Air flotation supporting device for space manipulator

Abstract

The invention provides an air flotation supporting device for a space manipulator moving in the plane and relates to the field of air flotation supporting devices. The air flotation supporting device comprises a plane air foot assembly, a force sensor, a linear bearing spring assembly, a rolling wheel assembly, an arm rod containing ring, a first mounting plate, a second mounting plate, a third mounting plate, a fourth mounting plate and a rolling wheel mounting plate. The air flotation supporting device for the space manipulator is provided and used for a micro-gravity environment simulation test of the space manipulator. The force sensor senses the pressure applied to the upper plate and the lower plate to judge whether the center of gravity of the manipulator reliably falls on the air flotation supporting device or not. The manipulator can move slightly within the up-down reasonable position range through the linear bearing guide rail assembly, unexpected vertical movement is compensated for automatically, and it is guaranteed that the manipulator is in the horizontal state all the time. A manipulator rod of the manipulator can conduct slight friction rolling movement through the rolling wheel assembly.

Description

technical field [0001] The invention relates to the field of an air-floating support device, in particular to an air-floating support device for planar movement of a space manipulator. Background technique [0002] The space manipulator works in the space microgravity environment, and it will be affected by the gravity field during the ground test and test. In order to verify the rationality of the space manipulator design, it is necessary to simulate the space microgravity environment through the ground test device for test verification. The air flotation microgravity test device is based on the principle of air flotation, and uses the device itself to eject high-pressure gas to generate a reaction force that makes the space manipulator float on the air flotation test platform in a non-contact form. At this time, the movement of the manipulator can approximate the outer space environment Space activities in microgravity and zero friction. The advantages of the air flotatio...

AI Technical Summary

Problems solved by technology

[0003] In the existing air-floating support device technology, the air-floating support device is only rigidly connected to support the space manipulator. Due to the installation error and manufacturing error of the manipulator product itself, there will be a slight up and down movement of the manipulator arm in its vertical direction. Movement, the rigid connection cannot eat the displacement of the up and down movement, which will inevitably cause the manipulator product to bear the bending moment, causing stress damage or damage to the space manipulator product

[0004] In addition, in the existing air-floating support device technology, it is impossible to judge whether the air-floating support device can reliably support the mechanical arm. When the product moves slightly up and down, the center of the short arm of the mechanical arm cannot be reliably placed on the air-floating support. When the device is installed, it is easy to make the test results inaccurate. In addition, the air support device may fall due to the gravity on the support device being too light or too heavy, which will cause the mechanical arm product to not be supported effectively, resulting in product damage and reduced safety.

[0005] Finally, in the existing air bearing support device technology, rolling bearings are generally used to support the short arm of the manipulator. Although the rolling motion can be realized, the rolling bearing is complicated inside and the friction force caused by rolling is relatively large, so it cannot be better. Simulate space microgravity environment

In addition, because the rolling bearing is a circular closed structure, it is impossible to achieve a good connection and disassembly of the mechanical arm product and the air bearing support device

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