that the rigid connecting piece can apply a preset pulling force to the piece to be unloaded. The combined type gravity unloading device can adjust the unloading modes according to actual unloading requirements through conversion of the two unloading modes, so that the unloading of the to-be-unloaded piece can be carried out on different degrees of freedom, and the unloading stability and flexibility can be improved when the in-orbit zero gravity state of the to-be-unloaded piece is simulated.

Description

Combined type gravity uninstallation device
Technical Field
The invention relates to the technical field of spacecraft testing, in particular to a combined type gravity unloading device.
Background
Most of the existing spacecrafts belong to large-scale flexible expansion mechanisms and are provided with a large number of optical elements, and the existing spacecrafts have high requirements on pointing accuracy and stability. In addition, in the attitude control system of the modern spacecraft, reaction wheels, a single-frame moment gyro, a solar wing driving mechanism and the like are important elements in the attitude control system, and can cause some harmful vibration while providing necessary control power. Therefore, in the design stage of the spacecraft, a micro-vibration test is required to be carried out, the in-orbit state of each vibration disturbance source is simulated, and the vibration disturbance characteristic is detected; meanwhile, for mechanisms such as a space manipulator and the like, in order to simulate a motion state on the ground, gravity unloading equipment is also needed to unload each joint by gravity under different motion states, so that the device has very important engineering significance for developing a spacecraft ground test and belongs to a necessary component part in space research. At present, the research on aerospace micro-vibration and space mechanical arms at home and abroad is mostly concentrated on each aerospace research unit, wherein the research on gravity unloading is less, an elastic rope unloading mode or a vibration isolator supporting mode is mostly adopted in the actual test process of micro-vibration, and the unloading linearity can be ensured within a certain range, however, the modes have certain limitation on frequency and lack of unloading stability; in addition, the unloading of the space manipulator mostly adopts mass block unloading, and the adjustment lacks flexibility.
Therefore, how to avoid the lack of stability and flexibility of the conventional unloading device is a technical problem that needs to be solved currently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a combined type gravity unloading device which can unload a to-be-unloaded member in different degrees of freedom and can improve the stability and flexibility of unloading when the to-be-unloaded member is simulated in an on-rail weightless state.
In order to achieve the purpose, the invention provides a combined type gravity unloading device, which comprises a combined connecting piece and a lifting mechanism, wherein the combined connecting piece is used for being connected with a piece to be unloaded, and the lifting mechanism is connected with the combined connecting piece and used for adjusting the position of the piece to be unloaded;
the lifting mechanism is characterized by further comprising a locking mechanism, a support and a fixed pulley provided with a rigid connecting piece, wherein the fixed pulley is connected to the support, the rigid connecting piece winds around the fixed pulley, the first end of the rigid connecting piece is connected with the lifting mechanism, and the second end of the rigid connecting piece is detachably connected to the support; and locking the composite connecting piece through the locking mechanism so that the rigid connecting piece can apply preset tension to the piece to be unloaded.
Optionally, a first force sensor is connected to the composite link and a second force sensor is connected to the rigid link.
Optionally, the second end of the rigid connecting member is provided with a predetermined number of mass blocks for unloading the member to be unloaded.
Optionally, the composite connection comprises:
the elastic rope is used for providing an elastic force which can move in the direction close to the lifting mechanism for the piece to be unloaded;
the rigid rope is used for connecting the piece to be unloaded when the rigid connecting piece applies preset tension to the piece to be unloaded and the locking mechanism is unlocked.
Optionally, the locking mechanism is specifically a rope clamp, and the rope clamp is connected to the bracket through a connecting rod.
Optionally, the stent comprises:
the cross rod is used for fixedly connecting the connecting rod and the fixed pulley;
the vertical rod is provided with a hook, the vertical rod is vertically connected with the cross rod, and the hook is used for being connected with the second end of the rigid connecting piece.
Optionally, the fixed pulley is connected with a sliding mechanism for sliding the fixed pulley along the cross bar.
Optionally, the lifting mechanism is embodied as a labor-saving hoist.
Compared with the background art, the invention designs a combined type gravity unloading device aiming at different requirements of spacecraft attitude control, and particularly the combined type gravity unloading device comprises a combined connecting piece and a lifting mechanism, wherein the lifting mechanism is connected with the combined connecting piece, the combined connecting piece is used for being connected with a piece to be unloaded, the lifting mechanism can implement gravity unloading operation of the piece to be unloaded, in the unloading process, the position of the piece to be unloaded is adjusted through the lifting mechanism, and pulling force required by unloading is provided through the connection effect of the combined connecting piece, so that the position of the piece to be unloaded is precisely adjusted; furthermore, the combined type gravity unloading device also comprises a locking mechanism, a bracket and a fixed pulley provided with a rigid connecting piece, wherein the fixed pulley is connected to the bracket; in the unloading process, the composite connecting piece is locked through the locking mechanism to enable the rigid connecting piece to apply preset tension to the piece to be unloaded, then the locking state of the locking mechanism is released, unloading operation of the piece to be unloaded is achieved under the action of the preset tension of the rigid connecting piece, the unloading process is stable in effect, and the simulation precision of the weightless state of the piece to be unloaded can be improved. Therefore, the combined type gravity unloading device can adjust the unloading modes according to actual unloading requirements through conversion of the two unloading modes, so that the unloading of the to-be-unloaded piece can be carried out on different degrees of freedom, the unloading stability and flexibility can be improved when the in-orbit weightlessness state of the to-be-unloaded piece is simulated, and the problem that the unloading adjustment is lack of stability and flexibility in the traditional unloading process is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a first unloading manner of a composite gravity unloading device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating two unloading mode conversions of the combined gravity unloading device according to the embodiment of the present invention;
fig. 3 is a structural schematic view of a second unloading manner of the composite gravity unloading device according to the embodiment of the invention.
Wherein:
1-a part to be unloaded, 2-a composite connecting piece, 3-a first force sensor, 4-a locking mechanism, 5-a lifting mechanism, 6-a fixed pulley, 7-a rigid connecting piece, 8-a second force sensor, 9-a bracket and 10-a mass block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a composite gravity unloading device which can unload the to-be-unloaded member with gravity on different degrees of freedom and can improve the stability and flexibility of unloading when the to-be-unloaded member is simulated in an on-rail weightless state.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following directional terms such as "upper end, lower end, left side, right side" and the like are defined based on the drawings of the specification.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic structural diagram of a first unloading manner of a composite gravity unloading device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram illustrating two unloading mode conversions of the combined gravity unloading device according to the embodiment of the present invention; fig. 3 is a structural schematic view of a second unloading manner of the composite gravity unloading device according to the embodiment of the invention.
The combined type gravity unloading device provided by the embodiment of the invention is mainly used for a spacecraft ground test, and comprises a combined connecting piece 2, a locking mechanism 4, a lifting mechanism 5, a support 9 and a fixed pulley 6 provided with a rigid connecting piece 7, wherein the combined connecting piece 2 is used for being connected with a piece 1 to be unloaded, the lifting mechanism 5 is connected with the combined connecting piece 2, and the lifting mechanism 5 can carry out gravity unloading operation on the piece 1 to be unloaded; the fixed pulley 6 is connected to the bracket 9, the rigid connecting member 7 is wound around the fixed pulley 6, a first end (right end as viewed in fig. 1) of the rigid connecting member 7 is connected to the lifting mechanism 5, a second end (left end as viewed in fig. 1) of the rigid connecting member 7 is detachably connected to the bracket 9, and the locking mechanism 4 can be mounted to the bracket 9.
Of course, according to actual needs, the above-mentioned support 9 can be set up to include the horizontal pole and be equipped with the montant of couple, wherein, the horizontal pole is used for connecting the connecting rod and the fixed pulley 6 installation of locking mechanism 4, and the montant links to each other with the horizontal pole is perpendicular to form the space that is used for holding composite connection spare 2, locking mechanism 4, elevating system 5 and fixed pulley 6 that is equipped with rigid connection spare 7, and the effect of couple is the rigid connection spare 7's second end and support 9's rigid connection of realization.
As shown in fig. 1, when the rigid connecting member 7 is fixed to the bracket 9 through a fixing point, i.e., a hook, the positions of the lifting mechanism 5, the fixed pulley 6, and the rigid connecting member 7 can be kept unchanged; when the locking mechanism 4 is in an unlocked state, the composite connecting piece 2 and the lifting mechanism 5 can carry out gravity unloading operation on the piece 1 to be unloaded.
Specifically, in the first unloading mode, the position of the piece to be unloaded 1 is adjusted by the lifting mechanism 5, and the pulling force required for unloading is provided by the connection action of the composite connecting piece 2, so that the precise adjustment of the position of the piece to be unloaded 1 and the simulation of the weightless state within a certain range are realized. In the second unloading mode, after the to-be-unloaded member 1 reaches the preset unloading position under the regulation of the lifting mechanism 5, firstly, the composite connecting member 2 is locked by the locking mechanism 4 to prevent the to-be-unloaded member 1 from falling off, meanwhile, the rigid connecting member 7 is separated from the support 9, then, preset tension is applied to the rigid connecting member 7 according to the unloading requirement of the to-be-unloaded member 1, and the locking state of the locking mechanism 4 is released, so that the gravity unloading operation of the to-be-unloaded member 1 can be realized under the action of the preset tension of the rigid connecting member 7, the unloading process is stable in effect, and the simulation precision of the weightless state of the to-be-unloaded member 1 can be improved.
It should be noted that the above-mentioned manner of applying the preset pulling force can be realized by adding an equivalent mass at the second end of the rigid connecting member 7, which can enable the member to be unloaded 1 to be stably unloaded, for example, by continuously adding a mass 10 (such as a weight).
According to the combined type gravity unloading device, through conversion of two unloading modes, the unloading modes can be adjusted according to actual unloading requirements, so that the unloading of the piece to be unloaded 1 can be carried out on different degrees of freedom, the unloading stability and flexibility can be improved when the on-orbit weightless state of the piece to be unloaded 1 is simulated, and the problem that the unloading adjustment is lack of stability and flexibility in the traditional unloading process is solved.
In order to further increase the adjustment accuracy of the unloading, the pulling force required by the rigid link 7 can be applied by providing a force sensor with a display reading function. Preferably, a first force sensor 3 may be connected in series in the axial direction of the composite link 2 and a second force sensor 8 may be connected in series on the rigid link 7, such that the rigid link 7 is able to apply a preset pulling force based on the readings of both the first force sensor 3 and the second force sensor 8 to improve the stability and accuracy of the adjustment of the second unloading mode.
In particular, after locking mechanism 4 locks composite link 2 and releases the second end of rigid link 7, a mass 10 of a preset mass may be added to the second end of rigid link 7 according to the reading of first force sensor 3; when the locking mechanism 4 is unlocked, the reading of the first force sensor 3 changes abruptly to a steady value and the second force sensor 8 also displays the reading, whereupon the mass 10 at the second end of the rigid link 7 is adjusted in accordance with the readings of the first force sensor 3 and the second force sensor 8. Continuous adjustment is realized through force feedback, and the unloading force of each point can be accurately identified, so that the unloading state adjustment precision is higher.
Of course, according to actual needs, the composite connecting member 2 may be specifically configured to include a rigid member and an elastic member, such as a parallel structure of a rigid rope and an elastic rope, and in the first unloading mode, the elastic force required for unloading is continuously provided by the elasticity of the elastic rope, that is, the elastic rope may provide the elastic force to the member to be unloaded 1 in a direction approaching the lifting mechanism 5; therefore, the position and posture of the to-be-unloaded member 1 are adjusted through the elastic rope, and the disadvantage that the mass unloading mode is not flexible in adjustment when a complex mechanism is unloaded is avoided.
Under the second kind uninstallation mode, compound connecting piece 2 converts the rigidity rope into, promptly when rigid connection 7 to wait to uninstall 1 application predetermined pulling force, and locking mechanism 4 unblock, compound connecting piece 2 converts the rigid connection into, and the conversion operation can be through directly connecting the both ends of rigidity rope respectively on waiting to uninstall 1 and elevating system 5 to the connection of replacement elasticity rope.
Of course, the composite connecting element 2 may also be arranged in other ways, as long as it is ensured that the elastic element is connected in the first unloading mode, and the rigid element is connected in the second unloading mode.
In the embodiment of the present invention, the locking mechanism 4 may be configured as a rope clamp or a rope clamping device to prevent the member to be unloaded 1 from falling when the locking mechanism 4 locks the composite connecting member 2, and the rope clamp or the rope clamping device may be fixedly mounted on the cross bar of the bracket 9 by a connecting rod vertically arranged. For example, a wider unidirectional locking mechanism (such as a ratchet type locking mechanism) can be applied in the prior art, and under the action of the unidirectional locking mechanism, the part 1 to be unloaded can only perform lifting operation but cannot perform falling operation, so that the unloading failure of the elastic rope is prevented; it is of course also possible to use a two-way locking mechanism (e.g. a two-way rope gripper for use in an elevator installation) with which the element 1 to be unloaded can neither perform a raising operation nor a lowering operation.
In addition, the lifting mechanism 5 can be a labor-saving hoist or other similar devices, and the labor-saving hoist is used for ensuring that the composite connecting piece 2 can realize the lifting function so as to adjust the unloading position or state of the piece to be unloaded 1.
Of course, the above-mentioned one-way locking mechanism 4, two-way locking mechanism 4 and labor-saving hoist can be arranged according to the prior art, and they will not be expanded one by one here.
It should be noted that in order to increase the stability and flexibility of the unloading, the fixed pulley 6 can be of a follow-up design. Specifically, in the second unloading mode, the fixed pulley 6 can move or slide along the cross bar along with the movement of the to-be-unloaded member 1, so that the unloading operation in the movement process can be implemented, and meanwhile, the to-be-unloaded member 1 can be finely adjusted through the lifting mechanism 5 in the movement process, so that the unloading stability and flexibility can be improved through switching of different modes.
Of course, according to actual needs, the fixed pulley 6 may be connected to the bottom of the cross bar through a sliding mechanism, the sliding mechanism may include a sliding groove formed in the bottom of the cross bar and a sliding block connected to the fixed pulley 6, and the sliding block is disposed in the sliding groove and can slide along the direction of the sliding groove. Of course, an i-shaped slide rail can be arranged at the bottom of the cross rod, and the slide block is suspended on the slide rail and can slide along the arrangement direction of the slide rail. When it is necessary to fix the position of the fixed pulley 6, the fixed pulley 6 may be positioned by a detachable attachment (bolt or screw).
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The composite gravity unloading device provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (7)

1. The combined type gravity unloading device is characterized by comprising a combined connecting piece (2) and a lifting mechanism (5), wherein the combined connecting piece (2) is used for being connected with a piece (1) to be unloaded, and the lifting mechanism (5) is connected with the combined connecting piece (2) and used for adjusting the position of the piece (1) to be unloaded;
the lifting mechanism is characterized by further comprising a locking mechanism (4), a support (9) and a fixed pulley (6) provided with a rigid connecting piece (7), wherein the fixed pulley (6) is connected to the support (9), the rigid connecting piece (7) winds around the fixed pulley (6), the first end of the rigid connecting piece (7) is connected with the lifting mechanism (5), and the second end of the rigid connecting piece (7) is detachably connected to the support (9); the locking mechanism (4) is used for locking the composite connecting piece (2) so that the rigid connecting piece (7) can apply preset tension to the piece (1) to be unloaded;
the composite connection (2) comprises:
the elastic rope is used for providing an elastic force which can move along the direction close to the lifting mechanism (5) for the part (1) to be unloaded;
the rigid rope is used for connecting the to-be-unloaded piece (1) when the rigid connecting piece (7) applies preset tension to the to-be-unloaded piece (1) and the locking mechanism (4) is unlocked.
2. A combined gravity unloading device according to claim 1, wherein a first force sensor (3) is connected to the compound link (2), and a second force sensor (8) is connected to the rigid link (7).
3. A combined gravity unloading device according to claim 2, wherein the second end of the rigid connecting member (7) is provided with a predetermined number of masses (10) for unloading the member to be unloaded (1).
4. Composite gravity unloading device according to claim 1, wherein the locking mechanism (4) is embodied as a rope gripper, which is connected to the support (9) by a connecting rod.
5. A composite gravity unloading device according to claim 4, wherein the bracket (9) comprises:
a cross bar for fixedly connecting the connecting rod and the fixed pulley (6);
the vertical rod is provided with a hook, the vertical rod is vertically connected with the cross rod, and the hook is used for being connected with the second end of the rigid connecting piece (7).
6. A combined gravity unloading device according to claim 5, wherein a sliding mechanism is connected to the fixed pulley (6) for sliding the fixed pulley (6) along the crossbar.
7. A combined gravity unloading device according to claim 5, wherein the lifting mechanism (5) is embodied as a power-saving hoist.
CN202010537396.9A 2020-06-12 2020-06-12 Combined type gravity uninstallation device Active CN111661781B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010537396.9A CN111661781B (en) 2020-06-12 2020-06-12 Combined type gravity uninstallation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010537396.9A CN111661781B (en) 2020-06-12 2020-06-12 Combined type gravity uninstallation device

Publications (2)

Publication Number Publication Date
CN111661781A CN111661781A (en) 2020-09-15
CN111661781B true CN111661781B (en) 2021-07-06

Family

ID=72387581

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010537396.9A Active CN111661781B (en) 2020-06-12 2020-06-12 Combined type gravity uninstallation device

Country Status (1)

Country Link
CN (1) CN111661781B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09131689A (en) * 1995-11-06 1997-05-20 Fujitsu Ltd Robot test auxiliary device
CN103600856A (en) * 2013-11-26 2014-02-26 北京卫星环境工程研究所 Spacecraft vertical passive separation test equipment
CN104457794A (en) * 2014-12-10 2015-03-25 北京航空航天大学 Gravity unloading mechanism for ground tests of control moment gyro
CN105253333A (en) * 2015-11-23 2016-01-20 上海卫星装备研究所 Low-rigidity flexible suspension device for ground gravity-free condition simulation of aerospace products

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09131689A (en) * 1995-11-06 1997-05-20 Fujitsu Ltd Robot test auxiliary device
CN103600856A (en) * 2013-11-26 2014-02-26 北京卫星环境工程研究所 Spacecraft vertical passive separation test equipment
CN104457794A (en) * 2014-12-10 2015-03-25 北京航空航天大学 Gravity unloading mechanism for ground tests of control moment gyro
CN105253333A (en) * 2015-11-23 2016-01-20 上海卫星装备研究所 Low-rigidity flexible suspension device for ground gravity-free condition simulation of aerospace products

Also Published As

Publication number Publication date
CN111661781A (en) 2020-09-15

Similar Documents

Publication Publication Date Title
CN106218926A (en) A kind of low resistance suspension suspension type developing test device
CN111661781B (en) Combined type gravity uninstallation device
CN108897239A (en) A kind of spacecraft two-stage gesture stability simulation system
CN106229889B (en) A kind of transmission line of electricity lifting device for aerial wires
CN112227179B (en) Displacement amplification device for stay cable external damper and cable-stayed bridge
CN107672825A (en) A kind of 360 ° of zero-g development systems of steelyard-type solar wing
CN213705824U (en) Two-dimensional motion following device for aerospace zero-gravity test
CN115791042A (en) Suspension type spacecraft micro-vibration ground test free boundary simulation device
CN208148988U (en) A kind of independent-suspension damping platform based on Mecanum wheel
CN220519987U (en) Bearing device
CN211901842U (en) Constant force spring support hanger
CN109019287B (en) Pressure bar type lifting appliance with adjustable precision
CN109118931B (en) Zero-gravity frictionless unfolding device for large-displacement three-dimensional unfolding structure
CN216332810U (en) Combined load hanging frame structure for unmanned aerial vehicle
CN113548200B (en) Lightweight string-stretching solar wing semi-rigid substrate
US4483500A (en) Piping support system for liquid-metal fast-breeder reactor
CN211419401U (en) External hanging type movable arm tower crane supporting device
CN220950910U (en) Balance frame for stabilizing triangle beam type lifting appliance
CN220366041U (en) Comprehensive anti-seismic support and hanger suitable for cross beam structure
CN215631926U (en) Supporting platform for mounting steel structure industrial factory building
CN211450273U (en) Tunnel signal equipment mounting bracket
CN220364343U (en) Front cross beam frame with hanging basket assembly structure and engineering trolley
CN215755987U (en) Hand-push type gantry crane
CN217428039U (en) Photovoltaic support and photovoltaic power plant
CN214575124U (en) Assembled truss with adjustable span

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant