Suspension type gravity unloading system based on magnetic trolley

Abstract

The invention designs a suspension type gravity unloading system based on a magnetic trolley, which is particularly suitable for gravity unloading of a spacecraft multi-joint mechanical arm. The gravity unloading system mainly comprises the magnetic trolley, a magnetic conduction wall plate, a tensioning mechanism, a safety rope and a lifting rope. The magnetic trolley consists of an adsorption unit, a moving mechanism, a constant tension mechanism and a suspension wire inclination angle detection mechanism. The adsorption unit ensures that the magnetic trolley is attached below the magnetic conduction wall plate, the moving mechanism ensures that the magnetic trolley has good mobility and can flexibly follow up to the position over a joint mass center, the plumb of a suspension wire is ensured through feedback correction of the suspension wire inclination angle detection system, and the gravity unloading of a unloading object is realized through the constant tension mechanism. The gravity unloading system overcomes the adverse factors such as inertia, friction and the like of a follow-up system, can effectively reduce the horizontal drift of the suspension wire, and can improve the gravity unloading precision.

Description

technical field [0001] The invention designs a suspended gravity unloading system based on a magnetic trolley, which is especially suitable for gravity unloading of a multi-joint mechanical arm of a spacecraft. Background technique [0002] In order to ensure the safety and reliability of spacecraft such as satellites and space stations when performing missions in space, it is necessary to simulate a zero-gravity environment on the ground to verify the spacecraft and its components before launching the spacecraft. [0003] To simulate zero gravity on the ground, it is necessary to try to generate a constant force that always follows the unloaded object and offsets the gravity of the unloaded object. At present, the main gravity unloading methods include parabolic flight method, drop tower method, liquid suspension method, suspension method and air suspension support method. [0004] The suspension method balances the forces of gravity by controlling the tension at the suspe...

AI Technical Summary

Problems solved by technology

The disadvantage is that the microgravity simulation accuracy is not high, the truss mechanism supporting the sling is complex, takes up a large space, and the friction force suffered by the sling when it moves is large, which seriously affects the test accuracy. In addition, the flexibility, vibration of the sling and the inertia of the counterweight Effects and other factors will have adverse effects on microgravity simulations

[0005] For the gravity unloading of multi-joint manipulators, there are usually multiple joints and degrees of freedom, so it is necessary to accurately calculate the position of each lifting point, choose a reasonable suspension method, and at the same time, it is necessary to avoid the failure of the manipulator due to unreasonable lifting points during the working process. Interference occurs, so the traditional rail-type unloading system is difficult to meet the demand

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