CN113371235B - Active and passive combined suspension type double-layer motion platform and using method - Google Patents
Active and passive combined suspension type double-layer motion platform and using method Download PDFInfo
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Abstract
The invention discloses an active and passive combined suspension type double-layer motion platform and a using method thereof, and belongs to the technical field of ground microgravity simulation tests. The active and passive combined suspension type double-layer motion platform comprises an active motion system, a connecting rod, a passive motion system and a load, wherein a passive motion bearing is fixedly connected below the active motion system through the connecting rod, and the load is suspended below the passive motion system. The active and passive combined suspension type double-layer motion platform and the using method can allow the load of a small and medium-sized spacecraft which is not more than 200kg to be suspended, and can provide large-range continuous two-dimensional continuous motion ground simulation which can be staggered according to the motion track of the load.
Description
Technical Field
The invention relates to an active and passive combined suspension type double-layer motion platform and a using method thereof, belonging to the technical field of ground microgravity simulation tests.
Background
With the development of spacecraft formation technology and the application of concepts such as constellations and clusters, in order to verify control algorithms, reliability, service life and the like in formation tasks, most of current ground simulation test systems are single-target simulation and cannot meet the use requirements of the formation tasks. Therefore, it is important to develop a ground simulation test system for multiple spacecrafts.
Because the cost of the spacecraft is high, the loss of test failure is large, and particularly for a multi-spacecraft formation task, the basic guarantee for the success of the task is to carry out simulation tests on the ground as much as possible. At present, the ground simulation experiment can be roughly divided into a suspension type and a lifting type, wherein the suspension type utilizes an inverted mobile device to track the motion of a load; the lifting type uses the air floating technology and other lifting loads to carry out tracking movement. Compared with a lifting type, the suspension type has larger motion stroke and is simpler and more convenient to use. In addition, the lifting mode is difficult to realize due to the frequently-occurring staggered motion state in the spacecraft formation task.
If only the discrete suspension scheme is adopted, the problem that a part of the area cannot be reached exists when the staggered motion occurs, the suspension point cannot be always positioned right above the load, and the continuous motion is difficult to perform.
In order to solve the practical problem of experimental simulation of a multi-spacecraft formation technology on the ground, a new requirement is provided for a ground simulation test system which can continuously move, has high precision and high universality.
Disclosure of Invention
The invention aims to provide an active and passive combined suspension type double-layer motion platform and a using method thereof, and aims to solve the problems in the prior art.
The active and passive combined suspension type double-layer motion platform comprises an active motion system, a connecting rod, a passive motion system and a load, wherein a passive motion bearing is fixedly connected below the active motion system through the connecting rod, and the load is suspended below the passive motion system.
Furthermore, the active motion system comprises a supporting block and a two-way mover, the supporting block is fixedly installed on the lower surface of the portal frame to form a track, the two-way mover is connected in the track formed by the supporting block in a sliding mode, and the lower portion of the two-way mover is connected with the passive motion system through a connecting rod.
Furthermore, the two-way movement device comprises four two-way movement units, the four two-way movement units are connected with the passive movement system through connecting rods, and the four two-way movement units move together.
Furthermore, the passive motion system comprises a transverse guide rod, a transverse air bearing, a connecting sleeve, a longitudinal guide rod, a longitudinal air bearing, a connecting block and a bearing plate, wherein the longitudinal guide rod is connected with the transverse air bearing through the connecting sleeve, the transverse air bearing is sleeved on the transverse guide rod, two ends of the guide rod are connected with the lower end of the connecting rod, the longitudinal air bearing is sleeved on the longitudinal guide rod, and the bearing plate is fixedly installed on the longitudinal air bearing through the connecting block.
Further, the load is suspended below the bearing plate.
Further, a passive motion system is used to provide passive motion over a range of travel, passively tracking the position of the load so that the suspension point of the load is always directly above the load.
A using method of an active and passive combined suspended double-layer motion platform is applied to the active and passive combined suspended double-layer motion platform, after a ground simulation task is received, firstly, the position and posture placement and flatness debugging of a supporting block in an active motion system are carried out, a track is formed through the supporting block, so that a two-way motion unit can carry out active motion under the supporting and guiding of the supporting block, and then the levelness of the passive motion system is installed and adjusted;
then, the position of the equipment needing ground simulation for replacing the load is suspended below the platform;
then, receiving the real-time position of the load fed back by the external measurement system, and driving the active motion system to move, so that the equipment needing ground simulation is in the adaptable range of the passive motion system;
then, under the action of gravity component force, the longitudinal air bearing of the passive motion system slides along the longitudinal guide rod, the transverse air bearing slides along the transverse guide rod, and a suspension point on the bearing plate is further close to the position right above the equipment needing ground simulation until the gravity component force is insufficient to overcome friction for motion.
The invention has the following advantages: compared with the prior art, the active and passive combined suspension type double-layer motion platform and the using method thereof provided by the invention have the following beneficial effects:
(1) the method has the advantages of wide application range, strong universality and universal suspension interface, and can be used for suspending most of small and medium-sized spacecrafts to perform two-dimensional kinematics ground simulation tests.
(2) The precision is higher, and the mode that utilizes the passive motion system of initiative to combine, the initiative motion system is responsible for the maneuver in a large scale, and the passive motion system adapts to the motion in a small scale, and the two-stage motion makes the precision higher.
(3) The continuous motion can increase the range of the suspended position through the active and passive double-layer platforms, and particularly can carry out continuous motion through the intersection area of the ranges under the condition of staggered motion of the two platforms.
Drawings
FIG. 1 is a schematic structural diagram of an active and passive combined suspended double-deck motion platform according to the present invention;
FIG. 2 is a schematic diagram of an active motion system;
FIG. 3 is a schematic diagram of a passive exercise system;
FIG. 4 is a diagram of the reach of suspension points of the active and passive combination suspension type two-layer motion platform;
fig. 5 is a schematic diagram of an interlaced motion process, in which fig. 5(a) is a first step of the motion process, fig. 5(b) is a second step of the motion process, fig. 5(c) is a third step of the motion process, fig. 5(d) is a fourth step of the motion process, and fig. 5(e) is a fifth step of the motion process.
Wherein, 1 is an active motion system, 2 is a connecting rod, 3 is a passive motion system, 4 is a load, 5 is a supporting block, 6 is a two-way mover, 7 is a transverse guide rod, 8 is a transverse air bearing, 9 is a connecting sleeve, 10 is a longitudinal guide rod, 11 is a longitudinal air bearing, 12 is a connecting block, and 13 is a bearing plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.
Referring to fig. 1, the invention provides an active and passive combined suspended double-layer motion platform, which comprises an active motion system 1, a connecting rod 2, a passive motion system 3 and a load 4, wherein the passive motion bearing 3 is fixedly connected below the active motion system 1 through the connecting rod 2, and the load 4 is suspended below the passive motion system 3. All parts work cooperatively and provide a suspended type tracking interlaced continuous two-dimensional motion ground simulation platform for spacecraft loading.
Further, the active movement system 1 comprises a supporting block 5 and a two-way mover 6, the supporting block 5 is fixedly installed on the lower surface of the portal frame to form a track, the two-way mover 6 is slidably connected in the track formed by the supporting block 5, and the lower part of the two-way mover 6 is connected with the passive movement system 3 through a connecting rod 2.
Specifically, the active motion system 1 actively performs a large-range discrete motion, and can implement a staggered motion, as shown in fig. 2. The active motion system 1 comprises a plurality of supporting blocks 5 and four two-way motion devices 6; the supporting block 5 is connected with the fixed support in a permanent magnet adsorption mode, and provides motion support and motion guide for the two-way mover 6. The four two-way moving units 6 are in a quadrilateral layout and are connected together by the connecting rod 2. The two-way locomotory apparatus 6 adopts a plurality of motor drive forms, each two-way locomotory apparatus 6 suspends and can bear the weight of 100kg, therefore the initiative movement system can bear 400kg, remove the structure quality such as passive movement system and connecting rod, can bear the weight of not less than 200 kg.
Further, the two-way mover 6 includes four two-way moving units, the four two-way moving units are connected to the passive moving system 3 through the connecting rod 2, and the four two-way moving units move together.
Specifically, the two-way mover 6 is composed of four two-way moving units, and can complete two-dimensional active movement under the support and guidance of the support block 5. Each two-way mover 6 comprises a motor, a wheel, a control system and the like, and the motor is driven by the instruction of the control system to drive the wheel to move in two directions.
Further, referring to fig. 3, the passive moving system 3 includes a transverse guide rod 7, a transverse air bearing 8, a connecting sleeve 9, a longitudinal guide rod 10, a longitudinal air bearing 11, a connecting block 12 and a bearing plate 13, the longitudinal guide rod 10 is connected with the transverse air bearing 8 through the connecting sleeve 9, the transverse air bearing 8 is sleeved on the transverse guide rod 7, two ends of the guide rod 7 are connected with the lower end of the connecting rod 2, the longitudinal air bearing 11 is sleeved on the longitudinal guide rod 10, and the bearing plate 13 is fixedly mounted on the longitudinal air bearing 11 through the connecting block 12.
Specifically, the passive motion system 3 can perform a small-range passive adaptive motion, so that when the staggered motion occurs, the suspension point can still ensure continuous motion under the condition that the suspension point is out of the active motion range.
When the point of suspension is not directly above the load 4, gravity will create a component in the horizontal direction. Under the action of gravity component, the air bearing can slide on the air guide rail, so that the passive motion system 3 passively tracks the position of the load within a stroke range until the gravity component cannot offset friction force to move, a suspension point is located right above the load 4 as much as possible, the two-dimensional tracking precision is further improved, and a foundation is provided for microgravity simulation.
In addition, when two loads move in a staggered manner, only the active motion system 1 is used for completing tracking, and due to size interference, a part of regions cannot reach, so that the motion discontinuity phenomenon occurs; the small-range passive adaptation provided by the passive motion system 3 can further increase the motion range, make up the inaccessible area of staggered motion and ensure continuous motion. The two stages of the active motion system 1 and the passive motion system 3 work jointly and can provide continuous motion in the forms of translation, staggering and the like.
Referring to fig. 4, the reachable range of the outer envelope of the load of each set of active and passive combined suspended double-layer motion platform is shown by a dotted line, the outer envelope of the load exceeds the projection area of the active motion platform, and an envelope intersection exists between two sets of adjacent motion platforms. Only the active motion platform is adopted to provide a suspension position with a single point fixed, and since the active motion system 1 has an envelope size, and is likely to be smaller than the load envelope size, the outer envelope of the load can be widely smaller than that of the upper active motion system 1, and when the active motion system 1 performs motion staggered motion, the outer envelope interference can cause an inaccessible area condition. The passive motion system 3 can enable the suspension point to move at any position within a certain range, the motion range is in the area enveloped by the two-dimensional air floatation guide rail and is equivalent to the projection area of the active motion system, and when the suspension point moves to the edge of the projection area, the outer envelope of the load exceeds the projection area, so that the reachable range of the two sets of platforms has intersection, and the motion continuity can be ensured during the staggered motion.
Further, the load 4 is suspended below the bearing plate 13.
Further, the passive motion system 3 is adapted to provide passive motion within the range of travel, passively tracking the position of the load 4 such that the suspension point of the load 4 is always directly above the load 4.
Specifically, the passive motion system 3 is mainly composed of a two-dimensional air-floating guide rail, and can perform passive adaptive motion with small friction. The passive motion system 3 is connected below the active motion system 1 through a connecting rod 2, a transverse air-floatation guide rail 7 is connected on the connecting rod 2, a transverse air-floatation bearing 8 is sleeved on the transverse guide rod 7, one end of a connecting sleeve 9 is fixedly connected on the transverse air-floatation bearing 8, the other end of the connecting sleeve is fixedly connected on a longitudinal guide rod 10, a longitudinal air-floatation bearing 11 is sleeved on the longitudinal guide rod 10 and is connected with a bearing plate 13 through a connecting block 12, and a load 4 is suspended below the bearing plate 13. Under the action of gravity component force, the air bearing can slide on the air guide rail until the suspension point reaches the position right above the load and the sliding force is not enough to overcome the friction force.
After the load 4 is maneuvered, the four two-way motion units 6 in the active motion system 1 move to roughly keep the load within the adaptable range of the passive motion system 3, and the adaptable range of the passive motion system 3 is not less than 600mm multiplied by 600 mm. The bearing mass is not less than 200 kg.
When a plurality of motion platforms need to do staggered motion, the active motion system 2 is used for position maneuvering, the passive motion system 3 can be used for maintaining the position of a suspension point, for a detailed example, referring to fig. 5, and the active and passive combined double-layer motion platform can be used for tracking staggered continuous motion of a load in cooperation.
A method for using an active and passive combined suspended double-layer motion platform is applied to the active and passive combined suspended double-layer motion platform, after a ground simulation task is received, firstly, the position and posture placement and flatness debugging of a supporting block 5 in an active motion system 1 are carried out, a track is formed by the supporting block 5, so that a two-way motion unit 6 can carry out active motion under the support and guide of the supporting block 5, and then the levelness of a passive motion system 3 is installed and adjusted;
then, the position of the load 4 is replaced by the equipment needing ground simulation, and the equipment is suspended below the platform;
then, receiving the real-time position of the load fed back by the external measurement system, and driving the active motion system 1 to move, so that the equipment needing ground simulation is in the adaptable range of the passive motion system 3;
then, under the action of the gravity component, the longitudinal air bearing 11 of the passive motion system 3 slides along the longitudinal guide rod 10, and the transverse air bearing 8 slides along the transverse guide rod 7, and the suspension point on the bearing plate 13 further approaches to the position right above the equipment to be ground simulated until the gravity component is insufficient to overcome the friction for motion.
In particular, if the two platforms do staggered movement, the invention can complete the staggered movement without changing the position of the suspension point of the passive platform according to the matching of the active and passive double-layer platforms. A simple example of the interlaced motion is described below and shown in fig. 5.
Referring to fig. 5, a feasible example of the interlaced motion is shown, and the complex interlaced motion design can be specifically performed through path planning according to task requirements. When the staggered movement is needed, the initial position is shown in fig. 5(a), the platform is arranged above the platform, the position result is to be achieved, the platform is arranged below the platform, the position result is shown in fig. 5(e), and the position of the load 4 of the platform is not moved. Firstly, the platform moves a parking space leftwards through the active motion system 1, referring to fig. 5(b), the suspension point position of the load 4 is kept stationary, and the position of the suspension point on the passive motion system 3 moves from the right side to the left side; then, the platform II moves one parking space upwards to the original position of the platform I, referring to the figure 5(c), and the position of a suspension point on the passive motion system 3 tracks the motion condition of a load; then, the number 1 moves downwards for a parking space, referring to fig. 5(d), at this time, the position of the suspension point on the passive motion system 3 is changed from the upper part to the lower part, and the position of the suspension point of the load 4 is still kept; and finally, moving the platform to the left by one parking space, and returning to the original motion track as shown in the figure 5(e) to finish the staggered motion. In the period, under the adaptation of the passive motion platform 3, the suspension point can be ensured to be always in the reachable region of the passive adaptation platform, the reachable region range is shown in figure 4, so that the position of the load suspension point of the platform I is fixed, and the staggered continuous motion is realized.
If complex staggered movement is needed, the method can be realized by reasonably planning the path of the active movement platform, and the required suspension point is always kept within the reachable range of the passive movement platform, so that the final suspension point is positioned near the position right above the load.
The above embodiments are only used to help understanding the method of the present invention and the core idea thereof, and a person skilled in the art can also make several modifications and decorations on the specific embodiments and application scope according to the idea of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. An active and passive combined suspended double-layer motion platform is characterized by comprising an active motion system (1), a connecting rod (2), a passive motion system (3) and a load (4), wherein the passive motion system (3) is fixedly connected below the active motion system (1) through the connecting rod (2), the load (4) is suspended below the passive motion system (3),
the active movement system (1) comprises a supporting block (5) and a two-way mover (6), the supporting block (5) is fixedly installed on the lower surface of a portal frame to form a track, the two-way mover (6) is connected in the track formed by the supporting block (5) in a sliding mode, the lower portion of the two-way mover (6) is connected with the passive movement system (3) through the connecting rod (2), and the active movement system (1) actively performs large-range discrete movement to achieve staggered movement;
the passive motion system (3) comprises a transverse guide rod (7), a transverse air bearing (8), a connecting sleeve (9), a longitudinal guide rod (10), a longitudinal air bearing (11), a connecting block (12) and a bearing plate (13), wherein the longitudinal guide rod (10) is connected with the connecting sleeve (9) through the transverse air bearing (8), the transverse air bearing (8) is sleeved on the transverse guide rod (7), the two ends of the transverse guide rod (7) are connected with the lower end of the connecting rod (2), the longitudinal air bearing (11) is sleeved on the longitudinal guide rod (10), and the bearing plate (13) is fixedly installed on the longitudinal air bearing (11) through the connecting block (12).
2. The active and passive combined suspended double-deck moving platform as claimed in claim 1, wherein the two-way mover (6) comprises four two-way moving units, the four two-way moving units are commonly connected with the passive moving system (3) through the connecting rods (2), and the four two-way moving units move together.
3. An active and passive combination suspended double deck moving platform as claimed in claim 2, wherein the load (4) is suspended below the load bearing plates (13).
4. An active and passive combined suspended double-deck moving platform according to claim 3, characterised in that the passive moving system (3) is used to provide passive movement over a range of travel, passively tracking the position of the load (4) so that the suspension point of the load (4) is always directly above the load (4).
5. An active and passive combined suspended double-layer motion platform using method, applied to the active and passive combined suspended double-layer motion platform of any one of claims 1 to 4, characterized in that after receiving a ground simulation task, firstly, the position and posture placement and flatness adjustment of the supporting block (5) in the active motion system (1) are carried out, a track is formed by the supporting block (5), so that the two-way motion unit (6) can carry out active motion under the support and guidance of the supporting block (5), and then the levelness of the passive motion system (3) is installed and adjusted;
then, the position of the load (4) is replaced by equipment needing ground simulation, and the equipment is suspended below the platform;
then, receiving the real-time position of the load fed back by the external measurement system, and driving the active motion system (1) to move, so that the equipment needing ground simulation is in the adaptable range of the passive motion system (3);
then, under the action of gravity component force, a longitudinal air bearing (11) of the passive motion system (3) slides along a longitudinal guide rod (10), a transverse air bearing (8) slides along a transverse guide rod (7), and a suspension point on a bearing plate (13) further approaches to the position right above the equipment needing ground simulation until the gravity component force is insufficient to overcome friction for motion.
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