Integrated constant tension sling control device with measuring and buffering functions

Abstract

The invention discloses an integrated constant-tension sling control device with the measurement and buffering functions. A motor is installed on one side of a base, provides torque output and transmits the torque to a ball spline shaft through a coupling, the ball spline shaft transmits the torque to a ball spline housing and then a coil spring, one end of the coil spring is connected with the ball spline housing, the other end of the coil spring is connected with a coiling block, the coiling block and the ball spline housing form a revolute pair through a bearing, the revolute pair is matched with a sling, rotation is converted into linear movement of the sling, and through cooperation of a ball sliding groove and a channel of the coiling block, the position of a sling outlet point of the sling relative to the base is not changed in the rotating process of the coiling block. Compared with the prior art, the integrated constant-tension sling control device with the measurement and buffering functions is high in tension control precision, fixed in sling outlet point and small in volume mass.

Description

technical field [0001] The invention belongs to the technical field of spacecraft ground tests, and in particular relates to using a constant tension sling control device to meet the requirements of spacecraft ground microgravity environmental tests. Background technique [0002] Domestic constant tension sling control methods are mainly divided into: counterweight method, spring mechanism method, pure motor torque control method, torque sensor closed-loop control method and tension sensor closed-loop control method. Among them, the counterweight method uses weights to control the tension of the sling; the spring mechanism method uses a special mechanism to convert the variable elastic force of the spring into a constant force, which acts on the sling to generate constant tension; the pure motor torque control method uses a DC motor or a permanent The magnetic synchronous motor, according to the principle that the motor current and the torque are approximately linear, realiz...

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Problems solved by technology

[0019] The accuracy of the existing counterweight method does not meet the requirements during the acceleration movement of the mechanical arm; the head of the spring method cannot meet the requirements; the accuracy of the current closed-loop control method does not meet the requirements; the torque sensor is easily affected by the drum inertia, and the accuracy does not meet the requirements; only The tension sensor method can meet the head and precision requirements, but the tension sensor needs to be arranged at the moving end, which will cause additional inertia and reduce the tension control accuracy on the one hand, and on the other hand, it is difficult to implement wiring

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