JPH09327190A - Supporting device and gravity compensator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to conduct a three-dimensional expansion test of a flexible expanding structure more precisely by making supports in such a structure that they can move freely in a two-dimensional plane without friction by being supported in non-contact. SOLUTION: An object 300 such as an expanding antenna is supported by a plurality of supports 100 through connectors such as cables 150. At the same time, each of the supports 100 is supported is non-contact by magnetic control on a base plate 200 at a vertical lower side of the base plate 200. The base plate 200 is formed of magnetic substance such as iron. By magnetically controlling the supports 100 and controlling the tensions of the cables 150, the gravity of the object 300 is compensated and thereby the movement of the object 300 can be simulated precisely on the ground without limiting the three-dimensional movement under a small gravity or gravity-free environment. As a result, a three-dimensional expansion test of not only a rigid multi-link system but also a flexible expanding structure such as an expanding antenna for space can be conducted more precisely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for compensating for the gravity of an object and simulating the three-dimensional movement of the object in a weightless space on the ground, and more particularly to a deployable antenna for mounting an artificial satellite or a solar cell. For the deployment test of flexible deployment structures such as paddles on the ground, the gravity of the deployment structure to be tested is compensated for, the deployment performance is evaluated with high accuracy, and the motion of the deployment structure in space is enhanced. The present invention relates to a device for performing accurate reproduction.

[0002]

2. Description of the Related Art On the ground, some gravity compensators for simulating a weightless environment in outer space have already been proposed. For example, there is a weightlessness simulation experiment device described in JP-A-4-118400.

In this experimental apparatus, the multi-joint structure, which is the object of the experiment, is suspended from above by wires. Then, the behavior of the multi-joint structure in the weightless space is simulated by maintaining the wire in the vertical direction and keeping the tension of the wire constant. Then, the suspension mechanism unit moves along a frame formed so as to surround the work area of the multi-joint structure.

In the gravity compensator disclosed in Japanese Patent Laid-Open No. 1-316186, the multi-joint structure to be tested is gravity-compensated by the floating support means.

Further, in the gravity compensating device described in Japanese Patent Laid-Open No. 8-26198, gravity is compensated by a support means capable of traveling on the floor.

[0006]

However, in the weightlessness simulation experiment device described in Japanese Unexamined Patent Publication No. 4-118400 and the gravity compensation device described in Japanese Unexamined Patent Publication No. 8-26198, the object is a rigid multi-link system. However, it is not suitable when it is necessary to use a large number of support devices for gravity compensation. This is for the following reason.

A flexible deployable structure for space has to support its own weight in a distributed manner at many supporting points, but when the deployable structure is a deployable antenna, when the antenna is housed,
For example, it is necessary to provide dozens of support points for gravity compensation within a diameter of 1 meter. Therefore, Japanese Patent Laid-Open No. 4-1
The gravity compensation devices described in Japanese Patent No. 18400 and Japanese Patent Application Laid-Open No. 8-26198 are not suitable for gravity compensation for a flexible deployment structure such as a deployment antenna for space.

Further, these conventional gravity compensation devices
It is suitable when the object to be gravity-compensated can be regarded as a rigid body, but if the object easily vibrates like a flexible structure, a support device with a large inertia must be moved in accordance with the vibration. Therefore, accurate gravity compensation is difficult.

Further, in the gravity compensating device disclosed in Japanese Patent Laid-Open No. 1-316186, since the object is supported by the levitation means, it is possible to follow the movement of the object in the horizontal direction with a small resistance, but it is three-dimensional. I can't cope with exercise. Since the deployable antenna for space is three-dimensionally deployed, it cannot be supported by a gravity compensator capable of following only such a two-dimensional motion.

In consideration of these problems, an object of the present invention is to perform a three-dimensional deployment test of a flexible deployment structure such as a space deployment antenna as well as a rigid multilink system object. An object of the present invention is to provide a supporting device and a gravity compensating device that can perform with higher accuracy.

[0011]

In order to achieve the above object, a supporting device according to the invention of claim 1 is a supporting device for supporting an object, comprising a supporting body which is non-contact supported by magnetic supporting control, Since the support can freely move in a two-dimensional plane without friction due to the non-contact support, the object can be supported without restraining the movement of the object.

A gravity compensating device according to a second aspect of the present invention is a gravity compensating device for compensating gravity of an object, wherein a reference plate made of a magnetic material and having a horizontal surface and a magnetic support control are used to prevent the reference plate from being applied to the reference plate. The support includes a contact-supported support and a connector that connects the object and the support, and the support moves the support on the horizontal surface of the reference plate in a non-contact manner by magnetic support control. A magnetic support control device for causing the magnetic support control, a magnetic force generation device for generating a magnetic force for performing the magnetic support control, a support body position / posture detection device for detecting the position and posture of the support body, and A coupling length detecting device for detecting a length, a coupling length control device for controlling the coupling length, a coupling force detecting device for detecting a force applied to the coupling, and a coupling force of the coupling. A connecting force control device for controlling A coupling drive device for driving the coupling by the output of the coupling force control device, wherein the coupling force control detection device detects the gravity of the object by the coupling force detection device, and the target coupling force and the target coupling force. The gravity of the object is compensated by driving the coupler driving device such that the gravity of the object is matched, and the three-dimensional movement of the object in the zero gravity space or the microgravity space is not constrained. It is configured to support an object.

In the gravity compensating device according to a third aspect of the present invention, the support is magnetically supported by the magnetic support control device below the lower horizontal surface of the reference plate, and the coupler is a cable. The magnetic force generation device is configured by an electromagnetic actuator, and the support body position / orientation detection device includes a non-contact type displacement sensor that detects a gap length between the reference plate and the electromagnetic actuator as a component, and the connection The device length control device and the connection force control device include a motor for adjusting the length and connection force of the cable as a component.

In a gravity compensating apparatus according to a fourth aspect of the present invention, the support is a multi-link system having two or more links, and a hinge having a rotational degree of freedom for preventing transmission of a moment of force acting on the support. Thus, the links of the support are connected.

According to a fifth aspect of the present invention, a gravity compensating apparatus calculates a rigid displacement of the object from the length of the coupler, and a rigid displacement calculating apparatus that calculates the rigid displacement of the object. And a rigid displacement control device for controlling to keep it constant.

A gravity compensating device according to a sixth aspect of the present invention includes a communication device for exchanging information between a plurality of the supports,
A control state monitoring device that monitors the control state such as the distance between the support and the reference plate, the tension of the cable, the supply current to the electromagnetic actuator, the operating state of the communication device, and the control state is preset. A magnetic support control stop device which operates when the magnetic support control is out of the allowable range and stops the magnetic support control, and a device between the reference plate and the electromagnetic actuator in the magnetic support control device according to the tension of the cable. And a device for automatically correcting the target air gap length.

In the gravity compensating device according to the invention of claim 7, the electromagnetic actuator has a structure in which a permanent magnet and an electromagnet are used in combination, and has a safety function for preventing the support from falling.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a gravity compensating device will be described below with reference to the accompanying drawings. FIG. 1 schematically shows an embodiment of a gravity compensation device according to the present invention. In this figure, an object 300 such as a deployable antenna is
It is supported via a connector such as the cable 150. At the same time, each support body 100 is supported in a non-contact manner with respect to the reference plate 200 on the vertically lower side of the reference plate 200 by magnetic control. The reference plate 200 is made of a magnetic material such as iron. FIG. 2 is an enlarged perspective view of only the support 100.

In FIG. 2, each support 100 is provided with a plurality of non-contact type displacement sensors 110 for detecting displacements of the support 100 such as position and posture, and magnetic attraction force generation for the reference plate 200. Electromagnetic actuator 120
A base plate 130 for fixing the displacement sensor 110 and the electromagnetic actuator 120 at predetermined positions, a motor 140 as a coupler driving device for controlling the length of the cable 150 as a coupler, and a rotation shaft of the motor 140. A brake 141 for fixing, an encoder 142 for detecting the rotation angle of the motor 140, a load cell 170 for detecting the tension of the cable 150, and a spherical joint 180 for relatively rotatably connecting the load cell 170 and the base plate 130. And a fixed board 190 for fixing the circuit board 1000, the load cell 170, and the motor 140 in a predetermined positional relationship. Cable 15
At 0, a shock absorbing spring 160 and a damper 161 are attached.

In the illustrated example, the base plate 130 has a substantially triangular shape, three electromagnetic actuators 120 are arranged close to the respective vertices of the triangular base plate 130, and three non-contact displacement sensors 110 are adjacent to each other. Each of the three electromagnetic actuators 120 is arranged at a substantially intermediate position between the two electromagnetic actuators 120.
As a result, a substantially uniform magnetic attraction force acts on the base plate 130 with respect to the reference plate 200, and the distances from the tip ends of the three displacement sensors 110 to the lower surface of the reference plate 200 (that is, the base plate and the reference plate 20).
The gap length with 0) can be detected. One end of the load cell 170 is connected to the cable 15 via the fixing plate 190.
0 and the other end is a spherical joint 18
It is connected to the center of gravity of the base plate 130 via 0.

The shape of the base plate 130 may be a shape other than a triangle, and the number of the electromagnetic actuators 120 is not limited to three, and any number may be used as long as the base plate 130 can be stably supported on the reference plate 200. The displacement sensor 110 is not limited to three, but the base plate 130
Position (distance) and posture (tilt) with respect to the reference plate 200
Any number can be used as long as it can be accurately detected.

The electromagnetic actuator 120 constitutes a magnetic force generator for generating a magnetic force for performing the magnetic support control of the present invention, and the motor 140 drives the coupler by the output of the coupling force controller of the present invention. The spherical joint 180 constitutes a coupler driving device, and the spherical joint 180 constitutes a hinge having a rotational degree of freedom for preventing transmission of a moment of force acting on the support of the present invention.

FIG. 3 is a block circuit diagram showing an enlarged view of the circuit board 1000. In FIG. 3, the circuit board 10
00 is a magnetic support control device 1 for performing magnetic support control
300, a cable length / tension control device 1400 as a connecting force control device for controlling the tension and length of the cable 150, and a communication device 1500 for exchanging commands and data between the plurality of supports 100. , A coil current detection device 1630.

The magnetic support control device 1300 processes the signal from the displacement sensor 110 to detect the displacement of the support 100 such as the position and orientation of the support 100, and a first device for supplying a current to the electromagnetic actuator 120. Amplifier 135
0, and a signal processing device 1100 that calculates a control force from the detected displacement. The displacement sensor 110 and the displacement detection device 1600 constitute a support body position / orientation detection device for detecting the position and posture of the support body of the present invention.

The cable length / tension controller 1400 is
A cable length detection device 1610 that processes the signal from the encoder 142 to detect the rotation angle of the motor 140 to detect the length of the cable 150, and a signal from the load cell 170 that processes the tension applied to the cable 150. A cable tension detecting device 1620 for detecting, a second amplifier 1470 for supplying a current required to drive the motor 140, and a signal processing device 1100 for calculating a control force from the detected cable length and cable tension.
Consists of The cable length detecting device 1610 constitutes a connector length detecting device for detecting the length of the connector of the present invention, and the cable tension detecting device 1620 detects connecting force for detecting the force applied to the connector of the present invention. The device constitutes a motor 1
40 and the cable length / tension control device 1400 constitute a connector length control device for controlling the length of the connector of the present invention and a connecting force control device for controlling the connecting force of the present invention.

The communication device 1500 includes a transmitter 1510,
The receiving unit 1520 and the signal processing device 1100 are included.

The signal processing device 1100 is a digital signal processing device (DSP), and a read only memory (ROM) 120 that holds a program for operating the DSP.
0 on the circuit board 1000.

The distance between the support 100 and the reference plate 200,
Three displacement sensors 110 are provided so that two rotation angles representing the posture of the support 100 with respect to the reference plate 200 can be detected.
Are arranged on the base plate 130 so that they do not lie on the same straight line.

Further, the support 100 for the reference plate 200
To generate force to change the distance and posture of
Similarly, the electromagnetic actuators 120 of the table are also arranged on the base plate 130 so as not to be on the same straight line.

FIG. 4 is a sectional view of the electromagnetic actuator 120. The electromagnetic actuator 120 has a magnet yoke 121 having a substantially inverted E-shaped vertical cross section and a cylindrical appearance.
It is composed of a disk-shaped permanent magnet 122 fixed to the central convex portion of the magnet yoke 121, and an electromagnetic coil 123 as an electromagnet arranged in the annular concave portion of the magnet yoke 121 so as to surround the permanent magnet 122. . The height of the central convex portion of the magnet yoke 121 is lower than the height of the annular side wall portion, and when the disk-shaped permanent magnet 122 is arranged on this convex portion, the end surface of the permanent magnet 122 becomes the annular side wall portion. It is almost flush. The direction of the magnetic flux generated by the permanent magnet 122 and the direction of the magnetic flux generated by the electromagnetic coil 123 are set to be opposite to each other. Therefore, the electromagnetic coil 12
If the current flowing through 3 is reduced, the magnetic force generated by the electromagnetic coil 123 becomes weaker and the magnetic force that cancels the magnetic force of the permanent magnet 122 becomes smaller, so that the magnetic attraction force of the electromagnetic actuator 120 as a whole increases. On the contrary, the electromagnetic coil 1
If the current passed through 23 is increased, the electromagnetic actuator 1
The magnetic attraction force as a whole 20 becomes small. In this way, by adjusting the current flowing through the electromagnetic coil 123, the magnetic attraction force generated by the electromagnetic actuator 120 can be controlled.

Next, communication between the plurality of supports 100 will be described. FIG. 7 is a block diagram of the communication device 1500. In FIG. 7, the communication device 1500 includes a receiving unit 1
501, a transmitting unit 1502, and a signal processing device 1100. In the illustrated example, the communication method is serial communication. This is for the following reason. (1) As the number of communication lines between the supports 100 increases, the support 10 supported by the magnetic support control in a non-contact manner.
It is easy to interfere with the free movement of 0 resistance. (2) A small amount of information can be set for communication. (3) When parallel communication is used, the number of communication lines is more than double that in serial communication.

For the above reasons, the serial communication is adopted. The communication between the plurality of supports 100 is one-way communication, and the number of communication lines can be reduced as compared with the two-way communication. The number of communication lines in this embodiment is 4
The number of communication lines is four for each of the reception lines 1510 and the transmission lines 1520. The reception line 1520 includes a reception data line 1511, a reception frame synchronization pulse line 1512, a reception clock line 1513, and a reception ground line 1514. Similarly, the transmission line 1520 also includes the transmission data line 152.
1, a transmission frame synchronization pulse line 1522, a transmission clock line 1523, and a transmission ground line 1524.

The contents of communication are performed in the format 1550 as shown in FIG. That is, the communication is grouped with 16 bits, the upper 5 bits are the support identification number 1551 for identifying the support 100, the lower 8 bits are numerical data 1553 which is the main body of the information, and the remaining 3 bits in the center are It is a numerical data indicator 1553 for distinguishing what kind of numerical data the lower 8-bit numerical data is. This format 1550
Is the same for both reception and transmission.

FIG. 9 shows an outline of the state of communication by the six supports 100. The support 100 is connected to each other by a communication line, and one end of a set of four communication lines is a transmission line 1520,
The other end becomes a reception line 1510. The communication line connects all supports, and the communication host 1
A support integrated monitoring / control device 1590 is connected via 580. Communication host 1580 and support integrated monitoring
Two-way communication is possible with the control device 1590. Then, the support integrated monitoring / control device 1590
It is possible to monitor and control all the supports 100 individually.

Next, the operation of this embodiment will be described. First, a predetermined program is stored in the ROM 1200 shown in FIG. 3, and the DSP 1150 is operated based on the program stored in the ROM 1200. As a result, the signal processing device 1100 operates.

First, the magnetic support control of the support 100 will be described. A block diagram of magnetic support control of the support 100 is shown in FIG. In this figure, the displacement 1320 of the support 100 that is the control target of the magnetic support control is the displacement of the three displacement sensors 110 as the magnetic support control device 13.
00 displacement sensor 110 and displacement detection device 1600. The displacements of the three displacement sensors 100 are transmitted to the signal processing device 1100. In the signal processing device 1100, the displacements of the three displacement sensors 100 are converted into two rotation angles representing the posture of the support body 100 with respect to the reference plate 200 by the second coordinate conversion 1341. Further, the difference from the control target command value 1310 is compensated by the first compensator 1330, and the first coordinate conversion 1340 is performed.
Is converted into a current command value to be passed through the three electromagnetic actuators 120. This current command value is the first amplifier 135
A current is generated by 0 and drives the electromagnetic actuator 120. Thus, the distance and the posture of the support 100 with respect to the reference plate 200 are controlled by the magnetic attraction force. Here, the first compensator performs PID compensation. Also, the magnetic support control O
The N / OFF command is given from the support integrated monitoring / control device 1590 via the communication device 1500.

Secondly, the tension control of the cable 150 will be described. A block diagram of the tension control of the cable 150 is shown in FIG. Since this tension control includes a servo system inside the control loop, it is a combined control of the tension and length of the cable 150. In FIG. 6, the cable length 1420
Detects the cable length detecting device 16 through the encoder 142.
Detected by 10. The detected length of the cable 150 enters the signal processing device 1100, where the limiting device 1
Compared with the composite command value 1412 output from 450,
It is compensated by the second compensator 1460. The second amplifier 1470 converts the current to drive the motor 140.
In addition, the tension of the cable 150, which changes due to the change in the cable length 1420 and the rigidity 301 of the object 300, is detected by the cable tension detecting device 1620 through the load cell 170. The detected tension of the cable 150 enters the signal processing device 1100, and the second low-pass filter 14
80, and the difference from the tension command value 1411 is calculated. This difference is compensated by the third compensator 1440, and the sum with the cable length command value 1410 becomes the composite command value 1412. This composite command value 1412 is the limiting device 1
It is input to 450, and in order to limit the cable length to a predetermined range, the composite command value 1412 is limited and output so as to be within the predetermined range. Cable 1
The motor 140 is driven by the change in the tension of 50,
Cable length control and cable tension control are achieved. Here, the second compensator 1460 performs PID compensation and the third compensator 1440 performs I (integration) compensation. The command values for controlling the cable tension and the cable length are the communication device 15
Via the integrated support and monitoring and control device 1590.

Thirdly, communication between the plurality of supports 100 will be described. The communication device 1500 transmits the communication content received from the support integrated monitoring / control device 1590 at regular intervals and received by the reception line 1510 to the signal processing device 110.
Transmit to 0. The signal processing device 1100 refers to the support body identification number 1551 in the communication content and compares it with the identification number assigned to all the support bodies 100 so as not to overlap. If this identification number is support identification number 15
If it matches 51, the following procedure (1) is started. Then, if the pre-assigned identification number is different from the support identification number 1551 of the communication content, the following procedure (2) is started. Procedure (1): (1-1) Numerical data indicator 1552 and numerical data 15
The communication contents are restored from 53. Then, magnetic support control and cable tension control are performed according to the communication content. (1-2) The control state of the support body 100, that is, the value of the displacement of the support body 100, the value of the current flowing through the electromagnetic coil 123, and the length and tension values of the cable 150 are transmitted in order, and the format 1650 is transmitted. And provides information to the support integrated monitoring / control device 1590. Procedure (2): (2-1) The communication content received by the receiving line 1510 is directly transmitted from the transmission line 1520, and the communication content is transferred to the adjacent support body 100.

Fourth, the role of the signal processing device 1100 will be described. As described above, the signal processing device 1100 realizes the magnetic support control device 1300 for the support 100, the cable length / tension control device 1400, and the communication device 15.
Responsible for the realization of the communication function through the joint work with 00.
In addition to these three functions, the signal processing device 11
00 is a control state monitoring device for ensuring the safety of the magnetic support control of the support 100, a magnetic support control stop function, and the magnetic support control device 1 according to the tension of the cable 150.
It also plays the role of realizing an automatic gap length correction device for appropriately changing the target command value 1310 in 300.

Fifth, the function of the control state monitoring device (implemented by software in the signal processing device 1100) will be described. The signal processing device 1100 includes a magnetic support control device 1300 for the support 100 and a cable length / tension control device 14.
00, it is necessary to always grasp the distance between the support 100 and the reference plate 200, the two rotation angles representing the posture of the support 100 with respect to the reference plate 200, and the tension of the cable 150. There is. In addition, the signal processing device 1100
Always grasps the coil current through the coil current detection device 1630 that detects the current flowing through the electromagnetic actuator 120. Further, the signal processing device 1100 is
The communication state is also always known via the communication device 1500. A permissible range of numerical change is defined in advance for each state quantity that can be grasped by the signal processing device 1100, and when any of the state quantities deviates from the corresponding permissible range, the magnetic support control stop device (in the signal processing device 1100 Realize with software).

Sixth, the function of the magnetic support control stop device (implemented by software in the signal processing device 1100) will be described. The function of the magnetic support control stop device is driven by a control state monitoring device (implemented by software in the signal processing device 1100). The magnetic support control stop device operates as follows. (1) The magnetic support control of the support 100 is stopped. (2) The magnetic support control simultaneous stop command is transmitted to the other support 100 via the communication device 1500. (3) When the communication device 1500 receives a command to stop magnetic support control all at once, the arbitrary support 100 stops its own magnetic support control and immediately sends a command to stop magnetic support control all at once from the communication device 1500. Adjacent support 1
Send to 00. (4) When the communication host 1580 receives the magnetic support control simultaneous stop command, the support integrated monitoring / control device 159.
No. 0 is notified that the magnetic support control simultaneous stop is in progress, and the second command of the magnetic support control simultaneous stop is given to the adjacent support 1
Send to 00. (5) When the support 100 receives the second command of the magnetic support control simultaneous stop, the support 100 performs the magnetic support control stop again and transmits it to the adjacent support 100. (6) The second command to stop the magnetic support control is the communication host 15
Upon returning to 80, the communication host 1580 returns to the normal communication normal state.

In this way, when any of the supports 100 stops the magnetic support control due to an accident, all the supports 100 stop the magnetic support control and the reference plate 20.
Since it is adsorbed at 0, it is possible to improve the safety and reliability of the gravity compensation device according to the present invention.

Seventh, the function of the automatic gap length correction device (implemented by software in the signal processing device 1100) will be described. Target command value 13 in the magnetic support control shown in FIG.
In 10, the two rotation angles representing the posture of the support body 100 with respect to the reference plate 200 are always fixed to constant values (zero or the like). Then, regarding the distance between the support 100 and the reference plate 200, the target command value 1310 is automatically corrected according to the tension of the cable 150.

In FIG. 10, the permanent magnet 122 has a samarium-
It is a figure which shows the relationship between the magnetomotive force E and the magnetic flux density B of the electromagnetic actuator 120 in the case of a cobalt magnet. Samarium-
The attractive force F and the magnetic flux density B generated by the electromagnetic actuator 120 when a cobalt magnet is used as the permanent magnet 122 can be approximately expressed by equations (1) and (2), respectively. F = B ² S / (2μ ₀ ) Formula (1) B = μ ₀ (H ₀ w−E) / (2z + w) Formula (2) where S is the total magnetic pole area of the electromagnetic actuator 120,
μ ₀ is the magnetic permeability of the atmosphere, H ₀ is the coercive force of the permanent magnet 122, w
Is the thickness of the permanent magnet 122, z is the electromagnetic actuator 12
It is the air gap length of the magnetic support at the position of 0 (the distance between the lower surface of the reference plate 200 and the upper surface of the electromagnetic actuator 120 in FIG. 4).

When the magnetic support control of the support 100 is stably performed, the attractive force F generated by the electromagnetic actuator 120 is equal to the total weight of the support 100 and the tension of the cable 150. Now, in order to control the attractive force F generated by the electromagnetic actuator 120 from the equations (1) and (2), a method of controlling the coil current flowing through the electromagnetic coil 123 and a gap length of the magnetic support are controlled. It turns out that there are two methods. Therefore, in the present embodiment, the cable 15
Among the changes of the tension of 0, the method of controlling the coil current flowing through the electromagnetic coil 123 for the high frequency component and the method of controlling the air gap length of the magnetic support for the low frequency component are dealt with respectively. In this way, the target command value 13 of the magnetic support control is maintained so that the coil current is constantly kept substantially constant.
20 can be corrected automatically. As a result, the cable 150
It is possible to improve the stability of the electromagnetic actuator as compared with the case where all the tension changes in the above are dealt with by controlling the coil current. Further, even if the cable tension increases, the coil current is less likely to become zero by reducing the air gap length of the magnetic support, so that it is possible to set a wide allowable range of the tension variation of the cable 150.

The spherical joint 180 attached to the support 100 shifts the unstable natural vibration of the support 100 to a region where it can be actively damped by magnetic support control, and It functions to suppress the resonance of the reference plate 200. Further, in the magnetic support control with respect to the posture variation of the support body 100, the spherical joint 180 also has the effect of allowing the spherical joint 180 to escape the disturbance torque acting below the load cell 170.

As described above, in the present embodiment, the support 100 is supported by the magnetic support control in a non-contact manner, and
By controlling the tension of the cable 150, the object 300 can be gravity-compensated and accurately simulated on the ground without restraining the three-dimensional behavior of the object 300 in a microgravity or weightless environment. . Further, since the movement of the support 100 in the horizontal plane is not actively controlled, the support 1
00, the load of the magnetic support controller 1300 can be reduced, and the structure of the support 100 can be simplified. Further, the spherical joint 180 supports the support 1
00 and the reference plate 200 can suppress the unstable mechanical resonance.

In addition, communication between the supports 100 and exchange of control commands and information of each support 100 between the support integrated monitoring / control device 1590 and each support 100 allow all the supports 100 to be exchanged. In contrast, support integrated monitoring
The control device 1590 can collectively perform management such as monitoring and control. Therefore, by using this support integrated monitoring / control device 1590, a rigid displacement of the object 300 can be measured, and a rigid displacement calculation device is realized. Further, the support integrated monitoring / control device 1590 gives a proper tension control command to each support 100, so that a rigid displacement control device can be realized, and a rigid displacement of the object 300 can be controlled. become. Further, by the control state monitoring function of the support 100 and the magnetic support control stop function, safety measures can be taken against the fall of the support 100, the safety of the magnetic support control of the support 100 is improved, and the present invention It is possible to improve the safety and reliability of the gravity compensation device.

Furthermore, since the electromagnetic actuator 120 has a structure in which the permanent magnet 122 and the electromagnet 123 are used together, the support 100 is attracted to the reference plate 200 even in the case of a power failure, so that the gravity compensator according to the present invention is safe. The reliability can be further improved.

In the above description, the case where the present invention is applied to the gravity compensating device has been described. However, in supporting the target object, the present invention supports the target object by a support body which is non-contact supported by magnetic support control. It can also be applied to a general supporting device.

[0051]

According to the supporting device of the first aspect, in the supporting device for supporting the object, since the supporting device is supported by the magnetic supporting control in a non-contact manner, the supporting body is supported by the non-contact supporting means. By freely moving in a two-dimensional plane without friction, it becomes possible to support the object without restraining the movement of the object. Therefore,
It is possible to obtain a supporting device that can perform a three-dimensional deployment test of a flexible deployment structure such as a space deployment antenna as well as a rigid multi-link system object with higher accuracy.

According to the gravity compensating device of the second aspect,
In a gravity compensating device for compensating for the gravity of an object, a reference plate made of a magnetic material and having a horizontal surface, a support that is supported in non-contact with the reference plate by magnetic support control, the object and the support. A magnetic coupling control device for moving the supporting body on the horizontal surface of the reference plate in a non-contact manner by magnetic supporting control, and the magnetic supporting control. A magnetic force generation device for generating a magnetic force, a support position / orientation detection device for detecting the position and posture of the support, a connector length detection device for detecting the length of the connector, and the connection. A coupling length control device for controlling the coupling length, a coupling force detection device for detecting a force applied to the coupling, a coupling force control device for controlling the coupling force of the coupling, and an output of the coupling force control device. The drive that drives the coupler by Since the connection force control detection device detects the gravity of the object by the connection force detection device, the connection force control detection device drives the connection device so that the target connection force and the gravity of the object match. By driving the device, the gravity of the object can be compensated, and the object can be supported without restraining the three-dimensional movement of the object in the zero gravity space or the microgravity space. Therefore, it is possible to obtain a gravity compensator capable of performing the deployment test of the three-dimensional deployment of a flexible deployment structure such as a space deployment antenna as well as the rigid multilink system object with higher accuracy. is there.

According to the gravity compensating device of the third aspect,
The support is magnetically supported below the lower horizontal surface of the reference plate by the magnetic support control device, the coupler is formed by a cable, and the magnetic force generation device is formed by an electromagnetic actuator. The support position / orientation detection device includes a non-contact type displacement sensor that detects a gap length between the reference plate and the electromagnetic actuator as a component, and the coupler length control device and the connection force control device are Since the motor for adjusting the length and the coupling force is included as a constituent element, it is possible to reduce the size and weight of the control device for the support body, and the support body having a simple structure can be used for the weightless space or the microgravity of the object. It is possible to support the object without restraining the three-dimensional movement in space.

According to the gravity compensating device of the fourth aspect,
The support is a multi-link system of two or more links, and the links of the support are connected by a hinge having a rotational degree of freedom for preventing transmission of a moment of a force acting on the support, It becomes possible to improve the stability of the magnetic support control of the support by cutting off the moment of the force acting on the support, thereby improving the reliability of the gravity compensation device.

According to the gravity compensating device of the fifth aspect,
It further comprises a rigid displacement calculation device that calculates a rigid displacement of the object from the length of the coupler, and a rigid displacement control device that controls so as to keep the calculated rigid displacement of the object constant. Therefore, it becomes possible to control the rigid displacement of the object.

According to the gravity compensating device of the sixth aspect,
A communication device for exchanging information between a plurality of the supports, and a control state such as a distance between the supports and the reference plate, a tension of the cable, a current supplied to the electromagnetic actuator, and an operation status of the communication device. According to the tension of the cable, a control state monitoring device that monitors the magnetic force, a magnetic support control stop device that operates when the control state deviates from a preset allowable range, and stops the magnetic support control. Since it further comprises an automatic gap length correction device that automatically corrects the target gap length between the reference plate and the electromagnetic actuator in the magnetic support control device, the safety of the magnetic support control of the support can be improved. It becomes possible to improve the reliability of the gravity compensation device.

According to the gravity compensating device of the seventh aspect,
The electromagnetic actuator has a structure in which a permanent magnet and an electromagnet are used in combination, and has a safety function for preventing the support body from falling. Therefore, the support body can be automatically attracted even when a power failure occurs, and the gravity compensation device is provided. The reliability of can be further improved.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing an embodiment of a gravity compensation device of the present invention.

FIG. 2 is a perspective view showing a configuration of a support of the gravity compensation device of the present invention.

FIG. 3 is a functional block diagram of a circuit board in the support of the gravity compensation device of the present invention.

FIG. 4 is a sectional view of an electromagnetic actuator in a support of the gravity compensation device of the present invention.

FIG. 5 is a block diagram of magnetic support control of the support of the gravity compensation device of the present invention.

FIG. 6 is a block diagram of cable tension control in the support of the gravity compensation device of the present invention.

FIG. 7 is an explanatory diagram showing a communication function of a support of the gravity compensation device of the present invention.

FIG. 8 is a diagram showing a communication format in communication of a support of the gravity compensation device of the present invention.

FIG. 9 is a conceptual diagram of communication by six supports in the gravity compensation device of the present invention.

FIG. 10 is a diagram showing characteristics of an electromagnetic actuator of a support in the gravity compensation device of the present invention.

[Explanation of symbols]

100 support body, 110 displacement sensor, 120 electromagnetic actuator (magnetic force generator), 121 magnet yoke, 122 permanent magnet, 123 electromagnetic coil (electromagnet), 130 base plate, 140 motor (coupler drive device), 141 brake, 142 encoder , 150 cable (connector), 160 spring, 161
Damper, 170 load cell, 180 spherical joint (hinge), 190 fixing plate, 200 reference plate, 30
0 object, 1000 circuit board, 1100 signal processing device (control state monitoring device, magnetic support control stop device, automatic gap length correction device), 1200 read-only memory, 1
300 magnetic support control device, 1310 magnetic support control command value, 1320 magnetic support control variable, 1330 first compensator, 1340 first conversion device, 1341 second conversion device, 1350 first amplifier, 1400 cable length
Tension control device (coupler length control device, coupling force control device), 1410 cable length command value, 1411 cable tension command value, 1412 composite command value, 1420 cable length, 1430 first filter, 1440 third compensator , 1450 limiter, 1460 second compensator,
1470 second amplifier, 1480 second filter, 150
0 communication device, 1501 receiver, 1502 transmitter,
1510 reception line, 1511 reception data line, 1512
Reception frame synchronization pulse line, 1513 reception clock line, 1514 reception ground line, 1520 transmission line, 1
521 transmission data line, 1522 transmission frame synchronization pulse line, 1523 transmission clock line, 1524 transmission ground line, 1550 format, 1551 support identification number, 1552 numerical data indicator, 1553 numerical data, 1580 communication host, 1590 support integrated monitoring / Control device (rigid displacement calculation device, rigid displacement control device), 1600 displacement detection device (support position / orientation detection device), 1610 cable length detection device (coupler length detection device), 1620 cable tension detection device ( Coupling force detection device), 1630 Coil current detection device.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number for FI Technical indication H01Q 19/10 H01Q 19/10 (72) Inventor Toshio Sugimoto 2-3-2 Marunouchi, Chiyoda-ku, Tokyo No. Sanryo Electric Co., Ltd. (72) Inventor Kenichi Hariu 2-12-5 Iwamoto-cho, Chiyoda-ku, Tokyo Incorporated Next-generation satellite communication and broadcasting system research institute

Claims (7)

[Claims] 1. A support device for supporting an object, comprising a support body which is supported in a non-contact manner by magnetic support control, and the support body can freely move in a two-dimensional plane without friction by the non-contact support, A support device for supporting the object without restraining the movement of the object. 2. A gravity compensating device for compensating gravity of an object, comprising: a reference plate made of a magnetic material and having a horizontal surface; a support body supported by the magnetic support control in a non-contact manner; An object and a connector for connecting the support, wherein the support is a magnetic support control device for moving the support in a non-contact manner on a horizontal surface of the reference plate by magnetic support control; A magnetic force generation device that generates a magnetic force for performing magnetic support control, a support body position / posture detection device that detects the position and posture of the support body, and a coupler length detection that detects the length of the coupler. A device, a coupler length control device for controlling the coupler length, a coupling force detection device for detecting a force applied to the coupler, a coupling force control device for controlling the coupling force of the coupler, Output by force controller And a coupling device driving device for driving the coupling device, wherein the coupling force control detection device detects the gravity of the object by the coupling force detection device, and the target coupling force and the gravity of the object match. By driving the coupler driving device as described above, the gravity of the object is compensated, and the object is supported without restraining the three-dimensional movement of the object in the weightless space or the microgravity space. Characteristic gravity compensation device. 3. The support is magnetically supported by the magnetic support control device below a lower horizontal surface of the reference plate, the coupler is a cable, and the magnetic force generation device is an electromagnetic actuator. The support body position / orientation detection device includes a non-contact type displacement sensor that detects a gap length between the reference plate and the electromagnetic actuator as a component, and the coupler length control device and the connection force control device. The gravity compensating device according to claim 2, wherein the device includes a motor for adjusting a length and a connecting force of the cable as a component. 4. The support is a multi-link system having two or more links, and the links of the support are connected by a hinge having a rotational degree of freedom for preventing transmission of a moment of a force acting on the support. The gravity compensation device according to claim 3, wherein the gravity compensation device is provided. 5. A rigid displacement calculation device for calculating a rigid displacement of the object from the length of the coupler, and a rigid displacement control for controlling the calculated rigid displacement of the object to be constant. The gravity compensation device according to claim 3, further comprising: a device. 6. A communication device for exchanging information between a plurality of the supports, a distance between the supports and the reference plate, a tension of the cable, a current supplied to the electromagnetic actuator, and an operation of the communication device. A control state monitoring device that monitors a control state such as a situation; a magnetic support control stop device that operates when the control state deviates from a preset allowable range to stop the magnetic support control; and a tension of the cable. The gravity compensation device according to claim 3, further comprising: an automatic gap length correction device that automatically corrects a target gap length between the reference plate and the electromagnetic actuator in the magnetic support control device. apparatus. 7. The gravity compensating device according to claim 3, wherein the electromagnetic actuator has a structure in which a permanent magnet and an electromagnet are used in combination, and has a safety function for preventing the support from falling.