CN114633904B - Automatic leveling type heavy-load plane microgravity simulation platform - Google Patents
Automatic leveling type heavy-load plane microgravity simulation platform Download PDFInfo
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Abstract
An automatic leveling type heavy-load plane microgravity simulation platform belongs to the field of space microgravity environment ground simulation equipment. The invention aims at the problems that the existing heavy-load plane microgravity simulation platform needs to be leveled by using a level meter manually, and has high operation difficulty and low efficiency. The method comprises the following steps: the platform measures levelness through a level meter; the platform is supported by a plurality of uniformly distributed supporting units, each supporting unit comprises a base and a plurality of branch supports, and the plurality of branch supports are uniformly distributed on the base and serve as a plurality of supporting points; each supporting unit is correspondingly provided with an automatic leveling unit; the automatic leveling unit comprises a horizontal moving subsection and a clamping subsection; the base is matched with the horizontal moving subsection to enable the horizontal moving subsection to move along the length direction of the base; the horizontal movement subsection is connected with the clamping subsection, the terminal of the clamping subsection is used for clamping an adjusting nut of the branch support, and the adjusting nut is rotated to adjust the levelness of the platform. The invention improves the platform and the efficiency.
Description
Technical Field
The invention relates to an automatic leveling type heavy-load plane microgravity simulation platform, and belongs to the field of space microgravity environment ground simulation equipment.
Background
With the rapid development of aerospace technology, the development of aerospace products tends to be diversified and low in cost. In order to reduce the failure risk of the aerospace product and improve the reliability of the aerospace product, so as to further improve the development efficiency and reduce the cost, necessary links such as testing, experiments and the like need to be carried out on the ground before the aerospace product is finally launched to the sky. In order to simulate the environment of a space product after entering space, ground test equipment needs to provide good space microgravity simulation conditions for the space product, and a heavy-load plane microgravity simulation platform is just one of key equipment capable of simulating a microgravity environment.
The heavy-load plane microgravity simulation platform mainly comprises a platform with extremely high surface flatness, and the surface of the platform needs to keep high flatness. During operation, an aerospace product to be tested is installed on the tool, the tool is placed on the table board, and the tool sprays compressed air to the surface of the platform, so that a thin air film is formed between the tool and the surface of the platform, and the tool is suspended on the air film. The tool does not contact with the table top and does not rub the table top in the horizontal direction, so that tested space products can be regarded as being free from the action of the gravity of the earth when moving on the horizontal plane, namely the platform simulates the environment of microgravity.
Obviously, the higher the levelness of the platform surface, the better the microgravity simulation. Because the friction force is obviously reduced by the air film, even if the surface of the platform is slightly uneven, the tool and the to-be-tested spaceflight product slide on the platform in the downward inclination direction of the platform by the component force of the gravity along the surface of the platform, and the micro-gravity simulation effect is poor at the moment. Therefore, periodic levelness adjustment of the platform is an indispensable task. In addition, in order to meet the heavy load and large-range test requirements of large-mass aerospace products, the platforms generally have the characteristics of large area, high rigidity, low expansion and contraction, difficult deformation under stress and the like, and therefore the platforms are usually made of marble, cast iron and the like. The platform is usually fixed on the ground through the support columns, the levelness of the platform is adjusted through adjusting the heights of the support columns, and the large size and the large mass of the platform mean that the support columns are large in number and dense in distribution, so that great difficulty is brought to manual adjustment of the levelness of the platform. In the traditional manual leveling mode, a level meter is used for measuring the levelness of each position of the platform, and each supporting column is respectively adjusted to finally level the platform. This approach is labor intensive and inefficient.
Therefore, it is desirable to provide a heavy-load plane microgravity simulation platform capable of automatically leveling and a corresponding automatic leveling method.
Disclosure of Invention
The invention provides an automatic leveling type heavy-load plane microgravity simulation platform, aiming at the problems that the existing heavy-load plane microgravity simulation platform needs to be leveled by a level gauge manually, and is high in operation difficulty and low in efficiency.
The invention relates to an automatic leveling type heavy-load plane microgravity simulation platform which comprises a platform, a plurality of supporting units, a plurality of automatic leveling units and a level gauge,
the platform measures levelness through a level meter;
the platform is supported by a plurality of uniformly distributed supporting units, each supporting unit comprises a base and a plurality of branch supports, and the branch supports are uniformly distributed on the base and serve as a plurality of supporting points; each supporting unit is correspondingly provided with an automatic leveling unit; the automatic leveling unit comprises a horizontal moving subsection and a clamping subsection; the base is matched with the horizontal moving subsection to enable the horizontal moving subsection to move along the length direction of the base; the horizontal moving part is connected with the clamping part, the terminal of the clamping part is used for clamping an adjusting nut of the sub-support, and the adjusting nut is rotated to realize the adjustment of the levelness of the platform;
the clamping subsection comprises a top plate, a sliding rail, a linear module driving motor, a screw rod, a sliding table, a jaw driving motor I, a jaw transmission gear II, a jaw transmission shaft I, a jaw transmission gear III, a jaw driving motor II, a jaw transmission gear IV, a jaw transmission gear V, a jaw transmission shaft II, jaw transmission gears VI (2-26), a jaw cover, a jaw and a jaw rack,
the top plate is fixedly connected with the tail end of the horizontal moving subsection, a sliding rail is fixedly connected onto the top plate, a sliding table is connected onto the sliding rail, and the linear module driving motor drives the sliding table to move through a screw rod;
the forceps cover is arranged on the sliding table, the forceps cover is in a circular ring shape with a notch, and the notch extends out of the edge of the sliding table and is located in the middle of the extending section; the jaw is arranged on the inner side of the jaw cover, and the outer surface of the jaw is provided with a jaw rack; two through holes are arranged on the side wall of the jaw cover in a mirror symmetry mode, a jaw rack is meshed with a jaw transmission gear III arranged on the outer side of the jaw cover at one through hole, the jaw transmission gear III is connected with a jaw transmission gear II through a jaw transmission shaft I, and the jaw transmission gear II and the jaw transmission gear III coaxially rotate synchronously in the same direction; the jaw transmission gear II is meshed with the jaw transmission gear I, and the jaw transmission gear I is driven by a jaw driving motor I arranged on the sliding table; the jaw rack is meshed with a jaw transmission gear six arranged on the outer side of the jaw cover at the other through hole, the jaw transmission gear six is connected with a jaw transmission gear five through a jaw transmission shaft two, and the jaw transmission gear five and the jaw transmission gear six rotate synchronously in the same coaxial and same direction; the jaw transmission gear V is meshed with the jaw transmission gear IV, and the jaw transmission gear IV is driven by a jaw driving motor II arranged on the sliding table;
the platform leveling control includes: calculating the distance between the automatic leveling unit and the target fulcrum, controlling the horizontal moving subsection to move to the target position by the controller, and clamping the adjusting nut into the jaw; and then, calculating a target rotation angle of the adjusting nut according to a branch seat height adjusting target value corresponding to the measuring result of the level meter, and synchronously controlling the jaw driving motor I and the jaw driving motor II to rotate the target rotation angle by the controller, so that the heights of all the adjusting nuts are the same, and the platform is adjusted to be horizontal.
In the automatic leveling heavy-load plane microgravity simulation platform according to the invention, the clamping branch further comprises a jaw chute and a jaw slide bar,
the upper surface and the lower surface of the jaw are respectively provided with a jaw sliding strip along the circumferential direction; the inner sides of the upper side wall and the lower side wall of the jaw cover are respectively provided with jaw sliding grooves along the circumferential direction, and jaw sliding strips are correspondingly meshed with the jaw sliding grooves.
In the automatic leveling type heavy-load plane microgravity simulation platform, the horizontal moving part of the automatic leveling unit comprises a chassis, a chassis driving motor, a chassis transmission gear I, a chassis transmission gear II, a chassis transmission gear III, a controller, a stand column seat, a stand column transmission gear II, a stand column driving motor and a stand column transmission gear I,
the upper surface of the chassis is fixedly connected with a stand column seat, a stand column is inserted into the stand column seat, and the top end of the stand column is fixedly connected with a top plate as the tail end of a horizontal moving subsection; the upright post transmission gear is sleeved on the upright post and meshed with the upright post transmission gear I, and the upright post transmission gear I is driven by the upright post driving motor to drive the upright post to drive the top plate to rotate;
a chassis driving motor is arranged on the outer side of the chassis, an output shaft of the chassis driving motor is connected with a rotating shaft of a chassis transmission gear I, the chassis transmission gear I is meshed with a chassis transmission gear II, the chassis transmission gear I and the chassis transmission gear II are positioned on the same horizontal plane, the chassis transmission gear II is coaxial with a chassis transmission gear III arranged above the chassis transmission gear II, the chassis transmission gear III is arranged on the vertical surface of the chassis and is matched with the base on the inner side of the chassis to move along the length direction of the base; the controller is arranged on the chassis and controls the rotation of the chassis driving motor and the upright post driving motor to move the horizontal moving part to a target position and clamp the adjusting nut into the jaw.
In the automatic leveling type heavy-load plane microgravity simulation platform, the base of each supporting unit comprises two square steel feet, square steel, a guide rail, a rack and a limiter,
the square steel feet are fixed on the ground at intervals, square steel is placed on the square steel feet, and the plurality of sub-supports are arranged on the square steel; a guide rail is arranged on the surface of one side of the square steel, a rack is arranged in a slideway of the guide rail, two ends of the upper surface of the guide rail are respectively provided with a limiter,
the rack is meshed with a chassis transmission gear III;
grooves are respectively arranged on the upper surface and the lower surface of the guide rail along the length direction; the upper surface and the lower surface of the inner side of the chassis are respectively provided with a bulge along the length direction, and the bulges of the chassis are correspondingly embedded in the grooves.
In the automatic leveling type heavy-load plane microgravity simulation platform, the branch seat of each supporting unit comprises a conical seat, a supporting column, an adjusting nut and a cylindrical cushion block,
the conical seat is arranged on square steel, the supporting column is fixedly connected to the conical seat, the outer surface of the supporting column is provided with threads, the adjusting nut is screwed on the threads of the supporting column, the cylindrical cushion block is placed on the adjusting nut, and the cylindrical cushion block forms a fulcrum to be supported on the lower surface of the platform.
In the automatic leveling type heavy-load plane microgravity simulation platform, the platform leveling control process specifically comprises the following steps:
in the leveling process, the setting supporting unit comprises m bases, and each base is provided with n branch bases to form an S-shaped structure ij Showing the adjusting nut corresponding to the ith row and the jth column; i =1,2,3, \8230;, m; j =1,2,3, \8230;, n; the distance between two adjacent adjusting nuts in the row direction is recorded as delta L, and the distance between two adjacent adjusting nuts in the column direction is recorded as delta W; the screw pitches eta of all the adjusting nuts are the same;
the method comprises the following steps: leveling according to a row direction:
for the ith row, the gradienter is sequentially arranged between two adjacent adjusting nuts, and the reading of the gradienter is recorded as
Adjusting nuts S in ith row and 1 st column i1 Based on the height of (2), calculating the adjusting nuts S of the 2 nd to the n th rows i2 ～S in Relative to S i1 Height difference Δ h of ij ：
Calculating Δ h ij When =0, S i2 ～S in Angle theta of rotation respectively sCMDij ：
For S i2 ～S in Synchronously controlling the rotation angle theta of the first jaw driving motor and the second jaw driving motor by the controller sCMDij Leveling the adjusting nuts of each row;
step two: leveling according to the column direction:
randomly selecting a column of adjusting nuts, sequentially placing a level between two adjacent adjusting nuts, and recording the reading of the level as
Adjusting nuts S by selected rows 1j Based on the height of the row 2 to m, sequentially calculating the adjusting nuts S in the selected row 2j ～S mj Relative to S 1j Height difference Δ h of ij ：
Calculating Δ h ij When =0, S 2j ～S mj Angle theta of rotation respectively sCMDij ：
For the adjusting nuts in the 2 nd to m th rows, the first jaw driving motor and the second jaw driving motor are synchronously controlled by the controller to be sequentially arranged according to the S 2j ～S mj Corresponding angle theta sCMDij And rotating to enable all the adjusting nuts to be horizontal, so that the platform is horizontal.
The invention has the beneficial effects that: the invention designs an automatic leveling type heavy-load plane microgravity simulation platform and provides a corresponding leveling method. The main advantages of the present invention are focused on the following points:
(1) Because a set of heavy-duty plane microgravity simulation platform usually includes dozens or even hundreds of adjusting nuts, the traditional leveling work load that uses the manual work to carry out the platform is very big to be subject to the narrow and small operating space below the platform, the manual work is twisted adjusting nut below the platform and is operated the difficulty. After the automatic leveling platform designed by the invention is applied, a worker only needs to operate the level meter to measure the levelness of each position of the platform surface, and the work of screwing the adjusting nut is finished by the automatic leveling device, so that the workload of the worker is greatly reduced, the labor intensity of the worker is reduced, and the leveling efficiency of the platform is improved.
(2) When the adjusting nut is screwed by a traditional manual wrench, the rotating angle of the nut is inaccurate, the nut needs to be adjusted repeatedly according to the reading of the level gauge, and the efficiency is low. According to the scheme provided by the invention, the angle of each adjusting nut needing to be rotated can be accurately calculated according to the measuring result of the level gauge, and the automatic leveling device can accurately rotate the nut according to the required angle, so that the working efficiency is improved.
(3) The automatic leveling device and the leveling method designed by the invention can be suitable for any number of adjusting nuts, and the higher the number of the adjusting nuts is, the higher the efficiency of the automatic leveling device and the leveling method can be.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the self-leveling heavy-duty planar microgravity simulation platform according to the present invention;
FIG. 2 is a schematic structural view of one of the support units and the corresponding self-leveling unit of FIG. 1;
FIG. 3 is a schematic structural view of an automatic leveling unit;
FIG. 4 is a schematic structural view of a clamping subsection of the auto-leveling unit;
FIG. 5 is an enlarged partial view of the jaw housing and jaws of the self-leveling unit, with the jaw housing cut in half;
FIG. 6 is a top view of the jaws, jaw cover, and two jaw drive shafts;
FIG. 7 is a schematic view of the jaw teeth bars appearing at the two through-hole fenestrations of the jaw mask;
FIG. 8 is a schematic view of the jaw rack appearing only at one side of the jaw housing where the through-hole is windowed;
FIG. 9 is a schematic view of the jaw teeth only appearing at the other side of the jaw housing where the through-hole is windowed;
FIG. 10 is a schematic view of the variable definition of the auto-leveling unit from a top view;
FIG. 11 is a schematic diagram of the variable definition of the auto-leveling unit shown from a side view perspective;
FIG. 12 is a schematic view of an initial state in which the adjustment nut is adjusted by the automatic leveling unit;
FIG. 13 is a schematic view of the adjusting nut after the adjustment of step 1 in the preferred embodiment;
FIG. 14 is a schematic diagram of the adjusting nut after the adjustment of step 2 is completed in accordance with the exemplary embodiment;
FIG. 15 is a schematic diagram of the adjusting nut after completing the adjustment of step 3 in accordance with the exemplary embodiment;
FIG. 16 is a schematic view of the setting of the adjustment nut row distribution.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
First embodiment, as shown in fig. 1 to 5, the present invention provides an automatic leveling type heavy-load plane microgravity simulation platform, which comprises a platform 1-1, a plurality of supporting units, a plurality of automatic leveling units and a level 1-11,
the platform 1-1 measures levelness through a level meter 1-11;
the platform 1-1 is supported by a plurality of uniformly distributed supporting units, each supporting unit comprises a base and a plurality of branch supports, and the branch supports are uniformly distributed on the base and serve as a plurality of supporting points; each supporting unit is correspondingly provided with an automatic leveling unit; the automatic leveling unit comprises a horizontal moving subsection and a clamping subsection; the base is matched with the horizontal moving subsection to enable the horizontal moving subsection to move along the length direction of the base; the horizontal moving part is connected with the clamping part, the terminal of the clamping part is used for clamping an adjusting nut 1-6 of the sub-support, and the adjusting nut 1-6 is rotated to realize the adjustment of the levelness of the platform 1-1;
the clamping division comprises a top plate 2-12, a sliding rail 2-13, a linear module driving motor 2-14, a screw rod 2-15, a sliding table 2-16, a jaw driving motor I2-17, a jaw transmission gear I2-18, a jaw transmission gear II 2-19, a jaw transmission shaft I2-20, a jaw transmission gear III 2-21, a jaw driving motor II 2-22, a jaw transmission gear IV 2-23, a jaw transmission gear V2-24, a jaw transmission shaft II 2-25, a jaw transmission gear VI 2-26, a jaw cover 3-1, a jaw 3-2 and a jaw rack 3-2-2,
the top plate 2-12 is fixedly connected with the tail end of the horizontal moving subsection, the top plate 2-12 is fixedly connected with the sliding rail 2-13, the sliding rail 2-13 is connected with the sliding table 2-16, and the linear module driving motor 2-14 drives the sliding table 2-16 to move through the screw rod 2-15; the slide rail 2-13, the linear module driving motor 2-14, the lead screw 2-15 and the sliding table 2-16 form a set of linear module. When the linear module driving motor 2-14 rotates, the sliding table 2-16 is driven to move along the sliding rail 2-13 through the transmission of the lead screw 2-15.
The clamp mask 3-1 is arranged on the sliding table 2-16, the clamp mask 3-1 is in a circular ring shape with a notch, and the notch extends out of the edge of the sliding table 2-16 and is positioned in the middle of the extending section; the jaw 3-2 is arranged on the inner side of the jaw 3-1, the jaw rack 3-2-2 is arranged on the outer surface of the jaw 3-2, and the jaw 3-2 can rotate along the circumferential direction of the inner wall of the jaw 3-1; two through holes are symmetrically arranged on the side wall of the jaw cover 3-1 in a mirror image mode, a jaw rack 3-2-2 is meshed with a jaw transmission gear three 2-21 arranged on the outer side of the jaw cover 3-1 at one through hole, the jaw transmission gear three 2-21 is connected with a jaw transmission gear two 2-19 through a jaw transmission shaft one 2-20, and the jaw transmission gear two 2-19 and the jaw transmission gear three 2-21 are coaxial and synchronously rotate in the same direction; the jaw transmission gear II 2-19 is meshed with the jaw transmission gear I2-18, and the jaw transmission gear I2-18 is driven by a jaw driving motor I2-17 arranged on the sliding table 2-16; the jaw rack 3-2-2 is meshed with a jaw transmission gear six 2-26 arranged on the outer side of the jaw cover 3-1 at the other through hole, the jaw transmission gear six 2-26 is connected with a jaw transmission gear five 2-24 through a jaw transmission shaft two 2-25, and the jaw transmission gear five 2-24 and the jaw transmission gear six 2-26 are coaxial and synchronously rotate in the same direction; the jaw transmission gear five 2-24 is meshed with the jaw transmission gear four 2-23, and the jaw transmission gear four 2-23 is driven by a jaw driving motor two 2-22 arranged on the sliding table 2-16;
when the first jaw driving motor 2-17 rotates, the first jaw driving gear, the second jaw driving gear, the third jaw driving gear and the jaw rack 3-2-2 drive the jaws to rotate. The jaw driving unit 1 is formed by the jaw driving motor I2-17, the jaw transmission gear I2-18, the jaw transmission gear II 2-19 and the jaw transmission gear III 2-21. The jaw driving unit 2 is formed by the jaw driving motors 2-22, the jaw transmission gears four 2-23, the jaw transmission gears five 2-24, the jaw transmission gears six 2-26 and the jaw transmission shafts two 2-25 which are symmetrically arranged with the jaw driving motors. The two jaw driving units have the same function and are jointly responsible for driving the jaws.
The platform leveling control includes: calculating the distance between the automatic leveling unit and a target fulcrum, controlling the horizontal moving part to move to a target position by the controller 2-6, and clamping the adjusting nut 1-6 into the jaw 3-2; and then, adjusting a target numerical value according to the height of the branch seat corresponding to the measuring result of the level meter 1-11 to calculate a target rotation angle of the adjusting nut 1-6, synchronously controlling the first jaw driving motor 2-17 and the second jaw driving motor 2-22 to rotate the target rotation angle by the controller 2-6, and finally enabling the heights of all the adjusting nuts 1-6 to be the same and adjusting the platform 1-1 to be horizontal.
The reason why the two jaw drive units are employed in the present invention will be described below with reference to fig. 6 to 9. Point C in FIG. 6 1 、C 2 、C 3 The positions of the rotation centers of the jaw transmission shaft I2-10, the jaw transmission shaft II 2-25 and the jaw 3-2 are respectively shown. Angle theta 1 And theta 2 The central angle and point C corresponding to the arc occupied by the jaw gap 2 、C 3 Relative point C 1 The angle of the angle formed. In the present invention, the angle θ 2 Is designed to be greater than angle theta 1 Thereby ensuring that the jaw transmission gear three 2-21 or the jaw transmission gear six 2-26 in at least one jaw driving unit can be meshed with the jaw rack 3-2-2 so as to ensure that the jaw 3-2 can be driven to continuously rotate in the jaw cover 3-1.
Fig. 7 to 9 show three typical working conditions, and for the convenience of illustration, the jaw cover 3-1 in the three drawings is cut in half, and different positions of jaw teeth are shown when the jaws rotate continuously in the jaw cover, so as to illustrate the principle that the design adopts two jaw driving units to ensure that the jaws can rotate continuously. Referring to FIG. 7, the jaw gear 3-2-2 appears at two windows of the jaw cover 3-1, and the jaw transmission gear three 2-21 and the jaw transmission gear six 2-26 can be simultaneously meshed with the jaw gear 3-2-2; as shown in FIG. 8, the jaw teeth 3-2-2 are only present at the left window of the jaw cover 3-1, and only the jaw transmission gear three 2-21 can be engaged with the jaw teeth 3-2-2; as shown in FIG. 9, the jaw teeth 3-2-2 are present at the right side of the jaw housing 3-1, where only the jaw drive gear six 2-26 is able to engage the jaw teeth 3-2-2.
Further, as shown in connection with fig. 3-5, the gripping subsection also comprises a jaw runner 3-1-1 and a jaw runner 3-2-1,
the jaw cover is cut in half in fig. 5 for clarity of illustration. The upper surface and the lower surface of the jaw 3-2 are respectively provided with a jaw sliding strip 3-2-1 along the circumferential direction; the inner sides of the upper and lower side walls of the jaw cover 3-1 are respectively provided with a jaw sliding groove 3-1-1 along the circumferential direction (only one jaw sliding groove at the lower part is shown in figure 5), and the jaw sliding strip 3-2-1 is correspondingly meshed with the jaw sliding groove 3-1-1, so that the jaw 3-2 is ensured to rotate along the jaw sliding groove 3-1-1 without being separated from the jaw cover 3-1.
Still further, as shown in fig. 3, the horizontal movement subsection of the automatic leveling unit comprises a chassis 2-1, a chassis driving motor 2-2, a chassis transmission gear I2-3, a chassis transmission gear II 2-4, a chassis transmission gear III 2-5, a controller 2-6, a column base 2-7, a column 2-8, a column transmission gear II 2-9, a column driving motor 2-10 and a column transmission gear I2-11,
the upper surface of the chassis 2-1 is fixedly connected with a stand column seat 2-7, a stand column 2-8 is inserted in the stand column seat 2-7, the stand column 2-8 and the stand column seat 2-7 can rotate relatively, and the top end of the stand column 2-8 is fixedly connected with a top plate 2-12 as the tail end of a horizontal moving subsection; the upright post transmission gear II 2-9 is sleeved on the upright post 2-8, the upright post transmission gear II 2-9 is meshed with the upright post transmission gear I2-11, and the upright post transmission gear I2-11 is driven by the upright post driving motor 2-10 to enable the upright post 2-8 to drive the top plate 2-12 to rotate; the upright post driving motor 2-10 drives the upright post 2-8 to rotate through the upright post transmission gear I2-11 and the upright post transmission gear II 2-9.
A chassis driving motor 2-2 is arranged on the outer side of the chassis 2-1, an output shaft of the chassis driving motor 2-2 is connected with a rotating shaft of a chassis transmission gear I2-3, the chassis transmission gear I2-3 is meshed with a chassis transmission gear II 2-4, the chassis transmission gear I2-3 and the chassis transmission gear II 2-4 are positioned on the same horizontal plane, the chassis transmission gear II 2-4 is coaxial with a chassis transmission gear III 2-5 arranged above the chassis transmission gear II, the chassis transmission gear III 2-5 is arranged on the vertical surface of the chassis 2-1 and is matched with the chassis on the inner side of the chassis 2-1 to move along the length direction of the chassis; the controller 2-6 is arranged on the chassis 2-1 and controls the rotation of the chassis driving motor 2-2 and the upright post driving motor 2-10, so that the horizontal moving part moves to a target position, and the adjusting nut 1-6 is clamped into the jaw 3-2.
Still further, as shown in fig. 2, the base of each supporting unit comprises two square steel feet 1-2, square steel 1-3, guide rails 1-8, racks 1-9 and limiters 1-10,
the square steel feet 1-2 are fixed on the ground at intervals, square steel 1-3 is placed on the square steel feet 1-2, and a plurality of sub-supports are arranged on the square steel 1-3; the surface of one side of the square steel 1-3 is provided with guide rails 1-8, a slideway of the guide rails 1-8 is internally provided with racks 1-9, two ends of the upper surface of the guide rails 1-8 are respectively provided with a limiter 1-10,
the racks 1-9 are meshed with the chassis transmission gear III 2-5;
grooves are respectively arranged on the upper surface and the lower surface of each guide rail 1-8 along the length direction; the upper surface and the lower surface of the inner side of the chassis 2-1 are respectively provided with a bulge along the length direction, and the bulges of the chassis 2-1 are correspondingly embedded in the grooves.
Referring to fig. 3, when the chassis driving motor 2-2 drives the chassis driving gear three to rotate through the chassis driving gear one and two, the chassis driving gear three 2-5 rotates along the rack 1-9, thereby driving the chassis 2-1 to move along the guide rail 1-8. The controllers 2-6 may be used to control the rotation of the various drive motors of the device.
Still further, as shown in fig. 2, the branch seat of each supporting unit comprises a conical seat 1-4, a supporting column 1-5, an adjusting nut 1-6 and a cylindrical cushion block 1-7,
the conical seat 1-4 is arranged on the square steel 1-3, the conical seat 1-4 is fixedly connected with the supporting column 1-5, the outer surface of the supporting column 1-5 is provided with threads, the adjusting nut 1-6 is screwed on the threads of the supporting column 1-5, the cylindrical cushion block 1-7 is placed on the adjusting nut 1-6, the inner surface of the cylindrical cushion block 1-7 is not provided with threads and is not screwed with the threads of the supporting column 1-5, the cylindrical cushion block 1-7 forms a fulcrum to be supported on the lower surface of the platform 1-1, namely, the platform 1-1 is supported through the plurality of cylindrical cushion blocks 1-7.
When the micro-gravity simulation platform needs to adjust the levelness, the adjusting nuts 1-6 are screwed to enable the micro-gravity simulation platform to ascend or descend, the cylindrical cushion blocks 1-7 are driven to ascend or descend along the supporting columns 1-5, and then the platform 1-1 is enabled to generate displacement in the plumb direction. Because the platform 1-1 is generally large in surface area and cannot avoid slight deformation even if the platform is high in rigidity, the whole platform 1-1 needs to be supported by a plurality of cylindrical cushion blocks 1-7 and adjusted by adjusting nuts 1-6 to ensure that the levelness of each position on the surface of the platform 1-1 is the same. The traditional method of the work is finished manually, levelness of a plurality of positions of the platform 1-1 is measured manually by using a level gauge 1-11, and then an adjusting nut 1-6 is screwed by using a wrench for leveling. On one hand, for the adjusting nuts 1-6 positioned on the inner side of the platform 1-1, the adjusting nuts need to be manually bent to drill into a narrow space between the lower surface of the platform and the ground for adjustment, so that the working difficulty is increased; on the other hand, the adjusting nuts 1-6 are more in number, and the workload is increased. The automatic leveling type microgravity simulation platform designed by the invention solves the two pain points.
Still further, as shown in fig. 16, the platform leveling control process specifically includes:
in the leveling process, the setting supporting unit comprises m bases, and each base is provided with n branch bases to form an S branch base ij Showing the adjusting nuts 1-6 corresponding to the ith row and the jth column; i =1,2,3, \8230 \ 8230;, m; j =1,2,3, \8230;, n; as shown in fig. 16, the rectangular box represents the platform 1-1, and the circle represents the adjusting nuts 1-6 and is distributed uniformly. The automatic leveling unit can be suitable for operating a plurality of adjusting nuts 1-6 which are uniformly distributed at will for leveling, and the adjusting nuts 1-6 with m rows and n columns are arranged according to the row direction and the column direction shown in the figure. The distance between two adjacent adjusting nuts 1-6 in the row direction is marked as delta L, and the distance between two adjacent adjusting nuts 1-6 in the column direction is marked as delta W; the screw pitches eta of all the adjusting nuts 1-6 are the same; the unit is usually (mm/r).
The method comprises the following steps: leveling according to a row direction:
for the ith row, the gradienters are sequentially arranged between two adjacent adjusting nuts 1-6, and the reading of the gradienters 1-11 is recorded as
Namely that
The level 1-11 is placed at S i1 And S i2 In the measurement direction along the row direction, the level 1-11 is read as
The level 1-11 is then placed at S i2 And S i3 In between, record the reading as
Analogizing in turn to obtain a total of (n-1) data of the ith row
Adjusting nuts 1-6S by ith row and 1 st column i1 Based on the height of the adjusting nut, calculating the adjusting nuts 1-6S in the 2 nd to n th rows i2 ～S in Relative to S i1 Height difference Δ h of ij ：
In order to make the height of the adjusting nuts 1-6 of each row except the 1 st column identical to the height of the adjusting nuts 1-6 of the 1 st column of the row, the calculation makes deltah ij When =0, S i2 ～S in Angle theta of rotation respectively sCMDij ：
For S i2 ～S in Synchronously controlling the rotation angles theta of the first jaw driving motor 2-17 and the second jaw driving motor 2-22 by the controller 2-6 sCMDij Leveling the adjusting nuts 1-6 of each row; respectively to nuts S ij (i =1,2, \8230;, m; j =2,3, \8230;, n) is adjusted. After the adjustment is finished, each row of adjusting nuts 1-6 is respectively horizontal in the row direction.
Step two: leveling according to the column direction:
randomly selecting a column of adjusting nuts 1-6, sequentially placing a level between two adjacent adjusting nuts 1-6, and recording the reading of the level 1-11 as
Adjusting nuts 1-6S in selected rows 1j Based on the height of the adjusting nut, sequentially calculating the adjusting nuts 1-6S of the 2 nd to m th rows in the selected column 2j ～S mj Relative to S 1j Height difference Δ h of ij ：
In order to make the height of the adjusting nuts 1-6 of each column except the 1 st row be the same as that of the adjusting nuts 1-6 of the 1 st row of the column, the calculated delta h ij When =0, S 2j ～S mj Angle theta of rotation respectively sCMDij ：
For the adjusting nuts 1-6 in the rows 2 to m, the controller 2-6 synchronously controls the jaw driving motor I2-17 and the jaw driving motor II 2-22 to sequentially perform S 2j ～S mj Corresponding angle theta sCMDij And rotating to enable all the adjusting nuts 1-6 to be horizontal, so that the platform 1-1 is horizontal.
In the second step, because the heights of the adjusting nuts 1-6 in each row are adjusted to be the same in the first step, the height difference of the adjacent adjusting nuts 1-6 in any one column is the height difference of the adjusting nuts 1-6 in two adjacent rows at the same time, and at the moment, the adjusting nuts 1-6 in each row are uniformly adjusted from the second row according to the height difference between the columns obtained through measurement, so that the horizontal adjustment of the platform can be realized.
For step two, measurement and adjustment can also be performed one by one. For the j-th column (j =1,2, \8230;, n), the spirit level 1-11 is placed at S 1j And S 2j In the column direction, the measurement direction is recorded as 1-11 readings of the level meter
Then the level 1-11 is placed at S 2j And S 3j In between, record the number as
And analogizing in turn to obtain a total (m-1) data of the j column
(i =2,3, \8230;, m; j =1,2, \8230;, n). Adjusting nuts 1-6S in jth column and 1 st row 1j Based on the height of (2), the rest S in the column 2j ～S mj Relative to S 1j The height difference of (D) is denoted as Δ h ij (i＝2,3,…,m；j＝1,2,…,n)。
After the above two steps are completed, all the adjusting nuts 1-6 have the same height, and the platform 1-1 is adjusted to be horizontal.
Still further, in FIG. 10, point C is shown p Marking of the axis of rotation Z of the column 2-8 d Position of (a), angle theta p In order to clamp the adjusting nut 1-6 into the jaw 3-2, the upright post 2-8 needs to rotate around the shaft Z d The angle of rotation; d 1 Is a side line and a point C of 2-13 sliding rails p Is a known constant value; d 2 Is a sliding table 2-16 sidelines and a point C p Distance of d, d 3 The distance between the side lines of the slide rails 2-13 and the side lines of the sliding tables 2-16, namely the sliding tables 2-16 are arranged on the slide rails 2-13 along the axis Y d The positive displacement; point C c Marking the axis of rotation Z of the jaw 3-2 c Position of, angle theta c Is formed by a jaw 3-2 surrounding a shaft Z c Target angle of rotation, d 4 Is a sliding table 2-16 sidelines and a point C c Is a known constant value; line segment AB is the central line of guide rail 1-8, point C s Marking the position of the axis of rotation of the adjusting nut 1-6, the point C being chosen such that the line segment C is s C is orthogonal to the line segment AB, the point S is the top point of the adjusting nut 1-6, and the line segment C s S and line segment C s Angle theta between C s Is defined as the rotation angle of the adjusting nut 1-6, and because the adjusting nut 1-6 is a hexagon nut, there are six vertexes corresponding to six angles theta s So that the point S is agreed to make the angle theta s The vertex with the smallest absolute value, i.e. angle theta s The range of-30 degrees to 30 degrees; point O s Is a line segment C s C intersect with line segment AB, established as point O in FIG. 10 s Coordinate system { X) as origin s O s Y s }，O s X s Positive direction is from point O s Point of direction B, O s Y s The positive direction is from point O s Point of direction C s (ii) a Self-leveling units along axis O on rails 1-8 s X s Target displacement of d 5 The self-levelling units being arranged on the guide rails 1-8 along the axis O s X s Positive or negative direction movement; point C p And C s At O s Y s A distance in the direction d 6 I.e. the axis of rotation of the adjusting nut 1-6 is at O with the axis of rotation of the column 2-8 s Y s The distance of the direction is a fixed value; FIG. 11 shows, in side view, a supplement to the above definition; initial moment, angle theta p Angle theta c And a displacement d 3 Are all 0; angle theta s Is known; the initial moment is shown in fig. 12.
The process that the controller 2-6 synchronously controls the first jaw driving motor 2-17 and the second jaw driving motor 2-22 to drive the adjusting nut 1-6 to rotate comprises the following steps:
step 1: the controller 2-6 is adopted to control the upright post driving motor 2-10 to drive the upright post 2-8 to rotate by the angle theta s Let θ be p ＝θ s So that the opening direction of the jaw 3-2 is opposite to the adjusting nut 1-6;
then, a controller 2-6 is adopted to control a chassis driving motor 2-2 to drive a chassis 2-1 to move along a guide rail 1-8; the stopping position of the chassis 2-1 is O s X s On the shaftComponent d 5 Comprises the following steps:
d 5 ＝d 6 tan(θ s )；
the state after this step is completed is shown in fig. 13;
step 2: calculating the displacement d of the linear module driving motor 2-14 driving the sliding table 2-16 to move along the sliding rail 2-13 3 (ii) a So that the adjusting nut 1-6 is clamped into the jaw 3-2; setting the required rotation angle of the current adjusting nuts 1-6 as theta sCMD (ii) a The controller 2-6 is adopted to control the first jaw driving motor 2-17 and the second jaw driving motor 2-22 to drive the jaw 3-2 together, so that the rotation angle theta of the adjusting nut 1-6 is adjusted sCMD (ii) a Recording angle theta c Angle theta with s A value of (d); the state after this step is completed is shown in fig. 14;
and 3, step 3: the jaw 3-2 is controlled to be separated from the adjusting nut 1-6; one adjustment of the adjusting nuts 1-6 is completed.
Still further, as shown in conjunction with FIGS. 10 and 11, the displacement d 3 The calculating method comprises the following steps:
according to the following steps:
obtaining:
still further, as shown in fig. 10 and 11, after step 2 is completed, the adjusting nuts 1-6 and the jaws 3-2 are not disengaged, so that the disengagement of the adjusting nuts 1-6 and the jaws 3-2 is completed in step 3, so that the leveling device finishes the leveling work.
The method for disengaging the control jaw 3-2 from the adjusting nut 1-6 comprises the following steps:
overall, this step requires readjustment of the position of the chassis 2-1 and the angle of the uprights 2-8 without changing the angle θ s The magnitude of which is such that the angle theta c The value of (b) becomes 0:
firstly), a controller 2-6 is adopted to control a chassis driving motor 2-2 to drive a chassis 2-1 to move along a guide rail 1-8, and a stop position d 5 Angle theta recorded according to step 2 s Calculating;
second), driving the upright post 2-8 to rotate until the angle theta recorded in the step 2 s Let theta p ＝θ s ；
Three) for ensuring the angle theta s Keeping the adjusting nuts 1-6 unchanged, namely ensuring that the adjusting nuts 1-6 do not rotate, driving the jaws 3-2 to rotate according to the rotating direction opposite to the step 2, wherein the rotating angle is the same as the rotating angle of the two middle upright posts 2-8,
in order to ensure that the adjusting nuts 1-6 do not rotate in the step, the movement of the chassis 2-1, the rotation of the upright posts 2-8 and the rotation of the jaws 3-2 in the step need to be carried out synchronously.
Four), driving the sliding table in 2-16 directions Y d The axial line moves in the negative direction, so that the jaw 3-2 is separated from the adjusting nut 1-6; y is d The axis is the axis of the lead screw 2-15, and the positive direction thereof is a pointing point C c In the direction of (a). The state after this step is completed is shown in fig. 15.
It is noted that if the 3 rd step of the jaw 3-2 is required to be smoothly separated from the adjusting nut 1-6, the clearance angle θ of the 2 nd step is required to be ensured c The value of (c) does not exceed a certain range. Since the adjusting nuts 1-6 are hexagonal nuts, the angle θ is defined here c The range of the angle is-30 degrees to-30 degrees. When adjusting the desired rotation angle theta of the nuts 1-6 sCMD If the step 2 is executed directly, the angle θ may be caused after the step is executed c Is beyond its range. At this time, θ is adjusted sCMD Resolution is according to the following formula:
θ sCMD ＝I×(+60°)+θ sCMD ′θ sCMD >0
θ sCMD ＝I×(-60°)+θ sCMD ′θ sCMD <0
wherein I is an integer starting from 0, theta sCMD ′∈[-30°,30°]. Thus, the larger θ sCMD And splitting the workpiece into a plurality of angles with absolute values smaller than 60 degrees, and taking the split angles as the rotating angles of the adjusting nuts 1-6 in the step 2 each time. Repeating the step 2 and the step 3 until the rotation angle of the adjusting nut 1-6 is finally theta sCMD 。
In addition, the length of the columns 2-8 of the self-leveling unit in this embodiment is designed to be fixed, because the displacement of the adjusting nuts 1-6 in the vertical direction during the leveling of the microgravity simulation platform is small, and usually does not exceed 3mm. Thus, once the microgravity simulation platform is dimensioned, the length of the uprights 2-8 is designed such that on the one hand the adjusting nut 1-6 can be snapped into the jaw 3-2; on the other hand, the adjusting nut 1-6 is left with a margin for not colliding with the sliding table 2-10 of the device when the nut is displaced in the vertical direction.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (9)
1. An automatic leveling type heavy-load plane microgravity simulation platform is characterized by comprising a platform (1-1), a plurality of supporting units, a plurality of automatic leveling units and a level gauge (1-11),
the platform (1-1) measures levelness through a level meter (1-11);
the platform (1-1) is supported by a plurality of uniformly distributed supporting units, each supporting unit comprises a base and a plurality of branch supports, and the plurality of branch supports are uniformly distributed on the base and serve as a plurality of supporting points; each supporting unit is correspondingly provided with an automatic leveling unit; the automatic leveling unit comprises a horizontal moving subsection and a clamping subsection; the base is matched with the horizontal moving subsection to enable the horizontal moving subsection to move along the length direction of the base; the horizontal moving part is connected with the clamping part, the terminal of the clamping part is used for clamping an adjusting nut (1-6) of the sub-support, and the adjusting nut (1-6) is rotated to realize the adjustment of the levelness of the platform (1-1);
the clamping branch comprises a top plate (2-12), a sliding rail (2-13), a linear module driving motor (2-14), a screw rod (2-15), a sliding table (2-16), a jaw driving motor I (2-17), a jaw transmission gear I (2-18), a jaw transmission gear II (2-19), a jaw transmission shaft I (2-20), a jaw transmission gear III (2-21), a jaw driving motor II (2-22), a jaw transmission gear IV (2-23), a jaw transmission gear V (2-24), a jaw transmission shaft II (2-25), a jaw transmission gear VI (2-26), a jaw cover (3-1), a jaw (3-2) and a jaw rack (3-2-2),
the top plate (2-12) is fixedly connected with the tail end of the horizontal moving subsection, the top plate (2-12) is fixedly connected with a sliding rail (2-13), the sliding rail (2-13) is connected with a sliding table (2-16), and a linear module driving motor (2-14) drives the sliding table (2-16) to move through a screw rod (2-15);
the clamp mouth cover (3-1) is arranged on the sliding table (2-16), the clamp mouth cover (3-1) is in a circular ring shape with a notch, and the notch extends out of the edge of the sliding table (2-16) and is positioned in the middle of the extending section; the jaw (3-2) is arranged at the inner side of the jaw mask (3-1), and the jaw rack (3-2-2) is arranged on the outer surface of the jaw (3-2); two through holes are symmetrically arranged on the side wall of the jaw cover (3-1) in a mirror image mode, a jaw rack (3-2-2) is meshed with a jaw transmission gear III (2-21) arranged on the outer side of the jaw cover (3-1) at one through hole, the jaw transmission gear III (2-21) is connected with a jaw transmission gear II (2-19) through a jaw transmission shaft I (2-20), and the jaw transmission gear II (2-19) and the jaw transmission gear III (2-21) coaxially rotate synchronously in the same direction; the jaw transmission gear II (2-19) is meshed with the jaw transmission gear I (2-18), and the jaw transmission gear I (2-18) is driven by a jaw driving motor I (2-17) arranged on the sliding table (2-16); the jaw rack (3-2-2) is meshed with a jaw transmission gear six (2-26) arranged on the outer side of the jaw cover (3-1) at the other through hole, the jaw transmission gear six (2-26) is connected with a jaw transmission gear five (2-24) through a jaw transmission shaft II (2-25), and the jaw transmission gear five (2-24) and the jaw transmission gear six (2-26) are coaxial and synchronously rotate in the same direction; the jaw transmission gear five (2-24) is meshed with the jaw transmission gear four (2-23), and the jaw transmission gear four (2-23) is driven by a jaw driving motor two (2-22) arranged on the sliding table (2-16);
the platform leveling control includes: calculating the distance between the automatic leveling unit and a target fulcrum, controlling the horizontal moving part to move to a target position by a controller (2-6), and clamping an adjusting nut (1-6) into a jaw (3-2); adjusting a target numerical value according to the height of the branch seat corresponding to the measuring result of the level meter (1-11) to calculate a target rotating angle of the adjusting nut (1-6), synchronously controlling the jaw driving motor I (2-17) and the jaw driving motor II (2-22) to rotate the target rotating angle by the controller (2-6), and finally enabling the heights of all the adjusting nuts (1-6) to be the same and adjusting the platform (1-1) to be horizontal;
in the platform leveling control, the adjusting nuts (1-6) are leveled according to the row direction and then leveled according to the column direction;
in the process of leveling sequentially according to the row direction or the column direction, the gradienters are sequentially placed between two adjacent adjusting nuts (1-6) to obtain the readings of the gradienters (1-11); taking the height of the selected ith row and the 1 st column of adjusting nuts (1-6) or the height of the selected 1 st row and the jth column of adjusting nuts (1-6) as a reference, calculating the height difference of the rest adjusting nuts (1-6) relative to the selected adjusting nuts (1-6) according to the row direction or the column direction according to the distance between the adjacent adjusting nuts (1-6) and the reading of a level meter (1-11), and taking the height difference as a branch seat height adjustment target value;
and then, adjusting the target value according to the height of the branch seat, and calculating the target rotation angle of the adjusting nut (1-6) by combining the screw pitch eta of the adjusting nut (1-6).
2. The autoleveling heavy-duty planar microgravity simulation platform of claim 1, wherein the clamping section further comprises a jaw runner (3-1-1) and a jaw slider (3-2-1),
the upper surface and the lower surface of the jaw (3-2) are respectively provided with a jaw sliding strip (3-2-1) along the circumferential direction; the inner sides of the upper and lower side walls of the jaw gauze mask (3-1) are respectively provided with a jaw sliding groove (3-1-1) along the circumferential direction, and a jaw sliding strip (3-2-1) is correspondingly meshed with the jaw sliding groove (3-1-1).
3. The automatic leveling type heavy-load plane microgravity simulation platform according to claim 2, wherein the horizontal moving subsection of the automatic leveling unit comprises a chassis (2-1), a chassis driving motor (2-2), a chassis transmission gear I (2-3), a chassis transmission gear II (2-4), a chassis transmission gear III (2-5), a controller (2-6), a stand column seat (2-7), a stand column (2-8), a stand column transmission gear II (2-9), a stand column driving motor (2-10) and a stand column transmission gear I (2-11),
the upper surface of the chassis (2-1) is fixedly connected with a stand column seat (2-7), a stand column (2-8) is inserted into the stand column seat (2-7), and the top end of the stand column (2-8) is fixedly connected with a top plate (2-12) as the tail end of a horizontal moving subsection; a second upright post transmission gear (2-9) is sleeved on the upright post (2-8), the second upright post transmission gear (2-9) is meshed with the first upright post transmission gear (2-11), and the first upright post transmission gear (2-11) is driven by an upright post driving motor (2-10) to enable the upright post (2-8) to drive the top plate (2-12) to rotate;
a chassis driving motor (2-2) is arranged on the outer side of a chassis (2-1), an output shaft of the chassis driving motor (2-2) is connected with a rotating shaft of a chassis transmission gear I (2-3), the chassis transmission gear I (2-3) is meshed with a chassis transmission gear II (2-4), the chassis transmission gear I (2-3) and the chassis transmission gear II (2-4) are positioned on the same horizontal plane, the chassis transmission gear II (2-4) is coaxial with a chassis transmission gear III (2-5) arranged above the chassis transmission gear II, the chassis transmission gear III (2-5) is arranged on the vertical surface of the chassis (2-1) and is matched with the chassis on the inner side of the chassis (2-1) to move along the length direction of the chassis; the controller (2-6) is installed on the chassis (2-1) and controls the rotation of the chassis driving motor (2-2) and the upright post driving motor (2-10) to enable the horizontal moving subsection to move to a target position and enable the adjusting nut (1-6) to be clamped into the jaw (3-2).
4. The autoleveling heavy-duty planar microgravity simulation platform of claim 3,
the base of each supporting unit comprises two square steel feet (1-2), square steel (1-3), guide rails (1-8), racks (1-9) and limiters (1-10),
the square steel feet (1-2) are fixed on the ground at intervals, square steel (1-3) is placed on the square steel feet, and a plurality of sub-supports are arranged on the square steel (1-3); one side surface of the square steel (1-3) is provided with a guide rail (1-8), a slide way of the guide rail (1-8) is internally provided with a rack (1-9), two ends of the upper surface of the guide rail (1-8) are respectively provided with a limiter (1-10),
the racks (1-9) are meshed with a chassis transmission gear III (2-5);
grooves are respectively arranged on the upper surface and the lower surface of each guide rail (1-8) along the length direction; the upper surface and the lower surface of the inner side of the chassis (2-1) are respectively provided with a bulge along the length direction, and the bulges of the chassis (2-1) are correspondingly embedded in the grooves.
5. The autoleveling heavy-duty planar microgravity simulation platform of claim 4,
the branch seat of each supporting unit comprises a conical seat (1-4), a supporting column (1-5), an adjusting nut (1-6) and a cylindrical cushion block (1-7),
the conical seat (1-4) is arranged on the square steel (1-3), the supporting column (1-5) is fixedly connected onto the conical seat (1-4), threads are arranged on the outer surface of the supporting column (1-5), the adjusting nut (1-6) is screwed on the threads of the supporting column (1-5), the cylindrical cushion block (1-7) is placed on the adjusting nut (1-6), and the cylindrical cushion block (1-7) forms a fulcrum to be supported on the lower surface of the platform (1-1).
6. The autoleveling heavy-duty planar microgravity simulation platform of claim 5,
the platform leveling control process specifically comprises the following steps:
in the leveling process, the setting supporting unit comprises m bases, and each base is provided with n branch bases to form an S-shaped structure ij Showing the adjusting nuts (1-6) corresponding to the ith row and the jth column; i =1,2,3, \8230;, m; j =1,2,3, \8230;, n; the distance between two adjacent adjusting nuts (1-6) in the row direction is marked as delta L, and the distance between two adjacent adjusting nuts (1-6) in the column direction is marked as delta W; the screw pitches eta of all the adjusting nuts (1-6) are the same;
the method comprises the following steps: leveling according to the row direction:
for the ith row, the gradienters are sequentially arranged between two adjacent adjusting nuts (1-6), and the reading of the gradienters (1-11) is recorded as
Adjusting nuts (1-6) S in ith row and 1 st column i1 Based on the height of (1), calculating the 2 nd to n th rows of adjusting nuts (1-6) S i2 ～S in Relative to S i1 Height difference Δ h of ij ：
Calculating Δ h ij When =0, S i2 ～S in Angle theta of rotation respectively required sCMDij ：
For S i2 ～S in The controller (2-6) synchronously controls the rotation angles theta of the first jaw driving motor (2-17) and the second jaw driving motor (2-22) sCMDij Leveling the adjusting nuts (1-6) of each row;
step two: leveling according to the column direction:
randomly selecting a column of adjusting nuts (1-6), sequentially placing the gradienter between two adjacent adjusting nuts (1-6), and recording the reading of the gradienter (1-11) as
Adjusting nuts (1-6) S in selected rows 1j Based on the height of the adjusting nut (1-6), sequentially calculating the adjusting nuts (1-6) S of the 2 nd to m th rows in the selected column 2j ～S mj Relative to S 1j Height difference Δ h of ij ：
Calculating Δ h ij When =0, S 2j ～S mj Angle theta of rotation respectively required sCMDij ：
For the adjusting nuts (1-6) in the rows 2 to m, the first jaw driving motor (2-17) and the jaw driving motor are synchronously controlled by the controller (2-6)Di (2-22) in turn according to S 2j ～S mj Corresponding angle theta sCMDij Rotating to enable all the adjusting nuts (1-6) to be horizontal, thereby achieving the level of the platform (1-1).
7. The autoleveling heavy-duty planar microgravity simulation platform of claim 6,
at point C p Marking the axis of rotation Z of the column (2-8) d Position of, angle theta p In order to clamp the adjusting nuts (1-6) into the jaw (3-2) upright posts (2-8), an axis Z needs to be wound d The angle of rotation; d 1 Is a side line and a point C of the slide rail (2-13) p Distance of d, d 2 Is a sideline and a point C of the sliding table (2-16) p Distance of d 3 Is the distance between the side line of the slide rail (2-13) and the side line of the sliding table (2-16), and is a point C c Marking the axis of rotation Z of the jaw (3-2) c Position of (a), angle theta c Is a jaw (3-2) around an axis Z c Target angle of rotation, d 4 Is a sideline and a point C of the sliding table (2-16) c Line segment AB is the central line of the guide rail (1-8), point C s Marking the position of the axis of rotation of the adjusting nut (1-6) and selecting the point C such that the line segment C is s C is orthogonal to the line segment AB, the point S is the top point of the adjusting nut (1-6), and the line segment C s S and line segment C s Angle theta between C s Defined as the angle of rotation of the adjusting nut (1-6), the point S being defined such that the angle theta s Vertex with minimum absolute value, point O s Is a line segment C s The intersection point of C and the line segment AB is established by the point O s Coordinate system { X) as origin s O s Y s }，O s X s The positive direction is from point O s Point of direction B, O s Y s The positive direction is from point O s Point of direction C s (ii) a The self-levelling unit being on the guide rails (1-8) along the axis O s X s Target displacement of d 5 Point C p And C s At O s Y s A distance in the direction d 6 Initial time, angle θ p Angle theta c And a displacement d 3 Are all 0; angle theta s Is known;
the flow of the controller (2-6) synchronously controlling the first jaw driving motor (2-17) and the second jaw driving motor (2-22) to drive the adjusting nut (1-6) to rotate comprises the following steps:
step 1: the controller (2-6) is adopted to control the upright post driving motor (2-10) to drive the upright post (2-8) to rotate by an angle theta s Let θ be p ＝θ s So that the opening direction of the jaw (3-2) is opposite to the adjusting nut (1-6);
then, a controller (2-6) is adopted to control a chassis driving motor (2-2) to drive a chassis (2-1) to move along a guide rail (1-8); the stop position of the chassis (2-1) is O s X s Component d on the axis 5 Comprises the following steps:
d 5 ＝d 6 tan(θ s )；
step 2: calculating the displacement d of the linear module driving motor (2-14) driving the sliding table (2-16) to move along the sliding rail (2-13) 3 (ii) a So that the adjusting nut (1-6) is clamped into the jaw (3-2); setting the required rotation angle of the current adjusting nut (1-6) as theta sCMD (ii) a The controller (2-6) is adopted to control the jaw driving motor I (2-17) and the jaw driving motor II (2-22) to jointly drive the jaw (3-2) so as to adjust the rotation angle theta of the nut (1-6) sCMD (ii) a Recording angle theta c Angle theta with the angle theta s A value of (d);
and 3, step 3: the control jaw (3-2) is separated from the adjusting nut (1-6); completing the primary adjustment of the adjusting nuts (1-6);
displacement d 3 The calculating method comprises the following steps:
according to the following steps:
obtaining:
8. the autoleveling heavy-duty planar microgravity simulation platform of claim 7,
the method for disengaging the control jaw (3-2) from the adjusting nut (1-6) comprises the following steps:
at the same time as the angle theta is not changed s The magnitude of which is such that the angle theta c The value of (d) becomes 0:
firstly, a controller (2-6) is adopted to control a chassis driving motor (2-2) to drive a chassis (2-1) to move along a guide rail (1-8), and a stop position d 5 Angle theta recorded according to step 2 s Calculating;
II) driving the upright post (2-8) to rotate to the angle theta recorded in the step 2 s Let theta p ＝θ s ；
Thirdly), the driving jaw (3-2) rotates according to the rotating direction opposite to the step 2, the rotating angle is the same as the rotating angle of the middle upright post (2-8),
fourthly) driving the sliding table (2-16) to Y d The axial line moves in the negative direction, so that the jaw (3-2) is separated from the adjusting nut (1-6); y is d The axis is the axis of the lead screw (2-15), and the positive direction is a pointing point C c In the direction of (a).
9. The autoleveling heavy-duty planar microgravity simulation platform of claim 8,
angle theta c The range of the angle is-30 degrees to-30 degrees.
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