Low-speed single-shaft microgravity simulation pulley

Abstract

The invention discloses a low-speed single-shaft microgravity simulation pulley, and relates to the technical field of microgravity simulation. An auxiliary wheel shaft and a main wheel shaft are arranged at the front end and the rear end of the top of the tackle body, a driven roller and a driving roller are installed, a gear motor is installed on the side of the tackle body, and the driving roller is controlled to rotate through a driving gear and a driven gear which are meshed. The unfolding mechanism is suspended below through two ropes with the same length, and when the unfolding mechanism moves under external force and the readings of the two force sensors are inconsistent or exceed a set threshold range, the computer or the single-chip microcomputer sends a driving signal to the H bridge to control the pulley to move. Friction resistance in the moving process of the tackle is counteracted by combining a gear motor with gear transmission, and when an unfolding mechanism is subjected to external force, a binding force sensor detects and controls the gear motor in real time to drive the tackle to perform movement compensation, so that equivalent friction-free smooth movement is realized.

Description

Technical Field

[0001] This invention relates to the field of microgravity simulation technology, specifically a low-speed single-axis microgravity simulation trolley. Background Technology

[0002] Spacecraft operate in microgravity or zero-gravity environments. To ensure structural integrity, large components of man-made spacecraft, such as solar panels, heat-radiating plates, and antennas, often deploy slowly in space. These deployment mechanisms frequently face resistance issues such as friction, requiring prior deployment experiments in ground-based laboratories to ensure successful deployment.

[0003] Most microgravity simulation devices currently used for spacecraft deployment mechanisms employ slings to connect trolleys to the deployment mechanism. The tension in the trolley tracks counteracts vertical gravity, achieving horizontal microgravity simulation. However, frictional resistance exists between the trolley tracks. When the gravity of the deployment mechanism is too great, the trolley may lock in its original position or move intermittently during deployment due to this resistance, causing additional interference. This can range from affecting the deployment effect to potentially damaging expensive deployment equipment.

[0004] Therefore, it is necessary to design a low-speed single-axis microgravity simulation trolley to address the friction problem of traditional trolley tracks. This trolley relies on sensors to detect the direction of motion and uses a motor to counteract friction, achieving equivalent frictionless smooth motion. This will enable successful deployment testing of spacecraft deployment mechanisms under ground laboratory conditions. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a low-speed single-axis microgravity simulation trolley, which uses a geared motor combined with gear transmission to counteract frictional resistance during trolley movement. When the unfolding mechanism is subjected to external force, a force sensor detects and controls the geared motor in real time to drive the trolley for movement compensation, thereby achieving equivalent frictionless smooth motion.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a low-speed single-axis microgravity simulation trolley, comprising a suspension rail and a trolley body;

[0007] The hanging rail is a rectangular frame with a slot in the middle of the bottom;

[0008] The trolley body has an inverted T-shaped structure, integrally formed from a base plate and two layers of clamping plates arranged horizontally side by side in the middle of its upper surface. A secondary wheel axle and a main wheel axle are respectively set at the front and rear ends of the top of the double-layer clamping plates. Two driven rollers are rotatably mounted at both ends of the secondary wheel axle, and two driving rollers are coaxially positioned at both ends of the main wheel axle. A reduction motor is positioned and installed on the outside of the double-layer clamping plates. The reduction motor is a lateral output motor and its motor shaft extends between the double-layer clamping plates. A driving gear and a driven gear are set between the double-layer clamping plates. The driving gear is coaxially positioned and connected to the motor shaft, and the driven gear is coaxially positioned and connected to the main wheel axle. Two force sensors are fixed at the front and rear of the lower surface of the base plate, and lifting rings are fixedly installed at the center positions of the two force sensors.

[0009] The top of the trolley body is inserted into the rail from one end. The unfolding mechanism is suspended below the two rings by two ropes of equal length. Two force sensors are connected to a computer or microcontroller. The geared motor is connected to the H-bridge circuit and then to the computer or microcontroller. When the unfolding mechanism is subjected to external force and the readings of the two force sensors are inconsistent or exceed the set threshold range, the computer or microcontroller sends a drive signal to the H-bridge to make the trolley move in the direction of the force on the unfolding mechanism. The drive signal controls the geared motor to gradually reduce the output power until the readings of the two force sensors are equal or within the set threshold range.

[0010] Furthermore, a pin hole and a motor shaft hole are machined in the middle of one side of the double-layer clamping plate of the trolley body. The geared motor body is provided with a positioning hole and is pre-positioned with the pin hole by a positioning pin. At this position, the motor shaft can extend into the space between the double-layer clamping plates through the motor shaft hole. Two positioning posts are integrally provided on the outer wall of one side of the double-layer clamping plate. The geared motor body is inserted between the two positioning posts. Then, the positioning rod is fixed to the end of the two positioning posts with screws to press and position the geared motor.

[0011] Furthermore, two stepped arched portions are prefabricated on the front and rear sides of the bottom plate of the trolley body adjacent to the double-layer clamping plate. The two stepped arched portions are used to accommodate the matching nuts of the lifting ring, and the guide hole is machined in the center of the stepped arched portions for the insertion guidance of the lifting ring connecting rod section.

[0012] Furthermore, the number of teeth on the driving gear is greater than the number of teeth on the driven gear.

[0013] Furthermore, the surface of the driving roller is coated with rubber, and a rubber-coated bearing is provided at the center of the driven roller.

[0014] Furthermore, the drive gear and the motor shaft adopt an intermediate fit.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. Precisely offset frictional resistance and avoid trolley jamming: The present invention uses a power output structure of geared motor combined with gear transmission to specifically offset part or all of the frictional resistance during the movement of the trolley, avoiding additional interference caused by trolley jamming or stopping, and can realize the smooth operation of the trolley and the unfolding mechanism.

[0017] 2. Dynamic Synchronous Following, Ensuring the Accuracy of Deployment Tests: This invention employs a closed-loop control logic of force sensor detection, microcontroller / computer judgment, and H-bridge circuit driving. The deployment mechanism is suspended below the trolley by two ropes. When the deployment mechanism moves along the direction of the hanging cabinet under external force, the two force sensors at the bottom of the trolley capture the difference in rope tension in real time, thereby driving the reduction motor to work and move the trolley to compensate for movement until the trolley and the deployment mechanism move synchronously, achieving equivalent frictionless smooth movement. This provides simulated conditions highly consistent with the microgravity environment in space for ground deployment tests, ensuring the authenticity and reliability of the test data. Attached Figure Description

[0018] Figure 1 This is an overall isometric view of the low-speed single-axis microgravity simulation trolley of the present invention;

[0019] Figure 2 yes Figure 1 Schematic diagram of the front view section;

[0020] Figure 3 yes Figure 1 Exploded view;

[0021] Figure 4 This is a schematic diagram of the suspension method of the unfolding mechanism of the trolley of the present invention;

[0022] Figure 5 yes Figure 4 Force analysis diagram of the unfolding mechanism when the middle trolley is working;

[0023] Figure 6 This is a flowchart illustrating the working process of the pulley of the present invention.

[0024] In the diagram: 100, lifting rail; 200, trolley body; 201, pin hole; 202, motor shaft hole; 203, main shaft hole; 204, auxiliary shaft hole; 205, positioning pin; 206, guide hole; 207, bolt hole; 310, driving gear; 320, driven gear; 400, force sensor; 510, driving roller; 520, driven roller; 610, main wheel shaft; 620, auxiliary wheel shaft; 630, positioning pin; 700, geared motor; 701, motor shaft; 702, positioning hole; 800, positioning rod; 900, lifting ring; 1010, mounting bolt. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1-6 As shown, a low-speed single-axis microgravity simulation trolley includes a suspension rail 100, a trolley body 200, a pin hole 201, a motor shaft hole 202, a main shaft hole 203, a secondary shaft hole 204, a positioning pin 205, a guide hole 206, a bolt hole 207, a drive gear 310, a driven gear 320, a force sensor 400, a drive roller 510, a driven roller 520, a main wheel shaft 610, a secondary wheel shaft 620, a positioning pin 630, a geared motor 700, a motor shaft 701, a positioning hole 702, a positioning rod 800, a lifting ring 900, and mounting bolts 1010.

[0027] Combination Figures 1-3 As shown, the hanging rail 100 is a C30 type, a rectangular frame with a slot in the middle of the bottom. The trolley body 200 has an inverted T-shaped structure, integrally formed from a base plate and two layers of plates arranged horizontally side by side at the middle of its upper surface, wherein:

[0028] A pin hole 201 and a motor shaft hole 202 are machined in the middle of one side of the double-layer clamping plate of the trolley body 200, which are used for auxiliary positioning of the geared motor 700 and extension of the motor shaft 701, respectively.

[0029] The top front and rear ends of the double-layer clamping plate of the trolley body 200 are machined with auxiliary shaft holes 204 and main shaft holes 203, which are used for the bearing and installation of the auxiliary wheel shaft 620 and the main wheel shaft 610, respectively.

[0030] Two positioning posts 205 are integrally installed on the outer wall of one side of the double-layer clamping plate of the trolley body 200. The two positioning posts 205 are used for clamping and positioning the body of the geared motor 700.

[0031] Two stepped arched sections are prefabricated on the front and rear sides of the bottom plate of the trolley body 200 adjacent to the double-layer clamping plate. The two stepped arched sections are used to accommodate the matching nuts of the lifting ring 900, and the center of the stepped arched section is machined with a guide hole 206 for the insertion guide of the connecting rod section of the lifting ring 900, limiting the lifting ring 900 to only vertical displacement.

[0032] The base plate of the trolley body 200 is machined with eight bolt holes 207. Every four bolt holes 207 are grouped together and evenly distributed at the four corners of the corresponding stepped arched part for the installation and positioning of the force sensor 400.

[0033] The driving gear 310 and the driven gear 320 are both disposed between the double-layer clamping plates of the trolley body 200 and mesh with each other. The driving gear 310 corresponds to the position of the motor shaft hole 202 and has 28 teeth; the driven gear 320 corresponds to the position of the main shaft hole 203 and has 18 teeth.

[0034] The main shaft 610 is a D-shaped shaft and is rotatably inserted into the main shaft hole 203. The middle position of the main shaft 610 is coaxially positioned with the D-shaped hole pre-made in the center of the driven gear 320. Flange bearings are installed on both sides of the main shaft hole 203 and the main shaft 610 respectively. Two drive rollers 510 are coaxially positioned at both ends of the main shaft 610. The surface of the drive rollers 510 is coated with rubber and a D-shaped hole is pre-made in the center.

[0035] The auxiliary shaft 620 is a circular shaft and is inserted and fixed in the auxiliary shaft hole 204. Two driven rollers 520 are installed at both ends of the auxiliary shaft 620. The driven rollers 520 are equipped with a rubber-coated bearing at their center, which is model PU60622-6.

[0036] The geared motor 700 is inserted between two positioning posts 205 of the trolley body 200. The geared motor 700 is model 1218-050, a 12V side-output motor with a rated output speed of 762rpm. The geared motor 700 body is provided with positioning holes 702 and is pre-positioned with the pin holes 201 by positioning pins 630. In this position, the motor shaft 701 of the geared motor 700 can extend into the motor shaft hole 202 and be coaxially positioned and connected with the drive gear 310. The positioning rod 800 is fixed to the ends of the two positioning posts 205 by screws to press and position the geared motor 700, and cooperates with the positioning pins 630 to define the installation position of the geared motor 700.

[0037] The force sensor 400 consists of two standard-sized, slotted, and centrally located thin-film sensors. The two force sensors 400 are attached to the front and rear ends of the lower surface of the base plate of the trolley body 200 and are secured by eight mounting bolts 1010 engaging with bolt holes 207.

[0038] There are two lifting rings 900, with a specification of M5×11. The connecting rod segments of the two lifting rings 900 pass through the center hole of the stress sensor 400 from below and are then assembled and fixed with matching nuts. The matching nuts of the lifting rings 900 are accommodated in the stepped arched part prefabricated in the bottom plate of the trolley body 200, and the ends of the connecting rod segments of the lifting rings 900 pass through the guide holes 206.

[0039] During assembly, flange bearings are first installed on both sides of the main shaft hole 203 of the trolley body 200. The driven gear 320 is placed in the corresponding position between the double-layer clamping plates of the trolley body 200. Then, the main wheel shaft 610 is inserted, and drive rollers 510 are installed at both ends of the main wheel shaft 610. During this process, shims can be added between the drive rollers 510 and the double-layer clamping plates of the trolley body 200, and between the driven gear 320 and the double-layer clamping plates of the trolley body 200. The drive rollers 510 and the main wheel shaft 610 have a transition fit or interference fit, resulting in a tight connection that is not easily detached. Then, the secondary wheel shaft 620 is inserted into the secondary shaft hole 204 of the trolley body 200, and driven rollers 520 are installed at both ends of the secondary wheel shaft 620. During this process, shims can be added between the driven rollers 520 and the double-layer clamping plates of the trolley body 200. The secondary wheel shaft 620, the driven rollers 520, and the secondary shaft hole 204 all have a transition fit or interference fit. Next, the positioning pin 630 is initially inserted into the pin hole 201 but not through it. Then, the drive gear 310 is placed in the corresponding position between the double-layer clamping plates of the trolley body 200. The geared motor 700 body is placed between the two positioning pins 205, and the motor shaft 701 is connected and fixed to the drive gear 310 through the motor shaft hole 202. Then, the positioning pin 630 is pressed in so that it passes through the positioning hole 702, achieving the initial positioning of the geared motor 700. The drive gear 310 and the motor shaft 701 adopt an transition fit, which facilitates position adjustment while ensuring that it will not loosen or slip, thereby avoiding friction between the drive gear 310 and the trolley body 200. Afterwards, the positioning rod 800 is covered on the ends of the two positioning pins 205 and the screws are tightened to press the geared motor 700, achieving the final positioning of the geared motor 700. Next, the connecting rod segments of the two lifting rings 900 are passed through the center holes of the stress sensors 400 from below and the matching nuts are tightened. At this point, the direction of the lifting rings 900 can be adjusted. Then, the two force sensors 400 are placed against the lower surface of the base plate of the trolley body 200 and fixed to the base plate of the trolley body 200 with eight mounting bolts 1010. At this point, the matching nuts of the lifting rings 900 are naturally accommodated in the stepped arched part, and the excessively long end of the connecting rod segment of the lifting rings 900 passes through the guide hole 206. Finally, the assembled top of the trolley is inserted into the hanging rail 100 from one end. The two driving rollers 510 and the two driven rollers 520 roll on the two sides of the slotted wings of the hanging rail 100, respectively. At this point, the trolley and the hanging rail 100 are assembled.

[0040] Combination Figure 4As shown, the suspension method of the deployment mechanism is illustrated. T in the figure represents the deployment mechanism, which is connected to two lifting rings 900 at the bottom of the trolley via two ropes A and B of equal length. Length adjustment devices can be installed on the two ropes for easy adjustment and calibration. Additionally, during use, the two force sensors 400 need to be connected to a power source and then to a computer or microcontroller. The geared motor 700 should be connected to the H-bridge circuit before being connected to the computer or microcontroller. It is worth noting that the H-bridge circuit and microcontroller can be installed on the outer wall of the other side of the double-layer clamping plate of the trolley body 200, corresponding to the position of the geared motor 700.

[0041] Combination Figure 5 As shown, the force analysis of the unfolding mechanism under static and uniform motion states is shown in part a of the figure, where T A With T B Let T be the tension in the two ropes, and G be the uncounted gravitational force acting on the deploying mechanism. At this point, the net force on the deploying mechanism is zero. Since ropes can only withstand tension, and the two ropes are of equal length at this moment, T... A With T B If the readings of the two force sensors 400 are equal or within a set threshold range, the microcontroller or computer will not send a drive signal to the H-bridge circuit, and the trolley will remain stationary. Alternatively, the force relationship at this point can be used to adjust the length of the two ropes or measure the force on the unfolding mechanism using the readings of the force sensors 400.

[0042] During the very short time that the deploying mechanism is subjected to an external force N (the mechanism connected to it), the deploying mechanism moves along the direction of the hanging rail 100. Since the reduction motor 700 of the trolley has not yet responded, the two driving rollers 510 are resisted and cannot rotate due to the large difference in the number of teeth between the driving gear 310 and the driven gear 320. At this time, the trolley is subjected to static friction and is locked in its original position without moving. The force analysis of the deploying mechanism is shown in part b of the diagram. According to geometric relationships, at this time, rope A elongates, rope B shortens, the tension in rope A increases, and the tension in rope B decreases. Therefore, the trolley and the deploying mechanism move asynchronously.

[0043] When the microcontroller or computer detects that the readings of the two force sensors 400 are inconsistent or exceed the set threshold range, it sends a drive signal to the H-bridge to activate the geared motor 700, controlling the trolley to move at a certain speed towards the side with less tension (i.e., the direction of force on the unfolding mechanism). As the trolley begins to move along the direction of force on the unfolding mechanism, the deformation of the two ropes gradually decreases, the tension difference decreases, and the output power of the geared motor 700 also gradually decreases until T... A With T B Keeping the forces equal, the force analysis of the unfolding mechanism is shown in part c of the diagram. At this time, the trolley and the unfolding mechanism move synchronously.

[0044] Combination Figure 6As shown, the deployment mechanism transitions between three force states during its movement under force: stationary state, uniform motion state, asynchronous motion between the trolley and the deployment mechanism, and synchronous motion between the trolley and the deployment mechanism. Based on the readings of the two force sensors 400, the microcontroller or computer determines whether to send a drive signal to the H-bridge circuit according to the force state. If a drive signal is sent, the drive signal controls the geared motor 700 to gradually reduce the output power until the readings of the two force sensors 400 are equal or within the set threshold range.

[0045] Through this control, the unfolding mechanism can maintain dynamic synchronous motion by switching between three force states when the acceleration changes or remains constant, achieving an equivalent frictionless effect. The specific relationship between the motion speed and the tension difference can be adjusted according to the situation to meet the actual needs of different force conditions.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A low-speed single-axis microgravity simulation trolley, characterized in that: Includes a hanging rail (100) and a trolley body (200); The hanging rail (100) is a rectangular frame with a slot in the middle of the bottom; The trolley body (200) has an inverted T-shaped structure, integrally formed from a base plate and a double-layered clamping plate arranged horizontally in the middle of its upper surface. A secondary wheel axle (620) and a main wheel axle (610) are respectively arranged at the front and rear ends of the top of the double-layered clamping plate. Two driven rollers (520) are rotatably mounted at both ends of the secondary wheel axle (620), and two driving rollers (510) are coaxially positioned at both ends of the main wheel axle (610). A reduction motor (700) is positioned and installed on the outside of the double-layered clamping plate. The motor is a side-output motor with its motor shaft (701) extending between the double-layer clamping plates. A driving gear (310) and a driven gear (320) mesh with each other between the double-layer clamping plates. The driving gear (310) is coaxially positioned and connected to the motor shaft (701), and the driven gear (320) is coaxially positioned and connected to the main wheel shaft (610). Two force sensors (400) are fixed at the front and rear of the lower surface of the base plate. Lifting rings (900) are fixedly installed at the center positions of the two force sensors (400). The top of the trolley body (200) is inserted into the rail (100) from one end. The unfolding mechanism is suspended below the two hanging rings (900) by two ropes of equal length. Two force sensors (400) are connected to a computer or microcontroller. The geared motor (700) is connected to the H-bridge circuit and then to the computer or microcontroller. When the unfolding mechanism is subjected to external force and the readings of the two force sensors (400) are inconsistent or exceed the set threshold range, the computer or microcontroller sends a drive signal to the H-bridge to make the trolley move in the direction of the force on the unfolding mechanism. The drive signal controls the geared motor (700) to gradually reduce the output power until the readings of the two force sensors (400) are equal or within the set threshold range.

2. The low-speed single-axis microgravity simulation trolley according to claim 1, characterized in that: A pin hole (201) and a motor shaft hole (202) are machined in the middle of one side of the double-layer clamping plate of the trolley body (200). The body of the geared motor (700) is provided with a positioning hole (702) and is pre-positioned with the pin hole (201) by a positioning pin (630). At this position, the motor shaft (701) can be inserted into the double-layer clamping plate through the motor shaft hole (202). Two positioning posts (205) are integrally provided on the outer wall of one side of the double-layer clamping plate. The body of the geared motor (700) is inserted between the two positioning posts (205). The positioning rod (800) is fixed at the end of the two positioning posts (205) by screws to press and position the geared motor (700).

3. A low-speed single-axis microgravity simulation trolley according to claim 1 or 2, characterized in that: The bottom plate of the trolley body (200) has two stepped arched sections prefabricated on the front and rear sides of the double-layer clamping plate. The two stepped arched sections are used to accommodate the matching nuts of the lifting ring (900), and the center of the stepped arched section is machined with a guide hole (206) for the insertion guide of the connecting rod section of the lifting ring (900).

4. The low-speed single-axis microgravity simulation trolley according to claim 1, characterized in that: The number of teeth of the driving gear (310) is greater than the number of teeth of the driven gear (320).

5. A low-speed single-axis microgravity simulation trolley according to claim 1, characterized in that: The surface of the driving roller (510) is coated with rubber, and the center of the driven roller (520) is provided with a rubber-coated bearing.

6. The low-speed single-axis microgravity simulation trolley according to claim 1, characterized in that: The drive gear (310) and the motor shaft (701) are in transition fit.

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