JPH0742960Y2 - Weightless simulator - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a weightlessness simulating device for simulating the motion of a spacecraft drifting in outer space on the ground when replacing parts of a spacecraft such as a space station in outer space. In particular, it relates to a compact and low-cost weightless simulation device.

[Prior Art] Generally, in a space station such as a space station or an artificial satellite that navigates in a space where there is no gravity, part replacement work for maintenance of these space machines, and component installation for assembly of these space machines A balancer a shown in FIG. 4 is known as a weightlessness simulating device for simulating the motion of a spacecraft floating in outer space on the ground when performing work.

As shown in the figure, the balancer a includes a rod-shaped support b standing upright from the ground, an operating arm c on which the center of the arm c is rotatably supported on the top of the support b, and the operating arm c. A balance weight d attached to one end,
It is mainly composed of a specimen e attached to the opposite end of the operating arm c. The operating arm c includes a balance weight d provided at both ends of the arm c and a specimen e.
Is rotatably supported by the support b at a position where the weights of and are balanced and balanced.

That is, since the balance weight d provided at both ends of the operating arm c and the sample e are balanced and balanced, when an external force acts on the sample e, even a small external force is attached to the operating arm c. The specimen e moves fluffy as if it were floating in outer space.

Therefore, the sample e constituting the balancer a simulates the motion of a spacecraft drifting in the weightless space.

Therefore, simulations such as part replacement and part mounting of a spacecraft in outer space can be achieved on the ground by using the balancer a which is a weightless simulation device and the remote control manipulator f.

[Problems to be Solved by the Invention] However, in the above balancer a, the balancer a
Since the central portion of the operating arm c constituting the above is supported by the support b, and the balance weight d and the specimen e are provided at both ends of the operating arm c, the arm c is shown in FIG. A bending moment is generated that tries to bend it so that it is convex upward. In order to prevent the working arm c from bending due to this bending moment, it is necessary to increase the rigidity of the working arm c.

In particular, when the weight of the specimen e attached to the end of the operating arm c in order to simulate the motion of a spacecraft drifting in outer space increases, the bending moment generated in the operating arm c also increases, and the operating arm c becomes even higher. Rigidity will be required.

To increase the rigidity of the operating arm c, the operating arm c
This increases the weight of the balancer a, and the entire balancer a device becomes large in scale, resulting in an increase in cost.

The purpose of the present invention devised to solve the above problems is:
The present invention provides a compact, low-cost weightlessness simulating device for simulating the motion of a spacecraft on the ground when parts of a spacecraft drifting in outer space are replaced.

[Means for Solving the Problems] In order to achieve the above object, the present invention is a weightlessness simulator for supporting a test piece on a support frame so as to perform a weightless movement in a simulated manner. A fixed pulley is provided on the carriage, a wire is hung on the fixed pulley, a center of gravity of the specimen is connected to one end of the wire via a rod, and a balance weight having the same weight as the specimen is attached to the other end. The test piece and the balance weight are connected to each other and hang down in a balanced manner, and a guide member having a guide hole into which the rod is inserted and which guides the rod up and down is provided.

[Operation] The fixed pulley provided on the trolley was hooked with a wire having the specimen connected to one end and the balance weight connected to the other end, and the specimen and the balance weight were balanced and hung down. Can move freely in the vertical direction.

Further, since the carriage is provided on the support frame so as to be movable in the horizontal direction, the specimen suspended from the fixed pulley provided on the carriage can be freely moved in the horizontal plane direction.

Therefore, the specimen can be freely moved in the vertical and horizontal directions.

At this time, the above-mentioned specimen and the balance weight have the same weight, and since they are in balance, when the external force is applied to the specimen, even if the external force is a very small force, the specimen is fluffy and as if weightless. It is possible to freely move in the vertical direction and the horizontal direction, and a simulated weightless movement is achieved.

Further, since the rod connected to the specimen is inserted into the guide hole of the guide member provided on the carriage, when an external force in the horizontal direction is applied to the specimen, the force is directly applied to the carriage via the rod and the guide member. It is absorbed by the movement of the carriage. That is, in the test piece, when an external force in the horizontal direction is applied, all the force acts on the dolly to move the dolly, while when an external force in the vertical direction is applied, the rod slides vertically in the guide hole of the guide member. The balance weight will move up and down.

If the rod and the guide member do not exist, the specimen is only suspended from the constant pulley by the wire, and when an external force in the horizontal direction is applied to the specimen,
The force is transmitted to the trolley via the wire, and the pendulum motion is generated in the test piece. This pendulum movement means that the test piece moves in the direction opposite to the input direction of the external force, which is a movement that never occurs in the actual outer space, and should not occur as a weightlessness simulator. According to the present invention, this pendulum movement can be completely prevented.

In addition, since the center of gravity of the specimen is suspended, no force component of gravity (other than the gravity direction) is generated in any posture in which the specimen is tilted in any direction, and the specimen is completely weightless. Is maintained.

[Embodiment] An embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 1, a columnar frame 2 having a quadrangular shape is provided on the top of a column 1 extending in the vertical direction so as to be horizontal to the ground. The support column 1 and the support frame 2 form the support frame 3. The support frame 2 that constitutes the support frame 3 is provided with a first carriage 4 that moves on the support frame 2 in the left-right direction in the drawing. As shown in the figure, the first carriage 4 is provided by passing these beam members 5 on a pair of beam members 5 which are provided to face each other so as to form a rectangular support frame 2. A roller 6 rolling on the beam member 5 is attached to a portion in contact with the beam member 5 to move in the direction.

That is, the beam member 5 forming the support frame 2 serves as a guide rail in the left-right direction of the first carriage 4.

The first carriage 4 is provided with a second carriage 7 that moves on the first carriage 4 in the front-back direction in the drawing. As shown in the figure, the second carriage 7 is provided with a roller 8 at a portion in contact with the first carriage 4 for moving on the first carriage 4 in the front-back direction in the drawing.

That is, the first carriage 4 provided on the beam material 5 by passing the beam material 5 serves as a guide rail in the front-rear direction of the second carriage 7.

By moving the first carriage 4 on the beam member 5 in the left-right direction in the drawing with respect to the support frame 2 and moving the second carriage 7 on the first carriage 4 in the front-rear direction in the drawing, Two dolly 7
Is movable in the front-rear direction and the left-right direction with respect to the support frame 2, in other words, in the horizontal plane direction.

Rollers 6 and 8 attached to the first trolley 4 and the second trolley 7
Has a built-in bearing to reduce rolling resistance.

The second carriage 7 is provided with a constant pulley 11 under which the specimen 9 and the balance weight 10 are hung. The fixed pulleys 11 are provided at two locations, an end portion and a central portion of the second carriage 7. These constant pulleys as shown
The sample 9 is tied to one end, and the balance weight 10 having the same weight as the sample 9 is tied to the other end and a wire 12 for connecting the sample 9 and the balance weight 10 is hung. .

Therefore, the specimen 9 and the balance weight 10 are fixed pulleys.
11 causes the second carriage 7 to hang down below the second carriage 7 in a balanced manner.

The specimen 9 is hung just below the second carriage 7 by a wire 12 inserted through a wire insertion hole 13 formed in the center of the second carriage 7, and the balance weight 10 is below the end of the second carriage 7. Have been drowned in.

A wire guide member 15 (corresponding to a guide hole in the scope of utility model registration claims) having a wire insertion passage 14 through which the wire 12 is inserted is formed in the lower surface of the second carriage 7. (Corresponding to a guide member in the utility model registration claim) is provided. The wire insertion passage 14 formed in the wire guide member 15 is formed in a cylindrical shape, and the cylindrical wire insertion passage 14 has a cylindrical operating shaft 16 (utility model) connected to the specimen 9. (Corresponding to a rod in the claims) is slidably fitted in the vertical direction.

That is, one end of the wire 12 that connects the balance weight 10 and the sample 9 is connected to the balance weight 10, and the other end of the wire 12 is inserted through the wire insertion hole 13 of the second carriage 7, and the wire guide member 15 is further inserted. Through the wire insertion passage 14 and is connected to the sample 9 through the actuating shaft 16.

Therefore, the specimen 9 hanging down below the second carriage 7 in balance with the balance weight 10 is movable in the vertical direction.

Further, the connecting position of the working shaft 16 connected to the test piece 9 is the position of the center of gravity of the test piece 9, and the connecting method is a universal joint 17 that allows rotation of the test piece 9 around the working shaft 16. It is connected.

Therefore, the sample 9 can be rotated around the operating shaft 16.

As shown in the figure, a weight 18 for finely adjusting the center of gravity is attached to the upper surface of the test piece 9.

The operation of this embodiment having the above configuration will be described.

The test piece 9 and the balance weight 10 having the same weight as the test piece 9 were hung below the second trolley via the wire 12 by the constant pulley 11 provided on the second dolly 7.
Can move freely in the vertical direction.

Further, since the second carriage 7 can freely move in the horizontal direction in the front-rear, left-right direction with respect to the support frame 2 that constitutes the support frame 3 together with the first carriage 4, the above-mentioned fixed body provided on the second carriage 7 is fixed. The specimen 9 hanging from the pulley 11 can freely move in the horizontal plane direction.

Therefore, the sample 9 can be freely moved in the vertical direction and the horizontal direction.

At this time, since the test piece 9 and the balance weight 10 have the same weight and are balanced with each other, when an external force is applied to the test piece 9, even if the external force is a small force, the test piece 9
Is fluffy and freely moves in the vertical and horizontal directions as if in a weightless state, and a simulated weightless movement is achieved.

Further, the specimen 9 can freely rotate around the actuating shaft 16 connected to the center of gravity thereof, and a simulated weightless movement is achieved which allows the specimen 9 to rotate in addition to the vertical and horizontal directions. .

Further, since only the tension is applied to the wire 12 that balances and connects the test piece 9 and the balance weight 10, by using the wire 12 such as a piano wire that can withstand this tension, a low-cost and compact weightless simulation device X
Can be achieved.

Further, since the actuating shaft 16 connected to the sample 9 is inserted into the wire insertion passage 14 of the wire guide member 15 provided on the second carriage 7, when an external force in the horizontal direction is applied to the sample 9, Force actuated shaft 16 and wire guide member
It acts directly on the second truck 7 via 15 and is absorbed by the movement of the truck 7. That is, in the test piece 9, when an external force in the horizontal direction is applied, all the force acts on the second dolly 7 to move the dolly 7, while when an external force in the vertical direction is applied, the operating shaft 16 moves the wire guide member 15 The balance weight 10 moves up and down by sliding up and down in the wire insertion passage 14.

If the actuating shaft 16 and the wire guide member 15 do not exist, the specimen 9 is only suspended from the constant pulley 11 by the wire 12, and when a horizontal external force is applied to the specimen 9, The force is transmitted to the second carriage 7 through the wire 12, and the pendulum motion is generated in the test piece 9. This pendulum movement means that the sample 9 moves in the direction opposite to the input direction of the external force, which is a movement that never occurs in the actual outer space, and is a movement that should not occur as a weightlessness simulator. According to this embodiment, this pendulum movement can be completely prevented.

Further, according to the present embodiment, since the center of gravity of the sample 9 hangs down, the component force of gravity (other than the direction of gravity) is exerted even when the sample 9 is inclined in any direction. It does not occur, and it is possible to maintain a perfect weightless state.

A modified embodiment of the present invention is shown in FIG.

As shown in the figure, the weightlessness simulation apparatus Y is configured by a single carriage 19 of the first carriage 4 and the second carriage 7 of the weightlessness simulation apparatus X shown in FIG.

The carriage 19 is provided with a ball flyer 20 as a roller so that the carriage 19 can freely move in the horizontal plane direction on the support frame 2 constituting the support frame 3. As shown in FIG. 3, in this ball flyer 20, spherical balls 21 as rollers are half-embedded in a dolly 19, and high pressure air is injected into the half-embedded portion to reduce frictional resistance. It has a gas lubrication structure. Therefore, the rolling resistance is reduced, and the carriage 19 moves lightly and smoothly on the support frame 2 even with a small force.

Further, in this weightlessness simulator Y, in order to obtain the degree of freedom for the revolving motion of the sample 9, the sample 9 and the counterweight 22 having the same weight as that of the sample 9 are connected by a connecting member 23, and the positions of their centers of gravity are the operating shafts. 16 and the actuating shaft 16 is connected to one end of the wire 12. This wire 12
It goes without saying that the balance weight 10 having the same weight as the weight of the sample 9 and the counterweight 22 is connected to the other end of the above to balance them.

The operation / effect of the weightlessness simulator Y shown in FIG. 2 is basically the same as that of the previous embodiment shown in FIG. 1, and the simulated weightless movement of the specimen 9 in the vertical direction, the horizontal direction and the revolution direction is achieved. can do.

[Effects of the Invention] As described above, according to the present invention, the following excellent effects can be exhibited.

(1) When an external force is applied to the sample, even if the external force is a small force, the sample can move freely in the vertical and horizontal directions as if it were a weightless state, and a simulated weightless motion can be achieved.

(2) Since only the tension is applied to the wire that balances and connects the test piece and the balance weight, a low-cost and compact weightless simulation device can be achieved by using a wire that withstands this tension.

(3) Since the rod of the sample is inserted into the guide member of the carriage, even if an external force in the horizontal direction is applied to the sample, the pendulum movement of the sample can be completely prevented.

(4) Since the center of gravity of the specimen is suspended, no component of gravity (other than the gravity direction) is generated in any posture in which the specimen is tilted, and a perfect weightless state is maintained. it can.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a weightlessness simulation apparatus showing an embodiment of the present invention, FIG. 2 is a side view of a weightlessness simulation apparatus showing a modified embodiment of the present invention, and FIG. 3 is a partially enlarged view of FIG. FIG. 4 is a schematic diagram of a weightlessness simulation apparatus showing a conventional example. In the figure, 3 is a support frame, 9 is a specimen, 4, 7 and 19 are trucks,
Reference numeral 11 is a constant pulley, 10 is a balance weight, 12 is a wire, 14 is a wire insertion passage as a guide hole, 15 is a wire guide member as a guide member, and 16 is an operating shaft as a rod.

Claims (1)

[Scope of utility model registration request] 1. A weightlessness simulating device for supporting a specimen on a support frame so as to perform a simulated weightless movement, wherein a dolly movable in a horizontal plane direction is provided on the support frame, a fixed pulley is provided on the dolly, and The wire is hung, and the center of gravity of the specimen is connected to one end of the wire via a rod, and the balance weight having the same weight as the specimen is connected to the other end to balance the specimen and the balance weight. And a guide member having a guide hole that vertically hangs the rod and guides the rod vertically.