CN201464201U - Three-dimensional microgravity intelligent air foot - Google Patents
Three-dimensional microgravity intelligent air foot Download PDFInfo
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- CN201464201U CN201464201U CN2009201001468U CN200920100146U CN201464201U CN 201464201 U CN201464201 U CN 201464201U CN 2009201001468 U CN2009201001468 U CN 2009201001468U CN 200920100146 U CN200920100146 U CN 200920100146U CN 201464201 U CN201464201 U CN 201464201U
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- microgravity
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Abstract
The utility model relates to a three-dimensional microgravity intelligent air foot, belonging to a microgravity simulation test device of a space mechanism. Three air feet are arranged on a lower side surface of a support plate; a shell and three guide rods are assembled on the upper side surface of the support plate; a servo motor and a thrust bearing are respectively assembled at the bottom part and the upper part of the shell; a coupler and a speed reducer are arranged between the thrust bearing and the servo motor; the lower end of a screw stem inserted and matched in an inner hole of the thrust bearing is connected with the coupler; transmission nuts are arranged on a connecting plate by matching three sleeves; a linear bearing is assembled on the lower ends of the sleeves; three flexible spring mechanisms are connected with a working plate; and a sensor and a test-piece bracket port are arranged on the working plate. The intelligent air foot can effectively solve the technical problem of microgravity simulation in the complex three-dimensional motion process of the space mechanism, has the characteristics of simple structure, high simulation precision, flexible testing mode, simple technique, small occupied area and convenient debugging, and is especially suitable for the complex three-dimensional motion microgravity simulation test.
Description
Technical field
The invention belongs to a kind of device that is applied to the space microgravity simulation test, relates generally to a kind of microgravity analogue means of the three-dimensional motion microgravity simulation test at space mechanism's complexity.
Background technology
Existing microgravity analogy method mainly contains suspension method, gas suspension props up staying.The staying floor area is little, nothing rubs, motion is steady though gas suspension props up, microgravity simulation precision height, and the microgravity in the time of can only realizing one dimension, two dimensional surface motion is simulated.Though the simulation of one dimension, two and three dimensions position and attitude that suspension method can implementation space mechanism, the truss mechanism complexity of support cable, it is big to take up an area of the space, and the rope follower generally adopts mechanical bearing to support, and friction of motion is big, influences test accuracy.
Summary of the invention
The purpose of the invention is exactly the problem that exists at above-mentioned prior art, design a kind of intelligent three dimensional microgravity air feet that when load is moved, can offset load gravity in three dimensions in real time, with simulation load in the cosmic space the stressed and motion state when weightless, the simulation of implementation space mechanism three-dimensional motion microgravity.Owing to be the microgravity state when wanting the three-dimensional motion of virtual space mechanism, the three-dimensional motion of any complexity can be decomposed into horizontal translation and two kinds of motion states of vertical lifting, so space mechanism's three-dimensional motion microgravity analogue means need be when doing the resultant motion of horizontal translation and two kinds of motions of vertical lifting when space mechanism, can both be in allowed limits with the counteract gravity forces of mechanism.
The purpose of the invention realizes by following technical scheme: three gas foot adjacent spaces become hexagonal angle to be distributed on the back up pad downside; Shell and three guide poles are fitted on the back up pad upper side, and three guide poles are positioned at the shell outside portion, and three guide pole adjacent spaces angles are 120 °; Equipped respectively servomotor in bottom and top and thrust bearing at shell, shaft coupling and speed reduction unit are set between thrust bearing and servomotor, the power input shaft of speed reduction unit is connected with shaft coupling with the servomotor power output shaft respectively with output shaft, the screw rod following side is contained in the thrust bearing endoporus, and the screw rod lower end is connected with shaft coupling; Transmission nut is installed on web joint is become 120 ° of equally distributed sleeves of angle with three, linear bearing is fitted on the inside, sleeve lower end, transmission nut is connected cooperation with screw flight, three guide poles by with the sleeve of packing into cooperating of linear bearing in, three flexure spring mechanisms are fitted in respectively on three sleeve upper ends, flexure spring mechanism is connected with working plate, establishes dress sensor and test specimen carriage interface on working plate.
The principle of work of the invention is different with existing three-dimensional motion microgravity analogue means, and the method for conventional three-dimensional motion microgravity test simulation is to adopt suspension method, flexible jitter phenomenon can occur, and simulation precision is low, complex structure, and floor area is big; And the invention is to adopt gas suspension to support the full existing friction two-dimensional translation that do not have of gas, vertical direction forms servo-drive system by control, realization microgravity simulation has autolog line simultaneously and walks functions such as track, the variation of monitoring microgravity and be installed in gas foot under the back up pad.The sleeve lower end is equipped with linear bearing, and linear bearing can reduce the friction between guide rod and the sleeve; Sleeve and guide rod play the effect of guiding, avoid transmission nut to be rotated with screw rod, thereby only carry out vertical lifting; Upper cartridge is installed flexure spring mechanism, can effectively improve the microgravity test simulation precision by above design.
The invention combines traditional two-dimentional microgravity analogue technique with servo servo-actuated jacking system, and on one-piece construction, carried out designing and improving, make device can effectively solve the difficult point of the three-dimensional motion microgravity simulation of space mechanism's complexity, and precision improves greatly, test method is flexible, technology is simple, and floor area is little, and the invention is applicable to high accuracy three-dimensional motion microgravity simulation test.
Description of drawings
Fig. 1 is the structural representation of the invention.
Fig. 2 is that A-A among Fig. 1 is to cut-open view.
Piece number among the figure:
1 sensor, 2 flexure spring mechanisms, 3 sleeves, 4 screw rods
5 web joints, 6 guide poles, 7 linear bearings, 8 transmission nuts
9 thrust bearings, 10 shaft couplings, 11 speed reduction units, 12 servomotors
13 shells, 14 back up pads, 15 gas foot, 16 working plates
17 test specimen carriage interfaces
Embodiment
Below in conjunction with accompanying drawing the invention example is described in detail.
Intelligent three dimensional microgravity air feet comprises that 15, three gas foots of gas foot, 15 adjacent spaces become that hexagonal angle is uniform to be installed on back up pad 14 downsides; Shell 13 and three guide poles 6 are fitted on back up pad 14 upper sides, and three guide poles 6 are positioned at shell 13 outside portions, and three guide pole 6 adjacent spaces angles are 120 °; Equipped respectively servomotor 12 in bottom and top and thrust bearing 9 at shell 13, shaft coupling 10 and speed reduction unit 11 are set between thrust bearing 9 and servomotor 12, the power input shaft of speed reduction unit 11 is connected with shaft coupling 10 with servomotor 12 power output shaft respectively with output shaft, screw rod 4 following sides are contained in thrust bearing 9 endoporus, and screw rod 4 lower ends are connected with shaft coupling 10; Transmission nut 8 is installed on web joint 5 is become 120 ° of equally distributed sleeves 3 of angle with three, linear bearing 7 is fitted on the inside, sleeve 3 lower end, transmission nut 8 is threaded with screw rod 4 and cooperates, three guide poles 6 by with the sleeve 3 of packing into cooperating of linear bearing 7 in, three flexure spring mechanisms 2 are fitted in respectively on three sleeve 3 upper ends, flexure spring mechanism 2 is connected with working plate 16, establishes sensor 1 and test specimen carriage interface 17 are housed on working plate 16.
When the microgravity that adopts this device to carry out the three-dimensional motion of space mechanism is simulated, because the three-dimensional motion of any complexity can be decomposed into horizontal translation and two kinds of motion states of vertical lifting, 3 the 120 equally distributed intelligent gas foots 15 of degree are equipped with in back up pad 14 lower ends, can greatly reduce the friction of device and table top by gas suspension, finish the translation of horizontal direction, in the gas foot intelligent element is installed, can the real time record run trace, intelligent functions such as monitoring microgravity simulation precision; In the vertical direction, driving speed reduction unit 11 by servomotor 12 rotatablely moves, speed reduction unit 11 drives screw rod 4 by shaft coupling 10 and rotatablely moves, screw rod 4 drives transmission nut 8 and realizes the vertical direction motion, guide pole 6 plays the effect of guiding, transmission nut can not rotated along with the rotation of screw rod, only carry out the lifting of vertical direction; Flexure spring mechanism 2 is equipped with in sleeve 3 upper ends, and microgravity simulation test precision can improve in flexure spring mechanism 2, and test specimen carriage interface 17 can be installed corresponding test specimen carriage according to difform space mechanism.
Claims (1)
1. intelligent three dimensional microgravity air feet comprises gas foot (15), it is characterized in that three gas foot (15) adjacent spaces become that hexagonal angle is uniform to be installed on back up pad (14) downside; Shell (13) and three guide poles (6) are fitted on back up pad (14) upper side, and three guide poles (6) are positioned at shell (13) outside portion, and three guide poles (6) adjacent spaces angle is 120 °; Equipped respectively servomotor (12) in bottom and top and thrust bearing (9) at shell (13), shaft coupling (10) and speed reduction unit (11) are set between thrust bearing (9) and servomotor (12), the power input shaft of speed reduction unit (11) is connected with shaft coupling (10) with servomotor (12) power output shaft respectively with output shaft, screw rod (4) following side is contained in thrust bearing (9) endoporus, and screw rod (4) lower end is connected with shaft coupling (10); Go up installation transmission nut (8) at web joint (5) and become 120 ° of equally distributed sleeves of angle (3) with three, linear bearing (7) is fitted on sleeve (3) inside, lower end, transmission nut (8) is threaded with screw rod (4) and cooperates, three guide poles (6) by with the cooperating in the sleeve of packing into (3) of linear bearing (7), three flexure spring mechanisms (2) are fitted in respectively on three sleeves (3) upper end, flexure spring mechanism (2) is connected with working plate (16), establishes dress sensor (1) and test specimen carriage interface (17) on working plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201001468U CN201464201U (en) | 2009-06-15 | 2009-06-15 | Three-dimensional microgravity intelligent air foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201001468U CN201464201U (en) | 2009-06-15 | 2009-06-15 | Three-dimensional microgravity intelligent air foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201464201U true CN201464201U (en) | 2010-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009201001468U Expired - Fee Related CN201464201U (en) | 2009-06-15 | 2009-06-15 | Three-dimensional microgravity intelligent air foot |
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| CN (1) | CN201464201U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101575013B (en) * | 2009-06-15 | 2012-01-18 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| CN103838259A (en) * | 2014-03-25 | 2014-06-04 | 哈尔滨工业大学 | Servo-type heavy-load ultraprecise air bag supporting electric leveling system and leveling method thereof |
| CN104875907A (en) * | 2015-06-12 | 2015-09-02 | 哈尔滨工业大学 | Six-DOF (degrees of freedom) air floatation vehicle for conveying and mounting heavy equipment in narrow space |
| CN105197328A (en) * | 2015-11-13 | 2015-12-30 | 楼天涯 | Labeling device |
| CN105217112A (en) * | 2015-11-13 | 2016-01-06 | 范爱苏 | A kind of socks device for labeling with vibration-damping function |
| CN105292642A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Novel sock labeling device |
| CN105292643A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Efficient sock labeling device |
| CN105292644A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Labeling device suitable for socks of different thicknesses |
| CN105292641A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Novel sock labeling device |
| CN105314190A (en) * | 2015-11-13 | 2016-02-10 | 楼天涯 | Automatic labeling equipment |
| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
-
2009
- 2009-06-15 CN CN2009201001468U patent/CN201464201U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101575013B (en) * | 2009-06-15 | 2012-01-18 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| CN103838259A (en) * | 2014-03-25 | 2014-06-04 | 哈尔滨工业大学 | Servo-type heavy-load ultraprecise air bag supporting electric leveling system and leveling method thereof |
| CN103838259B (en) * | 2014-03-25 | 2016-05-11 | 哈尔滨工业大学 | Servo-type heavy load ultraprecise air bag supports electric leveling system and control method thereof |
| CN104875907A (en) * | 2015-06-12 | 2015-09-02 | 哈尔滨工业大学 | Six-DOF (degrees of freedom) air floatation vehicle for conveying and mounting heavy equipment in narrow space |
| CN105292643A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Efficient sock labeling device |
| CN105292642A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Novel sock labeling device |
| CN105217112A (en) * | 2015-11-13 | 2016-01-06 | 范爱苏 | A kind of socks device for labeling with vibration-damping function |
| CN105292644A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Labeling device suitable for socks of different thicknesses |
| CN105292641A (en) * | 2015-11-13 | 2016-02-03 | 楼天涯 | Novel sock labeling device |
| CN105314190A (en) * | 2015-11-13 | 2016-02-10 | 楼天涯 | Automatic labeling equipment |
| CN105197328A (en) * | 2015-11-13 | 2015-12-30 | 楼天涯 | Labeling device |
| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
| CN108082540B (en) * | 2017-12-14 | 2020-08-07 | 哈尔滨工业大学 | Three-dimensional zero gravity simulation device combining knife type cam constant force spring and air floatation thrust bearing |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20100615 |