CN112525422B - Multi freedom posture adjustment parking device - Google Patents
Multi freedom posture adjustment parking device Download PDFInfo
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- CN112525422B CN112525422B CN202011261800.0A CN202011261800A CN112525422B CN 112525422 B CN112525422 B CN 112525422B CN 202011261800 A CN202011261800 A CN 202011261800A CN 112525422 B CN112525422 B CN 112525422B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2206/00—Adjustable or convertible hand-propelled vehicles or sledges
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Abstract
The invention provides a multi-degree-of-freedom posture adjustment parking device which comprises a base, a steering wheel assembly, a quality measurement switching stand column assembly, a transfer ring assembly, a guiding device and a sliding table supporting and posture adjusting assembly, wherein: the quality measurement switching upright post assembly is fastened on the base, and the adapter ring assembly is arranged on the quality measurement switching upright post assembly; the sliding table support posture adjusting assemblies are distributed on two sides of the base and are fixedly supported below the base; the steering wheel assembly is arranged at the corner below the base; and a guide device which plays a role in guiding and drawing the steering wheel assembly is arranged on part of the steering wheel assembly. The invention can realize the six-degree-of-freedom attitude adjustment and the rapid weighing of the satellite, solves the problems of long time consumption, safety risk and the like of the attitude adjustment and the mass center measurement of the satellite in the final assembly and test processes, and has the advantages of high safety, convenient adjustment and high function integration level.
Description
Technical Field
The invention relates to the field of satellite assembly testing, in particular to a multi-degree-of-freedom attitude adjusting and parking device, and further relates to a multi-degree-of-freedom attitude adjusting and parking device capable of realizing rapid mass and mass center measurement of a satellite.
Background
In the process of satellite assembly test, a satellite needs to be transported and parked and subjected to attitude adjustment, particularly small-range attitude adjustment, and the attitude can be adjusted only in 3 degrees of freedom by the height adjustment of a supporting leg of a parking car in common use; by hoisting the rotary table to a special two-shaft rotary table, the operation risk is increased, and the consumed time is long; through adding detachable adjusting device in transfer car (buggy) below, the operation is not convenient, and the integrated level is lower, uses inconveniently. In addition, the quality characteristic measurement of the satellite is usually performed on special quality measurement equipment, the hoisting safety risk is high, the operation efficiency is low, the measurement period is long, and the requirement for performing rapid mass center measurement cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-degree-of-freedom posture adjustment parking device.
The multi-degree-of-freedom posture adjustment parking device provided by the invention comprises a base, a steering wheel assembly, a quality measurement switching stand column assembly, a switching ring assembly, a guiding device and a sliding table supporting posture adjustment assembly, wherein:
the quality measurement switching upright post assembly is fastened on the base, and the adapter ring assembly is arranged on the quality measurement switching upright post assembly;
the sliding table support posture adjusting assemblies are distributed on two sides of the base and are fixedly supported below the base;
the steering wheel component is arranged at the corner below the base;
and a guide device which plays a role in guiding and drawing the steering wheel assembly is arranged on part of the steering wheel assembly.
Preferably, the guiding means comprises a guiding connecting rod and a pulling rod, wherein:
the traction pull rod is arranged on the steering wheel assembly, and the steering wheel assembly with the traction pull rod is fixed on the guide connecting rod.
Preferably, the base further comprises auxiliary supporting components, and the auxiliary supporting components are arranged on the other two sides of the base and are fixedly supported with the other two sides of the base.
Preferably, the upper surface of base is provided with the multiunit and is used for installing the matter and survey the mounting plate who switches the stand subassembly, and multiunit mounting plate all is the circumference and distributes, and the circumference diameter that every group mounting plate distributes is different.
Preferably, the adapter ring subassembly includes adapter ring and a plurality of weighing sensor pressure head, and a plurality of weighing sensor pressure heads are fixed in adapter ring below, on the circumference equipartition.
Preferably, the matter is surveyed and is switched stand subassembly includes head mast, lower supporting shoe, adjusting device, goes up supporting slider and weighing sensor, wherein:
the lower support block, the adjusting device and the upper support sliding block sequentially penetrate through the main upright post, the lower support block is fastened on the main upright post, and the upper support sliding block and the lower support block are limited through limit pins;
the adjusting device can adjust the height of the upper supporting slide block;
the weighing sensor is arranged at the top of the main upright post;
when the device is in a non-weighing state, the upper supporting slide block supports the adapter ring assembly, and the weighing sensor is not in contact with the adapter ring assembly;
when being in the state of weighing, adjusting device adjusts support slider downstream, and the adapter ring subassembly is supported to weighing sensor, goes up support slider and adapter ring subassembly contactless.
Preferably, the switch further comprises a proximity switch assembly, and the proximity switch assembly measures the distance of the upper support slider from the adapter ring assembly.
Preferably, the protection plate is fastened on the upper support sliding block.
Preferably, adjusting device is including adjusting the tapered iron slider, adjust the upper surface of tapered iron slider with the bottom surface laminating of going up supporting slide just is the inclined plane, through the inclined plane guide during adjustment tapered iron slider horizontal movement support slider vertical movement.
Preferably, the appearance subassembly is transferred in slip table support is including fixed frame subassembly, accent appearance supporting leg subassembly, middle translation frame subassembly, lower translation frame subassembly, X to adjusting hand wheel, X to lead screw subassembly, Y to adjusting hand wheel and Y to the lead screw subassembly, wherein:
the posture-adjusting supporting leg assembly penetrates through the fixed frame assembly, the middle translation frame assembly and the lower translation frame assembly and is fixedly connected with the lower translation frame assembly;
the fixed frame component is fixedly connected with the base;
the fixed support end of the Y-direction lead screw component is fixedly connected with the fixed frame component;
the middle translation frame assembly is fixedly connected with the Y-direction screw rod assembly;
the Y-direction adjusting hand wheel rotates the Y-direction screw rod assembly to drive the middle translation frame assembly to translate;
the fixed support end of the X-direction lead screw component is fixedly connected with the middle frame component;
the lower translation frame assembly is fixedly connected with the X-direction screw rod assembly;
the X-direction adjusting hand wheel rotates the X-direction screw rod assembly to drive the lower translation frame assembly to translate.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention solves the problems of high risk, long time consumption, inconvenient operation, low integration level and difficult rapid measurement of mass and mass center of the existing satellite attitude adjusting device.
2. The invention realizes the six-degree-of-freedom small-range attitude adjustment and the rapid mass and center measurement on the satellite parking device, has high integration level, high safety and convenient operation, and meets the relevant requirements of satellite test tests.
3. The sliding table supporting and posture adjusting assembly is fixedly connected with the base assembly, and the leveling and posture adjustment of the parked vehicle can be realized through the combined adjustment of the sliding table supporting and posture adjusting assembly.
4. The satellite is fixedly connected with the adapter ring assembly, and the mass measurement switching upright post assembly is internally provided with the weighing sensor, so that the satellite can be mutually switched with the support weighing and fixed connection of the adapter ring assembly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom attitude adjustment parking device for rapid mass and mass center measurement of a satellite according to an embodiment of the invention.
Fig. 2 is a front view and a top view of the multi-degree-of-freedom attitude adjustment parking device for rapid mass and mass center measurement of a satellite according to the embodiment of the invention.
FIG. 3 is a top view of a base in an embodiment of the invention.
Fig. 4 is an elevation view of an embodiment of a slip ring assembly of the present invention.
Fig. 5 is a bottom view of an alternate ring assembly in an embodiment of the present invention.
FIG. 6 is a front view of a mass measurement switching column assembly in an embodiment of the invention.
FIG. 7 is a cross-sectional view of a mass measurement switching column assembly in accordance with an embodiment of the present invention.
Fig. 8 is a front view of the sliding table support posture adjustment assembly a in the embodiment of the present invention.
Fig. 9 is a right side view of the sliding table support posture adjustment assembly a in the embodiment of the present invention.
Fig. 10 is a front view of the sliding table support posture adjustment assembly B in the embodiment of the present invention.
Fig. 11 is a right side view of the sliding table support posture adjustment assembly B in the embodiment of the present invention.
Fig. 12 is a front view of a slide table support posture adjustment assembly C in the embodiment of the present invention.
Fig. 13 is a right side view of the sliding table support posture adjustment assembly C in the embodiment of the present invention.
Fig. 14 is a front view of a slide table support posture adjustment assembly D in the embodiment of the present invention.
Fig. 15 is a right side view of the sliding table support posture adjustment assembly D in the embodiment of the present invention.
FIG. 16 is a schematic diagram of X-direction adjustment according to an embodiment of the present invention.
Fig. 17 is a schematic diagram of Y-direction adjustment according to an embodiment of the present invention.
FIG. 18 is a schematic view of Z-direction adjustment according to an embodiment of the present invention.
FIG. 19 is a schematic view of an embodiment of the present invention adjusted about the X-axis.
FIG. 20 is a schematic view of an embodiment of the present invention adjusted about the Y-axis.
FIG. 21 is a schematic view of an embodiment of the present invention adjusted about the Z-axis.
The figures show that:
1-a base; 2-a steering wheel assembly; 3-a transfer ring assembly; 4-quality testing switching column assembly; 5-a traction pull rod; 6-a guide connecting rod; 7-the sliding table supports the attitude adjusting assembly A;8, supporting the posture adjusting assembly B by a sliding table; 9-the sliding table supports the attitude adjusting assembly D; 10-a sliding table supporting posture adjusting assembly C; 11-an auxiliary support assembly; 12-a mounting plate; 13-a transfer ring; 14-load cell indenter; 15-main upright post; 16-a lower support block; 17-a wedge slide; 18-a limit pin; 19-upper support slide block; 20-a proximity switch assembly; 21-protection plate; 22-an adjusting bolt; 23-a handle; 24-a load cell; 25-a sensor mount; 26-lower translational frame assembly a; a 27-X direction lead screw component A; 28-intermediate translation frame assembly a; 29-fixed frame assembly a; 30-posture adjusting supporting leg component A;31-Y to guide rail slider assembly a; a 32-X direction adjusting hand wheel A; a 33-X direction lead screw nut A; a 34-X direction lead screw nut support A;35-X guide rail slide assembly a; a 36-Y direction lead screw nut support A; a 37-Y direction lead screw nut A; a 38-X direction lead screw component A; a 39-Y direction adjusting hand wheel A; 40-lower translation frame assembly B; 41-middle translation frame assembly B; 42-fixed frame assembly B; 43-posture adjusting support leg assembly B;44-Y to guide rail slider assembly B;45-X guide rail slide block component B; a 46-Y direction lead screw nut support B; a 47-Y direction lead screw nut B; a 48-Y direction lead screw component B; a 49-Y direction adjusting hand wheel B; 50-lower translational frame assembly C; a 51-X direction lead screw component C; 52-middle translation frame assembly C; 53-fixed frame assembly C; 54-posture adjusting support leg assembly C;55-Y to guide rail slider assembly C; a 56-X direction adjusting hand wheel C;57-X direction lead screw nut C; a 58-X direction lead screw nut support C;59-X to guide rail slider assembly A; 60-lower translation frame assembly D; 61-middle translation frame assembly D; 62-fixed frame assembly D; 63-posture adjusting support leg assembly D; a 64-Y guide rail slider assembly D;65-X to the guide rail slider assembly D.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.
As shown in fig. 1 to fig. 15, the multi-degree-of-freedom attitude adjustment parking device for satellite rapid mass and mass center measurement provided by the invention comprises a base 1, four steering wheel assemblies 2, a transfer ring assembly 3, four mass measurement switching upright post assemblies 4, two traction pull rods 5, a guide connecting rod 6, a sliding table support attitude adjusting assembly A7, a sliding table support attitude adjusting assembly B8, a sliding table support attitude adjusting assembly D9, a sliding table support attitude adjusting assembly C10 and two auxiliary support assemblies 11. The adapter ring assembly 3 is fixed with the base 1 through four mass measurement switching upright post assemblies 4 which are uniformly distributed on the circumference; the four sliding table supporting and posture adjusting components are distributed on two sides of the base 1 and fixedly supported below the base 1; the two auxiliary supporting components 11 are fixedly supported with the other two sides of the base 1; the four steering wheel assemblies 2 are fixed at four corners below the base 1, and two of the steering wheel assemblies 2 with the traction pull rods 5 are fixed through the guide connecting rods 6.
The base 1 is the section bar welded structure such as rectangle steel pipe, steel sheet, and the upper surface welding matter is surveyed and is switched mounting panel 12 of stand subassembly 4, and the mounting panel 12 is preferred two sets ofly, and each four of every group, every group constitutes a circumference, and two sets of circumferences that are different. The adapter ring assemblies with different diameters can be conveniently replaced for different satellites.
The adapter ring assembly 3 comprises an adapter ring 13 and four weighing sensor pressure heads 14; weighing sensor pressure heads 14 are uniformly distributed and screwed on the circumference below the adapter ring 13, are positioned on the same circumference with the quality measurement switching upright post assembly, and are screwed with the upper plate of the adapter ring 13.
The quality measurement switching upright post assembly 4 comprises a main upright post 15, a lower support block 16, an inclined iron slide block 17, an adjusting bolt 22, an upper support slide block 19, a limit pin 18, a handle 23, a protection plate 21, a proximity switch assembly 20, a weighing sensor 24 and a sensor base 25; the lower supporting block 16, the wedge sliding block 17 and the upper supporting sliding block 19 sequentially penetrate through the main upright post 15 and are matched with the main upright post 15 to realize vertical sliding, wherein the lower supporting block 16 is fixed with the main upright post 15 in a threaded manner, the limiting pin 18 penetrates through pin holes of the lower supporting block 16 and the upper supporting sliding block 19, the upper supporting sliding block 19 and the lower supporting block 16 are limited by the limiting pin 18, and the upper supporting sliding block 19 is in threaded connection with the adapter ring assembly; the wedge slide block 17 is positioned between the upper support slide block 19 and the lower support block 16, one end of the adjusting bolt 22 is in threaded connection with the wedge slide block 17 through threads, and the column section at one end is limited through the lower support block 16 through two end faces; the handle 23 passes through the end of the adjusting bolt 22; the limiting pin 18 is pulled out, and the displacement of the wedge slide block 17 is adjusted through the rotating handle 23, so that the upper support slide block 19 moves up and down. The weighing sensor 24 is arranged on a sensor base 25, and the sensor base 25 is arranged at the top of the main upright post 15; guard plate 21 and last supporting slide 19 fixed connection, guard plate 21 stride across the spliced pole of adapter ring subassembly, play the guard action when carrying out the quality barycenter and measure.
The sliding table supporting and posture adjusting assembly A7 comprises a lower translation frame assembly A26, an X-direction lead screw assembly A27, an X-direction adjusting hand wheel A32, a middle translation frame assembly A28, a fixing frame assembly A29, a posture adjusting supporting leg assembly A30, a Y-direction guide rail sliding block assembly A31, an X-direction guide rail sliding block assembly A35, a Y-direction lead screw assembly A38 and a Y-direction adjusting hand wheel A39; the lower translation frame assembly A26, the middle translation frame assembly A28 and the fixed frame assembly A29 are all hollow frame structures; the fixed frame assembly A29 is fixed with the base 1 in a threaded manner, and the posture-adjusting supporting leg assembly A30 passes through the fixed frame assembly A29, the middle translation frame assembly A28 and the lower translation frame assembly A26 to be fixed with the lower translation frame assembly A26 in a threaded manner; the middle translation frame assembly A28 is in threaded connection with a slide block of the Y-direction guide rail slide block assembly A31, the fixed support end of the Y-direction lead screw assembly A38 is in threaded connection and fixed with the fixed frame assembly A29, and the Y-direction lead screw nut support A36 of the middle translation frame assembly A28 is in threaded connection and fixed with the lead screw nut 37 of the Y-direction lead screw assembly A38; the Y-direction displacement adjustment of the middle translation frame component A relative to the fixed frame component A can be realized through a Y-direction adjusting hand wheel A; the lower translation frame assembly A26 is fixed with a slider of an X-direction guide rail slider assembly A35 in a threaded manner, a fixed supporting end of an X-direction lead screw assembly A27 is fixed with a middle translation frame assembly A28 in a threaded manner, and an X-direction lead screw nut support A34 of the lower translation frame assembly A26 is fixed with a lead screw nut 33 of the X-direction lead screw assembly A27 in a threaded manner. The X-direction displacement adjustment of the lower translation frame component A relative to the middle translation frame component A can be realized through an X-direction adjusting hand wheel A; supporting leg subassembly A and translation frame subassembly A spiro union are fixed down, realize the slip table and transfer the holistic Z of appearance subassembly A to displacement adjustment.
The sliding table supporting and posture-adjusting component B8 comprises a lower translation frame component B40, a middle translation frame component B41, a fixing frame component B42, a posture-adjusting supporting leg component B43, a Y-direction guide rail sliding block component B44, an X-direction guide rail sliding block component B45, a Y-direction lead screw component B48 and a Y-direction adjusting hand wheel B49; the lower translation frame assembly B40, the middle translation frame assembly B41 and the fixed frame assembly B42 are all hollow frame structures; the fixed frame component B42 is fixed with the base 1 in a threaded manner, and the posture-adjusting supporting leg component B43 passes through the fixed frame component B42, the middle translation frame component B41, the lower translation frame component B40 and the lower translation frame component B40 to be fixed in a threaded manner; the middle translation frame component B41 is fixedly screwed with a slide block of the Y-direction guide rail slide block component B44, a fixed support end of a Y-direction lead screw component B48 is fixedly screwed with a fixed frame component B42, a Y-direction lead screw nut support B46 of the middle translation frame component B41 is fixedly screwed with a lead screw nut 47 of the Y-direction lead screw component B48, and Y-direction displacement adjustment of the middle translation frame component B41 relative to the fixed frame component B42 can be realized through a Y-direction adjusting hand wheel B49; the lower translation frame assembly B40 is threadably engaged with the slide of the X-guide rail slide assembly B44. The Y-direction displacement adjustment of the middle translation frame component B relative to the fixed frame component B can be realized through a Y-direction adjusting hand wheel B; the supporting leg assembly B is fixed with the lower translation frame assembly B in a threaded connection mode, and therefore the Z-direction displacement adjustment of the sliding table posture adjusting assembly B is achieved.
The sliding table supporting and posture adjusting assembly C10 comprises a lower translation frame assembly C50, an X-direction lead screw assembly C51, an X-direction adjusting hand wheel C56, a middle translation frame assembly C52, a fixed frame assembly C53, a posture adjusting supporting leg assembly C54, a Y-direction guide rail sliding block assembly C55 and an X-direction guide rail sliding block assembly C59; the lower translation frame assembly C50, the middle translation frame assembly C52 and the fixed frame assembly C53 are all hollow frame structures; the fixed frame component C53 is fixed with the base 1 in a threaded manner, and the posture-adjusting supporting leg component C54 penetrates through the fixed frame component C53, the middle translation frame component C52 and the lower translation frame component C50 to be fixed with the lower translation frame component C50 in a threaded manner; the middle translation frame component C52 is fixed with the slide block of the Y-direction guide rail slide block component C55 in a threaded manner; the lower translation frame assembly C50 is fixed with a slider of an X-direction guide rail slider assembly C59 in a threaded manner, a fixed supporting end of an X-direction lead screw assembly C51 is fixed with a middle translation frame assembly C52 in a threaded manner, and an X-direction lead screw nut support C58 of the lower translation frame assembly C50 is fixed with a lead screw nut 57 of the X-direction lead screw assembly C51 in a threaded manner. The X-direction displacement adjustment of the lower translation frame component C relative to the middle translation frame component C can be realized through an X-direction adjusting hand wheel A; supporting leg subassembly C is fixed with lower translation frame subassembly C spiro union, realizes the holistic Z of slip table accent appearance subassembly C to displacement adjustment.
The sliding table supporting and posture adjusting assembly D9 comprises a lower translation frame assembly D60, a middle translation frame assembly D61, a fixed frame assembly D62, a posture adjusting supporting leg assembly D63, a Y-direction guide rail slider assembly D64 and an X-direction guide rail slider assembly D65; the lower translation frame assembly D60, the middle translation frame assembly D61 and the fixed frame assembly D62 are all hollow frame structures; the fixed frame assembly D62 is fixed with the base 1 in a threaded manner, and the posture-adjusting supporting leg assembly D63 penetrates through the fixed frame assembly D62, the middle translation frame assembly D61 and the lower translation frame assembly D60 to be fixed with the lower translation frame assembly D60 in a threaded manner; the middle translation frame assembly D61 is fixed with a slide block of the Y-direction guide rail slide block assembly D64 in a threaded connection mode; the lower translation frame assembly D60 is bolted to the slide of the X-guide rail slide assembly D65.
The operation steps of switching the satellite from parking to a weighing state are as follows:
loosen the fixed bolt of last supporting slide 19 and adapter ring 13 of four matter survey switching stand subassembly 4 when needing to weigh, pull out the quality and survey the spacer pin 18 of switching stand subassembly 4, through twist grip 23, adjust the position of sloping iron slider 17, it reduces the height to go up supporting slide 19 and follow sloping iron slider 17, break away from the contact with adapter ring subassembly 3, proximity switch subassembly 20 guarantees that the throw-off distance of going up supporting slide 19 and adapter ring subassembly 3 satisfies the requirement, adapter ring subassembly 3 and the satellite above that are supported by four weighing sensor 24 and weigh, adapter ring 13 structure stand is gone into to the U type mouth card of guard plate 21, protect.
The operation steps of the satellite attitude adjustment process are as follows:
as shown in fig. 16, by rotating the X-direction adjusting hand wheel a 32 to adjust the sliding table supporting and attitude adjusting assembly A7 and rotating the X-direction adjusting hand wheel C56 to adjust the sliding table supporting and attitude adjusting assembly C10 to move along the same direction of the X-axis, fine adjustment of the satellite attitude along the displacement direction of the X-axis can be achieved.
As shown in fig. 17, by rotating the Y-direction adjusting hand wheel a 39 to adjust the sliding table supporting and attitude adjusting assembly A7 and rotating the Y-direction adjusting hand wheel B49 to adjust the sliding table supporting and attitude adjusting assembly B9 to move along the same direction of the Y-axis, fine adjustment of the satellite attitude along the displacement direction of the Y-axis can be realized.
As shown in fig. 18, the satellite attitude can be finely adjusted along the Z-axis direction by adjusting the attitude adjusting support leg assembly a 30, the attitude adjusting support leg assembly B43, the attitude adjusting support leg assembly C54 and the attitude adjusting support leg assembly D63 to move along the same direction of the Z-axis.
As shown in fig. 19, the satellite attitude can be finely adjusted by adjusting the attitude adjusting support leg assembly a 30 and the attitude adjusting support leg assembly B43 to move along the same direction of the Z axis, and adjusting the attitude adjusting support leg assembly C54 and the attitude adjusting support leg assembly D63 to move along the same direction of the Z axis opposite to the former.
As shown in fig. 20, the satellite attitude can be finely adjusted by adjusting the attitude adjusting support leg assembly a 30 and the attitude adjusting support leg assembly C54 to move along the same direction of the Z axis, and adjusting the attitude adjusting support leg assembly B43 and the attitude adjusting support leg assembly D63 to move along the same direction of the Z axis opposite to the former.
As shown in fig. 21, the sliding table support posture adjustment assembly A7 is adjusted by rotating the Y-direction adjusting hand wheel a 39, and the sliding table support posture adjustment assembly B9 is adjusted by rotating the Y-direction adjusting hand wheel B49 to move along the opposite direction of the Y-axis; or the X-direction adjusting hand wheel A32 is rotated to adjust the sliding table support posture adjusting assembly A7 and the X-direction adjusting hand wheel C56 is rotated to adjust the sliding table support posture adjusting assembly C10 to move along the opposite direction of the X axis, so that the rotation fine adjustment of the satellite posture around the Z axis direction can be realized.
The multi-degree-of-freedom attitude adjustment parking device based on the rapid mass and mass center measurement of the satellite provided by the invention has high integration level and integrates the functions of mass and mass center measurement and six-degree-of-freedom attitude adjustment; the connection between the adapter ring component and the mass measurement switching component is loosened, the limiting pin of the sliding table support attitude adjusting component is pulled out, the position of the wedge slide block is adjusted by rotating the adjusting bolt handle, the upper support slide block is separated from the adapter ring component, the proximity switch component senses that the upper support slide block is completely separated from the adapter ring component, and the adapter ring component is supported by four weighing sensors, so that the mass center of mass can be rapidly measured; the displacement in the X direction, the Y direction and the Z direction and the rotation around the X axis, the Y axis and the Z axis can be realized through the combined adjustment of the four sliding table posture adjusting support assemblies, and the sliding table posture adjusting assemblies are integrated with the parking device, so that the adjustment is convenient and fast; in addition, the base is provided with two groups of mounting positions of the quality measurement switching stand column assembly, so that the mounting positions can be adjusted, and adapter rings with different sizes can be replaced to adapt to various satellites; the device solves the problems of high risk, long time consumption and inconvenient operation in the process of measuring the mass and the mass center of the satellite and adjusting the attitude of the satellite, and can meet the requirements of measuring the mass and the mass center of the satellite quickly and adjusting the attitude of the satellite in the large-scale test process.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. The utility model provides a multi freedom posture adjustment parking device which characterized in that, survey including base, directive wheel subassembly, matter and switch stand subassembly, switching ring subassembly, guider and slip table support and transfer the appearance subassembly, wherein:
the quality measurement switching upright post assembly is fastened on the base, and the adapter ring assembly is arranged on the quality measurement switching upright post assembly;
the sliding table support posture adjusting components are distributed on two sides of the base and fixedly supported below the base;
the steering wheel assembly is arranged at the corner below the base;
a part of the steering wheel assembly is provided with a guide device which plays a role in guiding and dragging the steering wheel assembly;
the appearance subassembly is transferred in slip table support is including fixed frame subassembly, accent appearance supporting leg subassembly, middle translation frame subassembly, lower translation frame subassembly, X to adjusting hand wheel, X to lead screw subassembly, Y to adjusting hand wheel and Y to the lead screw subassembly, wherein:
the posture adjusting support leg assembly penetrates through the fixed frame assembly, the middle translation frame assembly and the lower translation frame assembly and is fixedly connected with the lower translation frame assembly;
the fixing frame assembly is fixedly connected with the base;
the fixed support end of the Y-direction lead screw component is fixedly connected with the fixed frame component;
the middle translation frame assembly is fixedly connected with the Y-direction screw rod assembly;
a Y-direction adjusting hand wheel rotates a Y-direction screw rod assembly to drive the middle translation frame assembly to translate;
the fixed supporting end of the X-direction lead screw component is fixedly connected with the middle frame component;
the lower translation frame assembly is fixedly connected with the X-direction screw rod assembly;
the X-direction adjusting hand wheel rotates the X-direction lead screw assembly to drive the lower translation frame assembly to translate;
the quality testing switching stand column component comprises a main stand column, a lower supporting block, an adjusting device, an upper supporting slide block and a weighing sensor, wherein:
the lower support block, the adjusting device and the upper support sliding block sequentially penetrate through the main upright post, the lower support block is fastened on the main upright post, and the upper support sliding block and the lower support block are limited through limit pins;
the adjusting device can adjust the height of the upper supporting slide block;
the weighing sensor is arranged at the top of the main upright post;
when the device is in a non-weighing state, the upper supporting slide block supports the adapter ring assembly, and the weighing sensor is not in contact with the adapter ring assembly;
when being in the state of weighing, adjusting device adjusts and goes up supporting slide downstream, and the adapter ring subassembly is supported to weighing sensor, goes up supporting slide and adapter ring subassembly contactless.
2. The multiple degree of freedom attitude adjustment parking apparatus of claim 1 wherein the guiding means comprises a guiding connecting rod and a traction pull rod, wherein:
the traction pull rod is arranged on the steering wheel assembly, and the steering wheel assembly with the traction pull rod is fixed on the guide connecting rod.
3. The multi-degree-of-freedom attitude adjustment parking device according to claim 1, further comprising auxiliary support components which are arranged on the other two sides of the base and fixedly supported on the other two sides of the base.
4. The multiple degree of freedom posture adjustment parking device of claim 1, wherein the upper surface of the base is provided with multiple sets of mounting bottom plates for mounting the quality measurement switching upright post assembly, the multiple sets of mounting bottom plates are all distributed circumferentially, and the circumferential diameters of the mounting bottom plates in each set are different.
5. The multiple degree of freedom attitude adjustment parking device of claim 1, wherein the adapter ring assembly comprises an adapter ring and a plurality of load cell pressure heads, the plurality of load cell pressure heads are fixed below the adapter ring and evenly distributed on the circumference.
6. The multiple degree of freedom attitude adjustment parking apparatus of claim 1 further comprising a proximity switch assembly that measures the distance that the upper support slider disengages from the adapter ring assembly.
7. The multiple degree of freedom attitude adjustment parking device of claim 1 further comprising a protection plate fastened to the upper support slider.
8. The multiple degree of freedom attitude adjustment parking device of claim 1, wherein the adjusting device comprises an adjusting wedge slider, the upper surface of the adjusting wedge slider and the bottom surface of the upper support slider are attached and are both inclined planes, and the upper support slider is guided to move vertically by the inclined planes when the adjusting wedge slider moves horizontally.
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| CN202011261800.0A CN112525422B (en) | 2020-11-12 | 2020-11-12 | Multi freedom posture adjustment parking device |
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| CN202011261800.0A CN112525422B (en) | 2020-11-12 | 2020-11-12 | Multi freedom posture adjustment parking device |
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