CN115676674A - Magnetic-gas mixed suspension gravity unloading device and system - Google Patents

Abstract

The invention relates to a magnetic-gas mixed suspension gravity unloading device and a system, wherein the gravity unloading device comprises a bracket assembly, a magnetic-gas mixed movement mechanism, a hoisting mechanism and a control unit; the magnetic-gas mixing movement mechanism comprises a magnetic-gas assembly, the magnetic-gas assembly comprises a gas floating piece, a magnetic ring and a first end face, and the magnetic-gas assembly enables a first gap to be generated between the first end face and a reference surface and keeps the distance of the first gap unchanged through the interaction of electromagnetic attraction and gas repulsion in a power-on and ventilation state; the hoisting mechanism comprises a traction wire and a holding piece, wherein the holding piece is arranged at the downward extending end of the traction wire and is used for suspending an experimental target. The experimental target is suspended and gravity-unloaded by adopting the magnetic-gas mixing effect, and the magnetic-gas component forms a suspension state, has the micro-resistance characteristic and can realize suspension follow-up with the experimental target; the magnetic assembly is used for suspension movement, so that the limitation of the movement position of the frame platform is avoided, and the frame platform can reach any position on the platform.

Description

Magnetic-gas hybrid suspension gravity unloading device and system

Technical Field

The application relates to the field of ground microgravity simulation, in particular to a magnetic-gas hybrid suspension gravity unloading device and system.

Background

With the development of large-caliber space optical equipment, the requirement of space on-orbit tasks is higher in precision and more complicated, and the requirement of large-size and multifunctional spacecrafts is increasingly increased. The construction of a space optical system in an on-orbit assembly mode involves various problems such as transportation and assembly of each assembly module, attitude adjustment of a spacecraft, stable maintenance of a mechanism of an assembly body and the like. In order to ensure the success of the in-orbit assembly task of the space telescope, a related ground test system needs to be built, the performance test and the running state detection are carried out by utilizing the motion simulation environment, the performance of the space telescope can be effectively evaluated and verified, the defects of principle level can be timely found and eliminated, and various technical bottlenecks faced by in-orbit assembly are broken through. The gravity unloading device is used as a main component of a ground test system, and the performance of the gravity unloading device determines whether the microgravity environment has reliability and diversity and the simulation capability of the outer space mechanical environment. At present, a suspension type gravity unloading device is mostly constructed by adopting a suspension principle, so that the stability of weightlessness simulation is improved, and the suspension type gravity unloading device can be suitable for various experimental objects to meet the experimental requirements of different conditions.

The existing gravity unloading device is generally a system which automatically tracks along a certain track in a single direction or a single point, and cannot meet the requirement of a multi-component mechanism for low-gravity real-time unloading at each position. Although the prior art can be provided with constant tension control systems which correspond to the hanging points one by one to control the tension of the sling in a vertical working stroke range, a moving platform of the prior art adopts a frame structure, a hanging main body consists of a guide rail and a longitudinal and transverse moving vehicle, and the range is limited in the two-dimensional plane moving process; the hanging system is fixedly connected with the servo motion platform through the turntable, the working stroke is controlled according to the relative position change of each hanging point on the servo motion platform, and the servo system has obvious hysteresis and can influence the motion state of an experimental target.

Disclosure of Invention

In view of the above problems, the present application provides a magnetic-air hybrid suspension gravity unloading device, which solves the problems that the range is limited during the two-dimensional plane movement process, and the servo system has obvious hysteresis

In order to achieve the above object, in a first aspect, the present invention provides a magnetic-air hybrid suspension gravity unloading device, including a bracket assembly, a magnetic-air hybrid movement mechanism, a hoisting mechanism and a control unit; the magnetic-gas mixed movement mechanism comprises a magnetic-gas component, the magnetic-gas component is arranged on one side of the support component and comprises a gas floating piece, a magnetic ring and a first end face, the magnetic ring is sleeved on the gas floating piece, the first end face is formed by the end face of the magnetic ring and the end face of the gas floating piece on the same side, the magnetic ring is used for generating electromagnetic attraction relative to a reference surface after being electrified, a first through hole is formed in the gas floating piece, and the first through hole is used for conducting gas flow to generate gas repulsion force after ventilation; the magnetic assembly is used for generating a first gap between the first end face and the reference surface through the interaction of electromagnetic attraction and gas repulsion in the electrified ventilation state and keeping the distance between the first gap and the reference surface unchanged; the reference surface has magnetism;

the lifting mechanism comprises a traction wire and a holding piece, the traction wire is arranged on the other side of the support component, and the other end of the traction wire vertically extends downwards; the holding piece is arranged at the downward extending end of the traction wire and used for suspending the experimental target; the control unit is electrically connected with the magnetic ring and the air floatation piece and is used for adjusting the magnetic force of the magnetic ring and the air flow velocity of the air floatation piece.

In some embodiments, the magnetic hybrid motion mechanism further includes a first driving unit disposed on the same side of the bracket assembly as the magnetic assembly, the first driving unit is electrically connected to the control unit, the first driving unit has a first driving surface, the first driving surface and the first end surface are disposed on the same plane, and the first driving unit is configured to drive the bracket assembly to move.

In some embodiments, the magnetic assembly further comprises a displacement sensor disposed on the air bearing member and electrically connected to the control unit for measuring the spacing of the first gap; the control unit adjusts the first driving unit and the magnetic assembly through the distance of the first gap measured by the displacement sensor so that the distance of the first gap is kept within a first preset threshold range.

In some embodiments, the number of the magnetic assemblies is multiple, and the multiple magnetic assemblies are arranged along the circumference of the bracket assembly.

In some embodiments, the magnetic-air mixing motion mechanism further comprises leveling assemblies, the number of the leveling assemblies is the same as that of the magnetic assemblies, the leveling assemblies are arranged at the joints of the magnetic assemblies and the support assemblies, and one leveling assembly is used for adjusting the height of one first end face, so that the first end faces are arranged in the same plane.

In some embodiments, the magnetic-air hybrid suspension gravity unloading device further comprises an adjusting mechanism, the adjusting mechanism and the magnetic-air hybrid movement mechanism are arranged on two sides of the bracket assembly, the adjusting mechanism comprises a second driving unit and a third driving unit, the second driving unit is arranged on the bracket assembly and is electrically connected with the control unit, the output end of the second driving unit is in transmission connection with the traction line at a first point and is used for adjusting the vertical height of the holding piece within a first range; the third driving unit is arranged on the bracket component and is electrically connected with the control unit, and the output end of the third driving unit is in transmission connection with the traction wire at a second point and is used for adjusting the vertical height of the holding piece in a second range; the first point does not overlap the second point, and the first range is greater than the second range.

In some embodiments, the adjusting mechanism further comprises a pulley block and a force sensor, the pulley block comprises a first pulley, a second pulley and a third pulley, the first pulley is arranged on the bracket component, the second pulley is in transmission connection with the third driving unit, the third pulley is arranged on the output end of the second driving unit, and the traction line is in transmission connection with the second driving unit and the third driving unit respectively through the pulley block; the force sensor is arranged between the second pulley and the third driving unit and electrically connected with the control unit, and is used for detecting the stress value of the traction line; the control unit is also used for adjusting the second driving unit and the third driving unit according to the stress value detected by the force sensor so that the stress value is kept within a second preset threshold range.

In some embodiments, the adjusting mechanism further comprises an inclination angle measuring sensor arranged on the bracket component and used for measuring the included angle of the holding piece relative to the vertical direction; the control unit is used for comprehensively calculating the rotation quantities of the second driving unit and the third driving unit according to the included angle measured by the inclination angle measuring sensor and the stress value so as to keep the stress value within a second preset threshold range.

In some embodiments, the bracket assembly comprises a first bracket and a second bracket, the magnetic mixing motion mechanism is arranged on the first bracket, and a first connecting piece is arranged on one side of the first bracket opposite to the magnetic mixing motion mechanism; the second connecting piece is arranged on the second support, the first connecting piece is matched with the second connecting piece to enable the second support to be hinged to the first support and can rotate relative to the first support, and the adjusting mechanism is arranged on one side, deviating from the second connecting piece, of the second support.

In order to achieve the above object, in a second aspect, the present invention further provides a suspension gravity unloading system, including a plurality of magnetic air hybrid suspension gravity unloading devices, where the magnetic air hybrid suspension gravity unloading devices are the magnetic air hybrid suspension gravity unloading devices described above; the holding pieces of the multiple magnetic-air hybrid suspension gravity unloading devices are used for holding the same experimental target.

Compared with the prior art, the technical scheme has the advantages that the experimental target is suspended and gravity-unloaded by adopting the magnetic-gas mixing effect, the magnetic-gas component is in a suspension state, has the micro-resistance characteristic and can realize suspension follow-up with the experimental target; the magnetic assembly is used for suspension movement, so that the limitation of the movement position of the frame platform is avoided, and the frame platform can reach any position on the reference surface.

The above description of the present invention is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clearly understood by those skilled in the art, the present invention may be further implemented according to the content described in the text and drawings of the present application, and in order to make the above objects, other objects, features, and advantages of the present application more easily understood, the following description is made in conjunction with the detailed description of the present application and the drawings.

Drawings

The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of particular embodiments of the invention, as well as others related thereto, and are not to be construed as limiting the application.

In the drawings of the specification:

FIG. 1 is a schematic view of an embodiment of a magnetic-air hybrid suspended gravity unloading apparatus;

FIG. 2 is another schematic view of an embodiment of the magnetic air hybrid suspended gravity unloading apparatus;

FIG. 3 is a schematic view of a magnetic hybrid kinematics according to an embodiment;

FIG. 4 is a schematic view of an embodiment of a magnetic assembly;

FIG. 5 is a cross-sectional view of the leveling assembly and the magnetic assembly according to the embodiments;

FIG. 6 is a schematic view of an embodiment of the adjustment mechanism;

FIG. 7 is another schematic view of an adjustment mechanism according to an embodiment.

Wherein the reference numerals include: 1. a magnetic-gas mixing motion mechanism; 11. a magnetic ring; 12. an air-bearing member; 13. a first driving unit; 14. a position sensor; 15. a first bracket; 16. a leveling assembly; 17. a gas circuit and power supply assembly; 2. spherical hinge; 3. an adjustment mechanism; 31. a second bracket; 32. a third driving unit; 33. a force sensor; 34. a second driving unit; 35. a pulley block; 351. a second pulley; 352. a first pulley; 4. a hoisting mechanism; 41. a tilt angle measuring sensor; 42. a pull wire; 43. and (4) a holding piece.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are used for the same blocks. In the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1 and fig. 2, the present embodiment provides a magnetic-air hybrid suspension gravity unloading device, which includes a bracket assembly, a magnetic-air hybrid movement mechanism 1, a hoisting mechanism 4, and a control unit; the magnetic-air mixed movement mechanism 1 comprises a magnetic-air assembly, the magnetic-air assembly is arranged on one side of a support assembly and comprises an air floating piece 12, a magnetic ring 11 and a first end face, the magnetic ring 11 is sleeved on the air floating piece 12, the end face of the magnetic ring 11 and the end face of the air floating piece 12 on the same side form the first end face, the magnetic ring 11 is used for generating electromagnetic attraction relative to a reference surface after being electrified, the air floating piece 12 is provided with a first through hole, and the first through hole is used for conducting air flow to generate gas repulsion force after being ventilated; the magnetic assembly is used for generating a first gap between the first end face and the reference surface through the interaction of electromagnetic attraction and gas repulsion in the electrified ventilation state and keeping the distance between the first gap and the reference surface unchanged; the reference surface is magnetic; the hoisting mechanism 4 comprises a traction wire 42 and a holding piece 43, the traction wire 42 is arranged at the other side of the bracket component, and the other end of the traction wire 42 vertically extends downwards; a holding member 43 is provided at the downwardly extending end of the traction wire 42, the holding member 43 being for suspending the experimental object; the control unit is electrically connected with the magnetic ring 11 and the air-floating member 12 and is used for adjusting the magnetic force of the magnetic ring 11 and the air flow rate of the air-floating member 12.

The reference surface is the platform surface of the suspension platform, and the suspension platform is matched with the suspension gravity unloading device, so that the suspension of the experimental target can be realized. In the prior art, a suspension platform generally refers to a frame made of steel frames or profiles, slide rails in different directions are arranged on the frame, and a suspension gravity unloading device is arranged on the slide rails and can move in the direction in which the slide rails are laid.

Referring to fig. 4 and 5, the magnetic assembly includes an air floating member 12 and a magnetic ring 11, the air floating member 12 is integrally formed, the magnetic ring 11 is sleeved on the air floating member 12, and an end surface of the magnetic ring 11 and an end surface of the air floating member 12 on the same side form a first end surface. The number of the first through holes can be one or more, and when the number of the first through holes is one, the aperture of the first through holes is correspondingly changed, so that the generated gas repulsion can meet the use requirement. When the number of the first through holes is plural, the first through holes are regularly arranged on the air floating member 12, so that the air flow is uniformly distributed to ensure that the air repulsive force can be uniformly distributed on the first end surface, so that the air repulsive force and the electromagnetic attraction force keep balanced, and the offset caused by uneven force on the first end surface is avoided.

After the power is switched on, the reference surface is magnetic, the magnetic assembly is provided with electromagnetic attraction and gas repulsion, the interaction of the electromagnetic attraction and the gas repulsion enables a first gap to be generated between the first end surface and the reference surface, the distance between the first gap is kept unchanged, a suspension state between the first end surface and the reference surface is formed, and the suspension state has the characteristic of micro resistance, so that the movement of an experimental target on the reference surface can be flexibly realized.

The pull wires 42 may be made of steel wire rope or may be of other shapes, for example, they may be slings; the traction wire 42 is used to suspend the experimental target. The holding piece 43 is arranged at the extending end of the traction wire 42, the holding piece 43 can be a cross-section type suspension hoop or a suction cup, and the like, the holding piece 43 can be relatively fixed with the experimental target, and is matched with the traction wire 42, the bracket component, the magnetic component and the reference surface to suspend the experimental target in the air, so that the gravity unloading of the experimental target is realized.

Utilize the mixed action of magnetism for produce first clearance and continuously keep first clearance between reference surface and the first terminal surface, make first terminal surface can remove for the reference surface, thereby break away from the position restriction of slide rail, only need the reference surface possess magnetism can make whole reference surface all belong to the moving range of first terminal surface, make the suspension position of experimental objective adjust and reach the maximum range.

Referring to fig. 3, in some embodiments, the magnetic hybrid motion mechanism 1 further includes a first driving unit 13 disposed on the same side of the bracket assembly as the magnetic assembly, the first driving unit 13 is electrically connected to the control unit, the first driving unit 13 has a first driving surface, the first driving surface and the first end surface are disposed on the same plane, and the first driving unit 13 is configured to drive the bracket assembly to move.

The first driving unit 13 and the magnetic assembly are disposed on the same side, and the first driving unit 13 may be a planar motor, or a combination of a common motor and a transmission structure (such as a gear, etc.), so as to form a driving unit with a planar driving function. The first driving unit 13 has a first driving surface, and the first driving surface and the first end surface are disposed on the same plane, so as to ensure that the electromagnetic force and the acting surface of air flotation repulsion coincide, prevent the formation of additional torque, and ensure the uniformity and uniformity of acting force variation when the control system adjusts the suspension gap.

The first driving unit 13 is used for driving the carriage assembly to move, and the moving direction is a direction parallel to the reference plane, for example, when the reference plane is a horizontal plane, the first driving unit 13 is used for driving the carriage assembly to move along the horizontal direction; when the reference surface is a vertical surface, the first driving unit 13 is used for driving the carriage assembly to move in a vertical direction. The control unit is electrically connected with the first driving unit 13, the advancing speed and distance of the first driving unit 13 can be controlled according to actual requirements, when the suspension position of the experimental target needs to be adjusted, the driving function of the first driving unit 13 can save manpower to adjust the step of the suspension gravity unloading device, and the first driving unit 13 can adjust the suspension position of the experimental target more accurately under the control of the control unit while saving manpower, so that other subsequent test steps of the experimental target can be conveniently performed.

In some embodiments, the magnetic assembly further comprises a displacement sensor disposed on the air-bearing member 12 and electrically connected to the control unit for measuring the spacing of the first gap; the control unit adjusts the first driving unit 13 and the magnetic assembly so that the distance of the first gap is maintained within a first preset threshold range, through the distance of the first gap measured by the displacement sensor. The first predetermined threshold represents a specific value of the spacing of the first gap, which is manually entered as a standard reference value. When the distance between the first gap and the reference plane is within the predetermined range, the first end surface and the reference plane are in a parallel state, and the magnetic-air hybrid suspension gravity unloading device in the parallel state has the capability of suspending an experimental target with a certain weight. Optionally, the number of the displacement sensors is determined according to actual requirements, and when the size of the air floating member 12 is small, one displacement sensor can meet the requirement of measuring the distance between the first gaps, and only one displacement sensor needs to be provided. When the air floating member 12 is large, the value of the first interval of the whole first end surface cannot be represented by the interval value of the first interval obtained by one displacement sensor, at this time, a plurality of displacement sensors need to be equipped, and the plurality of displacement sensors are arranged along the circumferential direction of the air floating member 12, through obtaining the intervals of the plurality of first intervals, whether an inclined state exists between the first end surface and the reference surface can be judged, when the inclined state exists, the control unit can adjust the flow rate of gas and the size of electromagnetic attraction, and timely correct the offset of the first interval, so that the interval of the first interval is always kept within a first preset threshold range, and the suspension stability of the suspension gravity unloading device in the suspension experiment target process is ensured.

Referring to fig. 3, in some embodiments, the number of the magnetic assemblies is multiple, and the multiple magnetic assemblies are arranged along the circumferential direction of the bracket assembly. Optionally, the number of the magnetic assemblies is three, the magnetic assemblies are arranged on the support assembly along the circumferential direction to form a triangular structure, the first end faces of the three magnetic assemblies are all located on the same plane and are arranged in parallel with the reference plane, and the stability of the whole suspension device can be improved by arranging the plurality of magnetic assemblies.

Referring to fig. 5, in some embodiments, the magnetic hybrid exercise mechanism 1 further includes leveling assemblies 16, the number of the leveling assemblies 16 is the same as the number of the magnetic assemblies, the leveling assemblies 16 are disposed at the joints of the magnetic assemblies and the bracket assemblies, and one leveling assembly 16 is used for adjusting the height of one first end surface so that the plurality of first end surfaces are disposed in the same plane. Leveling subassembly 16 includes customization bolt and nut, and the nut sets firmly on the bracket component, and the customization bolt sets up in this nut, and the other end of customization bolt links firmly with air supporting 12, through rotatory customization bolt, can realize the altitude mixture control of first terminal surface, and a plurality of adjusting part can realize the regulation of a plurality of first terminal surfaces for a plurality of first terminal surfaces are in the coplanar, ensure after the circular telegram, and the interval in the first clearance between every first terminal surface and the reference surface is the same.

Referring to fig. 6, in some embodiments, the magnetic-air hybrid suspended gravity unloading apparatus further includes an adjusting mechanism 3, the adjusting mechanism 3 is disposed on two sides of the bracket assembly opposite to the magnetic-air hybrid moving mechanism 1, the adjusting mechanism 3 includes a second driving unit 34 and a third driving unit 32, the second driving unit 34 is disposed on the bracket assembly and electrically connected to the control unit, an output end of the second driving unit 34 is in transmission connection with the pull wire 42 at a first point for adjusting a vertical height of the holding member 43 within a first range; the third driving unit 32 is arranged on the bracket assembly and is electrically connected with the control unit, and the output end of the third driving unit 32 is in transmission connection with the traction wire 42 at a second point for adjusting the vertical height of the holding piece 43 in a second range; the first point does not overlap the second point, and the first range is greater than the second range.

The second driving unit 34 is disposed on the bracket assembly and electrically connected to the control unit, and an output end of the second driving unit 34 is in transmission connection with the traction wire 42 at a first point, that is, the output end of the second driving unit 34 is in transmission connection with a tail end of the traction wire 42, for example, a wire collecting frame is sleeved on the output end of the second driving unit 34, and is connected with the tail end of the traction wire 42, and the traction wire 42 is driven to wind on the wire collecting frame through high-speed rotation of the output end of the second driving unit 34, so as to achieve adjustment of the vertical height of the holding piece 43 and the experimental object suspended by the holding piece 43 in a first range.

The third driving unit 32 is disposed on the bracket assembly, the third driving unit 32 is disposed between the second driving unit 34 and the holding member 43, an output end of the third driving unit 32 is in transmission connection with a middle portion of the pulling wire 42, for example, may be in transmission connection with the pulling wire 42 through a bearing or a pulley, and an output end of the third driving unit 32 is used for adjusting a vertical height of the holding member 43 within a second range.

Here, the first range refers to an adjustment range with a large adjustment accuracy, for example, the experiment target needs to be lifted by 100cm, the adjustment of the first range refers to the lifting of the holding piece 43 from the current position to 100cm, and the second range refers to an adjustment range with a small adjustment accuracy, and on the premise of the foregoing example, the adjustment accuracy needs to be accurate to 0.1cm, and then the third driving unit 32 only needs to slightly lift the traction wire 42 by 0.1cm, and does not need to perform the winding action of the traction wire 42.

In some embodiments, the second drive unit 34 is a winding motor and the third drive unit 32 is a voice coil motor. By performing two-stage adjustment on the traction wire 42, the adjusting mechanism 3 realizes high-precision adjustment of the holding piece 43 and the suspended experimental target in the vertical direction, thereby facilitating subsequent other experimental steps on the experimental target.

Referring to fig. 7, in some embodiments, the adjusting mechanism 3 further includes a pulley set 35 and the force sensor 33, the pulley set 35 includes a first pulley 352, a second pulley 351 and a third pulley, the first pulley 352 is disposed on the bracket assembly, the second pulley 351 is in transmission connection with the third driving unit 32, the third pulley is disposed on the output end of the second driving unit 34, and the pulling wire 42 is in transmission connection with the second driving unit 34 and the third driving unit 32 through the pulley set 35; the force sensor 33 is arranged between the second pulley 351 and the third driving unit 32 and electrically connected with the control unit, and the force sensor 33 is used for detecting the stress value of the traction wire 42; the control unit is further configured to adjust the second driving unit 34 and the third driving unit 32 according to the force value detected by the force sensor 33 such that the force value is maintained within a second preset threshold range.

The first pulley 352 is disposed on the bracket assembly, and the first pulley 352 is a fixed pulley and is mainly used for changing the moving direction of the traction wire 42. The second pulley 351 is a movable pulley, and the second pulley 351 is in transmission connection with the third driving unit 32 and is used for finely adjusting the traction wire 42 in a second range; a third pulley is provided on the output end of the second driving unit 34 for adjusting the moving direction of the traction wire 42 to facilitate winding.

In this embodiment, the second pulley 351 and the third driving unit 32 are connected in series through the force sensor 33, the force sensor 33 can detect the force value of the traction wire 42 in real time and feed the force value back to the control unit, when the orientation of the experimental target on the holding member 43 changes, the holding angle of the holding member 43 will also change, and the tension force applied to the traction wire 42 will also change accordingly. In order to keep the experimental target balanced in the new orientation, the tension of the traction wire 42 needs to be adjusted, and the control unit calculates the change value of the force sensor 33 and the tension value required for new balance to obtain the final tension value of the traction wire 42, so as to control the third driving unit 32 to finely adjust the traction wire 42, thereby ensuring that the experimental target is always kept in a stress balance state. The second predetermined threshold represents a tension value of the pull wire 42, and the setting of the second predetermined threshold is obtained by human input or calculation, that is, when the experimental target is kept in a new balance state, the second predetermined threshold corresponds to a tension value required by the pull wire 42.

Through setting up assembly pulley 35 and force sensor 33, can carry out the accuracy to the pulling force of pull wire 42 and adjust, ensure being in the stress balance state of experimental target for pull wire 42 realizes the output of permanent pulling force, is convenient for carry out other experimental steps to experimental target.

In some embodiments, the adjusting mechanism 3 further comprises a tilt angle measuring sensor 41, which is arranged on the bracket assembly and is used for measuring the included angle of the holding piece 43 relative to the vertical direction; the control unit is used for comprehensively calculating the rotation amounts of the second driving unit 34 and the third driving unit 32 according to the included angle measured by the inclination angle measuring sensor 41 and the stress value, so that the stress value is kept in a second preset threshold range. The inclination angle measuring sensor 41 is used for measuring an included angle of the holding piece 43 relative to the vertical direction, and because the change of the orientation of the experimental target causes an inclination angle between the traction wire 42 and the holding piece 43 and the vertical direction, the tension of the traction wire 42 in the vertical direction changes, the gravity balance state of the experimental target is broken, the traction tension in the vertical direction needs to be judged again according to the inclination angle of the traction wire 42, and the experimental target is always kept in the gravity unloading state.

Therefore, an inclination sensor is required to be added, the control unit obtains a pulling force value required by the traction wire 42 when the experimental target is in a new equilibrium state through the cooperative calculation of the inclination sensor and the force sensor 33, and then controls the rotation amounts of the second driving unit 34 and the third driving unit 32, so that the pulling force value is kept in a second preset threshold range, and the experimental target can be always kept in an equilibrium state in different directions.

Referring to fig. 1, in some embodiments, the bracket assembly includes a first bracket 15 and a second bracket 31, the magnetic mixing motion mechanism 1 is disposed on the first bracket 15, and a first connecting member is disposed on a side of the first bracket 15 opposite to the magnetic mixing motion mechanism 1; be equipped with the second connecting piece on the second support 31, first connecting piece and second connecting piece cooperation are in order to make second support 31 articulate on first support 15 to can rotate for first support 15, adjustment mechanism 3 sets up the one side that deviates from the second connecting piece at second support 31. Optionally, the first connecting piece and the second connecting piece are two parts of a ball and a spherical shell of the spherical hinge 2, and the spherical hinge 2 is adopted for connection, so that the relative motion between the first support 15 and the second support 31 can be realized to the greatest extent, the rotation and the offset of the adjusting mechanism 3 relative to the magnetic-gas mixed motion mechanism 1 are facilitated, and the motion flexibility of the whole gravity unloading device is improved.

The present embodiment further provides a suspension gravity unloading system, which includes a plurality of magnetic and air hybrid suspension gravity unloading devices, where the magnetic and air hybrid suspension gravity unloading devices are the aforementioned magnetic and air hybrid suspension gravity unloading devices; the holding pieces 43 of the multiple magnetic-air hybrid suspension gravity unloading devices are used for holding the same experimental target. The plurality of magnetic-air hybrid type suspension gravity unloading devices are arranged at different positions on the same reference surface, and the plurality of holding pieces 43 simultaneously clamp different positions of the same experimental target, so that the experimental target is conveniently kept in different azimuth states, and the gravity unloading of the experimental target is realized.

According to the technical scheme, the experimental target is suspended and gravity unloaded by adopting the magnetic-gas mixing effect, the magnetic-gas assembly is in a suspension state, has the micro-resistance characteristic and can realize suspension follow-up with the experimental target; the magnetic assembly is used for suspension movement, so that the limitation of the movement position of the frame platform is avoided, and the frame platform can reach any position on the platform.

The above technical solutions are further explained and understood in connection with the specific embodiments:

in the prior art, a composite gravity unloading device with patent number CN111661781A is known, which can unload the component to be unloaded by gravity on different degrees of freedom, and improve the stability and flexibility of unloading when simulating the on-track weightless state of the component to be unloaded. The position of the part to be unloaded can be adjusted by utilizing the composite connecting piece and the lifting mechanism, and the composite connecting piece provides the pulling force required by unloading to realize the precise adjustment of the position; one end of the rigid connecting piece is provided with a locking mechanism, which can apply a preset tension to the rigid connecting piece, release the locking state of the locking mechanism to realize unloading operation, and improve the simulation precision of the weightless state of the unloading part; the other end is a mass block for providing unloading of the unloading piece. Although the design method has two unloading modes, the mass block is required to be arranged at the other end of the rigid connecting piece so as to provide unloading tension, and the self-adaptive adjustment capability of the unloading force is insufficient; and when the rigid connecting piece is connected with the elastic element, the adjustment in the unloading process is not flexible, and the stability of gravity unloading is influenced. Meanwhile, the unloading mode is lack of relevant designs such as force feedback and the like, constant tension unloading in the suspension state cannot be guaranteed, and the control difficulty and potential safety hazard of the unloading state are increased.

The existing multi-hanging-point combined control system adopts the change of the position posture of a suspended experimental target to obtain the mass center of the experimental target, calculates the tension value of each suspended point, then adjusts the suspension force by a constant tension control system, ensures that the total suspension force passes through the mass center of the experimental target, has extremely high requirement on the adjustment of the sling tension in the actual process, and is not beneficial to the stable motion of the experimental target. The embodiment provides a gravity uninstallation device is suspended in midair to magnetism air-mixing formula for solving above-mentioned problem, and structural design is reasonable, forms the suspended state who suspends the in-process in midair, has promoted the motion range of whole device, has guaranteed the constant pulling force output of uninstalled state, improves fail safe nature. The specific technical scheme is as follows:

a suspension gravity unloading device with micro-resistance, large motion range, position and force feedback, constant force output and suspension follow-up comprises a magnetic-gas mixed motion mechanism 1, a spherical hinge 2, an adjusting mechanism 3 and a lifting mechanism 4. The magnetic-air mixing motion mechanism 1 comprises a magnetic ring 11, an air floatation piece 12, a planar motor (namely a first driving unit 13), a position sensor 14, a first bracket 15, a leveling component 16 and an air path and power supply control component, wherein the magnetic ring 11 and the air floatation piece 12 are arranged in the first bracket 15 to form a magnetic-air component, the magnetic ring 11 and the air floatation piece 12 are coplanar, and each magnetic-air component forms a stress hanging point; the planar motor is fixedly connected with the first bracket 15 and is coplanar with the air floatation member 12; the leveling component 16 is connected with the magnetic components, and the heights of the magnetic components are adjusted to ensure that the first end surfaces of the magnetic components are coplanar; the first bracket 15 is provided with a positioning hole for mounting an air passage and a power supply assembly 17, and the first bracket 15 and the second bracket 31 are connected by a spherical hinge 2 at the connection position which needs to be rotated. The adjusting mechanism 3 comprises a second bracket 31, a voice coil motor (i.e. a third driving unit 32), a force sensor 33, a winding motor (i.e. a second driving unit 34) and a pulley block 35, wherein the pulley block 35 comprises two fixed pulleys and a movable pulley block 35, and the voice coil motor, the force sensor 33 and the movable pulley block 35 are connected in series on a limiting groove in the second bracket 31. The hoisting mechanism 4 consists of an inclination angle measuring sensor 41, a sling (i.e. a traction wire 42) and a suspension hoop (i.e. a holding piece 43), wherein the sling is bound with a hoisting motor and wound on the pulley block 35, and the length and the tension of the sling are adjusted by the adjusting mechanism 3.

The magnetic-air mixing motion mechanism 1 is composed of a magnetic ring 11, an air floating piece 12, a planar motor, a position sensor 14, a first support 15, a leveling component 16 and an air path and power supply control component, and each part adopts a modular design, so that convenience in system assembly is facilitated;

the magnetic ring 11, the air floating piece 12 and the plane motor are connected with the first support 15 through the leveling component 16, the leveling component 16 is fixedly connected with the magnetic ring 11 and the air floating piece 12, and the leveling component 16 is in threaded connection with the first support 15, so that the leveling component 16 and the first support 15 form threaded transmission, and the three magnetic rings 11 can be adjusted to be coplanar with the plane motor; the air floating piece 12 is manufactured by adopting an integrated design, and a first through hole is formed in the surface; the plane motor drives the whole suspension device to move horizontally when the whole suspension device is in a suspension state.

Further, the magnetic-gas mixing motion mechanism 1 and the adjusting mechanism 3 are connected through the spherical hinge 2, relative motion between suspension devices is facilitated, blocking and limiting are prevented, and flexibility of the system is improved.

The adjusting mechanism 3 is composed of a second bracket 31, a voice coil motor, a force sensor 33, a winding motor and a pulley block 35, wherein the pulley block 35 is composed of two fixed pulleys and a movable pulley block 35, and the voice coil motor, the force sensor 33 and the movable pulley block 35 are connected in series on a limiting groove in the second bracket 31. The lifting mechanism 4 is composed of an inclination angle measuring sensor 41, a sling and a sling hoop, the sling is bound with the winch motor and wound on the pulley block 35, the inclination angle measuring sensor 41 gives feedback to the inclination angle change of the sling and performs feedback action together with the force sensor 33 in the adjusting mechanism 3, the adjusting mechanism 3 adjusts the tension and the length of the sling, the tension adjusting precision of the system is effectively improved, and the reliability and the reality degree of the system are improved.

The structure of the adjusting mechanism 3 is as shown in fig. 7, the winding motor adjusts the extension length of the sling according to the feedback signal of the inclination angle measuring sensor 41, the voice coil motor and the force sensor 33 are connected in series with the movable pulley, the voice coil motor adjusts the high-precision force in the series direction according to the feedback signal of the force sensor 33, and the pulling force transmitted to the sling by the pulley block 35 is adjusted in two stages by changing the position of the movable pulley.

The working principle of the magnetic-air hybrid suspension gravity unloading device is as follows:

an electromagnetic attraction force is generated between the magnetic ring 11 and a reference surface of a working environment, and the electromagnetic attraction force and a gas repulsion force generated by the air floatation part 12 and the gravity of an experimental target suspended by a sling act together to form a suspension state between the magnetic-air mixed motion mechanism 1 and the reference surface, and the planar motor carries out system motion following according to the motion state of the experimental target in the suspension state; in order to ensure the stability of the suspension state, the leveling component 16 is connected with the first bracket 15 by threads, so that the component is used for adjusting the relative position of the magnetic ring 11 to be coplanar with the planar motor; adjustment mechanism 3 and hoisting mechanism 4 are connected with the experiment target, utilize the pulling force of hoist cable and gravity balance to realize gravity uninstallation, and inclination measurement sensor 41 gives the feedback to the inclination change of hoist cable, and the common feedback effect of force sensor 33 among the adjustment mechanism 3, carries out the two-stage by hoist motor and voice coil motor and adjusts the pulling force and the length of hoist cable, and concrete theory of operation is: the winding motor adjusts the telescopic length of the sling according to the feedback signal of the inclination angle measuring sensor 41, the voice coil motor and the force sensor 33 are connected in series with the movable pulley, and the voice coil motor adjusts the high-precision force in the series direction according to the feedback signal of the force sensor 33; feedback information and control system information are integrated in the gas circuit and power supply control assembly, the gas circuit and power supply control assembly processes data and then issues corresponding instructions to control the motor to move, position and force adjustment of the system is achieved, and the overall safety and reliability of the gravity unloading device are improved.

The magnetic-air hybrid suspension gravity unloading device has the characteristics of micro resistance, large movement range, position and force feedback, constant force output and suspension follow-up.

According to the technical scheme, the embodiment has the following advantages and effects;

the modularized and integrated design concept is adopted, the magnetic movement structure is simple, the processing difficulty is low, the interchangeability of parts is high, the structure is compact, and the expansibility is good so as to meet the requirements of various working environments; the experimental target is suspended and gravity-unloaded by adopting the magnetic-gas mixing effect, the suspension point of the device is in a suspension state, and the device has the micro-resistance characteristic and can realize suspension follow-up with the experimental target; the suspension movement mode with the reference surface is adopted, so that the limitation of the movement position of the frame platform is avoided, and the frame platform can reach any position on the platform; the spherical hinges 2 are adopted for connection, so that the motion state between the suspension devices is facilitated, and the motion flexibility of the suspension devices is improved; the length and the tension of a sling are adjusted by adopting a two-stage adjustment mode of a winding motor and a voice coil motor, and the sling is wound on the pulley block 35, so that the constant output of the tension can be assisted, and the internal structure of the adjusting mechanism 3 is simplified; a plurality of suspension devices are adopted to carry out gravity unloading on the experimental target, so that the reliability and the safety of the unloading process are improved.

Although the embodiments have been described in the text and drawings of the present application, the scope of the patent protection of the present application is not limited thereto. All technical solutions which are generated by replacing or modifying the equivalent structure or the equivalent flow according to the contents described in the text and the drawings of the present application, and which are directly or indirectly implemented in other related technical fields, are included in the scope of protection of the present application.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A magnetic-air hybrid suspended gravity unloading device, comprising:

a bracket assembly;

magnetism gas mixing motion, magnetism gas mixing motion includes:

the magnetic component is arranged on one side of the support component and comprises an air floating piece, a magnetic ring and a first end face, the magnetic ring is sleeved on the air floating piece, the first end face is formed by the end face of the magnetic ring and the end face of the air floating piece on the same side, the magnetic ring is used for generating electromagnetic attraction relative to a reference surface after being electrified, a first through hole is formed in the air floating piece, and the first through hole is used for conducting air flow to generate gas repulsion force after being ventilated; the magnetic assembly is used for generating a first gap between the first end face and the reference surface through the interaction of electromagnetic attraction and gas repulsion in an electrified ventilation state and keeping the distance of the first gap unchanged; the reference surface is magnetic;

a lifting mechanism, the lifting mechanism comprising:

the traction wire is arranged on the other side of the bracket component, and the other end of the traction wire vertically extends downwards;

a holding member disposed at a downwardly extending end of the traction wire, the holding member being for suspending an experimental target;

and the control unit is electrically connected with the magnetic ring and the air floatation piece and is used for adjusting the magnetic force of the magnetic ring and the airflow velocity of the air floatation piece.

2. The magnetic air hybrid suspended gravity unloading device according to claim 1, wherein the magnetic air hybrid motion mechanism further comprises:

the first driving unit and the magnetic assembly are arranged on the same side of the bracket assembly, the first driving unit is electrically connected with the control unit, a first driving surface is arranged on the first driving unit, the first driving surface and the first end surface are arranged on the same plane, and the first driving unit is used for driving the bracket assembly to move.

3. The magnetic-air hybrid suspended gravity unloading device according to claim 1 or 2, wherein the magnetic assembly further comprises:

the displacement sensor is arranged on the air floating piece, is electrically connected with the control unit and is used for measuring the distance of the first gap;

the control unit adjusts the first driving unit and the magnetic assembly through the distance of the first gap measured by the displacement sensor so that the distance of the first gap is kept within a first preset threshold range.

4. The magnetic-air hybrid suspended gravity unloading device of claim 2, wherein the number of the magnetic assemblies is multiple, and the multiple magnetic assemblies are arranged along the circumferential direction of the bracket assembly.

5. The magnetic air hybrid suspended gravity unloading device according to claim 4, wherein the magnetic air hybrid motion mechanism further comprises:

leveling subassembly, leveling subassembly quantity with magnetic subassembly's quantity is the same, leveling subassembly sets up magnetic subassembly with the junction of bracket component, a leveling subassembly is used for adjusting one the height of first terminal surface makes a plurality ofly the coplanar is arranged in to first terminal surface.

6. The aero-hybrid suspended gravity unloading device of claim 2, further comprising:

adjustment mechanism, adjustment mechanism with magnetism gas mixing motion relatively sets up the both sides of bracket component, adjustment mechanism includes:

the second driving unit is arranged on the bracket assembly and is electrically connected with the control unit, and the output end of the second driving unit is in transmission connection with the traction wire at a first point and is used for adjusting the vertical height of the holding piece in a first range;

the output end of the third driving unit is in transmission connection with the traction wire at a second point and is used for adjusting the vertical height of the holding piece in a second range;

the first point is non-overlapping with the second point, and the first range is greater than the second range.

7. The aero-hybrid suspended gravity unloading device of claim 6, wherein the adjustment mechanism further comprises:

the pulley block comprises a first pulley, a second pulley and a third pulley, the first pulley is arranged on the support assembly, the second pulley is in transmission connection with the third driving unit, the third pulley is arranged on the output end of the second driving unit, and the traction line is in transmission connection with the second driving unit and the third driving unit through the pulley block respectively;

the force sensor is arranged between the second pulley and the third driving unit and electrically connected with the control unit, and the force sensor is used for detecting a stress value of the traction line;

the control unit is further used for adjusting the second driving unit and the third driving unit according to the stress value detected by the force sensor so that the stress value is kept within a second preset threshold range.

8. The aero-hybrid suspended gravity unloading device of claim 7, wherein the adjustment mechanism further comprises:

the inclination angle measuring sensor is arranged on the bracket component and used for measuring the included angle of the holding piece relative to the vertical direction;

the control unit is used for comprehensively calculating the rotation amounts of the second driving unit and the third driving unit according to the included angle measured by the inclination angle measuring sensor and the stress value, so that the stress value is kept within a second preset threshold range.

9. The aero-hybrid suspended gravity unloading device of claim 6, wherein the bracket assembly comprises:

the magnetic-gas mixing movement mechanism is arranged on the first support, and a first connecting piece is arranged on one side of the first support, which is opposite to the magnetic-gas mixing movement mechanism;

the first connecting piece is matched with the second connecting piece to enable the second support to be hinged to the first support and can rotate relative to the first support, and the adjusting mechanism is arranged on one side, deviating from the second connecting piece, of the second support.

10. A suspended gravity unloading system, comprising:

a plurality of maglev gravity unloading devices according to any of claims 1-9;

the holding pieces of a plurality of the magnetic-air hybrid suspension gravity unloading devices are used for holding the same experimental target.

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