CN1986337A - Three-dimensional air floating platform and pneumatic gravitational compensation method - Google Patents
Three-dimensional air floating platform and pneumatic gravitational compensation method Download PDFInfo
- Publication number
- CN1986337A CN1986337A CN 200610098165 CN200610098165A CN1986337A CN 1986337 A CN1986337 A CN 1986337A CN 200610098165 CN200610098165 CN 200610098165 CN 200610098165 A CN200610098165 A CN 200610098165A CN 1986337 A CN1986337 A CN 1986337A
- Authority
- CN
- China
- Prior art keywords
- air
- air floating
- floating piston
- supporting pad
- piston
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The present invention discloses three-dimensional air floating platform and pneumatic gravitational compensation method. The three-dimensional air floating platform includes one platform base, one air source assembly, one air pressure control assembly and one simulated satellite connected through air pipeline. The simulated satellite has air floating piston with several air outlets and several eddy flow channels to produce air film support between the air floating piston and the cylinder wall so as to convert the solid friction into fluid friction. The pneumatic gravitational compensation is completed through two controllable pneumatic loops to reach the ultimate aim for the simulated satellite main body to perform six freedom motion in the inertial space.
Description
Affiliated field the present invention relates to space test device technique field, the particularly three-dimensional air floating platform of satellite pose motion simulation and pneumatic gravitational compensation method.
The technical background space technology can make human understanding universe, conquer space, obtains new resources.Concerning China, have more development that improves national comprehensive strength, the technology that advances science and the significance that guarantees national security.The positive develop rapidly of current space robot technology, but the technical merit of space robot physical simulation test is still not high, presses for further research space robot ground function verification method, exploitation microgravity test equipment.Purpose is to develop high-precision microgravity experiment platform on ground, and the implementation space robot is the capturing function checking of satellite to object floating.
The physical unit of microgravity environment simulation at present mainly utilizes acceleration due to gravity to do the movement of falling object, is called the release acceleration due to gravity; Utilize earth attraction to do uniform circular motion; Utilize balancing force to offset gravity.Common device is the tower that falls based on the earth the most, along the weightless aircraft and the Earth's orbit exercise testing chamber of parabolic flight.Utilize preceding two kinds of methods can obtain from one of percentage of about earth acceleration due to gravity to than one-in-million or littler microgravity environment, this environment provides good place for microgravity experiment.But such equipment cost is huge and the technical risk height, the safety and the reliability requirement of experiment are very high, so these methods are difficult to accomplish for general research unit, microgravity experiment time that can continue is generally not long in addition, therefore three dimensional microgravity experiment and cosmonaut's space environment adapt to and train and use the air supporting method more, but these experiments can only be to carry out in two-dimensional space.Also adopt suspension method and liquid float glass process in the existing method, but be the air supporting method the performance testing and the best experimental technique of attitude control of space vehicle (satellite).From the late 1950s to the sixties, not following 20 of the various air floating tables that each research unit of the U.S. successively builds up, former subsequently West Germany aerospace research institute, ESA Holland's simulation centre and Japan also set up various air floating tables in succession.A few cover air-floating apparatus are also studied and introduced in China voluntarily, mainly based on single shaft and three-axis air-bearing table (Harbin Institute of Technology, 502, Shanghai Communications University, Chinese Academy of Sciences's Nation Astronomical Observatory, western Beijing Polytechnical University).
The Zhang Guangyu of Harbin Institute of Technology in 2005 etc. have designed the full physics butt joint of 10 degree of freedom mechanics emulator, and this emulator (test cell) is made up of two motion platforms, and each motion platform can be simulated pursuit spacecraft or passive space vehicle.Each motion platform can be realized 5 degree of freedom motions, and test platform structure is made up of two-dimentional turntable, air supporting slide unit, quality inertia simulation device and gravity balance device etc.Two turntables are realized rolling movement and luffing, and air floating table can slide on the test cell pedestal, realize along X to Z to translation and yawing rotation.Quality, inertia simulation spare Simulated Spacecraft quality, inertia, and, can simulate quality, the inertia of different spacecrafts by adjusting simulating piece.Carry out between the various spacecrafts and with the dynamics simulation that docks of space station.Owing to be subjected to structural limitations, test cell can only move by five degree of freedom of Simulated Spacecraft, in order to reflect that (Y direction) butt joint application force is to the influence of docking mechanism on another degree of freedom direction, by with 90 ° of simulating piece reciprocity, promptly 90 ° of Y-axis and the reciprocity of Z axle, thereby can reflect that the butt joint impact is to the influence of docking mechanism on another degree of freedom, gravity balance device adopts the quality and the inertia of three bar-bell type quality, inertia simulation spare simulated flight device based on the hang spring balance weight mechanism.This platform has only the mobile air supporting mechanism that used of a direction, planar can only move as alignment.Can be used for test simulation and functional verifications such as catch in the space, butt joint.
Summary of the invention: the present invention seeks to: based on the control of existing satellite attitude and track with catch in the space, the deficiency of docking operation ground physical object simulating technology and equipment, propose a kind of analog satellite that utilizes three degree of freedom air supporting mechanism to constitute, carry out the three-dimensional air floating platform and the pneumatic gravitational compensation method of acquiring satellite process simulation in the three dimensional space.This analog satellite can be done six-freedom motion, and the kinematic accuracy error is little.
Technical scheme of the present invention is: a kind of three-dimensional air floating platform, particularly: its device comprises and places on the platform base tracheae bonded assembly source of the gas parts, air pressure function unit and analog satellite mutually.
Described source of the gas parts comprise Air compressor and gas processing device, and described Air compressor comprises storage tank and air pump, and wherein Air compressor is connected with gas processing device by pipe switch.
Described gas function unit comprises apportioning valve A, apportioning valve B and the controller that both are electrically connected, and wherein apportioning valve A is connected with tracheae with the gentle respectively source block of apportioning valve B.
What described analog satellite comprised mechanical connection catches interface, analog satellite main body, square box, support, nothing friction cylinder, the gentle camel of air floating piston, wherein catching interface installs in satellite main body upper fixed, being used for cosmonaut or space machine or other aircraft catches, be attached on the square box with one heart with two rotating shafts before and after people's satellite main body, be attached on the support with other two rotating shafts about described square box, described support is connected on the piston rod that does not have the friction cylinder by captive nut.
Be equipped with above the described nothing friction cylinder air extractor duct, below be equipped with admission port and air floating piston, admission port is connected with apportioning valve A with pipeline, air floating piston places does not have the friction cylinder, utilizes gaseous tension to drive, and does not have totally placing on the air supporting pad of the cylinder that rubs;
Described air floating piston is a cylinder, pot type piston is removed seal ring retention gap on orienting sleeve and the piston, be equipped with hollow gas port in the middle of the air floating piston, lengthened piston length makes gas enter aperture by gas port, between the slit of not having friction cylinder inner wall and air floating piston periphery, form lubricating film, and make the air extractor duct of gas above not having the friction cylinder flow into atmosphere, the multiple tracks vortex groove that the air floating piston side is equipped with has certain inhibition to air-flow, can reduce that to leak friction suffered when making the air floating piston up-and-down movement little.
Described air supporting pad places on the platform base, an admission port and a plurality of aperture of giving vent to anger are also arranged, air supporting pad admission port is the upper surface that an interface tube is arranged on the air supporting pad, be connected with apportioning valve B with tracheae, after air-flow enters admission port by apportioning valve B, flow to the aperture of giving vent to anger by the passage in the air supporting pad, between air supporting pad lower surface and platform base, form air film and support, can carry out six-freedom motion at inertial space by the design realization analog satellite main body of analog satellite.
Further improvement as a kind of three-dimensional air floating platform: a plurality of apertures of giving vent to anger are more than 20 on the described air floating piston, and the multiple tracks vortex groove on the described air floating piston is 2～5.A plurality of apertures of giving vent to anger in the described air supporting pad are more than 3.Described platform base is made by granite.
A kind of pneumatic gravitational compensation method of three-dimensional air floating platform, particularly: this method comprises with two controlled pneumatic circuits, article one, by Air compressor pressurized air is imported apportioning valve A after treatment, drive air floating piston by sending into not have in the friction cylinder behind the controller adjustment gaseous tension, the realization air floating piston is suspended in not have in the friction cylinder and is in state of equilibrium, and the analog satellite main body that is supported on the air floating piston obtains gravity compensation;
Another gas circuit is imported apportioning valve B to pressurized air after treatment by Air compressor, and air-flow enters the air supporting pad, and a plurality of apertures of giving vent to anger the slit between air supporting pad and platform base flow in the atmosphere, and the air supporting pad floats over planar free motion on the air film; The air supporting pad can in horizontal surface, be x, y to translation and z to rotation, air floating piston can be z to translation;
Square box is x to rotating relative to air floating piston and support, and the analog satellite main body can be y to rotating relative to square box, and the analog satellite main body can be done six degree of freedom at inertial space does not have constrained motion, simulates the real motion form of the satellite that swims in the space.
In the beneficial effect prior art of the present invention, the full physics butt joint of design-calculated 10 degree of freedom such as the Zhang Guangyu of Harbin Institute of Technology mechanics emulator is made up of two motion platforms, and each motion platform can be simulated pursuit spacecraft or passive space vehicle.Each motion platform can be realized 5 degree of freedom motions, and test platform structure is made up of two-dimentional turntable, air supporting slide unit, quality inertia simulation device and gravity balance device etc.What gravity balance device adopted on vertical motion direction gravitational compensation method all is hang spring counterweight method.The main deficiency of hang spring counterweight method is the increase along with the suspended portion quality, and friction force is just big more, and its gravity compensation effect is just poor more, and this method can't guarantee when simulated experiment and the high precision equivalence of prototype at quality and inertia in addition.With respect to prior art, the advantage of three-dimensional air floating platform and pneumatic gravitational compensation method is among the present invention:
One has utilized nothing friction cylinder to combine with the air supporting pad and has realized the three-dimensional gravity compensation, and wherein air floating piston employing driving gas realizes that itself and cylinder wall generation air film support, and becoming rubs between solid is flow friction.Air floating piston is removed seal ring retention gap on orienting sleeve and the piston with pot type piston, and extension length and be equipped with in the side and have more gas aperture and multiple tracks vortex groove, rather than jet on the cylinder barrel of prior art, do not having area requirement on the side direction bearing capacity, on stroke (can reach the hundreds of millimeter) and propulsive effort (more than 300 Ns), improving a lot.Control by force by the constant voltage of not having the friction cylinder, the analytical gas flow characteristic utilizes electric Proportion valve A, B to carry out voltage stabilizing control, and response is fast, precision is high, helps improving simulate effect.The member that does not have the air floating piston formation in the friction cylinder thus can be as accurate as below the 0.6N, though be not so good as japanese product on precision, the nothing friction cylinder cost that this air floating piston constitutes is compared with japanese product and wanted little 100 times.
Its two, analog satellite can simulate the spatial pose motion of satellite realistically.After the air supporting pad floated, and the gravity of air floating piston upper-part is offset pneumatic gravitational compensation by atmospheric pressure, the analog satellite platform just can have been done six free motions under the similar spaces weightlessness.When member is the analog satellite main body,, can not consider that satellite quality and inertia redistributes the purpose that reaches equivalent if its quality substantially exceeds, does not have the quality of friction gentle camel of cylinder and platform base.Otherwise need suitably carry out quality and inertia adjustment, make analog satellite quality and inertia and real satellite equivalence.This invention had both realized the decomposition of space 6DOF motion, had realized the equivalence of quality and inertia again.
They are three years old, a kind of pneumatic gravitational compensation method of three-dimensional air floating platform, this method comprises with two controlled pneumatic circuits, article one, by Air compressor pressurized air is imported apportioning valve A after treatment, drive air floating piston by sending into not have in the friction cylinder behind the controller adjustment gaseous tension, the realization air floating piston is suspended in not have in the friction cylinder and is in state of equilibrium, and the analog satellite main body that is supported on the air floating piston obtains gravity compensation; Another gas circuit is imported apportioning valve B to pressurized air after treatment by Air compressor, and air-flow enters the air supporting pad, and a plurality of apertures of giving vent to anger the slit between air supporting pad and platform base flow in the atmosphere, and the air supporting pad floats over planar free motion on the air film; The air supporting pad can in horizontal surface, be x, y to translation and z to rotation, air floating piston can be z to translation; Square box is x to rotating relative to air floating piston and support, and the analog satellite main body can be y to rotating relative to square box, and the analog satellite main body can be done six degree of freedom at inertial space does not have constrained motion, can simulate the real motion form of the satellite that swims in the space.
The relative prior art of the present invention adopts the 5DOF emulator of hang spring counter weight type gravitational compensation method, have precision height, little, the compact conformation of volume, the advantage that quality inertia is concentrated, changed the limitation that air floating table in the prior art can only carry out two-dimentional microgravity test, on degree of freedom, improve one, improve one dimension on virtual space, the heavy handled deficiency of having avoided the rope flexibility to be brought is wanted a little grade on error.Can direct modeling go out real dynam and kinematics phenomenon in the space, realize the three-dimensional motion simulation, for motion characteristics and the function of holding space vehicle exactly provides the failure-free verification tool.
Description of drawings
Fig. 1 is that three-dimensional air floating platform is formed constructional drawing.
Fig. 2 is the analog satellite constructional drawing.
Fig. 3 is air floating piston figure.
Fig. 4 is the pneumatic gravitational compensation method scheme drawing.
Fig. 5 is stream condition figure in the air cavity.
Fig. 6 is air film expansion shape and size scheme drawing.
Fig. 7 is the operational flowchart of three-dimensional air floating platform.
The specific embodiment is further described embodiments of the present invention below in conjunction with accompanying drawing
Fig. 1 is the overall system diagram of three-dimensional air floating platform, mainly contains following four parts: 1, source of the gas parts; 2, air pressure function unit; 3, analog satellite; 11, platform base.
Source of the gas parts 1 are used to provide gas medium and pressure, are the generation systems that air pressure drives, and comprise air compressor (primary member is air pump, storage tank, compression indicator and self-control device) and gas processing device (dryer, filter are generally arranged).Air pressure function unit 2 mainly is made up of may command valve and controller, by the pressure control of programming control electric Proportion valve A, B realization to pneumatic system.Analog satellite 3 is placed on the platform base 11, and analog satellite 3 essence are a six-freedom motion mechanism, is the main body that constitutes three-dimensional air floating platform, and platform base 11 is made by granite.
Fig. 2 is the analog satellite constructional drawing.Among Fig. 2, analog satellite comprises and places on the platform base 11 tracheae bonded assembly source of the gas parts 1, air pressure function unit 2 and analog satellite 3 mutually;
Source of the gas parts 1 comprise Air compressor and gas processing device, and Air compressor comprises storage tank and air pump, and wherein Air compressor is connected with gas processing device by pipe switch;
Gas function unit 2 comprises apportioning valve A, apportioning valve B and the controller that both are electrically connected, and wherein apportioning valve A is connected with the gentle respectively source block 1 usefulness tracheae of apportioning valve B.
The primary member of six-freedom motion analog satellite has: analog satellite main body 5, it is the operand of simulated experiment, that catches promptly that target simulation satellite 3 comprises mechanical connection catches interface 4, analog satellite main body 5, square box 6, support 7, there is not friction cylinder 8, air floating piston 9 gentle camels 10, wherein catching interface 4 installs in satellite main body 5 upper fixed, being used for cosmonaut or space machine or other aircraft catches, people's satellite main body 5 front and back are attached on the square box 6 with one heart with two rotating shafts, described square box about 6 is attached on the support 7 with other two rotating shafts, and described support 7 is connected on the piston rod that does not have friction cylinder 8 by captive nut.
Do not have be equipped with above the friction cylinder 8 air extractor duct, below be equipped with admission port and air floating piston 9, admission port is connected with apportioning valve A with pipeline, air floating piston 9 places does not have friction cylinder 8, utilizes gaseous tension to drive, and does not have totally placing on the air supporting pad 10 of the cylinder 8 that rubs.
Described air floating piston 9 is a cylinder, pot type piston is removed seal ring retention gap on orienting sleeve and the piston, be equipped with hollow gas port 12 in the middle of the air floating piston 9, lengthened piston length makes gas enter aperture 14 by gas port 12, between the slit of not having friction cylinder 8 inwalls and air floating piston 9 peripheries, form lubricating film, and make the air extractor duct of gas above not having friction cylinder 8 flow into atmosphere, 13 pairs of air-flows of the multiple tracks vortex groove that air floating piston 9 sides are equipped with have certain inhibition, can reduce that to leak friction suffered when making air floating piston 9 up-and-down movements little.
Be equipped with the aperture 14 of giving vent to anger more than 20 on the air floating piston 9, the multiple tracks vortex groove 13 on the described air floating piston 9 is 2～5.
Much larger than support 7, when not having the quality of friction cylinder 8 gentle camels 10, can not consider that quality and inertia redistributes the purpose that reaches equivalent in the quality of satellite main body.Otherwise need suitably carry out quality and inertia adjustment, make quality and the inertia and the real satellite equivalence of analog satellite 3.
Fig. 3 is air floating piston figure.In Fig. 3,12 is that gas port, 13 is that vortex groove, aperture are 14.Air floating piston 9 is not have the core devices that friction cylinder 8 carries out pneumatic gravitational compensation, air floating piston 9 method for makings are: the seal ring of removing on orienting sleeve and the pot type piston is reserved the gap, lengthened piston length makes piston periphery gas port 12 have gas to flow out, and forms lubricating film.At first inequality with existing product on purposes and usage, and differ widely on the structure: increasing many sides aperture 14 and multiple tracks vortex groove 13 (rather than jet on the cylinder barrel) on the piston, the number of the aperture on the air floating piston 9 is more than 20, multiple tracks vortex groove on the air floating piston 9 is 2～5, the friction when aperture 14 and vortex groove are used to produce gas film lubrication and reduce piston motion.
Fig. 4 is the pneumatic gravitational compensation method scheme drawing; Fig. 5 is stream condition figure in the air cavity; Fig. 6 is air film expansion shape and size scheme drawing.In Fig. 4 and Fig. 5, pneumatic gravitational compensation method is the pure air after handling to be inserted electric Proportion valve feed nothing friction cylinder 8 again.Certain volume is arranged at the bottom of not having friction cylinder 8, and air floating piston 9 is a cylinder, and floor space is S, and the total weight of air floating piston 9 and weight is G.Pressure in each pipeline and the element and gas flow are seen relevant position among Fig. 4, are the needs of analyzing, and each pressure is the differential pressure with external atmosphere pressure, and qm is flow, i.e. amount of leakage in the low friction cylinder slit.
Because the gravity of weight (space microgravity experimental subjects) is cancelled, if with the direction that makes progress for just, then have
-G+PS+f＝0
F is the friction force that air floating piston 9 is subjected in the formula.Consider to be in the friction force that has only air film that is subjected to when suspending,, be similar to and think 0 (this is that the low friction of many persons cylinder is not for there being the cause of the cylinder that rubs), have by formula (1): p because gas friction is very little when air floating piston 9
gS ≈ G
Then the controlled target of this system is
Constant as long as keep each not have friction cylinder 8 interior pressure constantly suc as formula (2), then gravity is at every moment compensated.This object is done the time spent and will be met the newtonian motion theorem being subjected to other power (limitting vertical power here), as the motion under the below-G conditions.
At 9 three kinds of motion conditions of air floating piston, research does not have stream condition in the friction cylinder 8:
1) when air floating piston 9 is static, pressure P=pg in the air cavity, the air pressure of importing and exporting at this moment by desirable condition all is pg.For control air floating piston 9 positions, so air cavity inner volume quality exists
M(t)＝M
0+q
3t-q
mt＝M
0 (3)
M=ρ V=ρ Sx in the formula, M
0=Sx
0Be the quality of initial volume, then q
3=q
m
2) when air floating piston 9 and weight together upwards during uniform movement, the air cavity inner volume needs to increase, and air floating piston 9 positions are functions of run duration, then
Then this moment q
3=ρ Sx+q
m(4)
3) when air floating piston 9 descending motions, if the slit amount of leakage at air floating piston 9 places can not satisfy kinematic velocity when requiring, the pressure that do not have in the friction cylinder 8 will raise, and so out of reach gravity compensation effect is by electric Proportion valve venting voltage stabilizing.Represent motion downwards with negative sign, so
q
3＝q
1-q
2＝-ρSx+q
m (5)
Though formula (3,4,5) is different, all has q
mBe non-controlling quantity, its size is mainly by revealing factor decisions such as mouth, seam shape, difference of pressure.
According to desirable gas leakage slit is that cylinder type is calculated q
mMath modeling be:
Wherein, r is not for there being friction cylinder 8 radiuses, and h is the width in slit, and μ is a viscosity, and pi is a high pressure points pressure, ρ
i(pressure is p for high pressure
g) dot density, p is a low pressure force pressure; N is a poly-trope index, is fixed constant in state change process, and its occurrence is according to concrete state variation character and fixed.When n=1, be exactly isothermal process; N=∞ is an isochoric process.Although the n span here is [0, ∞], in general process the numerical value of n between constant temperature exponential sum ratio of specific heat (k=1.4 concerning air), i.e. k＞n＞1.Here be air floating piston 9 motion studies, desirable n=1.2～1.25.Can solve q by formula (6)
m, consider that slit, this air floating piston 9 place is not to be the standard round tubular, thus need be in the superior COEFFICIENT K of formula (6) flow value, try to achieve the gas flow relation and can guarantee real-time and the accuracy controlled.Guaranteeing to offer under the prerequisite of not having friction cylinder 8 enough tolerance, utilizing the air pressure feedback that formula (2) perseverance is set up, just can realize the gravity compensation of vertical direction.Employing makes the analog satellite main body be connected with square box 6.
A kind of pneumatic gravitational compensation method of three-dimensional air floating platform, it is characterized in that: this method comprises with two controlled pneumatic circuits, article one, by Air compressor pressurized air is imported apportioning valve A after treatment, drive air floating piston 9 by sending into not have in the friction cylinder 8 behind the controller adjustment gaseous tension, realization air floating piston 9 is suspended in not have in the friction cylinder 8 and is in state of equilibrium, and the analog satellite main body 5 that is supported on the air floating piston 9 obtains gravity compensation;
Another gas circuit is imported apportioning valve B to pressurized air after treatment by Air compressor, air-flow enters air supporting pad 10, a plurality of apertures of giving vent to anger the slit between air supporting pad 10 and platform base 11 flow in the atmosphere, and air supporting pad 10 floats over planar free motion on the air film.
Fig. 7 is the operational flowchart of three-dimensional air floating platform.This three-dimensional air floating platform needs to operate in conjunction with concrete experiment, main operating process such as Fig. 7.Step is: be earlier that analog satellite main body 5 is fixing with experimental subjects, with two rotating shafts is that horizontal rotating shaft and vertical rotating shaft are bound up on the square box 6 (step 100), the installation site of adjusting analog satellite main body 5 reaches quiet, kinetic balance (step 110) to guarantee its barycenter on 0 o'clock.Check that whether normal each valve and in the initial safe position, power on for air compressor and controller etc., start Air compressor work (step 120), when pressure is raised to 0.8MPa (step 130)? be, then open total valve (step 140), not, then continue to wait for.Being in this moment and preparing the ventilation mode of operation, does controller inspection software and hardware after the input control task see whether system normal? (step 150) is if mal then can not be tested following electricity maintenance; If normal, slowly open two proportional control valves of control by task, air supporting pad 10 and air floating piston 9 are floated, be ready (step 160).Collision experiment is caught or docked to enforcement to what catch interface 4, the beginning simulated experiment is also write down result's (step 170), experiment is whether (step 180) normally? not, there is abnormality then to need in the experiment again to systems inspection, carry out trouble diagnosing, if can not adjust then electricity maintenance down, in this process, can someone participate in; If normal, then experiment finishes, and slowly decompression is discharged does not have gas in the friction cylinder 8, and last air floating piston 9 gentle camels 10 fall nadir (step 190) after rise, turn-off Air compressor and controller (step 200) afterwards, end operation (step 210).
Obviously, those skilled in the art can carry out various changes and modification to three-dimensional air floating platform of the present invention and pneumatic gravitational compensation method and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (5)
1, a kind of three-dimensional air floating platform is characterized in that: its device comprises and places platform base (11) to go up mutual tracheae bonded assembly source of the gas parts (1), air pressure function unit (2) and analog satellite (3);
Described source of the gas parts (1) comprise Air compressor and gas processing device, and described Air compressor comprises storage tank and air pump, and wherein Air compressor is connected with gas processing device by pipe switch;
Described gas function unit (2) comprises apportioning valve A, apportioning valve B and the controller that both are electrically connected, and wherein apportioning valve A is connected with tracheae with the apportioning valve B gentle source block of difference (1);
What described analog satellite (3) comprised mechanical connection catches interface (4), analog satellite main body (5), square box (6), support (7), there is not friction cylinder (8), the gentle camel of air floating piston (9) (10), wherein catching interface (4) installs in satellite main body (5) upper fixed, being used for cosmonaut or space machine or other aircraft catches, be attached to one heart on the square box (6) with two rotating shafts before and after people's satellite main body (5), be attached on the support (7) with other two rotating shafts about described square box (6), described support (7) is connected on the piston rod that does not have friction cylinder (8) by captive nut;
Be equipped with above the described friction cylinder (8) air extractor duct, below be equipped with admission port and air floating piston (9), admission port is connected with apportioning valve A with pipeline, air floating piston (9) places does not have friction cylinder (8), utilize gaseous tension to drive, do not have totally placing on the air supporting pad (10) of friction cylinder (8);
Described air floating piston (9) is a cylinder, pot type piston is removed seal ring retention gap on orienting sleeve and the piston, be equipped with hollow gas port (12) in the middle of the air floating piston (9), lengthened piston length makes gas enter aperture (14) by gas port (12), between the slit of not having friction cylinder (8) inwall and air floating piston (9) periphery, form lubricating film, and make the air extractor duct of gas above not having friction cylinder (8) flow into atmosphere, the multiple tracks vortex groove (13) that air floating piston (9) side is equipped with has certain inhibition to air-flow, can reduce that to leak friction suffered when making air floating piston (9) up-and-down movement little;
Described air supporting pad (10) places on the platform base (11), an admission port and a plurality of aperture of giving vent to anger are also arranged, air supporting pad admission port is the upper surface that an interface tube is arranged on air supporting pad (10), be connected with apportioning valve B with tracheae, after air-flow enters admission port by apportioning valve B, flow to the aperture of giving vent to anger by the passage in the air supporting pad (10), between air supporting pad (10) lower surface and platform base (11), form air film and support, can carry out six-freedom motion at inertial space by the design realization analog satellite main body (5) of analog satellite (3).
2, a kind of three-dimensional air floating platform according to claim 1 is characterized in that: it is more than 20 that described air floating piston (9) goes up a plurality of apertures of giving vent to anger (14), and the multiple tracks vortex groove (13) on the described air floating piston (9) is 2～5.
3, a kind of three-dimensional air floating platform according to claim 1 is characterized in that: a plurality of apertures of giving vent to anger in the described air supporting pad (10) are more than 3.
4, a kind of three-dimensional air floating platform according to claim 1 is characterized in that: described platform base (11) is made by granite.
5, the pneumatic gravitational compensation method of a kind of three-dimensional air floating platform according to claim 1, it is characterized in that: this method comprises with two controlled pneumatic circuits, article one, by Air compressor pressurized air is imported apportioning valve A after treatment, drive air floating piston (9) in the friction cylinder (8) by sending into behind the controller adjustment gaseous tension not have, realization air floating piston (9) is suspended in not have in the friction cylinder (8) and is in state of equilibrium, and the analog satellite main body (5) that is supported on the air floating piston (9) obtains gravity compensation;
Another gas circuit is imported apportioning valve B to pressurized air after treatment by Air compressor, air-flow enters air supporting pad (10), a plurality of apertures of giving vent to anger the slit between air supporting pad (10) and platform base (11) flow in the atmosphere, and air supporting pad (10) floats over planar free motion on the air film;
Air supporting pad (10) can in horizontal surface, be x, y to translation and z to rotation, air floating piston (9) can be z to translation;
Square box (6) is x to rotating relative to air floating piston (9) and support (7), the analog satellite main body can be y to rotating relative to square box (6), analog satellite main body (5) can be done six degree of freedom at inertial space does not have constrained motion, simulates the real motion form of the satellite that swims in the space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610098165 CN1986337A (en) | 2006-12-02 | 2006-12-02 | Three-dimensional air floating platform and pneumatic gravitational compensation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610098165 CN1986337A (en) | 2006-12-02 | 2006-12-02 | Three-dimensional air floating platform and pneumatic gravitational compensation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1986337A true CN1986337A (en) | 2007-06-27 |
Family
ID=38183307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610098165 Pending CN1986337A (en) | 2006-12-02 | 2006-12-02 | Three-dimensional air floating platform and pneumatic gravitational compensation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1986337A (en) |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101503116B (en) * | 2009-02-17 | 2010-12-08 | 哈尔滨工业大学 | Distributed spacecraft ground artificial system and implementing method thereof |
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN102258846A (en) * | 2011-06-24 | 2011-11-30 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN101575013B (en) * | 2009-06-15 | 2012-01-18 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| CN102522020A (en) * | 2011-11-10 | 2012-06-27 | 北京交通大学 | Device for training and detecting extravehicular operation capability |
| CN102679916A (en) * | 2012-01-12 | 2012-09-19 | 河南科技大学 | Measurement device for surface roughness and measurement workbench for measurement device |
| CN103016441A (en) * | 2012-12-31 | 2013-04-03 | 浙江工业大学 | Air flotation cylinder for forming stable air film by microporous material |
| CN103016443A (en) * | 2012-12-31 | 2013-04-03 | 浙江工业大学 | Air suspension friction-free air cylinder provided with pressure relief groove |
| CN103123256A (en) * | 2013-01-07 | 2013-05-29 | 西北工业大学 | Air flotation type detection immobilization device |
| CN103847986A (en) * | 2014-04-01 | 2014-06-11 | 哈尔滨工业大学 | Air floating platform with follow-up cable tables |
| CN103863585A (en) * | 2014-04-01 | 2014-06-18 | 哈尔滨工业大学 | Three-degree-of-freedom space simulator |
| CN104019940A (en) * | 2014-06-20 | 2014-09-03 | 哈尔滨工业大学 | High-precision air floatation vertical adjusting mechanism based on differential measurement |
| CN104015943A (en) * | 2014-06-20 | 2014-09-03 | 哈尔滨工业大学 | Mass compensation system of gas floatation planar motion platform |
| CN104029829A (en) * | 2014-06-20 | 2014-09-10 | 哈尔滨工业大学 | Vertical servomechanism measuring device based on double-frequency laser interferometer and method for realizing high-precision vertical movement by using the same |
| CN104044758A (en) * | 2014-06-20 | 2014-09-17 | 哈尔滨工业大学 | Linear motor and air floatation combined driving vertical servo mechanism |
| CN104803015A (en) * | 2015-05-09 | 2015-07-29 | 哈尔滨工业大学 | High-lift air flotation high-precision gravitational unloading device |
| CN104908981A (en) * | 2015-07-13 | 2015-09-16 | 哈尔滨工业大学 | Vertical air pressure compensation device of multi-degree-of-freedom air floating platform and vertical air pressure compensation method |
| CN104960676A (en) * | 2015-07-13 | 2015-10-07 | 哈尔滨工业大学 | Multi-degree of freedom air floated platform pressure stabilizing device and pressure stabilizing method |
| CN104986359A (en) * | 2015-06-11 | 2015-10-21 | 北京控制工程研究所 | Six-degree-of-freedom air bearing table gravity balance control system and control method |
| CN105083595A (en) * | 2015-09-21 | 2015-11-25 | 黑龙江大学 | Vertical air pressure control system of air bearing table and control method thereof |
| CN105109712A (en) * | 2015-08-21 | 2015-12-02 | 哈尔滨工业大学 | Air floating shaft based on Z-direction control of six-freedom-degree air floating table |
| CN105182770A (en) * | 2015-08-27 | 2015-12-23 | 北京控制工程研究所 | System and method for spacecraft semi-physical simulation experiment based on rotor craft |
| CN105204373A (en) * | 2015-10-19 | 2015-12-30 | 清华大学 | Physical simulation system for satellite |
| CN105302003B (en) * | 2015-11-23 | 2016-08-17 | 华中科技大学 | A kind of servo-control system for the simulation of aircraft air pressure |
| CN104019749B (en) * | 2014-06-20 | 2016-08-24 | 哈尔滨工业大学 | A kind of cursor type measurement apparatus for the vertical servo control mechanism of high accuracy and measuring method |
| CN106354030A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨工业大学 | Mars gravity ground-based simulation device and simulation method thereof |
| CN106364699A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Master-slave mode non-contact double superior satellite ground principle verification system |
| CN107491094A (en) * | 2017-07-04 | 2017-12-19 | 苏州博众精工科技有限公司 | A kind of method of real-time accurate balance Z axis weight |
| CN107783428A (en) * | 2016-08-31 | 2018-03-09 | 圣速医疗器械江苏有限公司 | A kind of intelligent balance flight control |
| CN107978193A (en) * | 2017-12-22 | 2018-05-01 | 中国科学技术馆 | A kind of air floating platform and Interactive Experience device |
| CN108177802A (en) * | 2017-11-30 | 2018-06-19 | 北京卫星制造厂 | A kind of constant force device and its application method based on air spring |
| CN108263646A (en) * | 2018-03-21 | 2018-07-10 | 天津航天机电设备研究所 | A kind of multistage manifold type gravity-compensated device |
| CN108583944A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | The non-contact feeder of the air supporting Physical Simulation Platform of open type multistage gas film sealing |
| CN108895253A (en) * | 2018-08-06 | 2018-11-27 | 珠海格力电器股份有限公司 | Damping base and rotating machinery |
| CN110369737A (en) * | 2019-08-20 | 2019-10-25 | 中国科学院合肥物质科学研究院 | A kind of core shaft structure of high-speed air floatation electro spindle |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
| CN113562206A (en) * | 2021-06-23 | 2021-10-29 | 浙江工商大学 | Simulated weightlessness system based on air cylinder and air cushion |
| CN113928603A (en) * | 2021-09-13 | 2022-01-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
-
2006
- 2006-12-02 CN CN 200610098165 patent/CN1986337A/en active Pending
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101503116B (en) * | 2009-02-17 | 2010-12-08 | 哈尔滨工业大学 | Distributed spacecraft ground artificial system and implementing method thereof |
| CN101575013B (en) * | 2009-06-15 | 2012-01-18 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN102258846B (en) * | 2011-06-24 | 2013-07-03 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN102258846A (en) * | 2011-06-24 | 2011-11-30 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN102522020A (en) * | 2011-11-10 | 2012-06-27 | 北京交通大学 | Device for training and detecting extravehicular operation capability |
| CN102679916B (en) * | 2012-01-12 | 2016-12-14 | 河南科技大学 | A kind of measuring device for surface roughness and measurement workbench thereof |
| CN102679916A (en) * | 2012-01-12 | 2012-09-19 | 河南科技大学 | Measurement device for surface roughness and measurement workbench for measurement device |
| CN103016443A (en) * | 2012-12-31 | 2013-04-03 | 浙江工业大学 | Air suspension friction-free air cylinder provided with pressure relief groove |
| CN103016441A (en) * | 2012-12-31 | 2013-04-03 | 浙江工业大学 | Air flotation cylinder for forming stable air film by microporous material |
| CN103016441B (en) * | 2012-12-31 | 2015-02-18 | 浙江工业大学 | Air flotation cylinder for forming stable air film by microporous material |
| CN103016443B (en) * | 2012-12-31 | 2015-08-12 | 浙江工业大学 | A kind of gas suspension with pressure relief groove is without friction cylinder |
| CN103123256A (en) * | 2013-01-07 | 2013-05-29 | 西北工业大学 | Air flotation type detection immobilization device |
| CN103847986A (en) * | 2014-04-01 | 2014-06-11 | 哈尔滨工业大学 | Air floating platform with follow-up cable tables |
| CN103863585A (en) * | 2014-04-01 | 2014-06-18 | 哈尔滨工业大学 | Three-degree-of-freedom space simulator |
| CN103847986B (en) * | 2014-04-01 | 2016-01-20 | 哈尔滨工业大学 | With the air floating table of dependent cable platform |
| CN104029829B (en) * | 2014-06-20 | 2016-02-17 | 哈尔滨工业大学 | Based on vertical servomechanism measurement mechanism and the method for two-frequency laser interferometer |
| CN104029829A (en) * | 2014-06-20 | 2014-09-10 | 哈尔滨工业大学 | Vertical servomechanism measuring device based on double-frequency laser interferometer and method for realizing high-precision vertical movement by using the same |
| CN104044758A (en) * | 2014-06-20 | 2014-09-17 | 哈尔滨工业大学 | Linear motor and air floatation combined driving vertical servo mechanism |
| CN104019940A (en) * | 2014-06-20 | 2014-09-03 | 哈尔滨工业大学 | High-precision air floatation vertical adjusting mechanism based on differential measurement |
| CN104019749B (en) * | 2014-06-20 | 2016-08-24 | 哈尔滨工业大学 | A kind of cursor type measurement apparatus for the vertical servo control mechanism of high accuracy and measuring method |
| CN104019940B (en) * | 2014-06-20 | 2016-03-30 | 哈尔滨工业大学 | Based on the vertical governor motion of high precision air supporting of variate |
| CN104015943A (en) * | 2014-06-20 | 2014-09-03 | 哈尔滨工业大学 | Mass compensation system of gas floatation planar motion platform |
| CN104803015A (en) * | 2015-05-09 | 2015-07-29 | 哈尔滨工业大学 | High-lift air flotation high-precision gravitational unloading device |
| CN104986359A (en) * | 2015-06-11 | 2015-10-21 | 北京控制工程研究所 | Six-degree-of-freedom air bearing table gravity balance control system and control method |
| CN104960676B (en) * | 2015-07-13 | 2017-06-06 | 哈尔滨工业大学 | Multiple degrees of freedom air floating platform stable-pressure device and method for stabilizing voltage |
| CN104960676A (en) * | 2015-07-13 | 2015-10-07 | 哈尔滨工业大学 | Multi-degree of freedom air floated platform pressure stabilizing device and pressure stabilizing method |
| CN104908981B (en) * | 2015-07-13 | 2017-03-15 | 哈尔滨工业大学 | The vertical atmospheric pressure compensated equipment of multiple degrees of freedom air floating platform and vertical atmospheric pressure compensating method |
| CN104908981A (en) * | 2015-07-13 | 2015-09-16 | 哈尔滨工业大学 | Vertical air pressure compensation device of multi-degree-of-freedom air floating platform and vertical air pressure compensation method |
| CN105109712A (en) * | 2015-08-21 | 2015-12-02 | 哈尔滨工业大学 | Air floating shaft based on Z-direction control of six-freedom-degree air floating table |
| CN105182770A (en) * | 2015-08-27 | 2015-12-23 | 北京控制工程研究所 | System and method for spacecraft semi-physical simulation experiment based on rotor craft |
| CN105083595A (en) * | 2015-09-21 | 2015-11-25 | 黑龙江大学 | Vertical air pressure control system of air bearing table and control method thereof |
| CN105204373A (en) * | 2015-10-19 | 2015-12-30 | 清华大学 | Physical simulation system for satellite |
| CN105204373B (en) * | 2015-10-19 | 2018-11-09 | 清华大学 | The physical simulation system of satellite |
| CN105302003B (en) * | 2015-11-23 | 2016-08-17 | 华中科技大学 | A kind of servo-control system for the simulation of aircraft air pressure |
| CN107783428A (en) * | 2016-08-31 | 2018-03-09 | 圣速医疗器械江苏有限公司 | A kind of intelligent balance flight control |
| CN106364699A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Master-slave mode non-contact double superior satellite ground principle verification system |
| CN106354030B (en) * | 2016-11-14 | 2019-08-16 | 哈尔滨工业大学 | Mars gravitation ground simulator and its analogy method |
| CN106354030A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨工业大学 | Mars gravity ground-based simulation device and simulation method thereof |
| CN107491094A (en) * | 2017-07-04 | 2017-12-19 | 苏州博众精工科技有限公司 | A kind of method of real-time accurate balance Z axis weight |
| CN108177802A (en) * | 2017-11-30 | 2018-06-19 | 北京卫星制造厂 | A kind of constant force device and its application method based on air spring |
| CN107978193B (en) * | 2017-12-22 | 2024-01-23 | 中国科学技术馆 | Air supporting platform and interactive experience device |
| CN107978193A (en) * | 2017-12-22 | 2018-05-01 | 中国科学技术馆 | A kind of air floating platform and Interactive Experience device |
| CN108583944A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | The non-contact feeder of the air supporting Physical Simulation Platform of open type multistage gas film sealing |
| CN108263646B (en) * | 2018-03-21 | 2024-01-16 | 天津航天机电设备研究所 | Multistage coupling type gravity compensation device |
| CN108263646A (en) * | 2018-03-21 | 2018-07-10 | 天津航天机电设备研究所 | A kind of multistage manifold type gravity-compensated device |
| CN108895253A (en) * | 2018-08-06 | 2018-11-27 | 珠海格力电器股份有限公司 | Damping base and rotating machinery |
| CN110369737A (en) * | 2019-08-20 | 2019-10-25 | 中国科学院合肥物质科学研究院 | A kind of core shaft structure of high-speed air floatation electro spindle |
| CN110369737B (en) * | 2019-08-20 | 2024-01-09 | 中国科学院合肥物质科学研究院 | Mandrel structure of high-speed air-floatation motorized spindle |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
| CN113562206A (en) * | 2021-06-23 | 2021-10-29 | 浙江工商大学 | Simulated weightlessness system based on air cylinder and air cushion |
| CN113562206B (en) * | 2021-06-23 | 2023-01-13 | 浙江工商大学 | Simulated weightlessness system based on air cylinder and air cushion |
| CN113928603A (en) * | 2021-09-13 | 2022-01-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1986337A (en) | Three-dimensional air floating platform and pneumatic gravitational compensation method | |
| CN103514792B (en) | Space six degree of freedom air supporting follow-up motion platform | |
| CN103085992B (en) | Spatial microgravity simulation experiment system | |
| CN202807110U (en) | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure | |
| Wilde et al. | Historical survey of kinematic and dynamic spacecraft simulators for laboratory experimentation of on-orbit proximity maneuvers | |
| CN103496450B (en) | Micro-disturbance torque environment simulator suitable in spacecraft l-G simulation test | |
| CN103863585B (en) | Three-dimensional space simulator | |
| CN107867414B (en) | Twelve-degree-of-freedom spacecraft simulator docking performance test device | |
| CN108423202A (en) | A kind of micro- low-gravity simulation device and simulation experiment method | |
| CN106628280B (en) | A kind of soft spacecraft landing analogue experiment installation and analogy method | |
| CN104200715B (en) | A kind of spacecraft is diversion and approaches motion simulator | |
| CN103144104A (en) | 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method | |
| CN108621202B (en) | Multi-arm space robot cooperative fine operation ground experiment system | |
| JPH0796900A (en) | Three-dimensional free-motion device | |
| CN108408089A (en) | It is arrested for spatial spin target and the ground physical simulating experimental of racemization | |
| Lotz et al. | Einstein-elevator: A new facility for research from μ to 5 | |
| CN103847985A (en) | Wireless-transmission-based three-degree-of-freedom space simulator | |
| CN109760860A (en) | The ground system test of non-cooperation rolling target is arrested in a kind of both arms collaboration | |
| CN112382160B (en) | Six-degree-of-freedom simulator air floatation pulley system | |
| CN106494653A (en) | Planetary landing sport simulated system and method based on air floating table | |
| CN109599005A (en) | Double super satellite platform posture ground simulation simulators based on gas magnetic complex controll | |
| CN109573117A (en) | A kind of space large size target rolling characteristic microgravity simulator | |
| CN105823600A (en) | Dynamic balancing method for motion mechanism on three-axis air bearing table | |
| CN104932559A (en) | Six-degree-of-freedom air bearing table mass center adjustment mechanism and adjustment method | |
| CN100427360C (en) | Microgravity simulating spacecraft ground emitting and testing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |