CN202807110U - Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure - Google Patents
Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure Download PDFInfo
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Abstract
The utility model discloses a gas floating six-degree-of-freedom simulation satellite device of a semi-active type gravity compensation structure. The gas floating six-degree-of-freedom simulation satellite device comprises a simulation satellite, a gas resource component, a constant tension control module and a position placement mechanism. According to a semi-active type gravity compensation method, namely a 'parallel' scheme integrating a motor ball screw rod and air cylinder suspension, a first gas line enters a low-friction cylinder to support an upper satellite, the upper satellite supported by a gas floating piston obtains gravity compensation, and push force output by an air cylinder counterbalances most of the gravity of the upper satellite; a motor screw rod nut structure is used for compensating the remaining gravity and friction force of a system, and therefore the output of a pressure sensor in the system can be always equal to the gravity of an experiment target to achieve constant tension control; a second gas line enters a flat surface gas floating bearing, and a third gas line enters a spherical surface gas floating bearing; and the position placement mechanism is used for providing a reference position and a reference attitude for an experiment. The gas floating six-degree-of-freedom simulation satellite device of the semi-active type gravity compensation structure can conduct three-dimensional floating movement with six degrees of freedom, is high in movement precision and fast in response, and can be placed at a position and an attitude before movement.
Description
Technical field
The utility model relates to space test device technique field, particularly the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure.
Background technology
Performance testing and the best experimental technique of attitude control to space vehicle (satellite) are By Bubble-floating Methods.A few cover air-floating apparatus are also studied and introduced in China voluntarily, mainly take single shaft and three-axis air-bearing table as main.By Bubble-floating Method is the two-dimensional space physical simulation method that friction is minimum at present, precision is the highest, air floating table is the nucleus equipment of the ground full physical simulation system of satellite always, but existing air floating table can only carry out two dimension, maximum five freely motion simulations, if they are developed into three-dimensional from two dimension, the full physical simulation and the functional verification that are used for the spaceflight thing are tested significant and effect.
In the existing air-flotation type microgravity equipment, plane air-bearing and sphere air-bearing are the most frequently used equipment.The plane air-bearing can be realized plane motion simulation, and the rotation that the sphere aerostatic bearing can the implementation space three-dimensional, both combinations, can only realize five degree of freedom motion (
,
,
,
,
), lack degree of freedom on the vertical direction (
).
And to realize vertical direction (
To) on gravity compensation, need solve two problems the power of (1) compensation gravity or drive how to obtain (direction and size meet the requirements); (2) how to reduce or overcome friction drag when the motion of vertical direction.Consider this two problems, how to access in the motion simulation of Z direction slip zero gravity, this is the problem that will study of the utility model just also.
According to the technical index simulation requirements, analog satellite will be realized the preset of three attitude direction of principal axis certain limits before test, with the various initial conditions of analog satellite, needs design one cover adjusting and locking mechanism, and namely pose is put system.
Summary of the invention
The technical problems to be solved in the utility model provides a kind of air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure, it utilizes plane air-bearing and sphere air-bearing that the space sport of 5 degree of freedom except the Z direction is simulated, utilize low rubbing cylinder and motor lead screw assembly parallel institution, form semi-active type gravity compensation structural control system, gravity is compensated, thereby the space sport of Z direction is simulated.This analog satellite can be done the motion of swimming of space three-dimensional, six degree of freedom, high, the fast response time of kinematic accuracy, and can be motion the putting of line position appearance of advancing.
The utility model is achieved through the following technical solutions:
The air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure, described device comprise analog satellite, by the interconnective source of the gas parts of tracheae and permanent tension force control module;
Described analog satellite is comprised of the upper satellite of sphere air-bearing and the side of being located thereon and the lower satellite of below, lower satellite comprises platform base and plane air-bearing, low rubbing cylinder, pull pressure sensor, motor screw component, strut and photoelectric encoder provided thereon, pulling force sensor is located at the low rubbing cylinder top, low rubbing cylinder is in parallel with the motor lead screw assembly by strut, and motor lead screw assembly top is provided with photoelectric encoder;
Described source of the gas parts comprise Air compressor and gas processing device, and gas circuit was divided three tunnel difference pipeline communication plane air-bearings, low rubbing cylinder, sphere air-bearing after Air compressor was communicated with gas processing device;
Described permanent tension force control module comprises master controller, electric machine controller, data collecting card, and described data collecting card is electrically connected with pulling force sensor, and electric machine controller is electrically connected with photoelectric encoder.
The further improvement project of the utility model is, described plane air-bearing upper surface is provided with import and export, and lower surface is provided with three above air gates.
The utility model further improvement project is, is provided with admission port and air floating piston below the described low rubbing cylinder, and admission port is communicated with the institute source block with pipeline, and air floating piston places low rubbing cylinder, and low rubbing cylinder places on the air suspension shaft sleeve of plane.
The utility model further improvement project is, described motor screw component comprises that ball-screw is inserted on the pedestal, is connected with guide rail on the pedestal by nut, and the output shaft of motor is connected with the ball screw of below by coupler.
The utility model further improvement project is, described sphere air-bearing is by solid sphere, spherical shell, and ball bearing housing forms.
The utility model further improvement project is described pulling force sensor S type.
The utility model further improvement project is that described platform base is marble pedestal.
The utility model further improvement project is, is provided with electromagnet at four footing of upper satellite, and string silk one end connects electromagnet, and the other end is connected with fixed frame on being placed on platform base.
The utility model compared with prior art has following obvious advantage:
One, in native system, the heavily about 500N of whole analog satellite main body, the weight of upper satellite is about about 300N, if adopt the motor lead screw assembly directly to promote the simulated target star, then require power of motor and reduction ratio all larger, be difficult to realize accurate Torque Control.Therefore native system adopts a kind of space microgravity analogy method of semi-active type, namely adopt the scheme of motor ball-screw and cylinder suspension integrated " parallel connection ", support upper satellite with low rubbing cylinder, send into pressurized air after treatment in the low rubbing cylinder by Air compressor, the up-and-down movement parts such as the upper satellite that supports on the air floating piston, ball-bearing casing obtain gravity compensation, most of gravity of satellite on the thrust-balancing of cylinder output; The motor lead screw assembly is used for compensate for residual gravity and system friction, so that the output of pressure sensor equals the gravity of object of experiment all the time in the system, realizes permanent tension force control.In addition, " parallel connection " scheme is conducive to improve the rigidity of system, and Systems balanth is better.
Two, the DC machine in the motor lead screw assembly directly drives ball screw by coupler, middle without speed reduction gearing, this can overcome the problems such as backlash that gear reduction brings and friction, thereby greatly improve control accuracy, be particularly useful for that this space robot grasp force is little, the very low application scenario of kinematic velocity of analog satellite.
Three, analog satellite can simulate the spatial pose motion of satellite realistically.The second gas circuit enters the plane air-bearing to pressurized air after treatment by Air compressor, and the air film that relies on pressurized air to form between plane air-bearing and bearing seat floats emulation platform, thereby realizes approximate frictionless relative motion condition.Article three, gas circuit is processed the laggard sphere air-bearing that enters to pressurized air by Air compressor, and a plurality of apertures from the sphere air-bearing flow into the atmosphere, form air film between spherical shell and solid sphere, realize the three-dimensional rotary freedom of analog satellite.The flat gas hydrostatic bearing can be x in horizontal surface, y to translation and z to rotation, ball-screw can be z to translation; Upper satellite can the implementation space three-dimensional rotation, namely
,
,
) rotation, the analog satellite main body can be done six degree of freedom without constrained motion at inertial space, can simulate the real motion form of the satellite that swims in the space.The passive parallel control program of this master so that system can accurately respond big or small very on a large scale external force, realizes vertical direction
To) on gravity compensation, reach the simulation of high-precision microgravity.When source of the gas and switch opens, after plane air-bearing, sphere air-bearing and low rubbing cylinder are all ventilated, the gravity of upper satellite is compensated by low rubbing cylinder, use simultaneously motor lead screw assembly compensate for residual gravity and friction force, the analog satellite platform just can have been done the six-freedom motion under the similar spaces weightlessness.When the rotor inertia of upper satellite quality and analog satellite increased, only needing increased air pressure, and the structure of whole analog satellite does not need very large change.This invention had both realized space 6DOF decomposition of movement, had realized again the equivalence of quality and inertia.
Four, since analog satellite not to be subjected in the external force situation to be free floating condition all the time, can't know position and attitude that satellite is current, pose is put system and is provided a reference position and attitude to experiment.
The utility model is with respect to the Five Freedom Simulating device of existing active By Bubble-floating 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, improve one at degree of freedom, improve one dimension at virtual space, the heavy handled of having avoided air pressure fluctuation to bring is not enough, wants a little grade in 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 exactly space vehicle provides the failure-free verification tool.
Description of drawings
Fig. 1 is the utility model constructional drawing.
Fig. 2 is semi-active type gravity compensation structure parallel machine composition.
Fig. 3 is sphere air-bearing parts block diagrams.
Fig. 4 is the scheme drawing of string silk-electromagnet type pose arranging mechanism.
(a figure is upper satellite attitude arranging mechanism scheme drawing, and b figure is analog satellite position arranging mechanism scheme drawing).
The specific embodiment
As shown in Figure 1, device described in the utility model comprise analog satellite 2, by the interconnective source of the gas parts 1 of tracheae and permanent tension force control module 3;
Described analog satellite 2 is comprised of the upper satellite 5 of sphere air-bearing 4, the side of being located thereon and the lower satellite of below, lower satellite comprises platform base 6 and plane air-bearing 7, low rubbing cylinder 8, pull pressure sensor 9, motor screw component 10, strut 11 and photoelectric encoder 12 provided thereon, pulling force sensor 9 is located at low rubbing cylinder 8 tops, low rubbing cylinder 8 is in parallel with motor lead screw assembly 10 by strut 11, and motor lead screw assembly 10 tops are provided with photoelectric encoder 12;
Described source of the gas parts 1 comprise Air compressor 13 and gas processing device 14, and Air compressor 13 is communicated with gas processing device 14 rear gas circuits and divides three tunnel difference pipeline communication plane air-bearings 7, low rubbing cylinder 8, sphere air-bearing 4;
Described permanent tension force control module 3 comprises master controller 15, electric machine controller 16, data collecting card 17, and described data collecting card 17 is electrically connected with pulling force sensor 9, and electric machine controller 16 is electrically connected with photoelectric encoder 12.
Described plane air-bearing 7 upper surfaces are provided with an admission port, and lower surface is provided with three above air gates.Article one, gas circuit is entered pressurized air in the plane air-bearing 7 from admission port after treatment by Air compressor 13, a plurality of apertures of giving vent to anger the slit between plane air-bearing 7 and platform base 6 flow in the atmosphere, form air film, the plane air-bearing floats over planar free motion on the air film, thereby realizes approximate frictionless relative motion.Described platform base 6 is marble pedestal.
Fig. 2 is semi-active type gravitational compensation method parallel machine composition, be provided with admission port and air floating piston below the described low rubbing cylinder 8, admission port pipeline and source of the gas members, air floating piston places low rubbing cylinder 8, and low rubbing cylinder 8 places on the plane air suspension shaft sleeve 7.Described motor screw component 10 comprises that ball-screw 18 is inserted on the pedestal 19, is connected with guide rail 21 on the pedestal 19 by nut 20, and the output shaft of motor 22 is connected with the ball screw 18 of below by coupler.Described pulling force sensor 9 is the S type.
The second gas circuit is sent into pressurized air in the low rubbing cylinder 8 after treatment by Air compressor 13, the up-and-down movement parts such as the upper satellite 5 that supports on the air floating piston, sphere air-bearing 4 obtain gravity compensation, most of gravity of satellite on the thrust-balancing of cylinder output; Motor lead screw assembly 10 is used for compensate for residual gravity and system friction, so that the output of pressure sensor equals the gravity of object of experiment all the time in the system, realizes permanent tension force control.
In the situation that guarantees above-mentioned pneumatic circuit normal operation, drive ball screw 18 by motor 22, and and then drive satellite 5 motions, record the suffered pressure of upper satellite 5 by pull pressure sensor 9, and by motor 22 drive ball-screws 18, guarantee that Satellite Simulation goes out under the weightlessness of space and the suffered suitable dynamic behavior of pressure.The analog satellite main body can be done six degree of freedom without constrained motion at inertial space, simulates the real motion form of the satellite that swims in the space.
Fig. 3 is sphere air-bearing parts block diagrams.Described sphere air-bearing 4 is by solid sphere 41, spherical shell 42, and ball bearing housing 43 forms.
The processing technology of sphere air-bearing 4 is very complicated, involves great expense, and also be a consumable accessory simultaneously.In order to increase the resistance to abrasion on surface, nitrogen hardening will be advanced in the surface before polishing.In the use procedure, do not having in the situation of air feed, forbidding forced rotating.
Article three, input sphere air-bearing 4 after gas circuit is processed pressurized air by Air compressor 13, air-flow enters sphere air-bearing 4, a plurality of apertures from sphere air-bearing 4 flow into the atmosphere, form air film between spherical shell 42 and solid sphere 41, and three-dimensional rotary freedom is provided.
Fig. 4 is the scheme drawing of string silk-electromagnet type pose arranging mechanism.
A figure is upper satellite attitude arranging mechanism scheme drawing, and b figure is analog satellite position arranging mechanism scheme drawing.
Four footing at upper satellite 5 are provided with electromagnet 23, and string silk 24 1 ends connect electromagnet 23, and the other end is connected with fixed frame on being placed on platform base 6.Electromagnet 23 energisings, with 24 adhesives of string silk, the analog satellite pose is fixed; Electromagnet 23 outage, string silk 24 rely on gravity moment to come off, and analog satellite 2 is removable.String silk 24 can be connected with analog satellite 2 reliably, and can break away from fast in 0.1s.The pose arranging mechanism has guaranteed that analog satellite can show certain position and attitude before experiment.
At first, be system simplification two platforms up and down, upper mounting plate is upper satellite, lower platform is the chassis.The moving coordinate system of lower platform
Be based upon on the axle center of sphere air-bearing system of axes
Be fixed on the lower central point of chassis.Arbitrary vector in moving coordinate system
Can transform in the fixed coordinate system by coordinate transformation method
In the formula:
,
T in the formula (1) is the direction cosine matrix of the attitude of upper mounting plate, it can obtain by Euler's transformation or RPY conversion, P is the selected R point P of upper mounting plate, and namely the position vector of the initial point of moving coordinate system in fixed coordinate system can obtain by the position of adjusting piston rod.When given transformation matrix
After, applicable geometric relationship can be easy to write out the coordinate figure of each point of connection of lower platform in system of axes separately, again by formula (1) can obtain upper lower platform point of connection fixed coordinate system (
) in coordinate figure.At this moment, the length vector of 3 string silks
Can in fixed coordinate system, be expressed as:
Thereby the length that can obtain the string silk is:
Like this, just can set up the attitude of analog satellite and the one-to-one relationship of chord length, thereby, just can know the attitude angle of analog satellite from chord length.
Figure b is the scheme drawing that put the position.Intermediate square among the figure b is depicted as the air floating table chassis, and outer quadrangle is the zone of action, chassis.To obtain now the relation of two tetragonal center O-o.Can find out that from figure b quadrangle ABCD is trapezoidal, order
According to the cosine law, can get:
Thereby, can obtain the coordinate of o point in system of axes O-XYZ.
Claims (8)
1. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure is characterized in that: described device comprises analog satellite (2), by the interconnective source of the gas parts of tracheae (1) and permanent tension force control module (3);
Described analog satellite (2) is by sphere air-bearing (4), the lower satellite of the upper satellite (5) of the side of being located thereon and below forms, lower satellite comprises platform base (6) and plane air-bearing (7) provided thereon, low rubbing cylinder (8), pull pressure sensor (9), motor screw component (10), strut (11) and photoelectric encoder (12), pulling force sensor (9) is located at low rubbing cylinder (8) top, low rubbing cylinder (8) is in parallel with motor lead screw assembly (10) by strut (11), and motor lead screw assembly (10) top is provided with photoelectric encoder (12);
Described source of the gas parts (1) comprise Air compressor (13) and gas processing device (14), and gas circuit was divided three tunnel difference pipeline communication plane air-bearings (7), low rubbing cylinder (8), sphere air-bearing (4) after Air compressor (13) was communicated with gas processing device (14);
Described permanent tension force control module (3) comprises master controller (15), electric machine controller (16), data collecting card (17), described data collecting card (17) is electrically connected with pulling force sensor (9), and electric machine controller (16) is electrically connected with photoelectric encoder (12).
2. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: described plane air-bearing (7) upper surface is provided with import and export, and lower surface is provided with three above air gates.
3. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: described low rubbing cylinder is provided with admission port and air floating piston below (8), admission port is communicated with source of the gas parts (1) with pipeline, air floating piston places low rubbing cylinder (8), and low rubbing cylinder (8) places on the plane air suspension shaft sleeve (7).
4. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: described motor screw component (10) comprises that ball-screw (18) is inserted on the pedestal (19), be connected with guide rail (21) on the pedestal (19) by nut (20), the output shaft of motor (22) is connected with the ball screw (18) of below by coupler.
5. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1 is characterized in that: described sphere air-bearing (4) is by solid sphere (41), spherical shell (42), and ball bearing housing (43) forms.
6. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: described pulling force sensor (9) is the S type.
7. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: described platform base (6) is marble pedestal.
8. the air supporting six degree of freedom analog satellite device of semi-active type gravity compensation structure according to claim 1, it is characterized in that: four footing at upper satellite (5) are provided with electromagnet (23), string silk (24) one ends connect electromagnet (23), and the other end is connected with fixed frame on being placed on platform base (6).
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