CN114408231A - Air-floating type full-angle multi-level zero-gravity unloading system - Google Patents

Abstract

The invention provides an air-floating type full-angle multi-level zero-gravity unloading system which comprises a leveling mechanism arranged on a supporting frame, wherein the leveling mechanism can drive an air-floating main shaft system to linearly displace, the lower end of the air-floating main shaft system is fixedly connected to a wing frame of a flexible solar wing through a suspension unit, the air-floating main shaft system is a solar wing floating suspension bracket, a center alignment unit is arranged at one side of the leveling mechanism and used for detecting the unfolding state of the solar wing, the air-floating main shaft system comprises an air-floating shaft and a plurality of air-floating slide rails rotatably sleeved on the periphery of the air-floating shaft, and one end of each air-floating slide rail is fixedly connected to the wing frame of the solar wing through one suspension unit. The air-floating type full-angle multi-level zero-gravity unloading system is fully passive in the unloading process, each group of air-floating bearings keeps extremely low interference torque in the rotating process, no air pipe interference exists, each suspension point can reach any position in a designated annular area, the area radius coverage range is adjustable, and the spatial layout is compact.

Description

Air-floating type full-angle multi-level zero-gravity unloading system

Technical Field

The invention belongs to the field of aerospace experimental equipment, and particularly relates to an air-floating type full-angle multi-level zero-gravity unloading system.

Background

With the continuous development of aerospace technologies in China, including various types of tasks such as deep space exploration, Mars exploration, moon exploration and the like, the test requirements of carried spacecraft products are higher and higher, and the circular flexible solar wing is taken as a representative, so that the requirements on light weight and unfolding precision are further improved while the sufficient unfolding rigidity is ensured. The subsequent light and refined spacecraft products have increasingly complex structures, the unfolding precision is increased, and the special conditions of the unfolding motion trail are also endless. Subsequent spacecraft products need to perform a series of accurate zero-gravity unfolding tests on the ground, so that the normal in-orbit working state of the spacecraft products is ensured. Meanwhile, the following speed, mass, inertia and other requirements of the zero gravity unloading device are gradually improved.

Under the influence of an air supply pipeline, the conventional polar coordinate type and double-rocker arm type suspension type zero-gravity unloading devices are combined by a mechanical slewing bearing and a mechanical pulley or a pulley or an air floatation slewing bearing and a mechanical pulley or a pulley, but the polar coordinate type and double-rocker arm type suspension type zero-gravity unloading devices cannot be applied to fine and light spacecraft products including round flexible solar wings. The lightweight spacecraft product has higher requirements on the unloading device, and mainly comprises a response speed of pure passive following, additional inertia of the unloading device on the spacecraft product, interference moment of the unloading device on the spacecraft product and the like. Taking the zero gravity unloading of the circular flexible solar wing as an example, the wing body of the circular flexible solar wing is of a flexible structure, the self mass is small, and the allowable interference margin is extremely low. In addition, in the ground unfolding test process, the common zero-gravity unloading problem of a complex unfolding structure still exists, namely the motion trail of the center of mass of the unfolding structure is an irregular curve.

Disclosure of Invention

In view of this, the invention aims to provide an air-floating full-angle multi-level zero-gravity unloading system to solve the defects in the prior art and meet the ground zero-gravity unfolding test verification requirements of various light spacecraft products.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the air-floating type full-angle multi-level zero-gravity unloading system comprises a leveling mechanism arranged on a support frame, wherein the leveling mechanism can drive an air-floating main shaft system to linearly displace, the lower end of the air-floating main shaft system is fixedly connected to a wing frame of a flexible solar wing through a suspension unit, the air-floating main shaft system is a solar wing floating suspension bracket, a center alignment unit is arranged on one side of the leveling mechanism and used for detecting the unfolding state of the solar wing, the air-floating main shaft system comprises an air-floating shaft and a plurality of air-floating slide rails in rotary sleeve connection with the air-floating shaft in a peripheral mode, the air-floating slide rails are uniformly distributed along the axial direction of the air-floating shaft, each air-floating slide rail is correspondingly provided with a balance weight shaft, one end of each balance weight shaft is in rotary sleeve connection with the periphery of the air-floating shaft, and one end of each air-floating slide rail is fixedly connected to the wing frame of the solar wing through a suspension unit.

Furthermore, the linear motion assembly comprises a Y-direction linear module and an X-direction linear module fixedly mounted on the Y-direction linear module, the X-direction linear module is rotatably sleeved at one end of the air floatation spindle system through a follow-up turntable, the Y-direction linear module is used for Y-direction displacement of the X-direction linear module, and the X-direction linear module is used for X-direction linear displacement of the air floatation spindle system.

Further, the air floating shaft comprises an upper end cover, a lower end cover, a mandrel, a first outer shaft assembly and a second outer shaft assembly, the periphery of the mandrel is respectively sleeved with the first outer shaft assembly and the second outer shaft assembly from top to bottom, one end of the first outer shaft assembly is fixedly connected to one end of the second outer shaft assembly, the first outer shaft assembly comprises a first stator and a first rotor in rotary sleeved connection with the periphery of the first stator, the upper end of the first stator of the first outer shaft assembly is fixedly sleeved on the periphery of the mandrel through the upper end cover, the lower end of the first stator of the second outer shaft assembly is fixedly sleeved on the periphery of the mandrel through the lower end cover, the first stator of the first outer shaft assembly is fixedly connected to the first stator of the second outer shaft assembly through a positioning pin, the mandrel is of a hollow pipe body structure, the side wall of the mandrel is provided with a plurality of first through holes, the side wall of the first stator is provided with a second through hole, the periphery of the first stator and the inner ring of the second stator are provided with a first gap, and the upper end cover is provided with a gas injection pipe which fills high-pressure medium into the mandrel.

Further, the external fixed concatenation subassembly that cup joints of dabber, the both ends of concatenation subassembly are fixed connection to the lower extreme of first outer axle subassembly, the upper end of second outer axle subassembly respectively, it includes a plurality of third outer axle subassemblies to concatenate the outer axle subassembly, and a plurality of third outer axle subassemblies are end to end in proper order along the axial of dabber, the third outer axle subassembly includes second stator and second rotor, the inner circle of second stator is fixed to be cup jointed peripherally to the dabber, the peripheral rotation of second stator cup joints the second rotor, the lateral wall of second stator is equipped with the third through-hole, be equipped with the second clearance between second stator periphery and the second rotor inner circle, high-pressure medium loops through inside the dabber, first through-hole, the intercommunication of third through-hole extremely the second clearance.

Further, the first stator comprises a first pipe body and a supporting platform arranged on the periphery of the lower end of the first pipe body, the first rotor is of a hollow pipe body structure, a third gap is formed between the lower end of the first rotor and the upper end of the supporting platform, a fourth through hole and a fifth through hole are formed in the supporting platform respectively, the fourth through hole and the fifth through hole are perpendicular to each other, and a high-pressure medium is communicated to the third gap through the inside of the mandrel, the first through hole, the fourth through hole and the fifth through hole.

Furthermore, a sixth through hole is formed in the side wall of the first rotor, an annular groove is formed in the inner ring of the first rotor, and the high-pressure medium is communicated to the sixth through hole through the inside of the mandrel, the first through hole, the second through hole, the first gap and the annular groove in sequence.

Furthermore, a mounting groove is formed in the periphery of the first rotor, a sixth through hole is formed in the bottom of the mounting groove, each air floatation sliding rail is fixedly mounted in the mounting groove through a shaft arm, one end of the counterweight shaft is fixedly connected to the periphery of the first rotor, and the sixth through hole is communicated to the interior of each air floatation sliding rail through a guide pipe.

Further, the air floatation slide rail comprises an air floatation shell, a fixing block is arranged on the periphery of the air floatation shell, the fixing block is connected to the periphery of an air floatation shaft in a sleeved mode through rotation of a shaft arm, a sliding hole is formed in the middle of the air floatation shell in the axial direction, the periphery of the sliding shaft is located in the sliding hole, a baffle and a hanging plate are fixedly installed at two ends of the sliding shaft respectively, an air nozzle is arranged on one side of the air floatation shell, a gap is formed between the inner ring of the air floatation shell and the periphery of the sliding hole, an air injection hole is formed in the side wall of the air floatation shell and communicated to the air floatation shaft through a guide pipe, the air floatation shaft is filled with high-pressure media into the air nozzle through an external air injection device, and the high-pressure media are communicated to the gap through the air nozzle and the air injection hole, the high-pressure media form a static pressure air film in the gap, and the static pressure air film is a lubricating structure between the air floatation shell and the sliding shaft.

Further, the air supporting shell comprises a first air floating block and a second air floating block, the first air floating block and the second air floating block are connected through a connecting plate, the middle parts of the first air floating block and the second air floating block are respectively provided with a sliding hole, the two sliding holes are coaxially arranged, the first air floating block and the second air floating block are identical in structure, a fixed block is fixedly installed on the first side of the first air floating block, an air nozzle is fixedly installed on the second side of the first air floating block, the side wall of the first air floating block is provided with an annular air passage, the side wall of the first air floating block is provided with a plurality of air injection holes along the circumferential direction, each air outlet hole is communicated to the annular air passage, and a high-pressure medium is communicated to the gap through the air nozzle, the annular air passage and the air injection holes.

Further, the quantity of annular air flue is a plurality of, and a plurality of annular air flues distribute along the axial of first air supporting block, is equipped with equal air flue on the first air supporting block, and every annular air flue all communicates to equal air flue, and high-pressure medium passes through the air cock, all communicates to air flue, annular air flue and gas injection hole intercommunication to the clearance.

Compared with the prior art, the air-floating full-angle multi-level zero-gravity unloading system has the following beneficial effects: the system meets the high requirements of extremely low interference torque, adaptation to the position of the mass center of an undetermined track, full-passive quick response following and the like provided for ground equipment during ground expansion tests of a plurality of light spacecraft products represented by circular flexible solar wings, can meet the requirements of no air pipe interference, capability of enabling each suspension point to reach any position in a specified annular area in the operation process, adjustable area radius coverage range, compact spatial layout and minimum suspension point distance of less than or equal to 5 mm.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of an air-floating all-angle multi-level zero-gravity unloading system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an air spindle system according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a leveling mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of an air bearing shaft according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first stator according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a first rotor according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an air slide rail according to an embodiment of the present invention;

FIG. 8 is a front view of an air slide rail according to an embodiment of the present invention;

FIG. 9 is a first cross-sectional view of a first air bearing block according to an embodiment of the invention;

fig. 10 is a second cross-sectional view of the first air bearing block according to the embodiment of the invention.

Description of reference numerals:

1-a support frame; 2-leveling mechanism; a 21-X direction linear module; a 22-Y direction linear module; 3-an air-floating spindle system; 31-an air bearing shaft; 311-upper end cap; 312-lower end cap; 313-a mandrel; 3131 — a first through hole; 314-a first outer shaft assembly; 3141-a first stator; 31411 — a first tube; 31412-a pallet; 31413-a second through hole; 3142-a first rotor; 31421-sixth via; 31422-ring groove; 31423-mounting grooves; 315-a second outer shaft assembly; 316-a third outer shaft assembly; 32-air floatation slide rails; 321-air floating shell; 3211-first air bearing block; 3212-connecting plate; 3213-a second air bearing block; 3214-annular airway; 3215-airway homogenizing; 3216-gas injection holes; 3217-throttle valve; 322-a sliding shaft; 323-a baffle plate; 324-hanging plate; 325-fixed block; 326-air tap; 33-a counterweight shaft; 34-an axis arm; 35-a catheter; 4-a center alignment unit; 5-a suspension unit; 6-flexible solar wing.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 10, under the influence of the air supply pipeline, the conventional polar coordinate type and dual-rocker arm type suspension type zero gravity unloading devices are all combined by a mechanical slewing bearing and a mechanical pulley or a pulley or an air-float slewing bearing and a mechanical pulley or a pulley, but are not applicable to fine and light spacecraft products including the circular flexible solar wing 6. In the ground unfolding test process of a lightweight spacecraft product, the motion trail of the mass center of the spacecraft product is mostly an undetermined irregular curve, the test result is very easily influenced by ground test equipment, the equipment needs to be light in weight, small in inertia and high in strength, and meanwhile, the extremely low interference torque of a rotary joint is also used as a main technical index requirement, for the condition, the invention designs an air-floating type all-angle multi-level zero gravity unloading system which comprises a support frame 1, wherein the support frame 1 is of a truss structure, the support frame 1 is used as a construction foundation of the whole system to ensure the safety and stability of the whole system, a leveling mechanism 2 is arranged on the support frame 1, the leveling mechanism 2 is an attitude adjusting device of an air-floating main shaft system 3, the leveling mechanism 2 can drive the main shaft system 3 to linearly displace, and the lower end of the air-floating main shaft system 3 is fixedly connected to a wing frame of a flexible solar wing 6 through a suspension unit 5, the air-floating main shaft system 3 is a solar wing floating suspension bracket, the air-floating main shaft system only generates extremely low interference torque to a central mechanism in the unfolding process of a flexible solar wing 6 and loads the whole set of circular solar wing system (or all the mass of other spacecraft products), the air-floating main shaft system is divided into an upper layer air-floating shaft 31 bearing structure and a lower layer air-floating shaft 31 bearing structure, one side of a leveling mechanism 2 is provided with a central alignment unit 4, the central alignment unit 4 comprises a CCD camera, the CCD camera is used for detecting the unfolding state of the solar wing, the air-floating main shaft system 3 comprises an air-floating shaft 31 and a plurality of air-floating slide rails 32 which are rotatably sleeved on the periphery of the air-floating shaft 31, the plurality of air-floating slide rails 32 are uniformly distributed along the axial direction of the air-floating shaft 31, each air-floating slide rail 32 is correspondingly provided with a balance weight shaft 33, one end of each balance weight shaft 33 is rotatably sleeved on the periphery of the air-floating shaft 31, one end of each air-floating slide rail 32 is fixedly connected to a wing bracket of the solar wing through a suspension unit 5, the system meets the high requirements of extremely low interference torque, adaptation to the position of the mass center of an undetermined track, full-passive quick response following and the like provided for ground equipment during ground expansion tests of a plurality of light spacecraft products represented by circular flexible solar wings 6, can meet the requirements of no air pipe interference, capability of enabling each suspension point to reach any position in a designated annular area in the operation process, adjustable area radius coverage range, compact spatial layout and minimum suspension point distance of less than or equal to 5 mm.

The core structure of the air-floating type full-angle multi-level zero-gravity unloading system is a serial air-floating main shaft system capable of supplying air for the second time, the air-floating main shaft system is combined with a rocker arm rod and tail end air-floating equipment thereof to provide unloading for a ground zero-gravity unfolding test of rocker arm type spacecraft products, and meanwhile, the air-floating type full-angle multi-level zero-gravity unloading system has a multi-level design from top to bottom, can satisfactorily solve the technical problem that the spacecraft mechanism products represented by round flexible solar wings are subjected to the unfolding test in a ground simulation zero-gravity environment, and can solve the problem that the unloading device is difficult to quickly follow and adapt due to random variation of the position track of the mass center of a part of spacecraft products in the ground unfolding test process.

The linear motion assembly comprises a Y-direction linear module 22 and an X-direction linear module 21 fixedly installed on the Y-direction linear module 22, the X-direction linear module 21 is rotatably sleeved at one end of the air-floating spindle system 3 through a follow-up turntable, the Y-direction linear module 22 is used for Y-direction displacement of the X-direction linear module 21, the X-direction linear module 21 is used for X-direction linear displacement of the air-floating spindle system 3, wherein the Y-direction linear module 22 and the X-direction linear module 21 can be realized through a lead screw module in the prior art, which is not described herein in detail, a CCD camera is arranged on a sliding table of the X-direction linear module 21 and is responsible for carrying out track recognition on a plurality of target points on a sun wing central mechanism and a sun wing body in the unfolding test process, the sun wing position is tracked in real time by combining the two-direction linear modules through a control system, the upper end of the follow-up turntable is fixedly connected to the sliding table of the X-direction linear module, in the unfolding process, the air-floating main shaft system 3 not only needs to change the position along with the main shaft, but also needs to change the angle along with the rotation, the angle follow-up turntable realizes the function, and the angle follow-up turntable is the prior art.

The air floating shaft 31 comprises an upper end cover 311, a lower end cover 312, a mandrel 313, a first air floating assembly and a second air floating assembly, wherein the mandrel 313 is a main stressed bearing part of the whole set of system, the periphery of the mandrel 313 is respectively sleeved with the first air floating assembly and the second air floating assembly from top to bottom, one end of the first air floating assembly is fixedly connected to one end of the second air floating assembly, the first air floating assembly and the second air floating assembly are identical in structure and are symmetrically arranged with each other, the first air floating assembly comprises a first stator 3141 and a first rotor 3142 rotatably sleeved on the periphery of the first stator 3141, the upper end of the first stator 3141 of the first air floating assembly is fixedly connected to the periphery of the mandrel 313 through the upper end cover 311, the lower end of the first stator 3141 of the second air floating assembly is fixedly connected to the periphery of the mandrel 313 through the lower end cover 312, the first stator 3141 of the first air floating assembly is fixedly connected to the first stator 3141 of the second air floating assembly through a positioning pin, the mandrel 313 is a hollow tube structure, the sidewall of the mandrel 313 is provided with a plurality of first through holes 3131, the sidewall of the first stator 3141 is provided with a second through hole 31413, the first through holes 3131 and the second through holes 31413 are in one-to-one correspondence, a first gap is arranged at the periphery of the first stator 3141 and the inner ring of the second stator, the upper end cover 311 is provided with an air injection tube, the air injection tube fills high-pressure medium into the mandrel 313, the high-pressure medium is communicated to the first gap through the first through holes 3131 and the second through holes 31413 inside the mandrel 313, a serial connection assembly is fixedly sleeved at the periphery of the mandrel 313 according to the specification requirements of different solar wings, two ends of the serial connection assembly are respectively and fixedly connected to the lower end of the first air floating assembly and the upper end of the second air floating assembly, the serial connection outer shaft assembly comprises a plurality of third air floating assemblies, and the plurality of third air floating assemblies are sequentially connected end to end along the axial direction of the mandrel 313, as shown in figure 4, the serial connection assembly comprises a third air floating assembly, the third air floating assembly comprises a second stator and a second rotor, the inner ring of the second stator is fixedly sleeved on the periphery of the mandrel 313, the periphery of the second stator is rotatably sleeved with the second rotor, a third through hole is formed in the side wall of the second stator, a second gap is formed between the periphery of the second stator and the inner ring of the second rotor, a high-pressure medium is communicated to the second gap through the first through hole 3131 and the third through hole inside the mandrel 313 in sequence, the high-pressure medium generates a static pressure air film in the first gap and the second gap, the static pressure air film is used for separating the rotor and the stator and reducing the friction force when the rotor and the stator move relatively, the mandrel 313 can realize series connection of a plurality of air floating type rotating joints and decoupling of air supply and movement, the air pressure and the flow are consistent, the rotating joints have strong bearing capacity and anti-overturning moment, and the air floating assembly is in a modular design and is simple and convenient to assemble and adjust.

The sealing structure is characterized in that a sealing ring for sealing is arranged between the upper end of the first stator 3141 and the lower end of the upper end cover 311, between the lower end of the first stator 3141 and the upper end of the second stator, between every two second stators, between the second stator and the upper end of the lower end cover 312, the upper end cover 311 is the upper end cover of the mandrel 313 and is connected with the mandrel 313 through screws, an axial sealing ring is arranged on a matching surface, the sealing performance of an air cavity in the middle of the mandrel 313 is guaranteed, meanwhile, an air supply hole is formed in the center, air supply is carried out on the whole air cavity, the lower end cover 312 is connected with the mandrel 313 through screws, the axial sealing ring is arranged on the matching surface, the sealing performance of the air cavity is guaranteed, and the sealing structure is mainly used for fastening all bearing stators and bearing loads on all bearings.

The first stator 3141 and the second stator have the same structure, the first stator 3141 includes a first pipe 31411 and a supporting platform 31412 disposed at the periphery of the lower end of the first pipe 31411, the first rotor 3142 and the second rotor have the same structure, the first rotor 3142 is a hollow pipe structure, a third gap is disposed between the lower end of the first rotor 3142 and the upper end of the supporting platform 31412, the supporting platform 31412 is respectively provided with a fourth through hole and a fifth through hole, the fourth through hole and the fifth through hole are disposed perpendicularly to each other, a high-pressure medium is communicated to the third gap through the inside of the mandrel 313, the first through hole 3131, the fourth through hole and the fifth through hole, and the high-pressure medium forms a static pressure film on the third gap, the static pressure film is used for supporting the first rotor 3142 and reducing the friction force when the first rotor 3142 and the supporting platform 31412 move relatively.

The side wall of the first rotor 3142 is provided with a sixth through hole 31421, an inner ring of the first rotor 3142 is provided with an annular groove 31422, a high-pressure medium sequentially passes through the inside of the mandrel 313, the first through hole 3131, the second through hole 31413, the first gap and the annular groove 31422 to be communicated with the sixth through hole 31421, the periphery of the first rotor 3142 is provided with a mounting groove 31423, the sixth through hole 31421 is positioned at the bottom of the mounting groove 31423, the periphery of one end of the external device is fixedly mounted in the mounting groove 31423, the sixth through hole 31421 is communicated with the inside of the external device, the annular groove 31422 of the first rotor 3142 gathers gas on a static pressure gas film surface again, the annular groove 31422 is provided with the sixth through hole 31421, the corresponding position is provided with a rocker arm interface mounting groove 31423 for mounting rocker arms, each air floating assembly can supply gas for the second time, and the air pressure and the flow rate are consistent.

The air-floating slide rail 32 comprises an air-floating shell 321, a slide shaft 322, a baffle 323, a hanging plate 324, a fixing block 325 and an air nozzle 326, wherein a slide hole is axially arranged in the middle of the air-floating shell 321, the periphery of the slide shaft 322 is arranged in the slide hole, the slide shaft 322 can axially slide along the slide hole, the baffle 323 and the hanging plate 324 are fixedly arranged at two ends of the slide shaft 322 respectively, the slide shaft 322 is used for carrying out frictionless motion in the product butt joint assembly direction and carrying the weight of a product, the peripheral size of the baffle 323 and the peripheral size of the hanging plate 324 are both larger than the size of an inner ring of the slide hole, the periphery of the air-floating shell 321 is fixedly arranged to an external device through the fixing block 325, the second side of the air-floating shell 321 is provided with the air nozzle 326, a gap is arranged between the inner ring of the air-floating shell 321 and the periphery of the slide hole, the side wall of the air-floating shell 321 is provided with an air injection hole 3216, the air nozzle 326 is communicated to the air injection device through a pipeline, the air injection device is used for filling high-pressure medium into the air nozzle 326, and the high-pressure medium is filled into the air nozzle 326 through the air nozzle 326, After the gas injection holes 3216 communicate with the gap, a static pressure gas film is formed in the gap by a high pressure medium, wherein the baffle 323 mainly functions to limit the sliding shaft 322 from falling off the air flotation housing 321, and a plurality of mounting holes may be opened on the baffle 323 to provide an interface for carrying devices such as sensors and controllers; the fixing block 325 is used for installing the air floatation shell 321 on the temporarily built support frame 1 with a reference and providing a measuring basis for adjusting the relative position of the sliding shaft 322, the middle part of the upper end of the fixing block 325 is provided with an installation and leveling threaded hole, a worker installs the whole set of device on the temporarily built support frame 1 through the installation and leveling threaded hole and levels the sliding shaft 322 according to the motion state of the sliding shaft 322; an external air supply device is communicated to the air nozzle 326 to supply air to the device integrally, so that the sliding shaft 322 can move in the air floatation sliding sleeve well; the hanging plate 324 is used for limiting the sliding shafts 322 not to be separated from the rear end, and the hanging points are folded, mutual interference is avoided when a plurality of sliding shaft 322 devices are cooperatively assembled, the air floatation sliding rail 32 solves the problem that the assembly of a spacecraft product is limited by the fact that a traditional air floatation type super-flat supporting platform is difficult to transport and level after the spacecraft product is transferred between various fields, the stress-free assembly and unlocking separation test of the spacecraft product on the temporarily built supporting frame 1 can be rapidly carried out, the running and debugging period of the product is greatly shortened, and the transportation, time, test and other costs and difficulties of the product are reduced.

The air floating shell 321 comprises a first air floating block 3211, a second air floating block 3213 and two connecting plates 3212, the two connecting plates 3212 are arranged in parallel, two ends of each connecting plate 3212 are respectively and fixedly connected with one end of the first air floating block 3211 of the device and one end of the second air floating block 3213, the middle parts of the first air floating block 3211 and the second air floating block 3213 are respectively provided with a sliding hole, the two sliding holes are coaxially arranged, the periphery of the sliding shaft 322 is respectively positioned in the connecting sliding holes and between the two connecting plates 3212, the traditional combined concept is abandoned by the air floating shell 321 in implementation, the whole is structurally designed, enough load rigidity is provided for the whole device, the gas pipeline is distributed on the side wall 3211, and therefore the first air floating block 3211, the two connecting plates 3212 and the second air floating block 3213 are of a machined integrated structure.

The first air floating block 3211 and the second air floating block 3213 have the same structure, a fixed block 325 is fixedly mounted on a first side of the first air floating block 3211, an air tap 326 is fixedly mounted on a second side of the first air floating block 3211, an annular air duct 3214 is formed in a side wall of the first air floating block 3211, a plurality of air injection holes 3216 are formed in the side wall of the first air floating block 3211 along the circumferential direction, each air outlet is communicated to the annular air duct 3214, and a high-pressure medium is communicated to the gap through the air tap 326, the annular air duct 3214 and the air injection holes 3216.

The quantity of annular air flue 3214 is a plurality of, and a plurality of annular air flue 3214 along the axial distribution of first air supporting piece 3211, be equipped with equal air flue 3215 on the first air supporting piece 3211, every annular air flue 3214 all communicates to equal air flue 3215, high-pressure medium passes through air cock 326, equal air flue 3215, annular air flue 3214 and gas injection hole 3216 communicate to the clearance, all install choke valve 3217 in the end of giving vent to anger of every gas injection hole 3216, can install on the ball bar frame of building temporarily being applicable to this air supporting slide rail 32 and adjust, thereby make the spacecraft product quick the carrying out stress-free assembly and the unblock separation test after each factory operation, very big operation debugging cycle that has shortened the product. In the test process, a product is suspended on a load plate of the device by a rope which is connected with a constant force spring in series, the air floatation slide rail 32 device follows the product in a completely passive working state in the whole process, when a high-pressure medium is communicated into the gap through an air nozzle 326, an air equalizing passage 3215, an annular air passage 3214 and an air injection hole 3216, a static pressure air film is generated on the peripheries of the inner ring of the first air floatation block 3211, the inner ring of the second air floatation block 3213 and the slide shaft 322, the slide shaft 322 follows in a state of being supported by the static pressure air film, the slide shaft 322, the first air floatation block 3211 and the second air floatation block 3213 have no friction interference and no additional influence on the product, and therefore, the stress-free assembly and unlocking separation test of the spacecraft product on the temporarily built support frame 1 can be rapidly carried out.

One end of the air floatation shell 321 is further provided with a tension acquisition unit, the tension acquisition unit is provided with a plurality of connection interfaces, the tension acquisition unit can be mounted on air floatation equipment at different tail ends and is connected with a sensor through a signal line, and tension data on the suspension unit 5 is acquired, stored and transmitted in real time.

The suspension unit 5 comprises a plurality of suspension lifting ropes, each air floatation slide rail 32 is provided with one suspension lifting rope, each suspension lifting rope is mainly used for adjusting the height of the slide rail and the flexible solar wing 6, adapting to tension, connecting a sensor and the like, each suspension lifting rope comprises a spring, a pull wire and a pressure sensor, one end of each pressure sensor is fixedly connected to one end of the slide rail 11 through the spring, the other end of each pressure sensor is fixedly connected to an expansion frame of the solar wing through the pull wire, each suspension lifting rope is used for connecting suspension points of each unit of the solar wing, a constant force spring, a rope length adjusting mechanism, a tension sensor and the like are attached to the suspension lifting ropes, and the realization mode of the pull wire can be a Kevlar rope or a steel wire rope.

The control mode of the invention is realized by a controller, the controller is a PLC in the prior art, wherein a motor of a linear motion assembly and a pressure sensor on a suspension lifting rope of a detection assembly are connected to the PLC in a signal mode, a CCD camera feeds back information of the central position of the solar wing and transmits the information to the PLC, the PLC controls X, Y linear module displacement in two directions according to the solar wing position information, the central position of the solar wing is tracked by the center of a rocker arm shaft in real time, in addition, the rocker arm shaft and the tail end of a slide rail form a completely passive polar coordinate type range coverage, when the following precision of the linear module is not accurate, the rocker arm shaft and the tail end slide rail are used for position compensation, and therefore the zero-gravity unloading of the solar wing in the test process is always in a good state.

The working process of air supply of the air floatation main shaft is as follows:

the multi-layer air-floating main shaft comprises a plurality of groups of air-floating components, and workers can adapt to the unloading working conditions of the required rocker arms with different quantities by only replacing the core shafts 313 with different lengths for adjustment. During operation, high pressure gas is firstly supplied to the middle gas cavity of the mandrel 313 through the gas injection pipe of the upper end cover 311, a high pressure gas cavity with stable pressure is formed in the central cavity of the gas supply mandrel 313, gas in the high pressure gas cavity supplies gas flow to the second through holes 31413 of the first stators 3141 of the air floatation assemblies through the first through holes 3131 of the high pressure gas cavity, a throttling device in the prior art is installed in each second through hole 31413, stable static pressure gas films are formed between the stators and the rotors of the air floatation assemblies after the gas passes through the throttling device, gas lubrication is carried out in the rotation direction and the thrust direction of the bearing, the gas is gathered and pressurized again in the annular cavity of the first rotor 3142 after the first lubrication, the gas is led to other air floatation devices through the sixth through holes 31421 on the first rotor 3142, and the air floatation assemblies do not interfere with each other air floatation assemblies during operation, and other air floatation devices (comprising the air floatation shafts 31, the air floatation shafts) installed on the rocker arms of the air floatation assemblies can be respectively, Air-floating slide rail 32, air-floating pulley, etc.) for secondary air supply.

In the ground stress-free assembly work or the unlocking separation test of a light spacecraft product, a light anti-unbalance-loading static-pressure air-floating slide rail 32 device is usually arranged below a ball bar frame or a support frame 1, and is leveled after the product is suspended and assembled, so that the stress-free assembly and unlocking separation test of the spacecraft product is realized, and the specific use steps are as follows: (1) a worker builds a club frame or a device supporting bracket, fixes the club frame or the device supporting bracket and performs basic leveling; (2) the light anti-unbalance loading static pressure air-float slide rail 32 is arranged below the support frame 1 for complete ventilation, wherein the arrangement below the support frame is realized through a fixed block 325, and the ventilation is realized through an external air supply device communicated air nozzle 326; (3) checking the floating working state of the sliding shaft 322, hanging the spacecraft product to be assembled to the hanging plate 324, and adjusting the spacecraft product to a corresponding height through a height adjusting device on the hanging rope; (4) the spacecraft product is released to be in a free suspension state, the sliding direction of the sliding shaft 322 is observed, and the device leveling is carried out by adjusting the length of the suspension rope; (5) and carrying out ground stress-free assembly work or unlocking separation tests on the antenna products.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An air-floating full-angle multi-level zero-gravity unloading system is characterized in that: comprises a support frame (1) and a leveling mechanism (2) arranged on the support frame, wherein the leveling mechanism (2) can drive an air-floating main shaft system (3) to linearly displace, the lower end of the air-floating main shaft system (3) is fixedly connected to a wing frame of a flexible solar wing (6) through a suspension unit (5), the air-floating main shaft system (3) is a solar wing floating suspension bracket, one side of the leveling mechanism (2) is provided with a center alignment unit (4), the center alignment unit (4) is used for detecting the unfolding state of the solar wing, the air-floating main shaft system (3) comprises an air-floating shaft (31) and a plurality of air-floating slide rails (32) rotatably sleeved on the periphery of the air-floating shaft (31), the plurality of air-floating slide rails (32) are uniformly distributed along the axial direction of the air-floating shaft (31), each air-floating slide rail (32) is correspondingly provided with a balance weight shaft (33), and one end of each balance weight shaft (33) is rotatably sleeved on the periphery of the air-floating shaft (31), one end of each air-floating slide rail (32) is fixedly connected to a wing frame of the solar wing through a suspension unit (5).

2. The air-floating full-angle multi-level zero-gravity unloading system of claim 1, wherein: the linear motion assembly comprises a Y-direction linear module (22) and an X-direction linear module (21) fixedly mounted on the Y-direction linear module, the X-direction linear module (21) is rotatably sleeved at one end of the air floatation spindle system (3) through a follow-up turntable, the Y-direction linear module (22) is used for Y-direction displacement of the X-direction linear module (21), and the X-direction linear module (21) is used for X-direction linear displacement of the air floatation spindle system (3).

3. The air-floating full-angle multi-level zero-gravity unloading system of claim 1, wherein: the air floating shaft (31) comprises an upper end cover (311), a lower end cover (312), a mandrel (313), a first outer shaft assembly (314) and a second outer shaft assembly (315), the periphery of the mandrel (313) is sleeved with the first outer shaft assembly (314) and the second outer shaft assembly (315) respectively from top to bottom, one end of the first outer shaft assembly (314) is fixedly connected to one end of the second outer shaft assembly (315), the first outer shaft assembly (314) comprises a first stator (3141) and a first rotor (3142) which is rotatably sleeved on the periphery of the first stator (3141), the upper end of the first stator (3141) of the first outer shaft assembly (314) is fixedly connected to the periphery of the fixed sleeve mandrel (313) through the upper end cover (311), the lower end of the first stator (3141) of the second outer shaft assembly (315) is fixedly connected to the periphery of the mandrel (313) through the lower end cover (312), the first stator (3141) of the first outer shaft assembly (314) is fixedly connected to the first stator (3141) of the second outer shaft assembly (315) through a positioning pin, the mandrel (313) is of a hollow pipe body structure, the side wall of the mandrel (313) is provided with a plurality of first through holes (3131), the side wall of the first stator (3141) is provided with a second through hole (31413), the periphery of the first stator (3141) and the inner ring of the second stator are provided with a first gap, the upper end cover (311) is provided with a gas injection pipe, and the gas injection pipe fills a high-pressure medium into the mandrel (313).

4. The air-floating full-angle multi-level zero-gravity unloading system of claim 3, wherein: the outer periphery of a mandrel (313) is fixedly sleeved with a series connection assembly, two ends of the series connection assembly are fixedly connected to the lower end of a first outer shaft assembly (314) and the upper end of a second outer shaft assembly (315) respectively, the series connection outer shaft assembly comprises a plurality of third outer shaft assemblies (316), the plurality of third outer shaft assemblies (316) are sequentially connected end to end along the axial direction of the mandrel (313), each third outer shaft assembly (316) comprises a second stator and a second rotor, an inner ring of the second stator is fixedly sleeved to the periphery of the mandrel (313), the periphery of the second stator is rotatably sleeved with the second rotor, a third through hole is formed in the side wall of the second stator, a second gap is formed between the periphery of the second stator and the inner ring of the second rotor, and a high-pressure medium sequentially passes through the inner part of the mandrel (313), the first through hole (3131) and the third through hole and is communicated to the second gap.

5. The air-floating full-angle multi-level zero-gravity unloading system of claim 3, wherein: the first stator (3141) comprises a first pipe body (31411) and a supporting platform (31412) arranged on the periphery of the lower end of the first pipe body (31411), the first rotor (3142) is of a hollow pipe body structure, a third gap is formed between the lower end of the first rotor (3142) and the upper end of the supporting platform (31412), a fourth through hole and a fifth through hole are respectively arranged on the supporting platform (31412), the fourth through hole and the fifth through hole are mutually perpendicular, and a high-pressure medium is communicated to the third gap through the inside of the mandrel (313), the first through hole (3131), the fourth through hole and the fifth through hole.

6. The air-floating full-angle multi-level zero-gravity unloading system of claim 3, wherein: the side wall of the first rotor (3142) is provided with a sixth through hole (31421), the inner ring of the first rotor (3142) is provided with an annular groove (31422), and a high-pressure medium sequentially passes through the inside of the mandrel (313), the first through hole (3131), the second through hole (31413), the first gap and the annular groove (31422) and is communicated with the sixth through hole (31421).

7. The air-floating full-angle multi-level zero-gravity unloading system of claim 6, wherein: the periphery of the first rotor (3142) is provided with a mounting groove (31423), a sixth through hole (31421) is positioned at the bottom of the mounting groove (31423), each air floatation sliding rail (32) is fixedly mounted in the mounting groove (31423) through a shaft arm (34), one end of a counterweight shaft (33) is fixedly connected to the periphery of the first rotor (3142), and the sixth through hole (31421) is communicated to the inside of the air floatation sliding rail (32) through a guide pipe (35).

8. The air-floating full-angle multi-level zero-gravity unloading system of claim 1, wherein: the air floatation slide rail (32) comprises an air floatation shell (321), a fixed block (325) is arranged on the periphery of the air floatation shell (321), the fixed block (325) is rotatably sleeved on the periphery of an air floatation shaft (31) through a shaft arm (34), a slide hole is formed in the middle of the air floatation shell (321) along the axial direction, the periphery of the slide shaft (322) is positioned in the slide hole, a baffle plate (323) and a hanging plate (324) are fixedly installed at two ends of the slide shaft (322) respectively, an air nozzle (326) is arranged on one side of the air floatation shell (321), a gap is formed between the inner ring of the air floatation shell (321) and the periphery of the slide hole, an air injection hole (3216) is formed in the side wall of the air floatation shell (321), the air nozzle (326) is communicated with the air floatation shaft (31) through a guide pipe (35), the air floatation shaft (31) is filled with high-pressure media through an air injection external device, the high-pressure media are communicated with the gap through the air nozzle (326) and the air injection hole (3216), and then the high-pressure media form a static pressure air film in the gap, the static pressure air film is a lubricating structure between the air floatation shell (321) and the sliding shaft (322).

9. The air-floating full-angle multi-level zero-gravity unloading system of claim 8, wherein: the air floating shell (321) comprises a first air floating block (3211) and a second air floating block (3213), the first air floating block (3211) is connected with the second air floating block (3213) through a connecting plate (3212), a sliding hole is respectively arranged in the middle of the first air floating block (3211) and the second air floating block (3213), the two sliding holes are coaxially arranged, the first air floating block (3211) and the second air floating block (3213) have the same structure, a fixed block (325) is fixedly installed on the first side of the first air floating block (3211), an air tap (326) is fixedly installed on the second side of the first air floating block (3211), an annular air duct (3214) is arranged on the side wall of the first air floating block (3211), a plurality of air injection holes (3216) are arranged on the side wall of the first air floating block (3211) along the circumferential direction, and each air outlet hole is communicated to an annular air passage (3214), and the high-pressure medium is communicated to the gap through an air nozzle (326), the annular air passage (3214) and the air injection hole (3216).

10. The air-floating full-angle multi-level zero-gravity unloading system of claim 9, wherein: the quantity of annular air flue (3214) is a plurality of, and a plurality of annular air flues (3214) along the axial distribution of first air supporting block (3211), is equipped with equal air flue (3215) on first air supporting block (3211), and every annular air flue (3214) all communicates to equal air flue (3215), and high-pressure medium passes through air cock (326), equal air flue (3215), annular air flue (3214) and gas injection hole (3216) and communicates to the clearance.

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