CN108502216B - A kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train - Google Patents
A kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train Download PDFInfo
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- CN108502216B CN108502216B CN201810411086.5A CN201810411086A CN108502216B CN 108502216 B CN108502216 B CN 108502216B CN 201810411086 A CN201810411086 A CN 201810411086A CN 108502216 B CN108502216 B CN 108502216B
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- gear train
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- constant moment
- force mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- Aviation & Aerospace Engineering (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention proposes a kind of permanent tension systems based on motor, constant moment of force mechanism and differential gear train, belong to microgravity simulation field, more particularly to a kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train.It solves single motor band reel and realizes that permanent pulling force control has the problem more demanding, weak to high frequency components rejection ability to motor.It includes torque motor, retarder, differential gear train, constant moment of force mechanism, reel, hoist cable, tension sensor and load.It is mainly used for carrying out weightless flight experiment on ground.
Description
Technical field
The invention belongs to microgravity simulation fields, are based on motor, constant moment of force mechanism and differential gear train more particularly to one kind
Permanent tension system.
Background technique
Space and extraterrestrial the ball surface environment weightless there is complete agravity or part, spacecraft and astronaut in space and
Stress under extraterrestrial ball surface weightlessness is different from earth surface, it is thus possible to will appear spacecraft part load-carrying construction
Situations such as damage, mechanism kinematic tremble, and operation sense is different from ground when astronaut executes task, in order to guarantee the reliable of spacecraft
Property and astronaut execute task dexterity, need before transmission ground carry out weightless flight experiment.At present for spacecraft
An important method with the weightless flight of astronaut's operation training is hoist cable suspension method, i.e., is to be simulated object with hoist cable and slings
Come, compensation gravity is influenced caused by it.It is more demanding to motor that existing single motor band reel realizes that permanent pulling force control exists, right
The weak problem of high frequency components rejection ability.
For gravity compensation system, permanent tension system provides the movement of target compensation vertical direction and constant vertical
Suspension force, ideal gravity compensation condition are that hoist cable balancing force is strictly constant, therefore proposes that two technologies are wanted to permanent tension system
Ask: the static tensile force precision of hoist cable power is as high as possible, and hoist cable power dynamic tension precision when load is disturbed is as high as possible.
Therefore design is capable of providing high-precision, the permanent tension system scheme of high dynamic characteristic is the key that current ground gravity compensation experiment
Task and great demand.
Summary of the invention
The present invention in order to solve the problems in the prior art, proposes a kind of based on motor, constant moment of force mechanism and differential gear train
Permanent tension system.
To achieve the above object, the invention adopts the following technical scheme: a kind of be based on motor, constant moment of force mechanism and differential gear
The permanent tension system of system, it includes electric motor with large torque, retarder, differential gear train, constant moment of force mechanism, reel, hoist cable, pull sensing
Device and load, the electric motor with large torque are connected with the input shaft of retarder, and the differential gear train includes two input terminals and one
A output end, the output shaft and constant moment of force mechanism of the retarder are separately connected two input terminals of differential gear train, described differential
The output end of train is connected with reel, and the hoist cable is wrapped on reel, and lower end connects tension sensor, and most terminal is that connection is negative
The corresponding interface of load.
Further, the electric motor with large torque is the power resources of entire mechanism, and it is defeated to provide the mobile displacement of hoist cable
Out.
Further, the constant moment of force mechanism is rotated with constant force.
Retarder selects suitable reduction ratio as needed, and the range of tension sensor is greater than the suffered gravity of load,
And consider certain dynamic loading, therefore its range wants sufficiently large, guarantee certain safety coefficient.
Compared with prior art, the beneficial effects of the present invention are: it is a kind of based on motor, constant moment of force mechanism and differential gear train
The hoist cable balancing force that permanent tension system provides is constant, and the static tensile force precision of hoist cable power is high, and hoist cable power is when load is disturbed
Dynamic tension precision is high, realizes the Disturbance Rejection of hoist cable power when hoist cable end tensions constant and hoist cable end fast move, Ke Yigeng
The reliability of good guarantee spacecraft and astronaut execute the dexterity of task.
Detailed description of the invention
Fig. 1 is a kind of permanent tension system schematic diagram based on motor, constant moment of force mechanism and differential gear train of the present invention
1- electric motor with large torque, 2- retarder, 3- differential gear train, 4- constant moment of force mechanism, 5- reel, 6- hoist cable, 7- pulling force pass
Sensor, 8- load, T- torque, angle- rotate angle
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation illustrates.
Illustrate that present embodiment, one kind described in present embodiment are based on motor, constant moment of force mechanism and differential gear referring to Fig. 1
The permanent tension system of system, it includes electric motor with large torque 1, retarder 2, differential gear train 3, constant moment of force mechanism 4, reel 5, hoist cable 6, draws
Force snesor 7 and load 8, the electric motor with large torque 1 is connected with the input shaft of retarder 2, and the differential gear train 3 includes two
Input terminal and an output end, the output shaft and constant moment of force mechanism 4 of the retarder 2 be separately connected differential gear train 3 two are defeated
Enter end, output end and reel 5 connection of the differential gear train 3, the hoist cable 6 is wrapped on reel 5, and lower end connects pull sensing
Device 7, most terminal are the corresponding interface of connection load 8.
The size of balancing force needed for the load 8 that hoist cable 6 suspends in midair is determined by tension sensor 7.Electric motor with large torque 1 is entire
The power resources of mechanism, and provide hoist cable 6 mobile displacement output, it exports main torque and is input to by retarder 2
In differential gear train 3, the main compensation power of load 8 is undertaken.Constant moment of force mechanism 4 can be rotated with constant force, differential gear train 3 it is another defeated
Enter end and constant torque is provided, output torque control precision is higher, and response is faster.Differential gear train 3 provides the work of differential output
With.The mobile displacement output of hoist cable 6 is provided by electric motor with large torque 1 and 2 output torque of constant moment of force mechanism control precision can be real
Existing 6 balancing force of hoist cable is constant, keeps the static tensile force precision of hoist cable power high, hoist cable power dynamic tension precision when load is disturbed
Height, to guarantee that the reliability of spacecraft and astronaut execute the dexterity of task.
Retarder 2 selects suitable reduction ratio as needed, and the range of tension sensor 7 is greater than weight suffered by load 8
Power, and consider certain dynamic loading, therefore its range wants sufficiently large, guarantee certain safety coefficient.This scheme is suitble to and boat
The suspention of its device is also suitble to the suspention of astronaut, need to only select corresponding interface.It is of the invention a kind of based on motor, constant moment of force
The permanent tension system of mechanism and differential gear train solves single motor band reel and realizes that permanent pulling force control presence is more demanding to motor,
The problem weak to high frequency components rejection ability.
Above to a kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train provided by the present invention, into
It has gone and has been discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, the above implementation
The explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (3)
1. a kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train, it is characterised in that: it includes high-torque electricity
Machine (1), retarder (2), differential gear train (3), constant moment of force mechanism (4), reel (5), hoist cable (6), tension sensor (7) and load
(8), the electric motor with large torque (1) is connected with the input shaft of retarder (2), and the differential gear train (3) includes two input terminals
With an output end, the output shaft and constant moment of force mechanism (4) of the retarder (2) be separately connected differential gear train (3) two are defeated
Enter end, output end and reel (5) connection of the differential gear train (3), the hoist cable (6) is wrapped on reel (5), lower end connection
Tension sensor (7), most terminal are the corresponding interface of connection load (8).
2. a kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train according to claim 1, feature
Be: electric motor with large torque (1) is the power resources of whole system, and provides hoist cable (6) mobile displacement output.
3. a kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train according to claim 1, feature
Be: constant moment of force mechanism (4) is rotated with constant moment of force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810411086.5A CN108502216B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810411086.5A CN108502216B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train |
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| Publication Number | Publication Date |
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| CN108502216A CN108502216A (en) | 2018-09-07 |
| CN108502216B true CN108502216B (en) | 2019-05-10 |
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| CN201810411086.5A Active CN108502216B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and differential gear train |
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| CN115140323A (en) * | 2022-06-24 | 2022-10-04 | 哈尔滨工业大学 | Pneumatic characteristic testing device of tension torque decoupling type single rotor system |
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| JP2010247995A (en) * | 1999-06-22 | 2010-11-04 | Kobelco Cranes Co Ltd | Control device of hydraulic driving winch |
| CN102009750B (en) * | 2010-12-02 | 2014-09-03 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
| CN103489355B (en) * | 2013-08-02 | 2015-06-24 | 湖南大学 | Deep space exploration simulation training device and working method thereof |
| CN104444896B (en) * | 2014-10-16 | 2017-02-01 | 北京卫星环境工程研究所 | Integrated constant-tension sling control device with measurement and buffering functions |
| CN107507485B (en) * | 2017-08-09 | 2019-08-30 | 上海工程技术大学 | A kind of flight simulator and A seating riding manipulation interlocks and loading device |
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