CN110697092A - Magnetic suspension hanging device - Google Patents
Magnetic suspension hanging device Download PDFInfo
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- CN110697092A CN110697092A CN201911153355.3A CN201911153355A CN110697092A CN 110697092 A CN110697092 A CN 110697092A CN 201911153355 A CN201911153355 A CN 201911153355A CN 110697092 A CN110697092 A CN 110697092A
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Abstract
The invention discloses a magnetic suspension hanging device, and belongs to the field of ground microgravity simulation experiments. The invention comprises a magnetic suspension plate, a magnetic suspension air foot and a lifting rope, wherein a ground microgravity simulation experiment object is a suspension target device. The magnetic suspension plate and the magnetic suspension air foot generate magnetic attraction force for enabling the magnetic suspension air foot to be adsorbed on the surface of the magnetic suspension plate. After the high-pressure gas enters the magnetic suspension gas foot, the high-pressure gas film generated by the bottom of the magnetic suspension gas foot and the surface of the magnetic suspension plate enables the magnetic suspension gas foot to realize suspension and friction elimination, so that the magnetic suspension gas foot can move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate. The suspension type magnetic suspension air foot is connected with the suspension target device through a flexible lifting rope, or the suspension type magnetic suspension air foot is directly connected with the suspension target device. The magnetic suspension air foot moves on the magnetic suspension plate in a follow-up manner along with the motion of the suspension target device. The invention is suitable for experimental objects with different sizes, and can particularly meet the requirements of large-size truss structures.
Description
Technical Field
The invention relates to a suspension type magnetic gas suspension device for a ground microgravity simulation experiment, and belongs to the field of ground microgravity simulation experiments.
Background
With the continuous development of the aerospace technology, various spacecrafts are updated more and more frequently, and the requirements on the functions of the spacecrafts are increased more and more. Therefore, experimental devices required by the ground microgravity simulation of various spacecrafts are more and more important. The application of the microgravity is widely simulated by adopting the air floatation method, however, most of the existing air floatation experimental platforms are horizontal platform support type air floatation devices, for example, a set of five-degree-of-freedom air floatation simulation experimental system developed by the university of south ampton in the uk, the whole system of the system consists of a plurality of air floatation platforms and a large smooth horizontal platform, and the air floatation platforms can be provided with propelling devices and can freely move along the smooth platform. The size range of the supporting type air floatation device is limited, and the supporting type air floatation device cannot meet the requirements of ground air floatation simulation experiments of a part of spacecrafts, such as truss type deployable antennas and the like, which have more rod member structures and larger sizes. Therefore, a suspension type ground microgravity simulation hanging device with high precision and high reliability is urgently needed in the field of aerospace.
Disclosure of Invention
The invention discloses a magnetic suspension hanging device, which aims to solve the technical problems that: the suspension type magnetic air suspension device for the ground microgravity simulation experiment is provided, the size of the magnetic suspension plate can be set according to requirements, and therefore the suspension type magnetic air suspension device is suitable for experimental objects with different sizes, and especially can meet the requirements of large-size truss structures. In addition, the number and the layout of the magnetic suspension air feet are adjustable, the hanging of various objects with regular shapes and irregular objects is met, various hanging modes can adapt to different use conditions, and the precision and the accuracy of a simulation test are effectively guaranteed.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a magnetic suspension hanging device which comprises a magnetic suspension plate, a magnetic suspension air foot and a lifting rope, wherein a ground microgravity simulation experiment object is a hanging target device. The magnetic suspension plate and the magnetic suspension air foot generate magnetic attraction force for enabling the magnetic suspension air foot to be adsorbed on the surface of the magnetic suspension plate. After the high-pressure gas enters the magnetic suspension gas foot, the high-pressure gas film generated by the bottom of the magnetic suspension gas foot and the surface of the magnetic suspension plate enables the magnetic suspension gas foot to realize suspension and friction elimination, so that the magnetic suspension gas foot can move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate. The suspension type magnetic suspension air foot is connected with the suspension target device through a flexible lifting rope, or the suspension type magnetic suspension air foot is directly connected with the suspension target device. The magnetic suspension air foot moves on the magnetic suspension plate in a follow-up manner along with the motion of the suspension target device.
Preferably, the magnetic suspension plate is made of a steel plate, and the surface of the steel plate is subjected to smoothing treatment. The steel plate can produce magnetic attraction with magnetic material, and the steel is used extensively, and the cost of manufacture is low, and the bulk rigidity of steel material is great moreover, can improve the load-carrying capacity of device.
Preferably, the magnetic suspension air foot is selected as a magnetic and air composite magnetic suspension air foot and comprises a hanging ring, a sleeve shaft, an air outlet, a magnetic block and an air inlet. The magnetic block is used for enabling the magnetic and gas combined type magnetic suspension gas foot to generate magnetic attraction. The air outlet and the magnetic block are tightly sleeved and fixed by a sleeve shaft after being assembled, and the sleeve shaft is provided with a hanging ring. The sleeve shaft, the air outlet, the magnetic block and the air inlet form a space for containing high-pressure air. The air outlet is composed of dense tiny air holes, high-pressure air enters a space for containing the high-pressure air through the air inlet, a high-pressure air film is generated between the bottom surface of the magnetic and air combined type magnetic suspension air foot and the contact surface of the magnetic suspension plate through the dense air holes on the air outlet, and friction between the bottom surface of the magnetic and air combined type magnetic suspension air foot and the contact surface of the magnetic suspension plate is eliminated through the high-pressure air film, so that friction-free suspension is realized.
In order to facilitate processing and assembly and improve the air tightness of the magnetic and air composite type magnetic suspension air foot, the sleeve shaft, the air outlet, the magnetic block and the air inlet are preferably tightly combined into a concentric cylinder.
Preferably, according to different use requirements, the requirements of different experiments on air flotation are met by adjusting the size, the shape and the number of the micro air holes at the air outlet. The air outlet and the magnetic block are in different sizes, shapes and mounting positions, and the different numbers and the position layout of the hanging rings can meet the requirements of mounting, moving and loading of different suspension target devices, meet various use occasions and increase the application range.
The suspended target device comprises a space antenna, a microsatellite and a space vehicle.
Magnetic suspension gas is sufficient along the multi-direction suspension of magnetic suspension plate surface frictionless removal, therefore the size of magnetic suspension plate is unrestricted, and as preferred, the size of magnetic suspension plate is formulated according to the demand, the size is including length, width, height, through adjusting the magnetic suspension plate size, makes magnetic suspension cable suspension device not only be applicable to the small-size and suspend target device in midair, be particularly useful for the ground microgravity simulation experiment that large size truss class suspended target device in midair, improve load capacity, realize that large size truss class suspended target device in midair does not have the multidirectional suspension of friction and removes for the magnetic suspension plate.
As preferred, according to the ground microgravity simulation experiment demand, the quantity and the overall arrangement of magnetic suspension gas foot are adjustable, satisfy the hanging of all kinds of shape rules and irregular object, and multiple mode of hanging also can adapt to different in service behavior moreover to effectively guarantee analogue test's precision and accuracy.
The multiple hanging modes comprise that one end of a lifting rope is fixed with a magnetic suspension air foot, and the other end of the lifting rope is connected with a suspended target device; or the lifting rope passes through the pulley, and one end is connected with the target device that suspends in midair, and the other end links to each other with the balancing weight. Moreover, the material and the size of the lifting rope can be adjusted according to the experiment requirement.
The invention discloses a working method of a magnetic suspension hanging device, which comprises the following steps: according to the ground microgravity simulation experiment requirements, the magnetic suspension plate is placed in the air in a supporting or suspension mode, magnetic blocks in the magnetic suspension air foot can generate magnetic attraction with the magnetic suspension plate, and the magnetic suspension plate is suspended on the magnetic suspension plate in an adsorbing mode through the magnetic attraction; the suspension type magnetic suspension air foot is connected with the suspension target device through a lifting rope of a flexible cable, or the suspension type magnetic suspension air foot is directly connected with the suspension target device. The number of the magnetic suspension air feet and the hanging layout are determined according to the requirements of the ground microgravity simulation experiment. After high-pressure gas enters the magnetic suspension gas foot, the high-pressure gas film generated by the bottom of the magnetic suspension gas foot and the surface of the magnetic suspension plate enables the magnetic suspension gas foot and a suspended object to realize suspension and friction elimination, so that the magnetic suspension gas foot can move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate. The suspension target device moves along with the magnetic suspension air foot and the magnetic suspension plate in a follow-up manner.
Has the advantages that:
1. the invention discloses a magnetic suspension hanging device which innovatively applies a magnetic suspension principle to the field of ground microgravity simulation experiments. After the high-pressure gas enters the magnetic suspension gas foot, the high-pressure gas film generated by the bottom of the magnetic suspension gas foot and the surface of the magnetic suspension plate enables the magnetic suspension gas foot to realize suspension and friction elimination, so that the magnetic suspension gas foot can move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate. The suspension type magnetic suspension air foot is connected with the suspension target device through a flexible lifting rope, or the suspension type magnetic suspension air foot is directly connected with the suspension target device. The magnetic suspension air foot moves on the magnetic suspension plate in a follow-up manner along with the motion of the suspension target device, so that the requirements of ground microgravity simulation experiments are met.
2. The magnetic suspension hanging device disclosed by the invention is based on a magnetic-air composite mode, a magnetic suspension air foot does not have friction and can move in a multi-direction suspension mode along the surface of a magnetic suspension plate, in addition, the size of the magnetic suspension plate is not limited, the size of the magnetic suspension plate can be set according to requirements, and the magnetic suspension device is not only suitable for small-size suspension target devices, but also particularly suitable for ground microgravity simulation experiments of large-size truss type suspension target devices, and realizes the friction-free multi-direction suspension movement of the large-size truss type suspension target devices relative to the magnetic.
3. The magnetic suspension hanging device disclosed by the invention meets the use requirements under different conditions by adopting different quantities of magnetic suspension air with different specifications and the layout of the hanging positions, so that the magnetic suspension hanging device is suitable for hanging target devices with different shapes and different specifications.
4. According to the magnetic suspension hanging device disclosed by the invention, when the magnetic suspension plate is made of steel plates, the rigidity of the magnetic suspension hanging device can be increased, in addition, the load capacity of the magnetic suspension hanging device is improved by adjusting the three sizes of the length, the width and the height of the magnetic suspension plate and the size and the number of magnetic suspension feet, the operation is simple and easy, the use is flexible, the safety and the reliability are realized, and the precision and the accuracy of a test can be effectively ensured.
Drawings
FIG. 1-schematic representation 1 of an embodiment of the invention
1-magnetic suspension plate, 2-magnetic suspension air foot and 3-lifting rope.
FIG. 2-schematic of an embodiment of the invention 2
FIG. 3 is a schematic diagram of a magnetic-gas composite magnetic suspension gas foot 1
2.1-hoisting ring, 2.2-sleeve shaft and 2.5-air inlet.
FIG. 4 is a schematic diagram of a magnetic-gas composite magnetic suspension gas foot 2
2.2 sleeve shaft, 2.3 air outlet and 2.4 magnetic block.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
as shown in fig. 1, 2, 3 and 4, the magnetic levitation suspension apparatus disclosed in this embodiment includes a magnetic levitation plate 1, a magnetic levitation air foot 2 and a lifting rope 3, and the ground microgravity simulation experiment object is a suspension target apparatus. The magnetic suspension plate 1 and the magnetic suspension air foot 2 generate magnetic attraction force for enabling the magnetic suspension air foot 2 to be adsorbed on the surface of the magnetic suspension plate 1. When the magnetic suspension plate is in a working state, high-pressure gas enters the magnetic suspension gas feet 2, and the magnetic suspension gas feet 2 are suspended to eliminate friction by a high-pressure gas film generated between the bottoms of the magnetic suspension gas feet 2 and the surface of the magnetic suspension plate 1, so that the magnetic suspension gas feet 2 move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate 1. The suspension type magnetic suspension air foot 2 is connected with a suspension target device through a lifting rope of a flexible cable, or the suspension type magnetic suspension air foot 2 is directly connected with the suspension target device. The magnetic suspension air foot 2 moves on the magnetic suspension plate 1 in a follow-up manner along with the motion of the suspension target device.
Preferably, the magnetic suspension plate 1 is made of a steel plate, and the surface of the steel plate is subjected to smoothing treatment. The steel plate can produce magnetic attraction with magnetic material, the application of steel is extensive, and the cost of manufacture is low, and the bulk rigidity of steel material is great moreover, has improved the load capacity of device.
Preferably, the magnetic suspension air foot 2 is a magnetic and air composite magnetic suspension air foot, and comprises a hanging ring 2.1, a sleeve shaft 2.2, an air outlet 2.3, a magnetic block 2.4 and an air inlet 2.5. The magnetic block 2.4 is used for enabling the magnetic and gas combined type magnetic suspension gas foot to generate magnetic attraction. The air outlet 2.3 and the magnetic block 2.4 are tightly sleeved and fixed by a sleeve shaft 2.2 after being assembled, and the sleeve shaft 2.2 is provided with a hanging ring 2.1. The sleeve shaft 2.2, the air outlet 2.3, the magnetic block 2.4 and the air inlet 2.5 form a space for containing high-pressure air. The air outlet 2.3 is composed of dense tiny air holes, high-pressure air enters a space for containing the high-pressure air through the air inlet 2.5, then a high-pressure air film is generated between the bottom surface of the magnetic and air combined type magnetic suspension air foot 2 and the contact surface of the magnetic suspension plate 1 through the dense air holes on the air outlet 2.3, and friction between the bottom surface of the magnetic and air combined type magnetic suspension air foot 2 and the contact surface of the magnetic suspension plate 1 is eliminated through the high-pressure air film, so that friction-free suspension is realized.
In order to facilitate processing and assembly and improve the air tightness of the magnetic and gas combined type magnetic suspension gas foot 2, the sleeve shaft 2.2, the gas outlet 2.3, the magnetic block 2.4 and the gas inlet 2.5 tightly form a concentric cylinder.
According to different use requirements, the air floatation requirements of different experiments are met by adjusting the size, the shape and the number of the micro air holes at the air outlet 2.3. The air outlet 2.3 and the magnetic block 2.4 are in different sizes, shapes and installation positions, and the different quantity and position layouts of the hanging rings 2.1 can also meet the requirements of installation, movement and load of different suspension target devices, thereby meeting various use occasions and enlarging the application range.
The suspension target device comprises a space antenna, a microsatellite and a space manipulator.
Magnetic suspension gas is sufficient 2 and is removed along the multi-direction suspension of 1 surperficial frictionless of magnetic suspension board, and consequently the magnetic suspension board size is unrestricted, and the size of magnetic suspension board 1 is formulated according to the demand, the size is including length, width, height, through adjusting the size of magnetic suspension board 1, makes magnetic suspension cable suspension device not only be applicable to the small-size and suspend the target device in midair, be particularly useful for the ground microgravity simulation experiment that the target device was suspended in midair to the large-size truss class, improves load capacity, realizes that the large-size truss class suspends the target device in midair and removes for the multi-direction suspension of magnetic suspension.
According to the ground microgravity simulation experiment requirement, the number and the layout of the magnetic suspension air feet 2 are adjustable, the hanging of various shape rules and irregular objects is met, various hanging modes can adapt to different use conditions, and the precision and the accuracy of a simulation test are effectively guaranteed.
The multiple hanging modes comprise that one end of a hanging rope 3 is fixed with a magnetic suspension air foot 2, and the other end is connected with a hanging target device; or the lifting rope 3 is connected with the suspension target device at one end through a pulley and connected with the balancing weight at the other end. Moreover, the material and the size of the lifting rope 3 can be adjusted according to the experiment requirement.
The working method of the magnetic suspension hanging device disclosed by the embodiment comprises the following steps: according to the ground microgravity simulation experiment requirements, the magnetic suspension plate 1 is placed in the air in a supporting or suspension mode, magnetic blocks in the magnetic suspension air foot 2 and the magnetic suspension plate 1 can generate magnetic attraction force, and the magnetic suspension plate 1 is adsorbed and suspended on the magnetic suspension plate 1 through the magnetic attraction force; the suspension type magnetic suspension air foot 2 is connected with a suspension target device through a lifting rope of a flexible cable, or the suspension type magnetic suspension air foot 2 is directly connected with the suspension target device. The number and the hanging layout of the magnetic suspension air feet 2 are determined according to the requirements of the ground microgravity simulation experiment. After high-pressure gas enters the magnetic suspension gas foot 2, a high-pressure gas film generated at the bottom of the magnetic suspension gas foot 2 and the surface of the magnetic suspension plate 1 enables the gas foot and a suspended object to be suspended and eliminate friction, so that the magnetic suspension gas foot 2 can move in a frictionless multi-direction suspension manner along the surface of the magnetic suspension plate 1. The suspension target device moves along with the magnetic suspension air foot 2 and the magnetic suspension plate 1 in a follow-up manner. For example, the magnetic levitation hanging device can be applied to ground microgravity simulation experiments of space manipulators.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a magnetic suspension cable suspension device which characterized in that: the device comprises a magnetic suspension plate (1), a magnetic suspension air foot (2) and a lifting rope (3), wherein a ground microgravity simulation experiment object is a suspension target device; the magnetic suspension plate (1) and the magnetic suspension air foot (2) generate magnetic attraction force for enabling the magnetic suspension air foot (2) to be adsorbed on the surface of the magnetic suspension plate (1); after high-pressure gas enters the magnetic suspension gas foot (2), the magnetic suspension gas foot (2) is suspended and frictionless by a high-pressure gas film generated between the bottom of the magnetic suspension gas foot (2) and the surface of the magnetic suspension plate (1), so that the magnetic suspension gas foot (2) does frictionless multidirectional suspension movement along the surface of the magnetic suspension plate (1); the suspension type magnetic suspension air foot (2) is connected with a suspension target device through a flexible lifting rope (3), or the suspension type magnetic suspension air foot (2) is directly connected with the suspension target device; the magnetic suspension air foot (2) moves on the magnetic suspension plate (1) in a follow-up manner along with the motion of the suspension target device.
2. The magnetic levitation hanger as recited in claim 1, wherein: the magnetic suspension plate (1) is a steel plate, and the surface of the steel plate is subjected to smoothing treatment; the steel plate is used for generating magnetic attraction with the magnetic material, and the integral rigidity of the steel material is high, so that the load capacity of the device can be improved.
3. A magnetic levitation hanger as claimed in claim 1 or 2, wherein: the magnetic suspension air foot (2) is selected as a magnetic and air combined type magnetic suspension air foot and comprises a hanging ring 2.1, a sleeve shaft 2.2, an air outlet 2.3, a magnetic block 2.4 and an air inlet 2.5; the magnetic block 2.4 is used for enabling the magnetic and gas composite type magnetic suspension gas foot to generate magnetic attraction force; the air outlet 2.3 and the magnetic block 2.4 are tightly sleeved and fixed by a sleeve shaft 2.2 after being assembled, and the sleeve shaft 2.2 is provided with a hanging ring 2.1; the sleeve shaft 2.2, the air outlet 2.3, the magnetic block 2.4 and the air inlet 2.5 form a space for containing high-pressure air; the air outlet 2.3 is composed of dense tiny air holes, high-pressure air enters a space for containing the high-pressure air through the air inlet 2.5, then a high-pressure air film is generated between the bottom surface of the magnetic and air combined type magnetic suspension air foot (2) and the contact surface of the magnetic suspension plate (1) through the dense air holes on the air outlet 2.3, friction between the bottom surface of the magnetic and air combined type magnetic suspension air foot (2) and the contact surface of the magnetic suspension plate (1) is eliminated through the high-pressure air film, and friction-free suspension is achieved.
4. The magnetic levitation hanger of claim 3, wherein: in order to facilitate processing and assembly and improve the air tightness of the magnetic and gas combined type magnetic suspension gas foot (2), the sleeve shaft 2.2, the gas outlet 2.3, the magnetic block 2.4 and the gas inlet 2.5 tightly form a concentric cylinder.
5. The magnetic levitation hanger of claim 4, wherein: according to different use requirements, the air floatation requirements of different experiments are met by adjusting the size, the shape and the number of the tiny air holes at the air outlet 2.3; the air outlet 2.3 and the magnetic block 2.4 are in different sizes, shapes and installation positions, and the different quantity and position layouts of the hanging rings 2.1 can also meet the requirements of installation, movement and load of different suspension target devices, thereby meeting various use occasions and enlarging the application range.
6. The magnetic levitation hanger of claim 5, wherein: magnetic suspension gas foot (2) do not have the multidirectional suspension of friction and remove along magnetic suspension board (1) surface, therefore the size of magnetic suspension board (1) is unrestricted, and the size of magnetic suspension board (1) is formulated according to the demand, the size is including length, width, height, through the size of adjusting magnetic suspension board (1), makes magnetic suspension cable suspension device not only be applicable to the small-size and suspend the target device in midair, be particularly useful for the ground microgravity simulation experiment that large size truss class suspended the target device in midair, improves load capacity, realizes that large size truss class suspended the target device in midair and does not have the multidirectional suspension of friction and remove for magnetic suspension board (1).
7. The magnetic levitation hanger of claim 6, wherein: according to the ground microgravity simulation experiment requirement, the number and the layout of the magnetic suspension air feet (2) are adjustable, the requirements of hanging of various shape rules and irregular objects are met, various hanging modes can also adapt to different use conditions, and the precision and the accuracy of a simulation test are effectively guaranteed.
8. The magnetic levitation hanger of claim 7, wherein: the multiple hanging modes comprise that one end of a hanging rope (3) is fixed with a magnetic suspension air foot (2), and the other end of the hanging rope is connected with a hanging target device; or one end of the lifting rope (3) is connected with the suspension target device through a pulley, and the other end of the lifting rope is connected with the balancing weight; moreover, the material and the size of the lifting rope (3) can be adjusted according to the experiment requirement.
9. The magnetic levitation hanger of claim 8, wherein: the working method is that according to the ground microgravity simulation experiment requirement, the magnetic suspension plate (1) is placed in the air in a supporting or suspension mode, and the like, the magnetic blocks in the magnetic suspension air foot (2) can generate magnetic attraction with the magnetic suspension plate (1) and are adsorbed and suspended on the magnetic suspension plate (1) through the magnetic attraction; the suspension type magnetic suspension air foot (2) is connected with a suspension target device through a lifting rope of a flexible cable, or the suspension type magnetic suspension air foot (2) is directly connected with the suspension target device; the number and the hanging layout of the magnetic suspension air feet (2) are determined according to the requirements of the ground microgravity simulation experiment; after high-pressure gas enters the magnetic suspension gas foot (2), a high-pressure gas film generated by the bottom of the magnetic suspension gas foot (2) and the surface of the magnetic suspension plate (1) enables the magnetic suspension gas foot (2) and a suspended object to realize suspension and friction elimination, so that the magnetic suspension gas foot (2) can move in a friction-free multi-direction suspension manner along the surface of the magnetic suspension plate (1); the suspension target device moves along with the magnetic suspension air foot (2) and the magnetic suspension plate (1) in a follow-up manner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911153355.3A CN110697092A (en) | 2019-11-22 | 2019-11-22 | Magnetic suspension hanging device |
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| CN201911153355.3A CN110697092A (en) | 2019-11-22 | 2019-11-22 | Magnetic suspension hanging device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112032199A (en) * | 2020-08-28 | 2020-12-04 | 天津大学 | Microgravity is for simulation gas-magnetism mixed structure's hanging device |
| CN116767519A (en) * | 2023-06-18 | 2023-09-19 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
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| RU2410299C1 (en) * | 2010-01-19 | 2011-01-27 | Игорь Аркадьевич Кудрявцев | Method of simulating low gravity |
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| CN116767519A (en) * | 2023-06-18 | 2023-09-19 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
| CN116767519B (en) * | 2023-06-18 | 2024-02-09 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
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Application publication date: 20200117 |