CN105388781A - Four-degree-of-freedom free target microgravity air flotation simulation device - Google Patents
Four-degree-of-freedom free target microgravity air flotation simulation device Download PDFInfo
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- CN105388781A CN105388781A CN201510828941.9A CN201510828941A CN105388781A CN 105388781 A CN105388781 A CN 105388781A CN 201510828941 A CN201510828941 A CN 201510828941A CN 105388781 A CN105388781 A CN 105388781A
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- slide bar
- fixed cover
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- microgravity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/0408—Passive magnetic bearings
- F16C32/041—Passive magnetic bearings with permanent magnets on one part attracting the other part
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention relates to the field of microgravity air flotation simulation devices, particularly to a four-degree-of-freedom free target microgravity air flotation simulation device. The device includes a plane air foot, a counterweight strut, a free floating target and a magnetic suspension bearing assembly, wherein the magnetic suspension bearing assembly includes a fixed sleeve, a slide bar and a linear bearing; the magnetic suspension bearing assembly is fixedly mounted on the upper end of the planar air foot, the counterweight strut is fixed on the upper end of the magnetic suspension bearing assembly, the free floating target is fixedly mounted on the top of the counterweight strut, and motion of the free floating target on the ground in an analog microgravity environment along four degrees of freedom of three translation directions of X, Y and Z and a rotation direction of Z can be realized. The degree of freedom of motion simulation of the device is higher than a suspension spring method, but disturbing force levels of all directions are close to a planar air foot method and far lower than the suspension spring method, and the device improves the equivalence of a spatial free floating target ground microgravity simulation motion experiment.
Description
Technical field
The present invention relates to a kind of microgravity air supporting analogue means, particularly a kind of four-degree-of-freedom free target microgravity air supporting analogue means.
Background technology
In the process that the active clearance technique of space junk is studied, need effectively to simulate on ground the motion state of space junk free-floating in space.
At present two kinds of methods are mainly contained to the ground simulating of space floating body:
1. hang spring method: hang spring method is suspended on a pulley by the counterweight of the quality such as target object and by a very long hang spring, the translation in X, Y, Z tri-directions can be realized, but perturbed force is very large, the perturbed force of its X, Y-direction is mainly derived from the X of generation when long hang spring tilts, the weight component of Y-direction, and the perturbed force of Z-direction is mainly derived from the friction of pulley;
2. plane gas foot method: plane gas foot method utilizes pressure-air to form small air film between plane gas foot and air-floatation planar, thus realize plane gas foot on air-floatation planar along X, Y two translation directions and the frictionless motion along a Z axis rotation direction, its perturbed force level is very low, but move because plane gas can only be close in one piece of high-accuracy water plane enough, the translation of Z-direction cannot be realized.
Summary of the invention
The object of the invention is to the above-mentioned deficiency overcoming prior art, a kind of four-degree-of-freedom free target microgravity air supporting analogue means is provided, comprise pole, magnetic bearing assembly and plane gas foot three parts, free-floating target can be realized and move along X, Y, Z tri-translation directions with under the stimulated microgravity of Z rotation direction totally four degree of freedom on ground.
Above-mentioned purpose of the present invention is achieved by following technical solution:
A kind of four-degree-of-freedom free target microgravity air supporting analogue means, comprises plane gas foot, counterweight pole, free-floating target and magnetic bearing assembly; Wherein magnetic bearing assembly is fixedly mounted on the upper end of plane gas foot, and counterweight pole is fixed on the upper end of magnetic bearing assembly, and free-floating target is fixedly mounted on the top of counterweight pole.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, described magnetic bearing assembly comprises fixed cover, slide bar and linear bearing.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, described slide bar and fixed cover adopt Nd-Fe-B permanent magnet material.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, the magnetic force that magnetic bearing assembly produces and the gravity equal and opposite in direction that slide bar bears, direction is contrary.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, described fixed cover is wrapped in the outside of slide bar, is provided with linear bearing between fixed cover and slide bar, and slide bar can linearly move by bearing axial stretching in fixed cover.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, fixed cover is cylindrical shape, and long is 80-160mm, and end face diameter is 32-45mm, and fixed cover center is provided with through hole, and bore dia is 14-22mm.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, slide bar is cylindrical shape, and long is 260-420mm, and end face diameter is 12-20mm, is 80-160mm along fixed cover axial elongation distance.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, described linear bearing adopts polytetrafluoroethylmaterial material.
At above-mentioned a kind of four-degree-of-freedom free target microgravity air supporting analogue means, counterweight pole is cylindrical shape, and material is nonferromagnetic stainless steel material; Plane gas foot is nonferromagnetic stainless steel material.The present invention compared with prior art tool has the following advantages:
(1) the present invention adopts magnetic bearing assembly, magnetic bearing assembly comprises fixed cover, slide bar and linear bearing, slide bar can linearly move by bearing axial stretching in fixed cover, make gravity suffered on slide bar equal with the magnetic force of magnetic bearing by accurate counterweight, achieve the approximate frictionless motion of Z-direction translation.
(2) present invention employs the combination of magnetic bearing assembly and plane gas foot, realize X by face gas foot method, approximate frictionless motion that Y-direction translation and Z-direction are rotated, achieved the approximate frictionless motion of Z-direction translation simultaneously by magnetic bearing, improve the realized degree of freedom quantity of air supporting analogue means;
(3) magnetic bearing assembly of the present invention adds the linear bearing of teflon material in the middle of fixed cover and slide bar, reduces friction force when slide bar and fixed cover move mutually, reduces air supporting analogue means perturbed force level in vertical direction;
(4) slide bar assembly of the present invention and plane gas foot have employed nonferromagnetic stainless steel material, avoid the magnetic force interference that magnetic bearing moves to metal parts, reduce air supporting analogue means perturbed force level in the horizontal direction.
Accompanying drawing explanation
Fig. 1 is four-degree-of-freedom of the present invention free target microgravity air supporting analogue means schematic diagram;
Fig. 2 is magnetic bearing assembly schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Be illustrated in figure 1 four-degree-of-freedom free target microgravity air supporting analogue means schematic diagram, as seen from the figure, comprise plane gas foot 1, counterweight pole 4, free-floating target 5 and magnetic bearing assembly; Wherein magnetic bearing assembly is fixedly mounted on the upper end of plane gas foot 1, and counterweight pole 4 is fixed on the upper end of magnetic bearing assembly, and free-floating target 5 is fixedly mounted on the top of counterweight pole 4.
Wherein, counterweight pole 4 is cylindrical shape, and material is nonferromagnetic stainless steel material; Plane gas foot 1 is nonferromagnetic stainless steel material.
Be illustrated in figure 2 magnetic bearing assembly schematic diagram, as seen from the figure, described magnetic bearing assembly comprises fixed cover 2, slide bar 3 and linear bearing 6; Fixed cover 2 is wrapped in the outside of slide bar 3, is provided with linear bearing 6 between fixed cover 2 and slide bar 3, and slide bar 3 can linearly move by bearing 6 axial stretching in fixed cover 2.
Wherein fixed cover 2 is cylindrical shape, and long is 80-160mm, and end face diameter is 32-45mm, and fixed cover 2 center is provided with through hole, and bore dia is 14-22mm.
Slide bar 3 is cylindrical shape, and long is 260-420mm, and end face diameter is 12-20mm, is 80-160mm along fixed cover 2 axial elongation distance.
Slide bar 3 and fixed cover 2 adopt Nd-Fe-B permanent magnet material; Linear bearing 6 adopts polytetrafluoroethylmaterial material.
Described magnetic bearing assembly, is made up of fixed cover 2, slide bar 3 and sliding bearing 6; Wherein fixed cover 2 is the Nd-Fe-B permanent magnet that magnetic pole is relative with slide bar 3, stable parallel magnetic field can be formed in annular fixed cover, after slide bar 3 is inserted in fixed cover 2, can produce magnetic force vertically between slide bar 3 and fixed cover 2, and the size of magnetic force and slide bar 3 have nothing to do with the overlap length of fixed cover 2; Because slide bar 3 length is greater than fixed cover 2 length, after slide bar 3 inserts fixed cover 2 completely, magnetic force constant when slide bar 3 seesaws between slide bar 3 and fixed cover 2 is constant; Between slide bar 3 and fixed cover 2, be provided with the sliding bearing 6 of teflon material, slide bar 3 surface is through grinding, and when fixed cover 2 at right angle setting, the friction force between slide bar 3 and fixed cover 2 is extremely low; Described plane gas foot 1, can utilize pressure-air to form small air film between plane gas foot 1 and air-floatation planar, thus realizes plane gas foot on air-floatation planar along X, Y two translation directions and the frictionless motion along a Z axis rotation direction; The fixed cover 2 of described magnetic bearing assembly is vertically fixedly installed in plane gas foot 1 top; Counterweight pole 4 lower end of described magnetic bearing assembly is connected with the slide bar 3 of magnetic bearing assembly, upper end and free-floating target 5, and counterweight pole 4 is through accurate counterweight; The magnetic force that magnetic bearing assembly produces and the gravity equal and opposite in direction that slide bar 3 bears, direction is contrary, the gravity that slide bar 3 bears comprises gravity suffered by slide bar 3, counterweight pole 4 and free-floating target 5, and the free-floating target 5 of counterweight pole 4 upper end can realize, nothing friction translation agravic along Z axis; Thus, described a kind of four-degree-of-freedom free target microgravity air supporting analogue means, can realize free-floating target and move along X, Y, Z tri-translation directions with under the stimulated microgravity of Z rotation direction totally four degree of freedom on ground.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.
Claims (9)
1. a four-degree-of-freedom free target microgravity air supporting analogue means, is characterized in that: comprise plane gas foot (1), counterweight pole (4), free-floating target (5) and magnetic bearing assembly; Wherein magnetic bearing assembly is fixedly mounted on the upper end of plane gas foot (1), counterweight pole (4) is fixed on the upper end of magnetic bearing assembly, and free-floating target (5) is fixedly mounted on the top of counterweight pole (4).
2. a kind of four-degree-of-freedom according to claim 1 free target microgravity air supporting analogue means, is characterized in that: described magnetic bearing assembly comprises fixed cover (2), slide bar (3) and linear bearing (6).
3. a kind of four-degree-of-freedom according to claim 2 free target microgravity air supporting analogue means, is characterized in that: described slide bar (3) and fixed cover (2) adopt Nd-Fe-B permanent magnet material.
4. a kind of four-degree-of-freedom free target microgravity air supporting analogue means according to Claims 2 or 3, is characterized in that: the magnetic force that magnetic bearing assembly produces and the gravity equal and opposite in direction that slide bar (3) bears, direction is contrary.
5. a kind of four-degree-of-freedom according to claim 2 free target microgravity air supporting analogue means, it is characterized in that: described fixed cover (2) is wrapped in the outside of slide bar (3), be provided with linear bearing (6) between fixed cover (2) and slide bar (3), slide bar (3) can linearly move by bearing (6) axial stretching in fixed cover (2).
6. a kind of four-degree-of-freedom according to claim 3 free target microgravity air supporting analogue means, it is characterized in that: fixed cover (2) is cylindrical shape, long is 80-160mm, end face diameter is 32-45mm, fixed cover (2) center is provided with through hole, and bore dia is 14-22mm.
7. a kind of four-degree-of-freedom according to claim 3 free target microgravity air supporting analogue means, it is characterized in that: slide bar (3) is cylindrical shape, long is 260-420mm, and end face diameter is 12-20mm, is 80-160mm along fixed cover (2) axial elongation distance.
8. a kind of four-degree-of-freedom according to claim 2 free target microgravity air supporting analogue means, is characterized in that: described linear bearing (6) adopts polytetrafluoroethylmaterial material.
9. a kind of four-degree-of-freedom according to claim 1 free target microgravity air supporting analogue means, it is characterized in that: counterweight pole (4) is cylindrical shape, material is nonferromagnetic stainless steel material; Plane gas foot (1) is nonferromagnetic stainless steel material.
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| CN201510828941.9A CN105388781A (en) | 2015-11-24 | 2015-11-24 | Four-degree-of-freedom free target microgravity air flotation simulation device |
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| CN201510828941.9A CN105388781A (en) | 2015-11-24 | 2015-11-24 | Four-degree-of-freedom free target microgravity air flotation simulation device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106354030A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨工业大学 | Mars gravity ground-based simulation device and simulation method thereof |
| CN109573117A (en) * | 2018-11-23 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of space large size target rolling characteristic microgravity simulator |
| CN110057556A (en) * | 2018-01-15 | 2019-07-26 | 北京航空航天大学 | A kind of dynamics simulation device of space Fixed-point Motion of A |
| CN110164229A (en) * | 2019-05-28 | 2019-08-23 | 哈尔滨工程大学 | A kind of training device for spacefarer's ground simulation microgravity environment carry an object |
| CN113479355A (en) * | 2021-08-12 | 2021-10-08 | 哈尔滨工业大学 | Ground variable-centroid zero-gravity simulation device and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106354030A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨工业大学 | Mars gravity ground-based simulation device and simulation method thereof |
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| CN110057556A (en) * | 2018-01-15 | 2019-07-26 | 北京航空航天大学 | A kind of dynamics simulation device of space Fixed-point Motion of A |
| CN110057556B (en) * | 2018-01-15 | 2020-06-05 | 北京航空航天大学 | Space fixed point rotating dynamics simulation device |
| CN109573117A (en) * | 2018-11-23 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of space large size target rolling characteristic microgravity simulator |
| CN109573117B (en) * | 2018-11-23 | 2020-11-20 | 北京精密机电控制设备研究所 | Micro-gravity simulation device for rolling characteristics of large-scale space target |
| CN110164229A (en) * | 2019-05-28 | 2019-08-23 | 哈尔滨工程大学 | A kind of training device for spacefarer's ground simulation microgravity environment carry an object |
| CN113479355A (en) * | 2021-08-12 | 2021-10-08 | 哈尔滨工业大学 | Ground variable-centroid zero-gravity simulation device and method |
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