CN114248241B - Six-degree-of-freedom satellite control moment gyro mounting equipment - Google Patents
Six-degree-of-freedom satellite control moment gyro mounting equipment Download PDFInfo
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- CN114248241B CN114248241B CN202111552818.0A CN202111552818A CN114248241B CN 114248241 B CN114248241 B CN 114248241B CN 202111552818 A CN202111552818 A CN 202111552818A CN 114248241 B CN114248241 B CN 114248241B
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- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000009434 installation Methods 0.000 claims abstract description 19
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 32
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000002131 composite material Substances 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 229910052757 nitrogen Inorganic materials 0.000 claims description 16
- 235000004443 Ricinus communis Nutrition 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005493 welding type Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Measuring And Other Instruments (AREA)
Abstract
The invention provides six-degree-of-freedom satellite control moment gyro mounting equipment, wherein a lead screw lifting mechanism is arranged on a two-dimensional horizontal adjustment base, and can horizontally move in the front-back direction and the left-right direction on the two-dimensional horizontal adjustment base; the three-axis rotating mechanism is arranged at one end of the screw rod lifting mechanism, which is far away from the two-dimensional horizontal adjustment base, and is lifted through the screw rod lifting mechanism; the two-dimensional horizontal fine adjustment mechanism is arranged on the three-axis rotating mechanism, and can rotate around the rotating shafts in three directions through the three-axis rotating mechanism; the switching tool is arranged on the two-dimensional horizontal fine adjustment mechanism, and can move in the front-back direction and the left-right direction through the two-dimensional horizontal fine adjustment mechanism; the switching frock is used for providing the installation interface between its and the control moment top for equipment. The device has compact structure and strong universality, and is suitable for the installation operation of various products such as satellite control moment gyroscopes and the like.
Description
Technical Field
The invention relates to the technical field of satellite control, in particular to six-degree-of-freedom satellite control moment gyro mounting equipment, and especially relates to generalized multi-degree-of-freedom adjustable control moment gyro mounting equipment.
Background
The control moment gyroscopes of the satellite are generally arranged on a mounting plate at the bottom of the satellite, the periphery of the satellite is surrounded by a bearing cylinder, the whole satellite is required to be lifted to a certain height during the installation, and a plurality of control moment gyroscopes are integrally and inversely arranged in the bearing cylinder after being fixedly arranged on the mounting plate. Because of the structural layout of certain types of satellites, the control moment gyro shields the connecting holes of the moment gyro mounting plate and the star, so that a conventional integral mounting process method cannot be adopted, and the control moment gyro mounting plate is required to be mounted first and then the control moment gyro is required to be mounted. When the moment gyroscopes are independently installed, the requirement on the accuracy of the installation position is high, the butting operation is carried out in the bearing barrel, the operation space is narrow, the gap between the moment gyroscopes is small, and the collision risk exists, so that the requirement on the moment gyroscope star mounting equipment is higher, and the multi-degree-of-freedom and high-precision fine adjustment capability needs to be met.
At present, the process equipment for controlling the star loading of the moment gyroscope is suitable for controlling the whole star loading mode of the moment gyroscope and the mounting plate, and lacks equipment suitable for controlling the single installation of the moment gyroscope.
The patent document with the publication number of CN107336847B discloses a satellite CMG group mounting structure, which belongs to the technical field of spacecraft structures and comprises a base, a plurality of side plates and at least one top plate; the side plates are provided with CMG mounting interfaces and CMG avoiding holes, at least three side plates are connected to form a prismatic table structure, the bottoms of the side plates are connected with the base, and the tops of the side plates are connected with the top plate. However, the patent document still has the defect that the method is not suitable for controlling the installation of moment gyro monomers.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide six-degree-of-freedom satellite control moment gyro mounting equipment.
The invention provides six-degree-of-freedom satellite control moment gyro mounting equipment which comprises a two-dimensional horizontal adjustment base, a screw lifting mechanism, a three-axis rotating mechanism, a two-dimensional horizontal fine adjustment mechanism and an adapting tool;
the screw rod lifting mechanism is arranged on the two-dimensional horizontal adjustment base, and can horizontally move in the front-back direction and the left-right direction on the two-dimensional horizontal adjustment base;
the three-axis rotating mechanism is arranged at one end of the screw rod lifting mechanism, which is far away from the two-dimensional horizontal adjustment base, and the three-axis rotating mechanism lifts through the screw rod lifting mechanism;
the two-dimensional horizontal fine adjustment mechanism is arranged on the three-axis rotating mechanism, and can rotate around three-direction rotating shafts through the three-axis rotating mechanism;
the switching tool is arranged on the two-dimensional horizontal fine adjustment mechanism, and the switching tool can move in the front-back direction and the left-right direction through the two-dimensional horizontal fine adjustment mechanism;
the switching frock is used for providing the installation interface between its and the control moment top for equipment.
Preferably, the two-dimensional leveling base comprises an upper layer frame and a lower layer frame;
an upper layer linear guide rail and an upper layer trapezoidal screw rod are arranged on the upper layer frame, and a lower layer linear guide rail and a lower layer trapezoidal screw rod are arranged on the lower layer frame;
the upper layer linear guide rail and the upper layer trapezoidal screw are vertically distributed with the lower layer linear guide rail and the lower layer trapezoidal screw;
the upper layer frame is arranged on the sliding block of the lower layer linear guide rail and is connected with the lower layer trapezoidal screw rod through a screw rod nut;
the screw rod lifting mechanism is arranged on the sliding block of the upper layer linear guide rail.
Preferably, the periphery of the lower layer frame is provided with supporting feet and universal casters;
the height of the supporting foot can be adjusted, and the supporting foot and the universal castor are used for transferring and parking equipment.
Preferably, the upper layer frame and the lower layer frame are both of square steel tube welded frame structures.
Preferably, the screw lifting mechanism comprises a supporting frame, a lifter, a lifting platform, a guide post and a linear bearing;
the bottom of the supporting frame is connected with the sliding block of the upper-layer linear guide rail and is connected with the upper-layer trapezoidal screw rod through a screw rod nut;
the lifting platform is arranged on the lifting machine;
the linear bearing is arranged at the top of the supporting frame, the guide post penetrates through the linear bearing, the guide post penetrates through the supporting frame through the linear bearing, and the guide post is arranged on the supporting frame in a sliding manner through the linear bearing;
one end of the guide post is connected and arranged on the lifting platform, and the guide post is used for guiding the lifting platform during vertical movement.
Preferably, the triaxial rotating mechanism comprises a biaxial rotating platform and a uniaxial rotating platform;
the single-shaft rotating platform is arranged on the two-shaft rotating platform, and the lifting platform is connected with the two-shaft rotating platform;
the two-dimensional horizontal fine adjustment mechanism realizes 5-degree rotation around an X axis, 5-degree rotation around a Y axis and 10-degree rotation around a Z axis through the two-axis rotating platform and the single-axis rotating platform.
Preferably, the two-axis rotating platform comprises a mounting plate, a composite rotating hinge and an adjustable support column;
one end of the composite rotary hinge is connected to one side of the mounting plate, and the other end of the composite rotary hinge is connected with the lifting platform;
one end of the adjustable support column is connected with the other side of the mounting plate, and the other end of the adjustable support column is connected with the lifting platform;
the single-shaft rotating platform is mounted on the mounting plate.
Preferably, the single-shaft rotating platform comprises a connecting plate, a Z-direction rotating shaft, a screw adjusting assembly and a nitrogen spring feedback assembly;
the Z-direction rotating shaft is arranged below the connecting plate, and the outer wall of the Z-direction rotating shaft is connected with the mounting plate in a matched manner;
the two ends of the screw adjusting component are respectively connected with the mounting plate and the connecting plate; the connecting plate rotates around a Z axis through the screw adjusting assembly;
two ends of the nitrogen spring feedback assembly are respectively connected with the mounting plate and the connecting plate; the nitrogen spring feedback assembly is used for adjusting force feedback brought by the connecting plate when the connecting plate rotates around the Z axis.
Preferably, the two-dimensional horizontal fine adjustment mechanism comprises a manual sliding table and an adapter plate;
the manual sliding table is arranged on the connecting plate; the adapter plate is arranged on the butt joint surface of the manual sliding table and is used for connecting products or tools.
Preferably, the switching tool comprises a mounting base and a connecting rod;
the connecting rod is arranged on the mounting base, and the mounting base is arranged on the adapter plate; the connecting rod is used for connecting products;
the rotatable lifting ring is arranged on the mounting base and used for integrally turning over the tool and the product, and the rotatable lifting ring is mounted on the adapter plate after the tool and the product are turned over.
Compared with the prior art, the invention has the following beneficial effects:
1. the device has compact structure and strong universality, and is suitable for the installation operation of various products such as satellite control moment gyroscopes and the like;
2. the invention fills the blank of satellite control moment gyro single body star loading equipment, reasonably distributes the degrees of freedom of each moment gyro, adopts the design scheme of a star loading device with lower triaxial movement, upper attitude rotation and top tail end fine adjustment, arranges three degrees of freedom of rotary motion and fine adjustment functions at the movable end nearest to a product, reduces the rotary radius, ensures that the whole structure of the equipment is more compact, and ensures that the rotary adjustment and final positioning of a control moment gyro are more reliable and convenient;
3. the invention improves the adjusting efficiency and reduces the influence of the gesture adjustment on the position freedom degree to the greatest extent.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is an ongoing view of a six degree of freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
FIG. 2 is a top view of a six degree of freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
FIG. 3 is a front view of a three-axis rotation mechanism of a six degree-of-freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
FIG. 4 is a side view of a three-axis rotation mechanism of a six degree-of-freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
FIG. 5 is a top view of a three-axis rotation mechanism of a six degree-of-freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
FIG. 6 is a side view of a two-dimensional horizontal fine adjustment mechanism of a six degree of freedom satellite control moment gyro mounting apparatus according to one embodiment of the present invention;
fig. 7 is a side view of an adapter fixture of a six-degree-of-freedom satellite control moment gyro mounting apparatus according to an embodiment of the present invention.
Schematic in the figure:
composite rotary hinge 19 for supporting foundation 1
Universal castor 2 hinge X-direction rotating shaft 20
Y-direction rotating shaft 21 of armrest 3 hinge
Universal joint 22 of lower frame 4
Upper frame 5 adjusting column base 23
Ratchet handle 24 of lower linear guide 6
Upper layer linear guide 7 connecting plate 25
Lower trapezoidal screw 8Z faces the rotating shaft 26
Screw adjusting assembly 27 of upper trapezoidal screw 9
Support frame 10 nitrogen spring feedback assembly 28
Manual slipway 29 of elevator 11
Lifting platform 12 adapter plate 30
Guide post 13 mounting base 31
Connecting rod 32 of linear bearing 14
Rotatable lifting ring 33 of triaxial rotating mechanism 15
Two-dimensional horizontal fine adjustment mechanism 16 butterfly nut 34
Switching frock 17 handle 35
Mounting plate 18
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
the embodiment provides six-degree-of-freedom satellite control moment gyro mounting equipment, which comprises a two-dimensional horizontal adjustment base, a screw lifting mechanism, a three-axis rotating mechanism 15, a two-dimensional horizontal fine adjustment mechanism 16 and a switching tool 17. The lead screw elevating system sets up on two-dimensional level adjustment base, lead screw elevating system can carry out the horizontal migration of fore-and-aft direction, left and right directions on two-dimensional level adjustment base, triaxial rotary mechanism 15 sets up the one end that two-dimensional level adjustment base was kept away from at lead screw elevating system, triaxial rotary mechanism 15 goes up and down through lead screw elevating system, two-dimensional level fine-tuning 16 sets up on triaxial rotary mechanism 15, two-dimensional level fine-tuning 16 can realize the rotation around three direction pivot through triaxial rotary mechanism 15, transfer frock 17 sets up on two-dimensional level fine-tuning 16, transfer frock 17 can realize the removal of fore-and-aft direction, left and right directions through two-dimensional level fine-tuning 16, transfer frock 17 is used for providing the installation interface between its and the control moment top for equipment.
The two-dimensional leveling base comprises an upper frame 5 and a lower frame 4. The upper frame 5 is provided with an upper layer linear guide rail 7 and an upper layer trapezoidal screw rod 9, the lower layer frame 4 is provided with a lower layer linear guide rail 6 and a lower layer trapezoidal screw rod 8, the upper layer linear guide rail 7 and the upper layer trapezoidal screw rod 9 are vertically distributed with the lower layer linear guide rail 6 and the lower layer trapezoidal screw rod 8, the upper layer frame 5 is mounted on a slide block of the lower layer linear guide rail 6 and connected with the lower layer trapezoidal screw rod 8 through screw rod nuts, and a screw rod lifting mechanism is mounted on the slide block of the upper layer linear guide rail 7. The periphery of the lower frame 4 is provided with a supporting foot 1 and a universal castor 2, the height of the supporting foot 1 can be adjusted, and the supporting foot 1 and the universal castor 2 are used for transferring and parking equipment. The upper layer frame 5 and the lower layer frame 4 are both frame structures welded by square steel pipes.
The screw lifting mechanism comprises a supporting frame 10, a lifter 11, a lifting platform 12, a guide post 13 and a linear bearing 14. The bottom of braced frame 10 is connected with the slider of upper frame 5, be connected with upper trapezoid lead screw 9 through the lead screw nut, lift 11 installs at braced frame 10's top, lift platform 12 sets up on lift 11, linear bearing 14 sets up at braced frame 10's top, guide post 13 passes linear bearing 14, guide post 13 passes braced frame 10 through linear bearing 14, guide post 13 passes linear bearing 14 and slides and set up on braced frame 10, the one end connection of guide post 13 sets up on lift platform 12, guide when guide post 13 is used for lift platform 12 vertical motion.
The triaxial rotary mechanism 15 includes a biaxial rotary platform and a uniaxial rotary platform, the uniaxial rotary platform is arranged on the biaxial rotary platform, the lifting platform 12 is connected with the biaxial rotary platform, and the two-dimensional horizontal fine adjustment mechanism 16 realizes 5-degree rotation around the X-axis, 5-degree rotation around the Y-axis and 10-degree rotation around the Z-axis through the biaxial rotary platform and the uniaxial rotary platform. The two-axis rotating platform comprises a mounting plate 18, a composite rotating hinge 19 and an adjustable support column, one end of the composite rotating hinge 19 is connected to one side of the mounting plate 18, the other end of the composite rotating hinge 19 is connected with the lifting platform 12, one end of the adjustable support column is connected with the other side of the mounting plate 18, the other end of the adjustable support column is connected with the lifting platform 12, and the single-axis rotating platform is mounted on the mounting plate 18. The single-shaft rotating platform comprises a connecting plate 25, a Z-direction rotating shaft 26, a screw adjusting assembly 27 and a nitrogen spring feedback assembly 28, wherein the Z-direction rotating shaft 26 is arranged below the connecting plate 25, the outer wall of the Z-direction rotating shaft 26 is connected with a mounting plate 18 in a matched mode, two ends of the screw adjusting assembly 27 are respectively connected with the mounting plate 18 and the connecting plate 25, the connecting plate 25 rotates around the Z axis through the screw adjusting assembly 27, two ends of the nitrogen spring feedback assembly 28 are respectively connected with the mounting plate 18 and the connecting plate 25, and the nitrogen spring feedback assembly 28 is used for adjusting force feedback caused when the connecting plate 25 rotates around the Z axis.
The two-dimensional horizontal fine adjustment mechanism 16 comprises a manual sliding table 29 and an adapter plate 30, and the manual sliding table 29 is arranged on the connecting plate 25; the adapter plate 30 is installed on the butt joint face of the manual sliding table 29, and the adapter plate 30 is used for connecting products or tools. The switching tool 17 comprises a mounting base 31 and a connecting rod 32, the connecting rod 32 is mounted on the mounting base 31, and the mounting base 31 is mounted on the switching plate 30; the rotatable hanging ring 33 is arranged on the mounting base 31, the rotatable hanging ring 33 is used for integrally turning over the tool and the product, and the rotatable hanging ring 33 is mounted on the adapter plate 30 after turning over.
Example 2:
the present embodiment will be understood by those skilled in the art as a more specific description of embodiment 1.
The embodiment provides a novel six degrees of freedom satellite control moment top erection equipment, includes: the two-dimensional horizontal adjustment base, the lead screw elevating system, triaxial rotary mechanism 15, two-dimensional horizontal fine setting mechanism 16 and switching frock 17, lead screw elevating system can carry out horizontal migration around on two-dimensional horizontal adjustment base, and bear other structural component at its top, triaxial rotary mechanism 15 bears two-dimensional horizontal fine setting mechanism 16 and switching frock 17 of its top, can realize the rotation around three direction pivot, two-dimensional horizontal fine setting mechanism 16 can bear switching frock 17 and realize the short distance accurate motion in fore-and-aft, left-right direction, switching frock 17 provides the installation interface between its and the control moment top for equipment, and provide sufficient operating space.
The two-dimensional horizontal adjustment base comprises an upper layer and a lower layer, which are respectively an upper layer frame 5 and a lower layer frame 4, and are of square steel tube welded frame structures, each layer is provided with a linear guide rail sliding block and a trapezoidal screw mechanism, the upper layer frame 5 is provided with an upper layer linear guide rail 7 sliding block and an upper layer trapezoidal screw 9 mechanism, the lower layer frame 4 is provided with a lower layer linear guide rail 6 sliding block and a lower layer trapezoidal screw 8 mechanism, the upper layer linear guide rails and the trapezoidal screws of the upper layer and the lower layer are vertically arranged, the upper layer frame 5 is mounted on the lower layer linear guide rail 6 sliding block and connected with the lower layer trapezoidal screw 8 through screw nuts, and can integrally move along the direction of the lower layer linear guide rail 6, the periphery of the lower layer frame 4 is provided with a supporting foot 1, a universal caster 2 and a handrail 3 which are used for equipment transportation and parking, and the sliding block of the upper layer linear guide rail 7 is provided with a screw lifting mechanism which can integrally move along the direction of the upper layer linear guide rail 7.
The screw lifting mechanism comprises a supporting frame 10, a lifter 11, a lifting platform 12 and a guide post 13, wherein the supporting frame 10 is of a square steel pipe welding cube structure, a steel plate platform is installed at the top, four linear bearings 14 are arranged on the opening of the platform, the bottom of the steel plate platform is connected with a sliding block of an upper linear guide rail 7 of a two-dimensional horizontal adjusting base, the steel plate platform is fixedly installed on the steel plate platform through a screw nut and an upper trapezoidal screw 9, a connecting flange is arranged at the top, a hand wheel is arranged on the side face of the steel plate platform, the connecting flange can be vertically moved through the rotating hand wheel, the lifting platform 12 is installed on the connecting flange of the lifter 11, four cylindrical polished rods are arranged on one end of the guide post 13, the bottom surface of the lifting platform 12 is provided with one end, and the cylindrical body penetrates through the linear bearings 14 for guiding when the lifting platform 12 vertically moves, and shaking of the platform is prevented.
The three-axis rotating mechanism 15 is composed of a two-axis rotating platform and a single-axis rotating platform, and is used for realizing 5-degree rotation of the mechanism and the product installed on the mechanism around the X axis, 5-degree rotation around the Y axis and 10-degree rotation around the Z axis.
The two-axis rotating platform consists of a mounting plate 18, a group of composite rotating hinges 19 and a pair of adjustable support columns, wherein a round hole is formed in the mounting plate 18 and used for mounting the single-axis rotating platform, the composite rotating hinges 19 are mounted on one side of the mounting plate 18, one end of each composite rotating hinge is connected with the lifting platform 12 and can rotate around two direction rotating shafts of the composite rotating hinges X, Y, the adjustable support columns are of a basket bolt type structure, one end of each adjustable support column is a universal joint 22 with a threaded shaft and is connected with the other side of the mounting plate 18, the other end of each adjustable support column is a base with a threaded shaft and is connected with the lifting platform 12, the middle of each adjustable support column is a ratchet handle 24 with internal threads, the height of one side of the mounting plate 18 can be adjusted by rotating the ratchet handles, and the X, Y-direction rotating angles of the mounting plate 18 can be changed by matching with the composite hinges.
The single-shaft rotating platform consists of a connecting plate 25, a Z-direction rotating shaft 26, a screw adjusting assembly 27 and a nitrogen spring feedback assembly 28, wherein the Z-direction rotating shaft 26 is arranged below the connecting plate 25, the outer wall of the Z-direction rotating shaft is matched with a round hole in a mounting plate 18 of the two-shaft rotating platform, the screw adjusting assembly 27 comprises a screw, nuts at two ends and a ratchet handle 24 at the head, the nuts at one end are fixed on the mounting plate 18 of the two-shaft rotating platform, the nuts at the other end are fixed on the connecting plate 25, the relative positions of the screws and the nuts can be adjusted by rotating the ratchet handle 24, the connecting plate 25 is driven to rotate around the Z-axis, the nitrogen spring feedback assembly 28 comprises a nitrogen spring and fixing clips at two ends, the fixing clips at one end are fixed on the mounting plate 18 of the two-shaft rotating platform, and the fixing clips at the other end are fixed on the connecting plate 25 and used for adjusting the connecting plate 25 to feed back a certain force when rotating around the Z-axis.
The two-dimensional horizontal fine adjustment mechanism 16 comprises a manual sliding table 29 and an adapter plate 30, wherein the manual sliding table 29 is arranged on a connecting plate 25 of the single-shaft rotary platform, high-precision fine adjustment of the front, back, left and right directions of the abutting surface of the sliding table can be realized by rotating a handle of the manual sliding table 29, and the adapter plate 30 is arranged on the abutting surface of the manual sliding table 29 and is used for being connected with a product or a tool.
The switching frock 17 includes installation base 31 and connecting rod 32, the installation base 31 comprises a bottom plate, the vertical curb plate and the strengthening rib of both sides, it has the through-hole to open vertical direction on the curb plate for installation connecting rod 32, the both sides set up rotatable rings 33, be used for frock and product whole standing up, install in the keysets 30 of two-dimensional horizontal fine setting mechanism 16 after standing up, connecting rod 32 both ends are the screw post, one end is used for docking with the screw on the product, the other end is used for passing through butterfly nut 34 after the through-hole on the curb plate is fixed, be provided with spacing boss near installation base 31 one side for the location on the vertical direction of installation pole, prevent that the product from colliding with installation base 31.
Example 3:
the present embodiment will be understood by those skilled in the art as a more specific description of embodiment 1.
The embodiment provides a six-degree-of-freedom control moment gyro installation equipment which is compact in structure, reliable and convenient in adjustment mode, high in positioning accuracy, capable of improving adjustment efficiency, reducing the influence of attitude adjustment on the degree of freedom of the position to the greatest extent, and capable of filling the blank of satellite control moment gyro single body satellite loading equipment.
Referring to fig. 1 to 7, the present embodiment provides a six-degree-of-freedom control moment gyro mounting apparatus, which includes a support foot 1, a castor 2, a handrail 3, a two-dimensional horizontal adjustment base, a screw lifting mechanism, a three-axis rotation mechanism 15, a two-dimensional horizontal fine adjustment mechanism 16, and a transfer tool 17.
The lower layer frame 4 of the two-dimensional horizontal adjustment base is of a steel pipe welding type frame structure, four universal casters 2 are arranged at four corners, two supporting feet 1 are respectively arranged at two sides in the X direction, and a handrail 3 is arranged at one side in the Y direction. The lower linear guide rail 6 and the lower trapezoidal screw 8 are arranged on the frame in parallel and are used for moving the upper frame 5 along the X direction.
The upper frame 5 is also of a steel pipe welding type frame structure, has a smaller size than the lower frame 4, and is connected with the lower frame 4 through a lower linear guide rail 6. An upper layer linear guide rail 7 and an upper layer trapezoidal screw rod 9 are parallelly arranged on the upper layer frame 5, the direction is perpendicular to the lower layer linear guide rail 6, and a screw rod lifting mechanism arranged on the upper layer frame is used for moving along the Y direction.
The support frame 10 at the lower part of the screw lifting mechanism is of a steel pipe welding type cube structure and is used as a main body bearing structure, and the lower part of the support frame is connected with the upper frame 5 through the upper linear guide rail 7. The top of the supporting frame 10 is provided with a steel plate, the lifter 11 is fixed on the steel plate, and the screw shaft of the lifter penetrates through the steel plate and stretches into the supporting frame 10. A lifting platform 12 is arranged above the lifter 11, and a guide post 13 is respectively connected below four corners of the platform and used for guiding up-and-down movement. The four corners of the steel plate at the top of the supporting frame 10 are respectively provided with a linear bearing 14, and the guide posts 13 penetrate through the linear bearings 14 and extend into the supporting frame 10, so that the stability of the lifting platform 12 in the lifting process is ensured. A stainless steel sealing plate is installed on the periphery of the supporting frame 10 to ensure the safety of the equipment.
The triaxial rotating mechanism 15 is divided into a biaxial rotating platform and a uniaxial rotating platform. The two-axis rotating platform consists of a mounting plate 18, a composite hinge 19 and an adjustable support column. Three hinges are arranged below one side of the mounting plate 18, wherein the upper hinge and the middle hinge are connected through a hinge X-direction rotating shaft 20 in the form of cylindrical pins, the middle hinge and the lower hinge are connected through a hinge Y-direction rotating shaft 21 in the form of two cylindrical pins, and the mounting plate 18 can realize rotary motion around X-axis and Y-axis through a composite rotary hinge 19. The lower parts of two corners of the other side of the mounting plate 18 are connected with a universal joint 22, an external threaded rod is arranged below the universal joint 22, one end of an internal threaded sleeve screwed into a ratchet handle 24 is screwed into the external threaded rod of an adjusting column base 23, and the other end of the internal threaded sleeve is screwed into the external threaded rod. The external thread of the universal joint 22 is opposite to the external thread of the adjusting column base 23, and the upper and lower internal threads of the sleeve of the ratchet handle 24 are corresponding to the external thread and the external thread. The overall height of the assembly can be adjusted by rotating the two ratchet handles 24, and the different height combinations can drive the mounting plate 18 to rotate about the X-axis 20 and Y-axis 21.
The single-shaft rotating platform consists of a connecting plate 25, a Z-direction rotating shaft 26, a screw adjusting component 27 and a nitrogen spring feedback component 28. The Z-direction rotating shaft 26 is a sleeve with a flange, the upper surface of the flange is provided with a connecting plate 25, the outer surface of the sleeve is matched with a circular through hole formed in the mounting plate 18, and the outer surface and the hole wall are subjected to finish machining, so that the Z-direction rotating shaft 26 is ensured to be smooth during rotation. The screw adjusting component 27 is mounted on one side of the connecting plate 25, and comprises a screw, nuts at two ends and a ratchet handle at the head, wherein the nuts at one end are fixed on the mounting plate 18, the nuts at the other end are fixed on the connecting plate 25, the screw threads at the two ends are opposite in screwing direction, and the screw threads at the corresponding ends are identical to the screw threads at the two ends, namely, the screw threads at the two ends are opposite in screwing direction. The relative position of the two nuts can be adjusted by rotating the ratchet handle at the head of the screw, so that the connecting plate 25 is driven to rotate around the Z-direction rotating shaft 26. The nitrogen spring feedback assembly 28 is mounted on the other side of the connecting plate 25 and comprises a nitrogen spring and two fixing clips, one end of which is fixed to the mounting plate 18 and the other end of which is fixed to the connecting plate 25, and is capable of providing a certain force feedback when the connecting plate 25 rotates around the Z-direction rotating shaft 26.
The two-dimensional horizontal fine adjustment mechanism 16 includes a manual slide table 29 and an adapter plate 30. The manual sliding table 29 is provided with two-direction adjusting handles, and the rotating handles can drive the adapter plate 30 arranged on the sliding table to realize high-precision displacement in the front-back direction and the left-right direction. The adapter plate 30 is provided with a notch near the handle side of the manual sliding table 29, so that manual operation is facilitated.
The adapting tooling 17 mainly comprises a mounting base 31 and a connecting rod 32. The connecting rod 32 has threaded columns at both ends, one end is used for butt joint with a screw hole on the control moment gyro, and the other end is used for fixing through a butterfly nut 34 after passing through a through hole on a side plate of the mounting base 31. Rotatable rings 33 are arranged on two sides of the mounting base 31 and used for realizing integral turning after the fixture is connected with a product, and handles 35 are arranged on two sides of the bottom, so that turning operation is facilitated. The mounting base 31 is connected with the adapter plate 30 after turning over, and a gap is reserved on the side of the adjusting handle close to the manual sliding table 29, so that the sliding table is convenient to finely adjust.
The device has compact structure and strong universality, and is suitable for the installation operation of various products such as satellite control moment gyroscopes and the like.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (5)
1. The six-degree-of-freedom satellite control moment gyro mounting device is characterized by comprising a two-dimensional horizontal adjustment base, a screw lifting mechanism, a triaxial rotating mechanism (15), a two-dimensional horizontal fine adjustment mechanism (16) and an adapting tool (17);
the screw rod lifting mechanism is arranged on the two-dimensional horizontal adjustment base, and can horizontally move in the front-back direction and the left-right direction on the two-dimensional horizontal adjustment base;
the three-axis rotating mechanism (15) is arranged at one end of the screw rod lifting mechanism, which is far away from the two-dimensional horizontal adjusting base, and the three-axis rotating mechanism (15) lifts through the screw rod lifting mechanism;
the two-dimensional horizontal fine adjustment mechanism (16) is arranged on the three-axis rotation mechanism (15), and the two-dimensional horizontal fine adjustment mechanism (16) can realize rotation around three-direction rotating shafts through the three-axis rotation mechanism (15);
the switching tool (17) is arranged on the two-dimensional horizontal fine adjustment mechanism (16), and the switching tool (17) can move in the front-back direction and the left-right direction through the two-dimensional horizontal fine adjustment mechanism (16);
the switching tool (17) is used for providing an installation interface between the switching tool and the control moment gyro for equipment;
the two-dimensional horizontal adjustment base comprises an upper layer frame (5) and a lower layer frame (4);
an upper layer linear guide rail (7) and an upper layer trapezoidal screw (9) are arranged on the upper layer frame (5), and a lower layer linear guide rail (6) and a lower layer trapezoidal screw (8) are arranged on the lower layer frame (4);
the upper layer linear guide rail (7) and the upper layer trapezoidal screw (9) are vertically distributed with the lower layer linear guide rail (6) and the lower layer trapezoidal screw (8);
the upper frame (5) is arranged on a sliding block of the lower linear guide rail (6) and is connected with the lower trapezoidal screw (8) through a screw rod nut;
the screw rod lifting mechanism is arranged on a sliding block of the upper linear guide rail (7);
the screw lifting mechanism comprises a supporting frame (10), a lifter (11), a lifting platform (12), a guide post (13) and a linear bearing (14);
the bottom of the supporting frame (10) is connected with the sliding block of the upper-layer linear guide rail (7) and is connected with the upper-layer trapezoidal screw (9) through a screw nut;
the lifter (11) is arranged on the top of the supporting frame (10), and the lifting platform (12) is arranged on the lifter (11);
the linear bearing (14) is arranged at the top of the supporting frame (10), the guide post (13) passes through the linear bearing (14), the guide post (13) passes through the supporting frame (10) through the linear bearing (14), and the guide post (13) is arranged on the supporting frame (10) in a sliding way through the linear bearing (14);
one end of the guide column (13) is connected and arranged on the lifting platform (12), and the guide column (13) is used for guiding the lifting platform (12) during vertical movement;
the triaxial rotating mechanism (15) comprises a biaxial rotating platform and a uniaxial rotating platform;
the single-shaft rotating platform is arranged on the two-shaft rotating platform, and the lifting platform (12) is connected with the two-shaft rotating platform;
the two-dimensional horizontal fine adjustment mechanism (16) realizes 5-degree rotation around an X axis, 5-degree rotation around a Y axis and 10-degree rotation around a Z axis through the two-axis rotating platform and the single-axis rotating platform;
the two-axis rotating platform comprises a mounting plate (18), a composite rotating hinge (19) and an adjustable support column;
one end of the composite rotary hinge (19) is connected to one side of the mounting plate (18), and the other end of the composite rotary hinge (19) is connected with the lifting platform (12);
one end of the adjustable support column is connected with the other side of the mounting plate (18), and the other end of the adjustable support column is connected with the lifting platform (12);
the single-axis rotating platform is mounted on the mounting plate (18);
the single-shaft rotating platform comprises a connecting plate (25), a Z-direction rotating shaft (26), a screw adjusting assembly (27) and a nitrogen spring feedback assembly (28);
the Z-direction rotating shaft (26) is arranged below the connecting plate (25), and the outer wall of the Z-direction rotating shaft (26) is connected with the mounting plate (18) in a matching way;
two ends of the screw adjusting component (27) are respectively connected with the mounting plate (18) and the connecting plate (25); the connecting plate (25) rotates around the Z axis through the screw adjusting assembly (27);
two ends of the nitrogen spring feedback assembly (28) are respectively connected with the mounting plate (18) and the connecting plate (25); the nitrogen spring feedback assembly (28) is used for adjusting force feedback caused by rotation of the connecting plate (25) around the Z axis.
2. The six degree of freedom satellite control moment gyro mounting apparatus according to claim 1, characterized in that the periphery of the lower frame (4) is mounted with a support foot (1) and a castor (2);
the height of the supporting foot (1) can be adjusted, and the supporting foot (1) and the universal castor (2) are used for transferring and parking equipment.
3. Six degree of freedom satellite control moment gyro mounting equipment according to claim 1, characterized in that the upper frame (5) and the lower frame (4) are both square steel tube welded frame structures.
4. The six degree of freedom satellite control moment gyro mounting apparatus of claim 1 wherein the two dimensional horizontal fine adjustment mechanism (16) comprises a manual slip table (29) and an adapter plate (30);
the manual sliding table (29) is arranged on the connecting plate (25); the adapter plate (30) is arranged on the abutting surface of the manual sliding table (29), and the adapter plate (30) is used for connecting products or tools.
5. The six degree of freedom satellite control moment gyro mounting apparatus of claim 4 wherein the adapter tooling (17) includes a mounting base (31) and a connecting rod (32);
the connecting rod (32) is arranged on the mounting base (31), and the mounting base (31) is arranged on the adapter plate (30); the connecting rod (32) is used for connecting products;
the rotatable lifting ring (33) is arranged on the mounting base (31), the rotatable lifting ring (33) is used for integrally turning over a tool and a product, and the rotatable lifting ring (33) is mounted on the adapter plate (30) after the tool and the product are turned over.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111552818.0A CN114248241B (en) | 2021-12-17 | 2021-12-17 | Six-degree-of-freedom satellite control moment gyro mounting equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111552818.0A CN114248241B (en) | 2021-12-17 | 2021-12-17 | Six-degree-of-freedom satellite control moment gyro mounting equipment |
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| CN114248241A CN114248241A (en) | 2022-03-29 |
| CN114248241B true CN114248241B (en) | 2024-03-29 |
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| KR100905861B1 (en) * | 2008-10-22 | 2009-07-02 | 하은정 | Supporting device of a block for ship building |
| CN103009337A (en) * | 2012-12-06 | 2013-04-03 | 上海裕达实业公司 | Side plate installing vehicle for omnidirectional fine-tuning satellite instrument |
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|---|---|
| CN114248241A (en) | 2022-03-29 |
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