CN112815847B - Microgravity environment simulation driving mechanism - Google Patents
Microgravity environment simulation driving mechanism Download PDFInfo
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- CN112815847B CN112815847B CN202110135012.5A CN202110135012A CN112815847B CN 112815847 B CN112815847 B CN 112815847B CN 202110135012 A CN202110135012 A CN 202110135012A CN 112815847 B CN112815847 B CN 112815847B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Abstract
The invention relates to the technical field of space ground simulation balance gravity, in particular to a microgravity environment simulation driving mechanism. The device comprises an air floatation platform, an air floatation supporting mechanism and a target star simulator, wherein the air floatation supporting mechanism is arranged on the air floatation platform; the air floatation supporting mechanism comprises a base frame body, an air foot, a driving wheel assembly, a braking sucker assembly, a supporting frame body and a plurality of frame balancing weights, wherein the air foot, the driving wheel assembly and the braking sucker assembly are arranged at the bottom of the base frame body; and the plurality of frame balancing weights are distributed on the base frame body and the target satellite simulator and are used for the integral balance of the base frame body and the target satellite simulator. The invention can simulate the satellite plane movement of the outer space in the gravity-free environment, eliminates the interference of the friction force between the satellite and the ground when carrying out related experiments on the ground, and simultaneously facilitates the satellite to move on the smooth ground by utilizing the driving wheels.
Description
Technical Field
The invention relates to the technical field of space ground simulation balance gravity, in particular to a microgravity environment simulation driving mechanism.
Background
At present, three methods for simulating weight loss are used. Firstly, the falling well and the falling tower are used for free falling body movement, or an airplane is used for parabolic flight, so that a transient gravity-free environment is obtained. And secondly, the gravity is counteracted by utilizing the buoyancy of water by utilizing the weightless water tank. And thirdly, a suspension method is adopted, and the self gravity of the aircraft is counteracted through a rope mechanism and a pulley block by using a counterweight. However, the first method can only simulate a weight loss for a short time, generally not more than 30 seconds. The second method requires the construction of a large-sized water tank, and the underwater environment has great limitations on the experiment, such as the satellite is not waterproof, the experiment personnel are inconvenient to work, and the like. In the third method, a truss mechanism for supporting the rope is complex and occupies a large area, a rope follow-up mechanism is generally supported by a mechanical bearing, the movement friction is large, the experiment precision is seriously influenced, and coupling influence factors such as later movement, flexible jitter and the like of the flexible rope in the follow-up process all bring adverse effects on the balance gravity.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a driving mechanism for simulating a microgravity environment, which can simulate the planar movement of a satellite in an outer space without a gravity environment, eliminate the interference of friction between the satellite and the ground during a correlation experiment on the ground, and facilitate the movement of the satellite on the smooth ground by using driving wheels.
In order to achieve the purpose, the invention adopts the following technical scheme:
a microgravity environment simulation driving mechanism comprises an air floating platform, an air floating supporting mechanism and a target satellite simulator, wherein the air floating supporting mechanism is arranged on the air floating platform; the air floatation support mechanism comprises a base frame body, an air foot, a driving wheel assembly, a brake sucker assembly, a support frame body and a plurality of frame balancing weights, wherein the air foot, the driving wheel assembly and the brake sucker assembly are arranged at the bottom of the base frame body; and the plurality of frame balancing weights are distributed on the base frame body and the target satellite simulator and are used for the integral balance of the base frame body and the target satellite simulator.
The two groups of driving wheel assemblies are arranged diagonally; the distance center between the two groups of driving wheel assemblies is coincident with the mass center of the target star simulator.
The driving wheel assembly comprises a driving wheel, a driving wheel fixing disc, a driving wheel guide column, a driving wheel buffer spring and a connecting plate, wherein the connecting plate is connected with the base frame body; the driving wheel is arranged at the bottom of the driving wheel fixing disc; the driving wheel guide post is arranged at the top of the driving wheel fixing disc and is in sliding connection with the connecting plate, the driving wheel buffer spring is sleeved on the driving wheel guide post, and the lower end of the driving wheel buffer spring is abutted to the connecting plate.
The air foot is connected with the base frame body through a screw rod and is locked through an air foot screw nut, an air foot screw nut and an air foot adjusting nut in sequence.
The brake sucker assembly comprises a brake sucker, a brake sucker lifting shaft, a brake buffer spring, a brake cylinder mounting plate, a brake cylinder and a brake seat, wherein the brake cylinder mounting plate is connected with the base frame body, the brake cylinder is arranged on the brake cylinder mounting plate, and the output end of the brake cylinder is connected with the brake seat; the brake base is provided with a plurality of brake sucker lifting shafts, and the lower end of each brake sucker lifting shaft is connected with a brake sucker; the brake buffer spring is sleeved on the brake sucker lifting shaft, and two ends of the brake buffer spring are respectively abutted against the brake sucker and the brake seat.
The top of the base frame body is provided with a honeycomb plate base and a honeycomb plate arranged on the honeycomb plate base, and the lower end of the support frame body is connected with the honeycomb plate; a distribution box is arranged on the honeycomb plate;
the frame balancing weight is arranged at the tail ends of two sides of the top of the base frame body and fixed through the top balancing weight mounting frame.
The bottom of the base frame body is circumferentially provided with a plurality of optical ranging sensors, and the plurality of optical ranging sensors are arranged on the outer side of the driving wheel assembly; the optical ranging sensor is used for determining the coordinate position of the target star simulator on the air floatation platform.
The target star simulator comprises a polygonal main body frame consisting of a plurality of envelope plates, and a camera, an adapter module, a UPS, a butt joint ring and a spray pipe mounting rack which are arranged on the polygonal main body frame, wherein the butt joint ring and the spray pipe mounting rack are coaxially arranged on the outer side and the inner side of the polygonal main body frame.
The frame balancing weights are distributed on the upper portion, the lower portion and the front and rear sides of the bottom end of the target satellite simulator, wherein the frame balancing weights on the front and rear sides of the bottom end are used for adjusting the front and rear mass center positions of the target satellite simulator; the upper and lower positions of the frame balancing weight are used for adjusting the upper and lower mass center positions of the target star simulator.
The balancing weight is adjusted to two secondaries along left and right directions on the target star simulator, and the balancing weight is adjusted to the secondary and is connected the rope through the counter weight, the counter weight connect the rope through set up in two balance pulley that the target star simulator was equipped with, the balancing weight is adjusted to the secondary and is used for adjusting the barycenter when the target star simulator moves.
The invention has the advantages and positive effects that:
1. the thirteen gas feet of the invention can be used for balancing the gravity of the three-freedom target star simulator and eliminating the influence of the gravity on the experiment.
2. The two driving wheels can meet the requirement that the three-degree-of-freedom target star simulator can move on the two-dimensional air floatation platform without friction.
3. The brake sucker can enable the three-degree-of-freedom target star simulator to perform brake operation, and meets the requirements of initial positions of experiments and the requirements of stopping the target star simulator from moving.
4. The air floating platform provided by the invention can meet the movement of the three-degree-of-freedom target star simulator, and can eliminate the influence of friction force on an experiment
5. The three-degree-of-freedom target star simulator has mass and inertia similar to those of a real target star, and can perform dynamics and kinematics experiments on the three-degree-of-freedom target star.
6. The laser ranging sensor can calibrate the coordinate position of the three-degree-of-freedom target star simulator on the air floatation platform in real time, and is convenient for planning the motion trail of the three-degree-of-freedom target star simulator.
Drawings
Fig. 1 is a schematic structural diagram of a microgravity environment simulation driving mechanism according to the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a bottom view of FIG. 1;
FIG. 4 is a schematic view of the structure of the air foot of the present invention;
FIG. 5 is a schematic view of the driving wheel according to the present invention;
FIG. 6 is a left side view of FIG. 5;
FIG. 7 is a schematic structural view of a brake cup set according to the present invention;
fig. 8 is a bottom view of fig. 7.
Wherein: 1. frame balancing weight, 2, base frame body, 3, air foot, 4, balancing weight mounting plate, 5, battery, 6, optical distance measuring sensor, 7, driving wheel, 8, additional mechanism mounting block, 9, camera, 10, braking sucker, 11, driving wheel fixing disc, 12, adapter module, 13, UPS, 14, distribution box, 15, base pressing plate, 16, braking sucker lifting shaft, 17, braking buffer spring, 18, air foot adjusting nut, 19, spray pipe mounting seat, 20, distance measuring connecting bracket, 21, honeycomb plate base, 22, honeycomb plate, 24, butt joint ring, 25, connecting rod, 26, balance pulley, 27, top balancing weight mounting frame, 28, mechanism switching frame, 29, spray pipe mounting frame, 30, air foot screw nut, 31, air foot screw nut, 32, driving wheel guide column, 33, driving wheel buffer spring, 34, braking air cylinder mounting plate, 35, braking seat, 36. the device comprises a support frame body, 37 a target star simulator, 38 an air floating platform, 39 a connecting plate and 40 a counterweight mounting frame at the top of the support frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, the microgravity environment simulation driving mechanism provided by the present invention includes an air floating platform 38, an air floating supporting mechanism and a target satellite simulator 37, wherein the air floating supporting mechanism is disposed on the air floating platform 38; the air floatation supporting mechanism comprises a base frame body 2, an air foot 3, a driving wheel assembly, a brake sucker assembly, a supporting frame body 36 and a plurality of frame balancing weights 1, wherein the air foot 3, the driving wheel assembly and the brake sucker assembly are arranged at the bottom of the base frame body 2, the supporting frame body 36 is arranged on the base frame body 2, and a target star simulator 37 is arranged on the supporting frame body 36; the plurality of frame balancing weights 1 are distributed on the base frame body 2 and the target star simulator 37 and used for overall balance of the base frame body 2 and the target star simulator 37.
As shown in fig. 4, in the embodiment of the present invention, the air foot 3 is connected to the base frame 2 by a screw and is locked by an air foot screw nut 31, an air foot nut 30 and an air foot adjusting nut 18 in sequence.
5-6, in an embodiment of the present invention, there are two sets of drive wheel assemblies, diagonally disposed; the center of the spacing between the two sets of drive wheel assemblies coincides with the center of mass of the target star simulator 37. Specifically, the driving wheel assembly comprises a driving wheel 7, a driving wheel fixing disc 11, a driving wheel guide column 32, a driving wheel buffer spring 33 and a connecting plate 39, wherein the connecting plate 39 is connected with the base frame body 2; the driving wheel 7 is arranged at the bottom of the driving wheel fixing disc 11; the driving wheel guide column 32 is disposed on the top of the driving wheel fixing plate 11 and is slidably connected to the connecting plate 39, and the driving wheel buffer spring 33 is sleeved on the driving wheel guide column 32 and has a lower end abutting against the connecting plate 39.
As shown in fig. 7-8, in the embodiment of the present invention, the brake chuck assembly includes a brake chuck 10, a brake chuck lifting shaft 16, a brake buffer spring 17, a brake cylinder mounting plate 34, a brake cylinder, and a brake base 35, wherein the brake cylinder mounting plate 34 is connected to the base frame 2, the brake cylinder is disposed on the brake cylinder mounting plate 34, and the output end of the brake cylinder is connected to the brake base 35; the brake base 35 is provided with a plurality of brake sucker lifting shafts 16, and the lower end of each brake sucker lifting shaft 16 is connected with a brake sucker 10; the brake buffer spring 17 is sleeved on the brake sucker lifting shaft 16, and two ends of the brake buffer spring are respectively abutted against the brake sucker 10 and the brake seat 35. Specifically, four brake chuck lifting shafts 16 and four brake chucks 10 are arranged on the brake base 35.
As shown in fig. 1-2, in the embodiment of the present invention, the top of the base frame 2 is provided with a cellular board base 21 and a cellular board 22 disposed on the cellular board base 21, and the cellular board base 21 is connected to the base frame 2 through a base pressing plate 15. The lower end of the support frame body 36 is connected with the honeycomb plate 22; the honeycomb plate 22 is provided with a distribution box 14; the frame balancing weight 1 is arranged at the tail ends of two sides of the top of the base frame body 2, and the frame balancing weight 1 is fixed through a top balancing weight mounting frame 27.
As shown in fig. 3, in the embodiment of the present invention, the base frame 2 is provided at the bottom thereof with a plurality of optical distance measuring sensors 6 along the circumferential direction, and the plurality of optical distance measuring sensors 6 are disposed outside the driving wheel assembly; the optical ranging sensor 6 is used to determine the coordinate position of the target star simulator 37 on the air bearing platform 38. In this embodiment, a battery 5 is provided at the bottom of the base frame 2.
In the embodiment of the present invention, the target star simulator 37 includes a main body frame having a polygonal structure formed by a plurality of enveloping boards, and the camera 9, the adapter module 12, the UPS13, the docking ring 24 and the nozzle mount 29 disposed on the main body frame, wherein the docking ring 24 and the nozzle mount 29 are coaxially mounted on the outer side and the inner side of the polygonal main body frame, the nozzle mount 29 is mounted on the nozzle mount 19, and the nozzle mount 19 is connected to the main body frame. The camera 9 is hung outside the main body frame, the adapter is installed on one corner of the main body frame, and the camera 9 judges the position of an object by acquiring images of other objects; the adapter facilitates manipulation of the target star simulator 37 by the space manipulator, and the nozzle mounting bracket 29 is used for mounting a nozzle to facilitate operation of the target star simulator 37 in front of the nozzle. The frame balancing weights 1 are distributed on the upper portion, the lower portion and the front and rear sides of the bottom end of the target satellite simulator 37, wherein the frame balancing weights 1 on the front and rear sides of the bottom end are used for adjusting the front and rear mass center positions of the target satellite simulator 37; the upper and lower frame clump weight 1 is used for adjusting the upper and lower mass center positions of the target star simulator 37, and the upper frame clump weight 1 is installed on the support frame top counterweight installation frame 40.
Further, the target star simulator 37 is provided with two secondary adjusting balancing weights along the left-right direction, the secondary adjusting balancing weights are connected through a balancing weight connecting rope, the balancing weight connecting rope passes through the two balancing pulleys 26 arranged on the target star simulator 37, and the secondary adjusting balancing weights are used for adjusting the mass center of the target star simulator 37 during movement.
In the embodiment of the present invention, the air floating platform 38 is fixedly connected to the foundation, and the air floating platform 38 is composed of a plurality of granites, specifically twenty-eight granites. Firstly, processing and grinding the working surface and the bottom surface of each granite to meet the precision requirement, then processing and grinding the joint surface of each granite to meet the precision requirement, and setting a bolt locking structure on the granite for tensioning the granite to eliminate gaps. Leveling each processed granite by using an adjustable supporting device respectively, enabling the whole working plane of twenty-eight granites after leveling to meet the precision requirement, then penetrating a tensioning bolt to tension the two granites, eliminating gaps at seams, and finally arranging a granite supporting structure at each seam for supporting so as to ensure the stress state of the seams.
In the embodiment of the invention, thirteen air feet 3 are installed at the bottom of the base frame body 2, the air feet 3 are used for balancing the gravity of the target satellite simulator 37, an air film is formed between the air feet 3 and the air floating platform 38 to balance the gravity of the target satellite simulator, the movement of the target satellite simulator 37 in two directions in a plane and the weightless movement state of yaw rotation are realized, and the target satellite simulator 37 has three degrees of freedom. The gravity of the target satellite simulator 37 is uniformly distributed on the air feet 3, the centroid of the target satellite simulator 37 is overlapped with the centroid of the air floatation supporting surface, and the thirteen air feet 3 are guaranteed to bear uniform distribution and form a stable air film. In order to adapt to the micro unevenness and uneven load of a granite platform, the gas foot 3 is connected with the connecting rod through a ball pair, a spring device is additionally arranged between the gas foot and the base, the connection of the ball pair can ensure that the bottom surface of the gas foot 3 is parallel to the plane of the granite, and the spring device can adjust the gap between the two surfaces to ensure that the gap is constant. The air floatation device can automatically adapt to the unparallel and uneven load caused by errors such as assembly and processing, and the forming condition of the air film is ensured.
In the embodiment of the invention, the honeycomb plate 22 is arranged between the gas foot 3 and the support frame body 36, the honeycomb plate 22 can adapt to load concentration caused by processing and installation errors of the support frame body 36 through micro deformation, concentrated loads are uniformly distributed, in order to ensure that an installation interface of a structural part of the honeycomb plate 22 has certain rigidity, two steel plates are arranged on the upper part and the lower part of the honeycomb plate 22, and after the steel plates are finely processed, the steel plates are fixedly connected with the honeycomb plate 22 through bolts.
As shown in fig. 5-6, in the embodiment of the present invention, the gas base frame 2 and the support frame 36 are welded by using aluminum pipes. The driving wheels 7 of the target star simulator 37 adopt a mode of two sets of omnibearing driving steering wheels, the two sets of driving wheels 7 are arranged at the diagonal position of the base frame body 2, the centers of the two sets of driving wheels 7 are superposed with the mass center of the target star simulator 37, and the driving wheels 7 provide driving force for the target star simulator 37 and can drive the target star simulator 37 to move to any specified position. Specifically, the diameter of the driving wheel 7 is 154mm, the driving torque of the driving wheel 7 is 13.2NM, the driving force of a single driving wheel is calculated to be 171N, and the idling maximum movement speed can reach 1748 mm/s. The driving wheel 7 integrates two units of running and steering, the steering unit uses an independent servo motor and is provided with a rotary encoder and a high-precision position detection potentiometer, the steering unit can rotate within a range of +/-90 degrees, the driving axial direction of the driving motor is controlled, and the driving unit is matched with positive and negative rotation to enable wheels to move along any direction. The driving wheels form a set of driving system independently, the driving system comprises a direct-current servo motor, a coaxial speed reducer, a band-type brake, a rotary encoder, a speed measuring machine and the like, and the driving system has the characteristics of small turning radius, strong passing capacity, wear resistance and high stability. The driving wheel 7 is installed in a floating structure mode of clamping a compression spring 33, so that the wheel pressure and the traction force of the driving wheel are always stable and unchanged, and the overall performance of the target star simulator 37 is stable and reliable.
As shown in fig. 7-8, the brake pads 10 of the present invention are used for braking the target star simulator 37 to ensure that it stops at a designated position. When the target star simulator 37 needs braking, the brake cylinder extends out, and the brake suction cup 10 contacts with the air floatation platform 38 to generate friction force, so that the target star simulator 37 stops at a specified position. The maximum suction force of the single brake sucker 10 is 900N (-0.7 bar), and the total suction force is 3600N.
The target satellite simulator 37 in the invention has three degrees of freedom, and mainly comprises a weightless motion simulator, a simulator body, a vision unit, a power supply assembly, a battery assembly, a wireless communication module, an industrial personal computer, an on-satellite assembly and the like. The weightlessness motion simulator simulates and realizes 6-degree-of-freedom weightlessness motion in space, and comprises 3 controllable degrees of freedom in a plane and follow-up motion degrees of freedom of gravity direction, rolling and yawing. The simulator body is used for simulating the real target star envelope shape.
The working principle of the invention is as follows:
the microgravity environment simulation driving mechanism provided by the invention can simulate the satellite plane movement of outer space in a gravity-free environment, eliminates the interference of friction force between the satellite and the ground when relevant experiments are carried out on the ground, and is convenient for the satellite to move on the smooth ground by utilizing the driving wheels.
When the system operates, the thirteen air feet 3 balance the gravity of the three-freedom-degree target star simulator 37, and a gravity-free environment is generated. The laser ranging sensor 6 mounted on the base frame body 2 can calculate the position of the current target star simulator 37 according to the distance from the laser ranging sensor to the edge of the air floating platform, and determine the position of the target star simulator 37 at the next moment according to the instruction. When the movement is needed, the driving wheel 7 descends and rolls in the plane, and the movement requirement of the three-degree-of-freedom target star simulator 37 is met. However, when the target star simulator 37 moves, the contact force between the driving wheel 7 and the ground is very small, so that a gravity-free environment with the highest precision is generated. When the three-degree-of-freedom target star simulator 37 moves to a specified position, the driving wheel 7 rises, the brake suction disc 10 descends, and contacts with the air floatation platform 38 to generate friction force, so that the target star simulator 37 stops moving.
The invention can provide a three-degree-of-freedom weightlessness environment of the target satellite simulator, meet the requirements of the target satellite and other satellites in a ground simulation space environment, and perform operations such as capture, transposition, maintenance and the like among the satellites.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (6)
1. A microgravity environment simulation driving mechanism is characterized by comprising an air floating platform (38), an air floating supporting mechanism and a target star simulator (37), wherein the air floating supporting mechanism is arranged on the air floating platform (38); the air floatation supporting mechanism comprises a base frame body (2), an air foot (3), a driving wheel assembly, a brake sucker assembly, a supporting frame body (36) and a plurality of frame balancing weights (1), wherein the air foot (3), the driving wheel assembly and the brake sucker assembly are arranged at the bottom of the base frame body (2), the supporting frame body (36) is arranged on the base frame body (2), and the target star simulator (37) is arranged on the supporting frame body (36); the frame balancing weights (1) are distributed on the base frame body (2) and the target star simulator (37) and are used for integral balance of the base frame body (2) and the target star simulator (37);
the two groups of driving wheel assemblies are arranged diagonally; the distance center between the two groups of driving wheel assemblies is coincident with the mass center of the target star simulator (37);
the driving wheel assembly comprises a driving wheel (7), a driving wheel fixing disc (11), a driving wheel guide column (32), a driving wheel buffer spring (33) and a connecting plate (39), wherein the connecting plate (39) is connected with the base frame body (2); the driving wheel (7) is arranged at the bottom of the driving wheel fixing disc (11); the driving wheel guide column (32) is arranged at the top of the driving wheel fixing disc (11) and is in sliding connection with the connecting plate (39), the driving wheel buffer spring (33) is sleeved on the driving wheel guide column (32), and the lower end of the driving wheel buffer spring is abutted to the connecting plate (39);
the brake sucker assembly comprises a brake sucker (10), a brake sucker lifting shaft (16), a brake buffer spring (17), a brake cylinder mounting plate (34), a brake cylinder and a brake seat (35), wherein the brake cylinder mounting plate (34) is connected with the base frame body (2), the brake cylinder is arranged on the brake cylinder mounting plate (34), and the output end of the brake cylinder is connected with the brake seat (35); a plurality of brake sucker lifting shafts (16) are arranged on the brake seat (35), and the lower end of each brake sucker lifting shaft (16) is connected with a brake sucker (10); the brake buffer spring (17) is sleeved on the brake sucker lifting shaft (16), and two ends of the brake buffer spring are respectively abutted against the brake sucker (10) and the brake seat (35);
a plurality of optical ranging sensors (6) are arranged at the bottom of the base frame body (2) along the circumferential direction, and the plurality of optical ranging sensors (6) are arranged on the outer side of the driving wheel assembly; the optical distance measuring sensor (6) is used for determining the coordinate position of the target star simulator (37) on the air floating platform (38).
2. The microgravity environment simulation driving mechanism according to claim 1, wherein the air foot (3) is connected with the base frame body (2) through a screw and is locked through an air foot screw nut (31), an air foot screw nut (30) and an air foot adjusting nut (18) in sequence.
3. The microgravity environment simulation driving mechanism according to claim 1, wherein a cellular board base (21) and a cellular board (22) arranged on the cellular board base (21) are arranged at the top of the base frame body (2), and the lower end of the supporting frame body (36) is connected with the cellular board (22); a distribution box (14) is arranged on the honeycomb plate (22);
the frame balancing weight (1) is arranged at the tail ends of two sides of the top of the base frame body (2), and the frame balancing weight (1) is fixed through a top balancing weight mounting frame (27).
4. The microgravity environment simulation driving mechanism according to claim 1, wherein the target satellite simulator (37) comprises a polygonal main body frame composed of a plurality of envelope plates, and a camera (9), an adapter module (12), a UPS (13), a docking ring (24) and a nozzle mounting rack (29) arranged on the polygonal main body frame, wherein the docking ring (24) and the nozzle mounting rack (29) are coaxially arranged on the outer side and the inner side of the polygonal main body frame.
5. The microgravity environment simulation driving mechanism according to claim 1, wherein the frame weights (1) are distributed on the upper and lower parts and the front and rear sides of the bottom end of the target star simulator (37), wherein the frame weights (1) on the front and rear sides of the bottom end are used for adjusting the front and rear mass center positions of the target star simulator (37); the upper and lower positions of the frame balancing weight (1) are used for adjusting the upper and lower mass center positions of the target star simulator (37).
6. The microgravity environment simulation driving mechanism according to claim 1, wherein the target satellite simulator (37) is provided with two secondary adjusting balance weights along the left-right direction, the secondary adjusting balance weights are connected by a balance weight connecting rope, the balance weight connecting rope passes through two balance pulleys (26) provided on the target satellite simulator (37), and the secondary adjusting balance weights are used for adjusting the mass center of the target satellite simulator (37) during movement.
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| CN114162356B (en) * | 2022-02-11 | 2022-05-17 | 清华大学 | Buffering assembly of somatosensory micro-low gravity simulation device and simulation device |
| CN115416881B (en) * | 2022-11-03 | 2023-02-17 | 中国人民解放军战略支援部队航天工程大学 | Multi-rope driving system for multi-body allosteric satellite ground simulator |
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