CN116238724A - Micro-low gravity simulation system for complex multi-body targets - Google Patents
Micro-low gravity simulation system for complex multi-body targets Download PDFInfo
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- CN116238724A CN116238724A CN202211331570.XA CN202211331570A CN116238724A CN 116238724 A CN116238724 A CN 116238724A CN 202211331570 A CN202211331570 A CN 202211331570A CN 116238724 A CN116238724 A CN 116238724A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
- B64G2007/005—Space simulation vacuum chambers
Abstract
The invention provides a micro-low gravity simulation system for complex multi-body targets, which is driven by active and passive mixing, and adopts a multi-stage suspension mode to greatly improve the flexibility of system movement, so as to meet the ground experiment requirements of complex multi-degree-of-freedom spacecrafts such as space manipulator, lunar rover and the like; the multi-stage lifting device comprises a main body frame, wherein the main body frame is of a frame structure built by a rod body, and the main body frame stably supports a sling driving system and a multi-stage movement system at the top through a plurality of supporting legs; and the main body frame is also provided with a control cabinet, and the control cabinet is used for controlling actions of the sling driving system and the multi-stage motion system.
Description
Technical Field
The invention belongs to the technical fields of aerospace low-gravity simulation, mechanical engineering and the like, and particularly relates to a complex multi-body target-oriented low-gravity simulation system.
Background
The development of the manned space engineering in China is rapid, and space station construction, on-orbit maintenance and the like require more astronauts to enter space; internationally NASA announced that manned landing on a Mars program, spaceX pushes out private delivery and interstar travel programs, etc., and human activities are gradually expanded to space. The ground experimental design of space manipulator, lunar rover and other complex multi-freedom spacecraft is important in ground simulation of low gravity environment, so that technology and apparatus for low gravity simulation are urgently needed in China. The existing parabolic flight method, neutral buoyancy method, air floatation method and the like have the defects of high cost, short duration, high liquid resistance, limited space movement and the like to different degrees. The suspension method counteracts all or part of gravity by applying a plurality of concentrated forces passing through the mass center of the unloading target, more importantly, the complex three-dimensional space motion can be realized, and the method is a relatively ideal unloading method facing complex multi-body targets at present. However, most existing suspension systems adopt a single-rope or few-rope scheme, and a multi-sling form is often required when gravity unloading is performed for complex multi-body targets, and excessive slings can cause complex mutual interference of a top follower mechanism to seriously influence the movement space of the unloading targets. Aiming at the problems, the invention designs a micro-low gravity simulation system facing complex multi-body targets, and the flexibility of system movement is greatly improved by adopting a multi-stage suspension mode.
Disclosure of Invention
Based on the technical problems, the invention designs a micro-low gravity simulation system for complex multi-body targets, which is driven by active and passive hybrid, and adopts a multi-stage suspension mode to greatly improve the flexibility of system movement, so as to meet the ground experiment requirements of complex multi-degree-of-freedom spacecrafts such as space manipulator, lunar rover and the like.
The micro-low gravity simulation system for the complex multi-body targets is characterized by comprising a main body frame, wherein the main body frame is of a frame structure built by a rod body, and the main body frame stably supports a sling driving system and a multi-stage motion system at the top through a plurality of supporting legs;
the multistage motion system comprises a horizontal two-degree-of-freedom follow-up system and a local follow-up system, wherein the mutual horizontal two-degree-of-freedom follow-up system comprises a synchronous belt track I and a synchronous belt track III which are arranged at the top of a main body frame in parallel, a synchronous belt track II is arranged on the synchronous belt track I and the synchronous belt track III, two ends of the synchronous belt track I and the synchronous belt track III are respectively and slidably arranged on the synchronous belt track I and the synchronous belt track III, a driver I is arranged at the end part of the synchronous belt track I, a driver III is arranged at the end part of the synchronous belt track III, and the driver I and the driver III jointly act to drive the synchronous belt track II to slide along the length direction of the synchronous belt track I and the synchronous belt track III; the second end part of the synchronous belt track is provided with a second driver, the second driver is arranged on the second synchronous belt track in a driving way, and the first driving sliding block slides along the length direction of the second synchronous belt track;
the synchronous belt device comprises a synchronous belt rail I, a synchronous belt rail II and a synchronous belt rail II, wherein the synchronous belt rail I is provided with a slide block II; and the second synchronous belt track is provided with a first sliding block in a sliding manner, and the sling driving system is fixedly arranged on the first sliding block. The first driver, the second driver and the third driver are identical in mounting structure and comprise a driving motor, a speed reducer and a speed reducer bracket, wherein an output shaft of the driving motor is connected with the speed reducer, and the speed reducer is fixedly mounted on a corresponding synchronous belt track through the speed reducer bracket.
The local follow-up system is arranged on a first sliding block of the two-degree-of-freedom follow-up system, and the two-degree-of-freedom translation of the local follow-up system can be realized through the movement of the first sliding block.
The local follow-up system comprises a main sling driving system and a secondary sling driving system, and a connecting structure is arranged below the secondary sling driving system;
the main sling driving system comprises a main motor, an expansion bracket, a mounting plate, a main winding drum and a guide wheel, wherein the expansion bracket is slidably arranged on a synchronous belt track II, the main motor is fixedly arranged on the expansion bracket through a main motor mounting seat, the mounting plate is fixedly arranged on the expansion bracket, a shooting device is arranged on the mounting plate and comprises a camera I and a camera II, and the camera I and the camera II are respectively arranged at the left end part and the right end part of the mounting plate; the output shaft of the main motor drives the main winding drum to rotate, the main winding drum is fixedly locked on the output shaft of the main motor through a locking ring, and the locking ring is fixedly installed with the main winding drum through a locking screw; the inside of the locking ring is a conical cylindrical surface, the inside of the main winding drum is a cantilever curved beam structure of a circumferential array, the end part of the curved beam is a partial circular ring, a plurality of partial circular ring circumferential arrays travel a discrete complete circular ring structure with certain deformability, the outside of the circular ring structure is a conical surface which is the same as the taper of the inner wall of the locking ring and is used for being matched with the locking ring, and the inside of the circular ring structure is a cylindrical surface matched with an output shaft of a motor; the locking ring can compress the discrete cylinder structure in the main winding drum on the motor shaft through the internal conical surface by screwing the locking screw; the guide wheel is arranged on the expansion bracket through a guide wheel mounting seat, and the position of the guide wheel enables the main sling to hang down from the horizontal middle position of the first camera and the second camera under the guide action of the guide wheel after hanging down from the main winding drum; the camera I and the camera II can form a binocular vision measuring system to measure the relative positions of the upper end and the lower end of each sling relative to the main sling driving system in a positioning view field, and the relative positions are used as control basis for judging that the sling is a Buddha value by a control system; because the main lock can take place the coiling relative to the main reel in the main reel rotation process, lead to main hoist cable to take place the skew relative main hoist cable actuating system, consequently the guide pulley is fixed the upper end export of main hoist cable. The main sling system can realize the movement of the auxiliary sling system in the vertical direction through the retraction of the main sling.
The auxiliary sling driving system comprises a plurality of auxiliary sling driving system modules, wherein each auxiliary sling driving system module comprises a top bracket, parallelogram link mechanisms are symmetrically arranged on two sides of each top bracket, an auxiliary motor is respectively arranged at the end parts of the two parallelogram link mechanisms through auxiliary motor mounting seats, an auxiliary winding drum is fixedly arranged on the output shaft of each auxiliary motor, and auxiliary slings are wound on the auxiliary winding drums; the auxiliary sling driving system module is hung below the main sling, the second auxiliary sling driving system module is hung below the auxiliary slings at two ends of the first auxiliary sling driving system module, and the connecting structures are hung below the auxiliary slings at two ends of the two second auxiliary sling driving modules respectively.
A miniature electric cylinder is hinged between the two parallelogram link mechanisms, and the miniature electric cylinder stretches to change the included angle between the two parallelogram link mechanisms, so that the relative distance between the auxiliary slings at the two ends is changed. The lengths of the two parallelogram link mechanisms can be designed according to the tension of slings at two ends of the auxiliary sling driving system module, and moment modes such as travel and the like ensure that included angles of the two parallelogram link mechanisms and slings at the top of the auxiliary sling driving system module are kept equal at all times. The plurality of auxiliary sling driving system modules can be connected in series and parallel to expand any number of auxiliary slings at the lowest end to meet the suspension requirement of any multi-body targets.
The connecting structure comprises a low-rigidity elastic body, a tension sensor and a connector, wherein the auxiliary sling is connected above the low-rigidity elastic body, and the connector is connected below the low-rigidity elastic body in a hanging manner through the tension sensor. The low-rigidity elastic body is formed by connecting a plurality of low-rigidity units, the low-rigidity units are of a structure with four-star-shaped cross sections formed by splicing elastic steel plates, connecting plates are arranged at four concave positions of the four-star-shaped structure, the plurality of low-rigidity units are connected with one another through the connecting plates to form a multi-row and multi-column force buffering structure, and the force buffering structure comprises a plurality of parallel connection units. The low rigidity units can form negative rigidity in deformation, and a series of low rigidity units with different positive and negative rigidity characteristics can be formed by adjusting the angle, the plate thickness and other parameters of the low rigidity units, and the low rigidity units are connected in series-parallel connection to form a low rigidity elastomer with parametrizable rigidity so as to meet the anti-disturbance control requirement of a control system.
The technical scheme of the invention has the advantages that:
1. aiming at the characteristic of multiple degrees of freedom in the gravity unloading process of the multi-body target, the invention decomposes the motion of the target into two types of integral translation and posture-adjusting local motion, adopts a horizontal two-degree-of-freedom follow-up system and a main sling driving system to realize the integral translation of the target, and then adopts a secondary sling driving system to realize the posture-adjusting local motion of the target, so that the suspension crane system is simplified to a great extent.
2. The auxiliary sling driving system can adopt a plurality of modules to expand any number of auxiliary slings at the lowest end in a serial-parallel connection mode so as to meet the suspension requirement of any multi-body targets. The mode of active control is adopted to improve the motion control precision relative to a passive system.
3. The low-rigidity elastic body is formed by connecting a plurality of low-rigidity units, negative rigidity can be formed in the deformation of the low-rigidity units, a series of low-rigidity units with different positive and negative rigidity characteristics can be formed by adjusting the angle, the plate thickness and other parameters of the low-rigidity units, and the low-rigidity units are connected in series and parallel to form the low-rigidity elastic body with the rigidity parametrizable design so as to meet the requirements of disturbance rejection control of a control system.
4. The winding drum and the motor are matched in a mode that the discrete cylinder structure in the main winding drum is tightly pressed on the motor shaft through the conical surface in the locking ring, so that the winding drum is tightly matched, and the structure is compact and gapless. And compared with a mode of adopting keys to transmit torque, the control precision is higher.
Drawings
FIG. 1 is a general structural schematic of the present invention;
FIG. 2 is a schematic diagram of a localized motion system configuration of the present invention;
FIG. 3 is a schematic diagram of the horizontal two-degree-of-freedom follower system of the present invention;
FIG. 4 is a schematic diagram of the drive mounting structure of the multi-stage motion system of the present invention;
FIG. 5 is a schematic diagram of a sling drive system according to the present invention;
FIG. 6 is a schematic diagram of the principle of explosion of the main sling drive system of the present invention;
FIG. 7 is a schematic diagram of a secondary sling drive system of the present invention;
FIG. 8 is a schematic diagram of the principal of the module of the secondary sling drive system of the present invention;
FIG. 9 is a schematic view of the low stiffness elastomer construction principle of the present invention;
FIG. 10 is a schematic view of the main spool construction of the present invention;
FIG. 11 is a schematic view of a locking ring according to the present invention;
in the figure: 1. the main body frame, 2, the multistage motion system, 3, the wire slot bracket, 4, the wire slot, 5, the control cabinet, 6, the horizontal two-degree-of-freedom follow-up system, 7, the local follow-up system, 8, the synchronous belt track one, 9, the synchronous belt track two, 10, the synchronous belt track three, 11, the slide one, 12, the slide two, 13, the slide three, 14, the drive one, 15, the drive three, 16, the drive two, 17, the driving motor, 18, the speed reducer, 19, the speed reducer bracket, 20, the track mount, 21, the main sling driving system, 22, the auxiliary sling driving system, 23, the connecting structure, 24, the main motor, 25, the main motor mount, 26, the expansion bracket, 27, the camera one, 28, the main reel, 29, the locking ring, 30, the locking screw, 31, the mounting plate, 32, the guide pulley, 33, the guide pulley mount, 34, the camera two, 35, the main sling, 36, the auxiliary sling driving system module, 37, the auxiliary sling, 38, the low rigidity elastomer, 39, the tension sensor, 40, the connector, 41, the top motor, the side sling driving system, 42, the connecting rod mechanism, the side-parallel reel, the side-by-side cylinder unit, the small-by-side reel unit, the small-by-body, the small-size and the small-size roll unit, the small-size and the small-size.
Detailed Description
The preferred embodiments of the present invention will be described with reference to the accompanying drawings, in which the preferred embodiments are described herein for the purpose of illustrating and explaining the present invention, and not for the purpose of limiting the same.
Referring to the drawings, the structures, proportions, sizes, etc. shown in the drawings are shown only in the specification, and are used for understanding and reading by those skilled in the art, and are not intended to limit the applicable limitations of the present invention, so that any structural modification, change in proportion, or adjustment of size does not have any technical significance, and all fall within the scope of the technical disclosure without affecting the efficacy and achievement of the present invention. In addition, the positional limitation terms recited in the present specification are used merely for convenience of description, and are not intended to limit the scope of the invention, in which the relative changes or modifications are regarded as the scope of the invention without any substantial modification to the technical content.
As shown in fig. 1, the general structural schematic diagram of the invention is shown, the micro-low gravity simulation system facing complex multi-body targets is provided, a main body frame 1 is a frame structure built by a rod body, the main body frame 1 stably supports a sling driving system and a multi-stage motion system at the top through a plurality of supporting legs, a control cabinet 5 is further arranged on the main body frame 1, and the control cabinet 5 is used for controlling actions of the sling driving system and the multi-stage motion system.
Specifically, the top of main body frame 1 is built into square frame through the body of rod, is provided with the horizontal migration pole of both ends sliding support on square frame's both sides body of rod in the centre of square frame, set up sling actuating system on the horizontal migration pole, sling actuating system passes through multistage motion system drive its horizontal lateral movement, multistage motion actuating system installs on square frame's the body of rod.
Fig. 2 is a schematic diagram of the structure of the local motion system of the present invention, fig. 3 is a schematic diagram of the structure of the horizontal two-degree-of-freedom follow-up system of the present invention, and referring to fig. 1 to 3, the multi-stage motion system includes a horizontal two-degree-of-freedom follow-up system 6 and a local follow-up system 7; the two ends of the horizontal moving rod are slidably arranged on rod bodies at two sides of the square frame through a second slider 12 and a third slider 13 respectively, the rod bodies at two sides of the square frame are a first synchronous belt rail 8 and a third synchronous belt rail 10 respectively, a first driver 14 is arranged at the end part of the first synchronous belt rail 8, a third driver 15 is arranged at the end part of the third synchronous belt rail 10, the first driver 14 drives a second slider 12 to slidably move along the first synchronous belt rail 8, the third driver 15 drives a third slider 13 to slidably move along the third synchronous belt rail 10, and in particular, the first driver 14 drives the second slider 12 to slidably move along the first synchronous belt rail 8 in a pull-wire transmission mode, and the third driver 15 drives the third slider 13 to slidably move along the third synchronous belt rail 10 in a pull-wire transmission mode; referring to fig. 1, a wire slot 4 is provided on the side of the rod body of the direction frame through a wire slot bracket 3, a wire slot 4 is also provided on one side of the horizontal moving rod, and a plurality of wire slots 4 are used for arranging stay wires for power transmission, so that the sliding of the second slider 12 and the third slider 13 is realized, and the local follow-up system 7 is synchronously driven to slide when the sliding is performed horizontally.
The local follow-up system 7 comprises a synchronous belt track II 9 which plays a role of a horizontal moving rod, a first slide block 11 which is arranged on the synchronous belt track II 9, and a second driver 16 which is arranged at the end part of the synchronous belt track II 9, wherein the first slide block 11 can slide along the synchronous belt track II 9 under the action of a stay wire, so that a sling driving system arranged on the first slide block 11 is driven to move.
The first driver 14, the second driver 16 and the third driver 15 are all driven by motors, and the three drivers have the same installation structure, see fig. 4, and fig. 4 is a schematic diagram of the installation structure of the driver of the multistage motion system of the present invention, which uses a detailed view of the second driver 16 as an example to show the installation structure of the driver, and the installation structure comprises a driving motor 17, a speed reducer 18 and a speed reducer bracket 19, wherein an output shaft of the driving motor 17 is connected with the speed reducer 18, and the speed reducer 18 is fixedly installed on the synchronous belt track two 9 through the speed reducer bracket 19, so that when the driving motor 17 works, an output shaft of the driving motor 17 drives a rotating wheel on the synchronous belt track two 9 to rotate after being decelerated by the speed reducer 18, so as to transmit power to a stay wire. The second synchronous belt track 9 is mounted on the third synchronous belt track 10 through the third slide block 13, specifically, the third slide block 13 is slidably mounted on the third synchronous belt track 10, the second synchronous belt track 9 is fixedly mounted on the third slide block 13 through the track mounting seat 20, and the assembly modes of the second synchronous belt track 9, the second slide block 12 and the first synchronous belt track 8 are the same.
Fig. 5 is a schematic view of the sling drive system of the present invention, which comprises a primary sling drive system 21 and a secondary sling drive system 22, with a connection structure 23 mounted below the secondary sling drive system 22.
Fig. 6 is a schematic diagram of an explosion principle of a main sling driving system of the present invention, as shown in the drawing, the main sling driving system includes a main motor 24, an expansion bracket 26, a mounting plate 31, a main drum 28, and a guide wheel 32, wherein the expansion bracket 26 is fixedly mounted on a first slider 11, the main motor 24 is fixedly mounted on the expansion bracket 26 through a main motor mounting seat 25, the mounting plate 31 is fixedly mounted on the expansion bracket 26, and a shooting device is arranged on the mounting plate 13, the shooting device includes a first camera 27 and a second camera 34, and the first camera 27 and the second camera 34 are respectively arranged at left and right ends of the mounting plate 13; the output shaft of the main motor 24 drives the main winding drum 28 to rotate, specifically, the main winding drum 28 is fixedly locked on the output shaft of the main motor 24 through a locking ring 29, and the locking ring 29 is fixedly installed with the main winding drum 28 through a locking screw 30; the guide wheel 32 is mounted on the expansion bracket 26 through a guide wheel mounting seat 33, and the guide wheel 32 is positioned such that the main sling hangs down from the main winding drum 28 and then hangs down from the horizontal middle position of the first camera 27 and the second camera 34 under the guiding action of the guide wheel 32.
Fig. 7 is a schematic diagram of a secondary sling driving system principle of the sling driving system of the present invention, fig. 8 is a schematic diagram of a secondary sling driving system module principle of the present invention, referring to fig. 7 and 8, a secondary sling driving system is connected below the primary sling, the secondary sling driving system includes a plurality of secondary sling driving system modules 36, the secondary sling driving system modules include a top bracket 41, parallelogram link mechanisms 42 are symmetrically arranged on two sides of the top bracket 41, one secondary motor 43 is respectively mounted on the end portions of the two parallelogram link mechanisms 42 through a secondary motor mounting seat 45, a secondary winding drum 46 is fixedly mounted on an output shaft of the secondary motor 43, and a secondary sling 37 is wound on the secondary winding drum 46; a miniature electric cylinder 44 is hinged between the two parallelogram linkages 42, and the miniature electric cylinder 44 can be telescopic to change the included angle between the two parallelogram linkages 42. The first auxiliary sling driving system module is hung below the main sling 35, the second auxiliary sling driving system module is hung below the auxiliary slings 37 at two ends of the first auxiliary sling driving system module, the connecting structures 23 are hung below the auxiliary slings 37 at two ends of the two second auxiliary sling driving modules respectively, each connecting structure 23 comprises a low-rigidity elastic body 38, a tension sensor 39 and a connector 40, the auxiliary slings 37 are connected above the low-rigidity elastic body 38, and the connectors 40 are hung and connected below the low-rigidity elastic bodies 38 through the tension sensors 39.
Fig. 9 is a schematic structural diagram of the low-stiffness elastomer of the present invention, where the low-stiffness elastomer 38 is formed by connecting a plurality of low-stiffness units 47, and the low-stiffness units 47 are formed by splicing elastic steel plates, and each of four recesses of the four-square-star structure is provided with a connecting plate, and the plurality of low-stiffness units 47 are connected to each other by the connecting plate to form a multi-row and multi-column force buffering structure, where the plurality of force buffering structures can be used in parallel.
Claims (10)
1. The micro-low gravity simulation system for the complex multi-body targets is characterized by comprising a main body frame, wherein the main body frame is of a frame structure built by a rod body, and the main body frame stably supports a sling driving system and a multi-stage motion system at the top through a plurality of supporting legs;
the multistage motion system comprises a synchronous belt track I and a synchronous belt track III which are arranged on the top of the main body frame in parallel, wherein a synchronous belt track II is arranged on the synchronous belt track I and the synchronous belt track III, two ends of the synchronous belt track are respectively and slidably arranged on the synchronous belt track I and the synchronous belt track III, a driver I is arranged at the end part of the synchronous belt track I, a driver III is arranged at the end part of the synchronous belt track III, and the driver I and the driver III jointly drive the synchronous belt track II to slide along the length direction of the synchronous belt track I and the synchronous belt track III; the second end part of the synchronous belt track is provided with a second driver, and the second driver drives a sling driving system arranged on the second synchronous belt track to slide along the length direction of the second synchronous belt track;
the sling driving system comprises a main sling driving system and a secondary sling driving system, and a connecting structure is arranged below the secondary sling driving system;
the main sling driving system comprises a main motor, an expansion bracket, a mounting plate, a main winding drum and a guide wheel, wherein the expansion bracket is slidably arranged on a synchronous belt track II, the main motor is fixedly arranged on the expansion bracket through a main motor mounting seat, the mounting plate is fixedly arranged on the expansion bracket, a shooting device is arranged on the mounting plate and comprises a camera I and a camera II, and the camera I and the camera II are respectively arranged at the left end part and the right end part of the mounting plate; an output shaft of the main motor drives the main winding drum to rotate; the guide wheel is arranged on the expansion bracket through a guide wheel mounting seat, and the position of the guide wheel enables the main sling to hang down from the horizontal middle position of the first camera and the second camera under the guide action of the guide wheel after hanging down from the main winding drum;
the auxiliary sling driving system comprises a plurality of auxiliary sling driving system modules, wherein each auxiliary sling driving system module comprises a top bracket, parallelogram link mechanisms are symmetrically arranged on two sides of each top bracket, an auxiliary motor is respectively arranged at the end parts of the two parallelogram link mechanisms through auxiliary motor mounting seats, an auxiliary winding drum is fixedly arranged on the output shaft of each auxiliary motor, and auxiliary slings are wound on the auxiliary winding drums; the auxiliary sling driving system module is hung below the main sling, the second auxiliary sling driving system module is hung below the auxiliary slings at two ends of the first auxiliary sling driving system module, and the connecting structures are hung below the auxiliary slings at two ends of the two second auxiliary sling driving modules respectively.
2. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein a second slider is arranged on the first synchronous belt track, a third slider is arranged on the third synchronous belt track, and two ends of the second synchronous belt track are slidably arranged on the first synchronous belt track and the third synchronous belt track through the second slider and the third slider.
3. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein the first driver, the second driver and the third driver are identical in installation structure and comprise a driving motor, a speed reducer and a speed reducer bracket, an output shaft of the driving motor is connected with the speed reducer, and the speed reducer is fixedly installed on a corresponding synchronous belt track through the speed reducer bracket.
4. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein a first slider is slidably mounted on the second synchronous belt track, and the sling driving system is fixedly mounted on the first slider.
5. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein a micro-electric cylinder is hinged between the two parallelogram linkages, and the micro-electric cylinder is telescopic to change the included angle between the two parallelogram linkages.
6. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein the main winding drum is fixedly locked on an output shaft of the main motor through a locking ring, and the locking ring is fixedly installed with the main winding drum through a locking screw.
7. The complex multi-object oriented micro-low gravity simulation system according to claim 1, wherein the connection structure comprises a low stiffness elastomer, a tension sensor and a connector, the secondary sling being connected above the low stiffness elastomer, the connector being suspended below the low stiffness elastomer by the tension sensor.
8. The complex multi-object oriented micro-low gravity simulation system according to claim 7, wherein the low-rigidity elastic body is formed by connecting a plurality of low-rigidity units, the low-rigidity units are formed by splicing elastic steel plates into a structure with a cross section of a quadrangle star, connecting plates are arranged at four concave positions of the quadrangle star, and the plurality of low-rigidity units are connected into a multi-row and multi-column force buffering structure through the connecting plates.
9. The complex multi-object oriented micro-low gravity simulation system according to claim 8, wherein the force buffering structure comprises a plurality of connected in parallel.
10. The complex multi-object oriented micro-low gravity simulation system according to any of the claims 1-9, wherein a control cabinet is further mounted on the main body frame, wherein the control cabinet is used for controlling actions of the sling driving system and the multi-stage motion system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211331570.XA CN116238724A (en) | 2022-10-20 | 2022-10-20 | Micro-low gravity simulation system for complex multi-body targets |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211331570.XA CN116238724A (en) | 2022-10-20 | 2022-10-20 | Micro-low gravity simulation system for complex multi-body targets |
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| CN116238724A true CN116238724A (en) | 2023-06-09 |
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| CN202211331570.XA Pending CN116238724A (en) | 2022-10-20 | 2022-10-20 | Micro-low gravity simulation system for complex multi-body targets |
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- 2022-10-20 CN CN202211331570.XA patent/CN116238724A/en active Pending
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