CN209506132U - A kind of air-flotation type space microgravity simulation flexible support mechanism - Google Patents
A kind of air-flotation type space microgravity simulation flexible support mechanism Download PDFInfo
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- CN209506132U CN209506132U CN201822074657.9U CN201822074657U CN209506132U CN 209506132 U CN209506132 U CN 209506132U CN 201822074657 U CN201822074657 U CN 201822074657U CN 209506132 U CN209506132 U CN 209506132U
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Abstract
A kind of air-flotation type space microgravity simulation flexible support mechanism, the lower surface of main frame body are equipped with shaft joint, and the upper surface of gas footrest plate is equipped with linear bearing, guide rod is equipped between the shaft joint and linear bearing of the lower surface of main frame body；Servo motor is mounted on gas foot splint upper surface, and brake is mounted on gas footrest plate lower surface, and brake can lock micro sliding lead screw；Gas footrest plate lower surface is uniformly arranged multiple gas foots, supporting mechanism can be made to suspend, simulation space state；Object is hung on above the upper surface of support frame, servo motor rotation, increase main frame body, until the upper surface of support frame is contacted with object shell, servo motor is continued to rotate, until the compressing force of flexure spring is equal to the gravity of object, it stops operating, micro sliding lead screw is locked by brake, realizes supporting mechanism suspension, simulation space state.
Description
Technical field
The utility model relates to a kind of air-flotation type space microgravities to simulate flexible support mechanism, and it is micro- heavy to belong to air-flotation type space
Power simulates flexible support technology field.
Background technique
With the continuous extension of space mission, in orbit aerocraft due to involving great expense, space rescue, space capture recycling,
The space tasks such as in-orbit filling and in-orbit assembly maintenance have embodied very high using valence in economic benefit and safety benefit
Value.For the noncooperative targets spacecraft in-orbit service such as space rescue, the spaceborne plurality of specifications satellite of selection target starts
Machine jet pipe and general butt joint ring need a docking mechanism flexible support bracket to realize intelligent execution machine as mating interface
Structure is lifted, and not only meets rigidity requirement, but also have certain flexibility requirements, is realized with meeting to high value satellite and docking machine
The maintenance of structure is inspected and the research of the technologies such as ground experiment.
Traditional supporting support mechanism action range is fixed, and will be only supported component and be consolidated with single conventional pressing plate in bracket
Fixed connection, rigidity cannot well adapt to the support of plurality of specifications target.
Utility model content
The technical issues of the utility model solves are as follows: overcome the shortage of prior art, a kind of air-flotation type space microgravity is provided
Flexible support mechanism is simulated, the device is using lead screw transmission, bearing guiding, the combination of motor driven and microgravity gas suspension
It realizes the simulation of compound movement microgravity environment, offsets the gravity of target in due course by force-feedback control mode, it can be extensive
The flexibility of precision instrument is lifted in balance docking applied to cantilever beam, and the quickly functions such as assembling.
A kind of technical solution that the utility model solves are as follows: air-flotation type space microgravity simulation flexible support mechanism, comprising:
Servo motor, brake, micro sliding lead screw, gas footrest plate, compensation gas foot, support frame, main frame body, the first guide rod, second
Guide rod, flexure spring, idler wheel, shaft coupling；
Main frame body, comprising: upper and lower surfaces；
The lower surface of support frame is equipped with guide rod fixing seat；The upper surface of support frame is equipped with idler wheel, can lift object；
Flexure spring is equipped between the lower surface of support frame and the upper surface of main frame body；
Gas footrest plate is equipped with guide rod fixing seat；
The upper and lower surfaces of main frame body are equipped with shaft coupling, between the shaft coupling of the upper and lower surfaces of main frame body
Equipped with the second guide rod；
One end of first guide rod is fixed in the guide rod fixing seat of the lower surface of support frame, the first guide rod it is another
End sequentially pass through the shaft coupling of upper surface of main frame body, the second guide rod, lower surface shaft coupling, with the guiding on gas footrest plate
Bar fixing seat is fixed；
Second guide rod linear slide on the first guide rod by the shaft coupling of the upper and lower surfaces of main frame body；
The lower surface center of main frame body is equipped with tapped through hole, and micro sliding lead screw one end passes through the lower surface of main frame body, with
It is fixed on bearing block (or feed screw nut) connection of the lower surface of main frame body；The micro sliding lead screw other end and servo motor and system
Dynamic device connection.
It is respectively equipped with guide rod fixing seat on the quadrangle of the lower surface of support frame, for fixing four first guide rods respectively
One end.
Servo motor is mounted on gas foot splint upper surface, and servo motor is able to drive the rotation of micro sliding lead screw.
Object is the article for needing space microgravity to simulate.
The outer surface of object is arc, and the arc groove being equipped with the upper surface of support frame matches.
Support frame is also referred to as work top, and work top includes: antetheca, rear wall, left side wall, right side wall, bottom wall；
Antetheca, rear wall, left side wall and right side wall form the side frame of support frame, and side frame is connect with bottom wall；Support
The lower surface of frame is the bottom wall of work top；
Antetheca and rear wall are equipped with idler wheel, can make to lift object and rotate on idler wheel；
Lightening hole is provided on left side wall and right side wall.
Connecting flange is housed on the bottom wall of work top, can be docked with object is lifted.
The quadrangle of the upper surface of main frame body is equipped with connection shaft joint, and the quadrangle of the lower surface of main frame body is equipped with connection connecting shaft
It is equipped with the second guide rod between two connection shaft joints being oppositely arranged on device, upper surface and lower surface, makes the upper surface of main frame body
It is equipped with four the second parallel guide rods altogether between the lower surface of main frame body.
Shaft coupling is provided on the quadrangle of gas foot splint upper surface.
Brake is mounted on gas footrest plate lower surface, and brake can lock micro sliding lead screw.
The utility model compared with prior art the advantages of be:
(1) object is hung on above the upper surface of support frame in the utility model, and servo motor rotation makes on main frame body
It rises, until the upper surface of support frame is contacted with object shell, servo motor is continued to rotate, until the compressing force etc. of flexure spring
It in the gravity of object, stops operating, micro sliding lead screw is locked by brake, realize supporting mechanism suspension, simulation space
State
(2) servo motor receives the control signal of controller and rotates, and micro sliding lead screw is driven to be rotated, miniature
Lead screw is driven by motor, and feed screw nut is pushed to carry out vertical lifting.
(3) feed screw nut and micro sliding lead screw cooperate, and the screw of micro sliding lead screw is become the vertical of nut
Elevating movement, nut and main frame body lower surface are connected, therefore main frame body can be driven to be moved back and forth vertically, and brake is for going out
Emergency braking is carried out to servo motor when showing failure or needing emergent stopping, is to realize the executing agency of position servo, and pass through
Upper end handwheel carries out fine position.
(4) guide rod with shaft coupling (linear bearing) of two sides form being vertically directed for microgravity simulator, make nut
Pallet (i.e. main frame body lower surface) is not rotated with lead screw, and guide rod is mutually fixed with support frame by nut, realizes support frame
With the vertical lifting of nut supporting plate.
Detailed description of the invention
Fig. 1 is flexible support mechanism main view；
Fig. 2 is flexible support mechanism side view；
Fig. 3 is flexible support mechanism top view；
Fig. 4 is flexible support mechanism sectional view；
Fig. 5 is flexible support mechanism structure chart.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, a kind of air-flotation type space microgravity of the utility model simulates flexible support
Mechanism, comprising: servo motor, brake, micro sliding lead screw, gas footrest plate, compensation gas foot, support frame, main frame body, first are led
To bar, the second guide rod, flexure spring, idler wheel, shaft coupling；
Main frame body, comprising: upper and lower surfaces；
The lower surface of support frame is equipped with guide rod fixing seat；The upper surface of support frame is equipped with idler wheel, can lift object；
Flexure spring is equipped between the lower surface of support frame and the upper surface of main frame body；
Gas footrest plate is equipped with guide rod fixing seat；
The upper and lower surfaces of main frame body are equipped with shaft coupling, between the shaft coupling of the upper and lower surfaces of main frame body
Equipped with the second guide rod；
One end of first guide rod is fixed in the guide rod fixing seat of the lower surface of support frame, the first guide rod it is another
End sequentially passes through the shaft coupling of upper surface of main frame body, and (shaft coupling can be replaced with linear bearing or preferably with the shaft coupling of linear bearing
Device), the second guide rod, lower surface shaft coupling (shaft coupling can be replaced with linear bearing or preferably with the shaft coupling of linear bearing
Device), it is fixed with the guide rod fixing seat on gas footrest plate；
Second guide rod linear slide on the first guide rod by the shaft coupling of the upper and lower surfaces of main frame body；
The lower surface center of main frame body is equipped with tapped through hole, and micro sliding lead screw one end passes through the lower surface of main frame body, with
It is fixed on bearing block (or feed screw nut) connection of the lower surface of main frame body；The micro sliding lead screw other end and servo motor and system
Dynamic device connection；Feed screw nut can move on micro sliding lead screw, and main frame body straight line above and below micro sliding lead screw is driven to transport
It is dynamic；
It is respectively equipped with guide rod fixing seat on the quadrangle of the lower surface of support frame, for fixing four first guide rods respectively
One end.
Servo motor is mounted on gas foot splint upper surface, and servo motor is able to drive the rotation of micro sliding lead screw.
Object is the article for needing space microgravity to simulate.
The outer surface of object is arc, and the arc groove being equipped with the upper surface of support frame matches.
Support frame is also referred to as work top, and work top includes: antetheca, rear wall, left side wall, right side wall, bottom wall；
Antetheca, rear wall, left side wall and right side wall form the side frame of support frame, and side frame is connect with bottom wall；Support
The lower surface of frame is the bottom wall of work top；
Antetheca and rear wall are equipped with idler wheel, can make to lift object and rotate on idler wheel；
Lightening hole is provided on left side wall and right side wall.
Connecting flange is housed on the bottom wall of work top, can be docked with object is lifted.
The quadrangle of the upper surface of main frame body is equipped with connection shaft joint, and the quadrangle of the lower surface of main frame body is equipped with connection connecting shaft
It is equipped with the second guide rod between two connection shaft joints being oppositely arranged on device, upper surface and lower surface, makes the upper surface of main frame body
It is equipped with four the second parallel guide rods altogether between the lower surface of main frame body.
Shaft coupling is provided on the quadrangle of gas foot splint upper surface.
Brake is mounted on gas footrest plate lower surface, and brake can lock micro sliding lead screw.
Working principle are as follows: object is hung on above the upper surface of support frame, and servo motor rotation rises main frame body,
Until the upper surface of support frame is contacted with object shell, servo motor is continued to rotate, until the compressing force of flexure spring is equal to
The gravity of object, stops operating, and locks micro sliding lead screw by brake, realizes supporting mechanism suspension, simulation space shape
State；
After the rotation of micro sliding lead screw, main frame body does vertical direction linear motion along the first guide rod；Main frame body is towards branch
When support moves, flexure spring compression, flexure spring increases to the support force of support frame；When main frame body deviates from support movements,
Flexure spring stretches, and flexure spring reduces to the support force of support frame；
The diameter of second guide rod is greater than the diameter of the first guide rod；Second guide rod is hollow structure, the second guide rod
It can move along a straight line along the first guide rod.
It further include handwheel, handwheel is fixed on one end of micro sliding lead screw, can manually control micro sliding guide screw movement
Gas footrest plate lower surface is uniformly arranged multiple gas foots, supporting mechanism can be made to suspend, simulation space state；
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, the utility model is that the floating space that automatically and manually can control is micro-
Gravity simulation flexible support mechanism, the support frame are positioned using branch lattice array to object is lifted, and lead screw and tensioned are utilized
Effect carries out absorption clamping to docking mechanism (lifting object), can also pass in setting six degree of freedom orientation in surface on the support frame
Sensor, by top six degree of freedom aspect sensor to branch lattice array realize detect, reached docking mechanism positioning, clamp
It is required that.
Primary Location is realized using rigid screw rod and feed screw nut, it can basis with the special spring stress of Flexible Fixturing
The posture and curvature situation of docking mechanism (lifting object) are freely turned round around handwheel, thus successfully solve support it is flexible with
Position the contradiction of rigidity.
Idler wheel flexible support is used before and after support frame, and yielding rubber block is housed on idler wheel, the well-balanced distribution in idler wheel front and rear sides,
Suffered bearing capacity is larger under normal circumstances for roller bearing, and well-balanced distribution helps to balance radial force and axial force, installs
Come also fairly simple.Installation difficulty is reduced, while simplifying the connection design of transmission system.
Self-locking device is used at screw rod, the precision of self-locking device is mutually matched with the precision of ball wire bar pair, is efficiently accomplished certainly
Lock properly resolves high efficiency and prevents the contradiction reversed.
It is flexible when the pretightning force of flexure spring needs to guarantee docking mechanism (lifting object) maximum radial acceleration movement
Deformation occurs for spring.
Second guide rod reinforces support stiffness using alloy bracket, had both realized loss of weight and had guaranteed the purpose of rigidity.
It is connected mostly with screw-nut in the utility model, installation peace is just, quick detachable.Usage economy is good, no consumption
Product save operating cost, also can guarantee that system long-term safety stablizes effective work.To the adaptability and protectiveness of load-bearing material
It is good: use scope can be increased, it is made to obtain universal application, self-protection is good, can guarantee good running environment.
The utility model lower end gas provides horizontal zero gravity simulation environment enough for entire flexible support mechanism and supported object.
Servo motor receives the control signal of controller and rotates, and lead screw is driven to be rotated, and lead screw is driven by motor,
And feed screw nut is pushed to carry out vertical lifting.
Feed screw nut and micro sliding lead screw cooperate, and the screw of micro sliding lead screw is become to the vertical lifting of nut
Movement, nut and main frame body lower surface are connected, therefore main frame body can be driven to be moved back and forth vertically, and brake is for there is event
Hinder or need to carry out emergency braking to servo motor when emergent stopping, is to realize the executing agency of position servo, and pass through upper end
Handwheel carries out fine position.
The guide rod of two sides forms being vertically directed for microgravity simulator with shaft coupling (including linear bearing), makes nut
Pallet (i.e. main frame body lower surface) is not rotated with lead screw, and guide rod is mutually fixed with support frame by nut, realizes support frame
With the vertical lifting of nut supporting plate.
Spring at handwheel upper end is between support frame and main frame body, can be enhanced flexible connection, can also be made support frame
It is mutually consolidated with main frame body.It is preferably provided with a controller, pressure sensor can also be set for measuring flexure spring pressure letter
Breath realizes pressure feedback, then by the processing of controller, generates control signal, control motor, realize three-dimensional motion zero-g mould
It is quasi-.
The antetheca and rear wall of work top are arranged symmetrically using circular arc spill, and antetheca and rear wall preferably respectively arrange five rollings
Yielding rubber block is arranged in wheel, idler wheel outside, and five idler wheels are arranged at 25 ° of circular arcs are separated by, and can effectively be directed at axle center.
The air-flotation type space microgravity of the utility model simulates flexible support mechanism, is limited using hung and buckled structure and screw
Fixed, support frame is same as main frame body to be fixed using hung and buckled structure and screw limit, preferably ensure that support frame and body frame
The reliability and safety of body, reduce support frame or main frame body falls the risk of damage.
Claims (10)
1. a kind of air-flotation type space microgravity simulates flexible support mechanism, characterized by comprising: servo motor, brake, micro-
Type lead screw, gas footrest plate, compensation gas foot, support frame, main frame body, the first guide rod, the second guide rod, flexure spring, rolling
Wheel, shaft coupling, guide rod fixing seat；
Main frame body, comprising: upper and lower surfaces；
The lower surface of support frame is equipped with guide rod fixing seat；The upper surface of support frame is equipped with idler wheel, can lift object；Support
Flexure spring is equipped between the lower surface of frame and the upper surface of main frame body；
Gas footrest plate is equipped with guide rod fixing seat；
The upper and lower surfaces of main frame body are equipped with shaft coupling, are equipped between the shaft coupling of the upper and lower surfaces of main frame body
Second guide rod；
One end of first guide rod is fixed in the guide rod fixing seat of the lower surface of support frame, the other end of the first guide rod according to
The shaft coupling of the secondary upper surface across main frame body, the second guide rod, lower surface shaft coupling, it is solid with the guide rod on gas footrest plate
Reservation is fixed；
Second guide rod linear slide on the first guide rod by the shaft coupling of the upper and lower surfaces of main frame body；
The lower surface center of main frame body is equipped with tapped through hole, and micro sliding lead screw one end passes through the lower surface of main frame body, with fixation
Bearing block in the lower surface of main frame body connects；The micro sliding lead screw other end is connect with servo motor and brake.
2. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: support
It is respectively equipped with guide rod fixing seat on the quadrangle of the lower surface of frame, for fixing one end of four first guide rods respectively.
3. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: servo
Motor is mounted on gas foot splint upper surface, and servo motor is able to drive the rotation of micro sliding lead screw.
4. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: target
Object is the article for needing space microgravity to simulate.
5. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: target
The outer surface of object is arc, and the arc groove being equipped with the upper surface of support frame matches.
6. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: support
Frame is also referred to as work top, and work top includes: antetheca, rear wall, left side wall, right side wall, bottom wall；
Antetheca, rear wall, left side wall and right side wall form the side frame of support frame, and side frame is connect with bottom wall；Support frame
Lower surface is the bottom wall of work top；
Antetheca and rear wall are equipped with idler wheel, can make to lift object and rotate on idler wheel；
Lightening hole is provided on left side wall and right side wall.
7. a kind of air-flotation type space microgravity according to claim 6 simulates flexible support mechanism, it is characterised in that: work
Connecting flange is housed on the bottom wall of table top, can be docked with object is lifted.
8. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: body frame
The quadrangle of the upper surface of body is equipped with connection shaft joint, and the quadrangle of the lower surface of main frame body is equipped with connection shaft joint, and upper surface is under
It is equipped with the second guide rod between two connection shaft joints being oppositely arranged on surface, makes the upper surface of main frame body and the following table of main frame body
Four the second parallel guide rods are equipped between face altogether.
9. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: gas foot
Shaft coupling is provided on the quadrangle of splint upper surface.
10. a kind of air-flotation type space microgravity according to claim 1 simulates flexible support mechanism, it is characterised in that: system
Dynamic device is mounted on gas footrest plate lower surface, and brake can lock micro sliding lead screw.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822074657.9U CN209506132U (en) | 2018-12-11 | 2018-12-11 | A kind of air-flotation type space microgravity simulation flexible support mechanism |
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| CN201822074657.9U CN209506132U (en) | 2018-12-11 | 2018-12-11 | A kind of air-flotation type space microgravity simulation flexible support mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525733A (en) * | 2021-08-16 | 2021-10-22 | 哈尔滨工业大学 | Six-degree-of-freedom microgravity test system with double-layer structure |
| CN113565872A (en) * | 2021-07-30 | 2021-10-29 | 哈尔滨工业大学 | Electromagnetic auxiliary air-float constant force spring support |
| CN113772137A (en) * | 2021-11-12 | 2021-12-10 | 北京最终前沿深空科技有限公司 | Solar wing ground unfolding gravity unloading device |
-
2018
- 2018-12-11 CN CN201822074657.9U patent/CN209506132U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565872A (en) * | 2021-07-30 | 2021-10-29 | 哈尔滨工业大学 | Electromagnetic auxiliary air-float constant force spring support |
| CN113565872B (en) * | 2021-07-30 | 2022-08-02 | 哈尔滨工业大学 | Electromagnetic auxiliary air-float constant force spring support |
| CN113525733A (en) * | 2021-08-16 | 2021-10-22 | 哈尔滨工业大学 | Six-degree-of-freedom microgravity test system with double-layer structure |
| CN113525733B (en) * | 2021-08-16 | 2022-03-08 | 哈尔滨工业大学 | Six-degree-of-freedom microgravity test system with double-layer structure |
| CN113772137A (en) * | 2021-11-12 | 2021-12-10 | 北京最终前沿深空科技有限公司 | Solar wing ground unfolding gravity unloading device |
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