CN108583945B - A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train - Google Patents
A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train Download PDFInfo
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- CN108583945B CN108583945B CN201810411120.9A CN201810411120A CN108583945B CN 108583945 B CN108583945 B CN 108583945B CN 201810411120 A CN201810411120 A CN 201810411120A CN 108583945 B CN108583945 B CN 108583945B
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- gear train
- planetary gear
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- 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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Abstract
The invention proposes a kind of permanent tension systems based on motor, constant moment of force mechanism and planetary 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 planetary 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 electric motor with large torque, retarder, the planetary gear train of planetary shell band reel, constant moment of force mechanism, hoist cable, load and tension sensor.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 planetary 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 planetary 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 planetary gear
The permanent tension system of system, it include electric motor with large torque, retarder, the planetary gear train of planetary shell band reel, constant moment of force mechanism,
Hoist cable, load and tension sensor, the electric motor with large torque are connected with the input shaft of retarder, the output shaft of the retarder
The planetary gear train of planetary shell band reel is separately connected with constant moment of force mechanism, the hoist cable is wrapped in planetary shell band reel
Planetary gear train reel on, lower end connect tension sensor, most terminal be connection load corresponding interface.
Further, the planetary gear train of the planetary shell band reel includes two input terminals and an output end,
The output shaft and constant moment of force mechanism of the retarder are separately connected two input terminals of planetary gear train of planetary shell band reel
Sun gear and tie-rod.
Further, the output end of the planetary gear train of the planetary shell band reel be the outer centre wheel of planetary gear train and
The connected entirety of reel.
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 planetary 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 planetary gear train of the present invention
1- electric motor with large torque, 2- retarder, the planetary gear train of the planetary shell band reel of 3-, 4- constant moment of force mechanism, 5- are hung
Rope, 6- load, 7- tension sensor, 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 planetary gear referring to Fig. 1
The permanent tension system of system, it includes electric motor with large torque 1, retarder 2, the planetary gear train 3 of planetary shell band reel, constant moment of force machine
Structure 4, hoist cable 5, load 6 and tension sensor 7, the electric motor with large torque 1 are connected with the input shaft of retarder 2, the planet
The planetary gear train 3 of formula shell band reel includes two input terminals and an output end, the output shaft and constant moment of force of the retarder 2
Mechanism 4 is separately connected the sun gear and tie-rod of 3 two input terminals of planetary gear train of planetary shell band reel, described planetary outer
The output end of the planetary gear train 3 of shell band reel is the entirety that the outer centre wheel of planetary gear train and reel are connected, and the hoist cable 5 is wrapped in
On the reel of the planetary gear train 3 of planetary shell band reel, lower end connects tension sensor 7, and most terminal is pair of connection load 6
Answer interface.
The size of balancing force needed for the load 6 that hoist cable 5 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 5 mobile displacement output, it exports main torque and is input to by retarder 2
In the planetary gear train 3 of planetary shell band reel, the main compensation power of load 6 is undertaken.Constant moment of force mechanism 4 can be turned with constant force
It is dynamic, constant torque is provided in another input terminal of the planetary gear train 3 of planetary shell band reel, output torque controls precision
Higher, response is faster.Planetary gear train provides the effect of differential output.It is defeated that the mobile displacement of hoist cable 5 is provided by electric motor with large torque 1
It may be implemented that 5 balancing force of hoist cable is constant with 4 output torque of constant moment of force mechanism control precision out, make the static tensile force precision of hoist cable power
Height, hoist cable power dynamic tension precision when load is disturbed is high, appoints to guarantee that the reliability of spacecraft and astronaut execute
The dexterity of business.
Retarder 2 selects suitable reduction ratio as needed, and the range of tension sensor 7 is greater than weight suffered by load 6
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 planetary 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 planetary 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 (4)
1. a kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train, it is characterised in that: it includes high-torque electricity
Machine (1), retarder (2), the planetary gear train (3) of planetary shell band reel, constant moment of force mechanism (4), hoist cable (5), load (6) and
Tension sensor (7), the electric motor with large torque (1) are connected with the input shaft of retarder (2), the output of the retarder (2)
Axis and constant moment of force mechanism (4) are separately connected the planetary gear train (3) of planetary shell band reel, and the hoist cable (5) is wrapped in planet
On the reel of the planetary gear train (3) of formula shell band reel, lower end connects tension sensor (7), and most terminal is connection load (6)
Corresponding interface, the planetary gear train (3) of the planetary shell band reel include two input terminals and an output end, the deceleration
The output shaft and constant moment of force mechanism (4) of device (2) are separately connected (3) two input terminals of planetary gear train of planetary shell band reel
Sun gear and tie-rod.
2. a kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train according to claim 1, feature
Be: the output end of the planetary gear train (3) of the planetary shell band reel is that the outer centre wheel of planetary gear train and reel are connected
It is whole.
3. a kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train according to claim 1, feature
Be: electric motor with large torque (1) is the power resources of entire mechanism, and provides hoist cable (5) mobile displacement output.
4. a kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train according to claim 1, feature
Be: constant moment of force mechanism (4) is rotated with constant force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810411120.9A CN108583945B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810411120.9A CN108583945B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train |
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| Publication Number | Publication Date |
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| CN108583945A CN108583945A (en) | 2018-09-28 |
| CN108583945B true CN108583945B (en) | 2019-05-10 |
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| CN201810411120.9A Active CN108583945B (en) | 2018-05-02 | 2018-05-02 | A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117048862B (en) * | 2023-10-12 | 2023-12-26 | 中国科学院力学研究所 | Low-gravity tower falling experiment platform and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN104118580A (en) * | 2014-07-14 | 2014-10-29 | 上海宇航***工程研究所 | Device and method for simulating low gravity |
| CN104803015B (en) * | 2015-05-09 | 2016-05-25 | 哈尔滨工业大学 | Large lift air supporting high-precision gravity relief arrangement |
-
2018
- 2018-05-02 CN CN201810411120.9A patent/CN108583945B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN104118580A (en) * | 2014-07-14 | 2014-10-29 | 上海宇航***工程研究所 | Device and method for simulating low gravity |
| CN104803015B (en) * | 2015-05-09 | 2016-05-25 | 哈尔滨工业大学 | Large lift air supporting high-precision gravity relief arrangement |
Non-Patent Citations (1)
| Title |
|---|
| 一种串联张紧式恒力矩机构设计及实验研究;牛福亮等;《机器人》;20160715;第38卷(第4期);第475-485页 |
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