CN113501148A - Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system - Google Patents
Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system Download PDFInfo
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- CN113501148A CN113501148A CN202110950693.0A CN202110950693A CN113501148A CN 113501148 A CN113501148 A CN 113501148A CN 202110950693 A CN202110950693 A CN 202110950693A CN 113501148 A CN113501148 A CN 113501148A
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Abstract
Polar coordinate tracking type air-floating pulley guide counterweight suspension micro-low gravity simulation system relates to the technical field of micro-low gravity simulation. The present invention is directed to a ground simulation test for a simulator with a flexible attachment. One end of a rocker arm is rotatably connected with the upper surface of a small portal frame through a rotating shaft, a rocker arm guide rail is fixed on the upper surface of a large portal frame, a rocker arm support is embedded on the rocker arm guide rail and can move along the rocker arm guide rail, the upper surface of the rocker arm support is rotatably connected with a rotating platform, the other end of the rocker arm is carried on the rotating platform, N gravity suspension devices are all arranged on the rocker arm and can move along the length direction of the rocker arm, the top end of each gravity suspension device is provided with a passive air floatation platform, an air film is filled between the passive air floatation platform and the top end of the gravity suspension device to realize air floatation connection, the lower part of each passive air floatation platform is connected with a similar hanging frame through a hanging rope, and the similar hanging frame is used for hanging flexible accessories.
Description
Technical Field
The invention belongs to the technical field of micro-low gravity simulation.
Background
With the development of the aerospace industry and the increasing political, economic and military requirements of China, large-scale spacecrafts, such as space laboratories, various large-scale satellite platforms, distributed space stations and the like, come into play. The corresponding large flexible aerospace structures, such as large semi-rigid solar cell wings in future space laboratories, various flexible antennas on large satellite platforms, synthetic aperture radars, solar sailboards and the like, are widely applied in the aerospace field as a special structure. However, due to the problems of large size, light weight, large flexibility and weak damping, the vibration exciter inevitably receives interference of various external and internal factors when working in space, and excites low-frequency, nonlinear and large-amplitude vibration. In addition, once being excited, the vibrations are difficult to be automatically attenuated and can be highly coupled with the attitude motion of the spacecraft main body, so that the normal work of an attitude control system is disturbed, meanwhile, the positioning precision of the spacecraft is seriously influenced, and sometimes even system divergence can be caused, thereby causing a devastating disaster. Therefore, it is desirable to perform adequate ground simulation tests on simulators with flexible appendages. The micro-low gravity simulation technology can be used for simulating the space gravity environment and has important significance for the ground test of the spacecraft.
Disclosure of Invention
The invention provides a polar coordinate tracking type air floatation pulley guide counterweight suspension micro-low gravity simulation system for carrying out sufficient ground simulation tests on a simulator with a flexible accessory.
Polar coordinate tracking formula air supporting pulley direction counter weight suspends little gravity analog system in midair includes: a small portal frame 1, a large portal frame 2, a rocker arm 3, N gravity suspension devices 4, a passive air floating platform 5, a rocker arm guide rail 10 and a rocker arm support 13, wherein N is a positive integer,
one end of the rocker arm 3 is rotatably connected with the upper surface of the small portal frame 1 through a rotating shaft 9, a rocker guide rail 10 is fixed on the upper surface of the large portal frame 2, a rocker support 13 is embedded on the rocker guide rail 10 and can move along the rocker guide rail 10, the upper surface of the rocker support 13 is rotatably connected with a rotating platform 12, the other end of the rocker arm 3 is carried on the rotating platform 12,
the N gravity suspension devices 4 are all arranged on the rocker arm 3 and can move along the length direction of the rocker arm 3, a passive air floatation platform 5 is arranged at the top end of each gravity suspension device 4, an air film is filled between each passive air floatation platform 5 and the top end of each gravity suspension device 4 to realize air floatation connection, a similar hanging bracket 6 is connected below each passive air floatation platform 5 through a hanging rope 7, and the similar hanging bracket 6 is used for hanging the flexible accessories 8 in a hanging mode.
Further, the rocker arm guide rail 10 comprises two linear rails 10-1 and a rack 10-2 which are parallel to each other, and the rack 10-2 is located between the two linear rails 10-1 and is in close contact with one linear rail 10-1.
Further, a rocker guide rail motor 11 and two guide rail sliders 10-3 are fixed on the lower surface of the rocker support 13, the two guide rail sliders 10-3 are respectively embedded on the two linear rails 10-1, a gear 11-1 is sleeved on a power output end of the rocker guide rail motor 11, the gear 11-1 is meshed with the rack 10-2, and when the rocker guide rail motor 11 drives the gear 11-1 to rotate, the gear 11-1 can move on the rack 10-2 to drive the rocker support 13 to move along the two linear rails 10-1.
Furthermore, the rocker arm 3 is provided with two parallel turntable guide rails 12-2 along the length direction, the two turntable guide rails 12-2 are positioned at the tail end of the lower surface of the rocker arm 3, the upper surface of the rotating platform 12 is provided with two turntable sliding blocks 12-1, and the two turntable sliding blocks 12-1 are respectively embedded on the two turntable guide rails 12-2.
Furthermore, N groups of suspension device driving parts are arranged on the rocker arm 3 along the length direction of the rocker arm, the N groups of suspension device driving parts are located in the middle section of the rocker arm 3, each group of suspension device driving parts comprises two suspension guide rails 3-1 arranged along the length direction of the rocker arm 3, a lead screw 3-2 parallel to the two suspension guide rails 3-1 is respectively arranged right above the two suspension guide rails 3-1, one end of each lead screw 3-2 is provided with a lead screw motor 3-3, and the lead screw motors 3-3 are used for driving the lead screws 3-2 to rotate.
Further, the gravity suspension device 4 includes: the top of the follow-up frame 41 is provided with a plurality of inverted air feet 40, an air film is formed between the plurality of inverted air feet 40 and the passive air floating platform 5 to realize an air floating structure, the counterweight frame 45 is positioned outside the follow-up frame 41 and close to the lower end of the follow-up frame 41, the translation frame 42 is positioned outside the counterweight frame 45 and close to the top end of the counterweight frame 45, the center shafts of the follow-up frame 41, the translation frame 42 and the counterweight frame 45 are superposed, the M air floating pulleys 46 are all fixed on the upper surface of the bottom plate of the translation frame 42, the M air floating pulleys 46 are evenly distributed around the counterweight frame 45, the M air floating pulleys 46 and the M suspension straps 49 are in one-to-one correspondence, one end of the suspension strap 49 is fixedly connected with the bottom plate of the follow-up frame 41, the other end of the suspension strap 49 crosses over the corresponding air floating pulley 46 and extends out of the flat floating pulley 46 to the outside of the balance strap 42 and is fixedly connected with the bottom plate of the counterweight frame 45, two rows of screw nuts 43 are arranged on the lower surface of a top plate of the translation frame 42, a screw slider 44 is arranged at one end of each screw nut 43, the two rows of screw nuts 43 are respectively in threaded connection with two screws 3-2, the two rows of screw sliders 44 are respectively embedded on two suspension guide rails 3-1, when a screw motor 3-3 drives the screws 3-2 to rotate, the translation frame 42 can move along the suspension guide rails 3-1, a laser sensor 48 is arranged inside the counterweight frame 45, the laser sensor 48 is positioned below the translation frame 42, the lifting rope 7 is positioned inside the follow-up frame 41, the tail end of the lifting rope 7 extends out of the lower end of the counterweight frame 45, and the laser sensor 48 is used for collecting the displacement of the lifting rope 7 relative to the middle shaft of the counterweight frame 45.
Further, the counterweight frame 45 includes two layers of counterweight frames parallel to each other, the two layers of counterweight frames are fixedly connected through a plurality of counterweight guide rods, the follow-up frame 41 includes three layers of follow-up frames parallel to each other, and the three layers of follow-up frames are fixedly connected through a plurality of follow-up guide rods.
Further, the translational frame 42 is a rectangular frame structure, a bottom plate is arranged on the bottom surface of the translational frame 42, and air bearings 47 are respectively arranged between the counterweight guide rod and the bottom plate of the translational frame 42 and between the follow-up guide rod and the bottom plate of the translational frame 42.
Further, a butt flange 14 is arranged between the rotating shaft 9 and the small portal frame 1.
Further, a speed reducer is arranged between the screw motor 3-3 and one end of the screw 3-2.
The polar coordinate tracking type air floatation pulley guide counterweight suspension micro-low gravity simulation system adopts polar coordinate type horizontal two-dimensional tracking, better conforms to the motion form of a spacecraft compared with a Cartesian coordinate system, and is simpler and clearer in control logic. The horizontal position of the flexible accessory is tracked in a large-range low-frequency-band low-precision mode through the rocker arm and the suspension device, and tracking in a small-range high-bandwidth high-precision mode is achieved through the passive air floating platform, so that position tracking of large-range movement and small-range vibration of the flexible accessory is achieved, and response speed and tracking precision of tracking are improved. Meanwhile, two-dimensional tracking error measurement is realized through the high-frequency high-precision linear array laser sensor, the tracking error is used as a control signal to control the motor to drive the rocker arm and the suspension device to carry out active tracking, the precision and the response speed of large-range tracking are improved, the motion range required by the air floatation platform is reduced, the size of the air floatation platform is reduced, and the additional inertia brought by the air floatation platform is reduced. The counterweight type suspension device adopting air-floating pulley guiding, the pulley guiding and the radial bearing of the guide rod adopt high-rigidity air films as lubricated air-floating bearings, and compared with a mechanical bearing, the friction is extremely small, the gravity unloading precision is improved, and the interference torque influencing the vertical movement is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a polar coordinate tracking type air-floating pulley guide counterweight suspension micro-low gravity simulation system suspension accessory;
FIG. 2 is a schematic view of a connection structure of a small gantry, a large gantry and a rocker arm;
FIG. 3 is a schematic view of a partial connection structure between the rocker guide rail and the rocker;
FIG. 4(a) is a top view of the rocker arm;
FIG. 4(b) is a bottom view of the rocker arm;
FIG. 5 is a partial schematic view of a rocker arm including segments;
FIG. 6 is a schematic view of the gravity suspension device;
fig. 7 is a schematic structural diagram of the connection of the rotating platform and the rocker arm support.
The device comprises a small portal frame 1, a large portal frame 2, a rocker arm 3, a suspension guide rail 3-1, a lead screw 3-2, a lead screw motor 3-3, a gravity suspension device 4, an inverted air foot 40, a follow-up frame 41, a translation frame 42, a lead screw nut 43, a lead screw slider 44, a balance weight frame 45, an air-floating pulley 46, an air-floating bearing 47, a laser sensor 48, a sling 49, a passive air-floating platform 5, a similar hanger 6, a lifting rope 7, a flexible accessory 8, a rotating shaft 9, a rocker guide rail 10, a linear rail 10-1, a rack 10-2, a guide rail slider 10-3, a rocker guide rail motor 11, a gear 11-1, a rotating platform 12, a turntable slider 12-1, a turntable guide rail 12-2, a rocker support 13 and a butt flange 14.
Detailed Description
The first embodiment is as follows: specifically, the present embodiment is described with reference to fig. 1 to 7, and the polar coordinate tracking air-floating sheave guide counterweight suspension micro-gravity simulation system according to the present embodiment includes: a small portal frame 1, a large portal frame 2, a rocker arm 3, N gravity suspension devices 4, a passive air floating platform 5, a rocker arm guide rail 10 and a rocker arm support 13, wherein N is a positive integer,
one end of the rocker arm 3 is rotatably connected with the upper surface of the small portal frame 1 through a rotating shaft 9, a rocker guide rail 10 is fixed on the upper surface of the large portal frame 2, a rocker support 13 is embedded on the rocker guide rail 10 and can move along the rocker guide rail 10, the upper surface of the rocker support 13 is rotatably connected with a rotating platform 12, the other end of the rocker arm 3 is carried on the rotating platform 12,
the N gravity suspension devices 4 are all arranged on the rocker arm 3 and can move along the length direction of the rocker arm 3, a passive air floatation platform 5 is arranged at the top end of each gravity suspension device 4, an air film is filled between each passive air floatation platform 5 and the top end of each gravity suspension device 4 to realize air floatation connection, a similar hanging bracket 6 is connected below each passive air floatation platform 5 through a hanging rope 7, and the similar hanging bracket 6 is used for hanging the flexible accessories 8 in a hanging mode.
In particular, the method comprises the following steps of,
the rocker guide rail 10 comprises two linear rails 10-1 and a rack 10-2 which are parallel to each other, and the rack 10-2 is located between the two linear rails 10-1 and is in close contact with one linear rail 10-1.
The lower surface of the rocker arm support 13 is fixedly provided with a rocker arm guide rail motor 11 and two guide rail sliders 10-3, the two guide rail sliders 10-3 are respectively embedded on the two linear rails 10-1, the power output end of the rocker arm guide rail motor 11 is sleeved with a gear 11-1, the gear 11-1 is meshed with the rack 10-2, and when the rocker arm guide rail motor 11 drives the gear 11-1 to rotate, the gear 11-1 can move on the rack 10-2 to further drive the rocker arm support 13 to move along the two linear rails 10-1.
The rocker arm 3 is provided with two parallel turntable guide rails 12-2 along the length direction, the two turntable guide rails 12-2 are positioned at the tail end of the lower surface of the rocker arm 3, the upper surface of the rotating platform 12 is provided with two turntable sliding blocks 12-1, and the two turntable sliding blocks 12-1 are respectively embedded on the two turntable guide rails 12-2.
N groups of suspension device driving parts are arranged on the rocker arm 3 along the length direction of the rocker arm, the N groups of suspension device driving parts are positioned in the middle section of the rocker arm 3, each group of suspension device driving parts comprises two suspension guide rails 3-1 arranged along the length direction of the rocker arm 3, a lead screw 3-2 parallel to the two suspension guide rails 3-1 is respectively arranged right above the two suspension guide rails 3-1, one end of each lead screw 3-2 is provided with a lead screw motor 3-3, and the lead screw motors 3-3 are used for driving the lead screws 3-2 to rotate through speed reducers.
The gravity suspension device 4 includes: a follow-up frame 41, a translation frame 42, a counterweight frame 45, M air-float pulleys 46 and M braces 49. The top of the follow-up frame 41 is provided with a plurality of inverted air feet 40, and an air film is formed between the plurality of inverted air feet 40 and the passive air floating platform 5 to realize an air floating structure.
The counterweight frame 45 is positioned outside the follow-up frame 41 and close to the lower end of the follow-up frame 41, the translation frame 42 is positioned outside the counterweight frame 45 and close to the top end of the counterweight frame 45, and the central axes of the follow-up frame 41, the translation frame 42 and the counterweight frame 45 are coincided.
M air supporting pulleys 46 are all fixed on the upper surface of the bottom plate of the translation frame 42, the M air supporting pulleys 46 are evenly distributed around the balance weight frame 45, the M air supporting pulleys 46 correspond to the M hanging strips 49 one by one, one ends of the hanging strips 49 are fixedly connected with the bottom plate of the follow-up frame 41, and the other ends of the hanging strips 49 cross over the corresponding air supporting pulleys 46 and extend out of the translation frame 42 to be fixedly connected with the bottom plate of the balance weight frame 45.
Two rows of screw nuts 43 are arranged on the lower surface of a top plate of the translation frame 42, a screw slider 44 is arranged at one end of each screw nut 43, the two rows of screw nuts 43 are respectively in threaded connection with two screws 3-2, the two rows of screw sliders 44 are respectively embedded on the two suspension guide rails 3-1, the rocker arm 3 penetrates through the gravity suspension device 4 from the translation frame 42, and when the screw motor 3-3 drives the screws 3-2 to rotate, the translation frame 42 can move along the suspension guide rails 3-1.
The laser sensor 48 is arranged inside the counterweight frame 45, the laser sensor 48 is located below the translation frame 42, the lifting rope 7 is located inside the follow-up frame 41, the tail end of the lifting rope 7 extends out of the lower end of the counterweight frame 45, and the laser sensor 48 is used for collecting the displacement of the lifting rope 7 relative to the central axis of the counterweight frame 45.
The counterweight frame 45 comprises two layers of counterweight frames which are arranged in parallel, the two layers of counterweight frames are fixedly connected through a plurality of counterweight guide rods, the follow-up frame 41 comprises three layers of follow-up frames which are arranged in parallel, and the three layers of follow-up frames are fixedly connected through a plurality of follow-up guide rods.
The translational frame 42 is of a rectangular frame structure, a bottom plate is arranged on the bottom surface of the translational frame 42, and air bearings 47 are arranged between the counterweight guide rod and the bottom plate of the translational frame 42 and between the follow-up guide rod and the bottom plate of the translational frame 42.
A butt flange 14 is arranged between the rotating shaft 9 and the small portal frame 1.
The working principle of the embodiment is as follows:
when the suspended flexible accessory 8 horizontally rotates or vibrates, the passive air floating platform 5 horizontally moves with ultralow friction under the traction of the lifting rope 7, the laser sensor 48 measures the change of the two-dimensional horizontal position of the lifting rope 7 relative to the center, the change is used as a control signal to control the rocker guide rail motor 11 to rotate the gear 11-1, and the gear 11-1 and the rack 10-2 are used for driving the rocker support 13 to move horizontally on the big gantry. The relative movement between the rotary platform 12 and the rocker arm 3 is realized through the matching of the rotary platform slider 12-1 and the rotary table guide rail 12-2 and the rotating shaft of the rotary platform 12 and the rocker arm support 13. The translational motion of the rocker arm support 13 is converted into the rotational motion of the rocker arm 3 around the rotating shaft 9, so that the tracking of the rotational motion of the flexible attachment 8 is realized. Meanwhile, the control signal controls the screw motor 3-3 to drive the screw 3-2 to rotate, and the gravity suspension device 4 is driven to translate on the rocker arm through the matching of the suspension guide rail 3-1 and the screw slider 44 through the transmission of the screw 3-2 and the screw nut 43, so that the flexible accessory 8 is tracked along the length direction of the rocker arm 3. The similar hanging bracket 6 is connected below the passive air floating platform 5 through a hanging rope 7 and is connected with the flexible accessory 8, so that the output force of the gravity hanging device 4 is ensured to always pass through the gravity center of the hung flexible accessory 8.
When the suspended flexible attachment 8 performs pitching motion or vibration, the tracking method of the position change in the two-dimensional polar coordinate direction generated thereby is the same as the tracking method when the suspended flexible attachment 8 performs horizontal rotational motion and vibration, the position change in the vertical direction generated thereby is passively tracked by the air-floating pulley-guided counterweight-type gravity suspension device 4, taking the flexible attachment pitching start as an example, the downward tension applied to the lifting rope 7 is reduced, so that the pressure of the passive air-floating platform 5 on the follow-up frame 41 is reduced, the tension applied to the counterweight frame 45 through the guidance of the air-floating pulley 46 is reduced, the counterweight frame 45 moves downward, so that the follow-up frame 41 is driven to move upward through the guidance of the air-floating pulley 46, and the position tracking of the pitching motion of the flexible attachment 8 is realized. The similar hanging bracket 6 is connected below the passive air floating platform 5 through a hanging rope 7 and is connected with the flexible accessory 8, so that the output force of the gravity hanging device 4 is ensured to always pass through the gravity center of the hung flexible accessory 8.
In the embodiment, the laser linear array sensor is used for measuring the position offset, the rocker arm is driven by the motor to translate on the large gantry through gear and rack transmission, the suspension device is driven by the motor to translate on the rocker arm through the ball screw, and therefore active position tracking is performed. The passive air floating platform is arranged on the inverted air foot above the suspension device, and can realize two-dimensional translation. The similar hanging bracket is connected below the passive air floating platform through a hanging rope and is connected with the flexible accessory, so that the output force of the hanging device is ensured to always pass through the gravity center of a hung object. The invention can more easily realize the control of the tracking of the rotary motion and can realize the high-precision two-dimensional position tracking and gravity unloading.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (10)
1. Polar coordinate tracking formula air supporting pulley direction counter weight suspends little gravity analog system in midair, its characterized in that includes: a small portal frame (1), a large portal frame (2), a rocker arm (3), N gravity suspension devices (4), a passive air floating platform (5), a rocker arm guide rail (10) and a rocker arm support (13), wherein N is a positive integer,
one end of the rocker arm (3) is rotatably connected with the upper surface of the small portal frame (1) through a rotating shaft (9), a rocker guide rail (10) is fixed on the upper surface of the large portal frame (2), a rocker support (13) is embedded on the rocker guide rail (10) and can move along the rocker guide rail (10), the upper surface of the rocker support (13) is rotatably connected with a rotating platform (12), the other end of the rocker arm (3) is carried on the rotating platform (12),
n gravity hanging device (4) all set up on rocking arm (3), and can follow rocking arm (3) length direction and remove, the top of every gravity hanging device (4) all is equipped with one passive air supporting platform (5), it realizes the air supporting connection to be filled with the air film between passive air supporting platform (5) and gravity hanging device (4) top, every passive air supporting platform (5) below all is connected with one similar gallows (6) through lifting rope (7), similar gallows (6) are used for suspending in midair flexible annex (8).
2. The polar coordinate tracking type air-floating pulley guide counterweight suspension micro-gravity simulation system as claimed in claim 1, wherein the rocker guide rail (10) comprises two linear rails (10-1) and a rack (10-2) which are parallel to each other, and the rack (10-2) is located between the two linear rails (10-1) and is in close contact with one linear rail (10-1).
3. The polar coordinate tracking type air-floating pulley guide counterweight suspension micro-gravity simulation system as claimed in claim 2, wherein a rocker guide rail motor (11) and two guide rail sliders (10-3) are fixed to the lower surface of the rocker support (13), the two guide rail sliders (10-3) are respectively embedded on the two linear rails (10-1), a gear (11-1) is sleeved at the power output end of the rocker guide rail motor (11), the gear (11-1) is meshed with the rack (10-2), and when the rocker guide rail motor (11) drives the gear (11-1) to rotate, the gear (11-1) can move on the rack (10-2) to drive the rocker support (13) to move along the two linear rails (10-1).
4. The polar coordinate tracking type air-floating pulley guide counterweight suspension low gravity simulation system according to claim 1, 2 or 3, characterized in that the rocker arm (3) is provided with two parallel turntable guide rails (12-2) along the length direction thereof, the two turntable guide rails (12-2) are positioned at the tail end of the lower surface of the rocker arm (3), the upper surface of the rotating platform (12) is provided with two turntable sliding blocks (12-1), and the two turntable sliding blocks (12-1) are respectively embedded on the two turntable guide rails (12-2).
5. The polar coordinate tracking type air-floating pulley guide counterweight suspension micro-gravity simulation system as claimed in claim 1, wherein N sets of suspension device driving members are arranged on the rocker arm (3) along the length direction of the rocker arm, the N sets of suspension device driving members are located in the middle section of the rocker arm (3), each set of suspension device driving member comprises two suspension guide rails (3-1) arranged along the length direction of the rocker arm (3), a lead screw (3-2) parallel to the two suspension guide rails (3-1) is respectively arranged right above the two suspension guide rails (3-1), one end of each lead screw (3-2) is provided with a lead screw motor (3-3), and the lead screw motors (3-3) are used for driving the lead screws (3-2) to rotate.
6. The polar tracking air-floating pulley guided counterweight suspension micro-low gravity simulation system according to claim 5, characterized in that the gravity suspension device (4) comprises: a follow-up frame (41), a translation frame (42), a counterweight frame (45), M air-float pulleys (46) and M hanging belts (49),
a plurality of inverted air feet (40) are arranged at the top of the follow-up frame (41), an air film is formed between the inverted air feet (40) and the passive air floating platform (5) to realize an air floating structure,
the counterweight frame (45) is positioned outside the follow-up frame (41) and close to the lower end of the follow-up frame (41), the translation frame (42) is positioned outside the counterweight frame (45) and close to the top end of the counterweight frame (45), the middle axes of the follow-up frame (41), the translation frame (42) and the counterweight frame (45) are superposed,
m air-floating pulleys (46) are all fixed on the upper surface of the bottom plate of the translation frame (42), the M air-floating pulleys (46) are evenly distributed around the counterweight frame (45), the M air-floating pulleys (46) are in one-to-one correspondence with M hanging straps (49), one end of each hanging strap (49) is fixedly connected with the bottom plate of the follow-up frame (41), the other end of each hanging strap (49) crosses over the corresponding air-floating pulley (46) and extends out of the translation frame (42) to be fixedly connected with the bottom plate of the counterweight frame (45),
two rows of screw nuts (43) are arranged on the lower surface of a top plate of the translation frame (42), a screw slide block (44) is arranged at the end of each screw nut (43), the two rows of screw nuts (43) are respectively in threaded connection with two screws (3-2), the two rows of screw slide blocks (44) are respectively embedded on the two suspension guide rails (3-1), when the screw motor (3-3) drives the screws (3-2) to rotate, the translation frame (42) can move along the suspension guide rails (3-1),
the laser sensor (48) is arranged inside the counterweight frame (45), the laser sensor (48) is located below the translation frame (42), the lifting rope (7) is located inside the follow-up frame (41), the tail end of the lifting rope (7) extends out of the lower end of the counterweight frame (45), and the laser sensor (48) is used for collecting the displacement of the lifting rope (7) relative to the middle shaft of the counterweight frame (45).
7. The polar coordinate tracking type air-floating pulley guide counterweight suspension low gravity simulation system as claimed in claim 6, wherein the counterweight frame (45) comprises two layers of counterweight frames which are arranged in parallel, the two layers of counterweight frames are fixedly connected through a plurality of counterweight guide rods, the follow-up frame (41) comprises three layers of follow-up frames which are arranged in parallel, and the three layers of follow-up frames are fixedly connected through a plurality of follow-up guide rods.
8. The polar coordinate tracking type air-floating pulley guide counterweight suspension micro-gravity simulation system as claimed in claim 7, wherein the translation frame (42) is a rectangular frame structure, a bottom plate is arranged on the bottom surface of the translation frame (42), and air-floating bearings (47) are respectively arranged between the counterweight guide rod and the bottom plate of the translation frame (42) and between the follow-up guide rod and the bottom plate of the translation frame (42).
9. The polar coordinate tracking type air-floating pulley guide counterweight suspension micro-low gravity simulation system as claimed in claim 1, wherein a butt flange (14) is arranged between the rotating shaft (9) and the small portal frame (1).
10. The polar coordinate tracking type air-floating pulley guide counterweight suspension low gravity simulation system as claimed in claim 5, wherein a speed reducer is further arranged between the lead screw motor (3-3) and one end of the lead screw (3-2).
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| CN114005551A (en) * | 2021-10-28 | 2022-02-01 | 中国科学院合肥物质科学研究院 | Rocker guide rail device for neutral beam injection heating system of nuclear fusion device |
| CN114408231A (en) * | 2022-03-10 | 2022-04-29 | 天津航天机电设备研究所 | Air-floating type full-angle multi-level zero-gravity unloading system |
| CN114633904A (en) * | 2022-03-14 | 2022-06-17 | 哈尔滨工业大学 | Automatic leveling type heavy-load plane microgravity simulation platform |
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| CN114633904A (en) * | 2022-03-14 | 2022-06-17 | 哈尔滨工业大学 | Automatic leveling type heavy-load plane microgravity simulation platform |
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