Two-dimensional active following weight reduction suspension device

Abstract

The invention discloses a two-dimensional active-following weight-reduction hanging device. The device comprises a two-dimensional active following system and a constant-tension control system, wherein the constant-tension control system comprises a mounting support, a tension induction assembly and a rope winding assembly; the tension induction assembly comprises two tension sensors which are used for measuring the tension of a suspension rope coming out of the rope winding assembly and arranged on a tension sensor support; guiding wheels are arranged on a guiding wheel support; the guiding wheel support is arranged on the sensor support; and the two-dimensional active following system comprises a guiding rail sliding block, a linear module, a guide rail cross beam, a rotary shaft, a rotary beam, a first control motor, a second control motor, a transverse angle induction assembly and a longitudinal angle induction assembly. The two-dimensional active-following weight-reduction hanging device can implement the high-accuracy movement following of a followed member and the ground in horizontal and vertical directions, and provide continuous and constant suspending force in the vertical direction.

Description

technical field [0001] The invention relates to the technical field of weight reduction and suspension, in particular to a two-dimensional active following weight reduction and suspension device. Background technique [0002] If the movement performance test of the mechanism is carried out on the ground to simulate the lunar environment, since the gravity of the ground is 6 times that of the lunar surface, the simulation device must provide a 1 / 6g gravity environment simulation of the lunar surface. [0003] Let’s take the extension of the robotic arm of the lunar rover as an example. The mechanical arm can rotate around the base in a plane parallel to the ground, and the extension arm and wrist pitch joint of the robotic arm can rotate around the shoulder pitch joint in a plane perpendicular to the ground. Movement, the relative position between the extension arm and the wrist pitch joint does not change during the rotation process of the mechanical arm, which can be regard...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the frictional force between the suspension rope and the pulley of the existing device, the influence of the inertial force of the weight reduction weight, and avoid the disadvantages of unstable suspension force of the weight reduction, high cost of the air flotation device, complicated air source supply and difficult maintenance, etc., this The invention provides a weight-reducing hanging device that realizes constant tension control and two-dimensional active following, realizes high-precision motion following between the follower and the ground in horizontal and vertical directions, and provides continuous and constant hanging force in the vertical direction

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