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Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms

A microgravity simulation and realization system technology, which is applied to the simulation device of space navigation conditions, transportation and packaging, space navigation equipment, etc., can solve the problems such as difficult to realize longitudinal gravity compensation, achieve the elimination of mechanical friction interference force and high compensation accuracy , Compensate for the effect of large gravity

Active Publication Date: 2015-01-21
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing gravity compensation mechanism is difficult to achieve longitudinal gravity compensation when the space mechanism is heavy, the present invention further proposes a six-degree-of-freedom microgravity simulation realization system longitudinal gravity compensation device for the space mechanism

Method used

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  • Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms
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  • Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms

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specific Embodiment approach 1

[0008] Specific implementation mode one: combine figure 1 To illustrate this embodiment, the longitudinal gravity compensation device of the six-degree-of-freedom microgravity simulation realization system of the space mechanism in this embodiment includes a ball bearing 1, an upper platform 2, a central column 3, a lower platform 4, an intermediate platform 5, and four air feet 6 and four compensation systems, the upper platform 2, the middle platform 5, and the lower platform 4 are arranged sequentially from top to bottom, the central column 3 is vertically arranged between the lower surface of the upper platform 2 and the upper surface of the middle platform 5, and the central column 3 The upper end of the upper platform is connected with the lower surface of the upper platform 2 through the ball bearing 1, the lower end of the central column 3 is connected with the upper surface of the middle platform 5, and the four compensation systems are arranged in a square on the uppe...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination figure 1 and figure 2 Describe this embodiment, each of the compensation systems in the longitudinal gravity compensation device of the space mechanism six-degree-of-freedom microgravity simulation realization system in this embodiment includes a cable receiving mechanism, an outer support column 7, an inner support column 8, and a counterweight 9 , Hall displacement sensor 10, pressure sensor 11, connecting rod 12, spring 13, linear motor 14, outer column radial bearing 15, inner column radial bearing 16, stepped shaft 18 and second steel wire rope 19, counterweight 9 passes The radial bearing 15 of the outer column is set on the lower part of the outer support column 7, the upper surface of the counterweight 9 is connected with the outer wall of the outer support column 7 through the Hall displacement sensor 10, and the linear motor 14 is installed on the upper surface of the lower platform 4 , the lower end of the inner...

specific Embodiment approach 3

[0011] Specific implementation mode three: combination Figure 1 to Figure 3 To illustrate this embodiment, each of the cable-receiving mechanisms of the six-degree-of-freedom microgravity simulation realization system of the spatial mechanism in this embodiment includes a first steel wire rope 17, a servo motor 20, a reducer 21, and a cable-receiving reel. 22. The rotating shaft of the servo motor 20 is connected to the cable reel 22 through the reducer 21, one end of the first steel wire rope 17 is connected to the cable reel 22, and the other end of the first steel cable 17 is connected to the stepped shaft 18. Other components and connections are the same as those in the second embodiment.

[0012] working principle

[0013] The passive proportional counterweight mechanism is mainly composed of counterweight, stepped shaft, supporting column, cable receiving servo mechanism and several bearings. The stepped shaft has four steps, of which two shafts are rotary bearings, an...

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Abstract

The invention discloses a longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms, and relates to a gravity compensation device. By the aid of the longitudinal gravity compensation device, the problem of difficulty in implementing longitudinal gravity compensation by an existing gravity compensation mechanism in a scheme when spatial mechanisms are heavy can be solved. The longitudinal gravity compensation device is characterized in that an upper-layer platform, a middle platform and a lower-layer platform of the longitudinal gravity compensation device are sequentially arranged from top to bottom, a central upright column is vertically arranged between the lower surface of the upper-layer platform and the upper surface of the middle platform, the upper end of the central upright column is connected with the lower surface of the upper-layer platform by a ball bearing, the lower end of the central upright column is connected with the upper surface of the middle platform, four compensation systems are arranged on the upper surface of the lower-layer platform to form a square, the middle platform is connected with the lower-layer platform by the four compensation systems, and pneumatic feet are uniformly distributed on the lower surface of the lower-layer platform. The longitudinal gravity compensation device is used in the field of spaceflight.

Description

technical field [0001] The invention relates to a gravity compensation device, in particular to a longitudinal gravity compensation device for a six-degree-of-freedom microgravity simulation realization system of a space mechanism. Background technique [0002] The six-degree-of-freedom microgravity simulation experiment of space agencies is an experiment that provides space agencies such as satellites with a space microgravity environment and simulates their space dynamics environment under the condition of the earth's gravitational acceleration. The main purpose of the experiment is to complete the verification and testing of its new payload and control capabilities on the ground. According to the purpose of realization, the experimental system should eliminate the influence of the earth's gravitational acceleration in real time when the space mechanism is moving, and at the same time not introduce other external forces, so as to simulate the space microgravity environment...

Claims

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Application Information

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IPC IPC(8): B64G7/00
Inventor 袁秋帆齐冀刘延芳齐乃明
Owner HARBIN INST OF TECH
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