A three-dimensional large-range follow-up suspension device

Abstract

The present invention provides a three-dimensional space large-range follow-up suspension device, including two longitudinal guide rails, a main fixed pulley assembly, a fixed seat, a transverse pulley assembly, a main counterweight, a long rope, a fixed pulley block assembly, a movable pulley assembly, a transverse guide rail, a main counterweight, a short rope, a secondary fixed pulley assembly and a mounting plate. Beneficial effects of the present invention: a full-physics simulation device capable of verifying the operational reliability of a spacecraft mechanism, having the ability to follow up in three-dimensional space, and being able to unload the gravity exerted on the mechanism itself, and having the advantages of high unloading accuracy, large simulated load and reliable operation, etc., for researchers to study the operational reliability of the mechanism in a space environment, and being able to conduct high-precision full-physics simulation tests directly on the ground.

Description

Technical Field

[0001] The invention belongs to the technical field of ground micro-low gravity simulation, and in particular relates to a three-dimensional space large-range follow-up suspension device. Background Art

[0002] At present, deep space exploration, on-orbit services for spacecraft, and planetary exploration are important directions for the future development of aerospace, and are also hot areas for the future development of aerospace. Due to the high reliability of aerospace missions, before executing space missions, a full physical simulation of the spacecraft's space actuator must be performed on the ground to verify its motion reliability in a micro-low gravity environment. Most of the existing technologies use large-scale follow-up simulation verification in two-dimensional space, and its three-dimensional gravity simulation device is also unable to follow the simulation verification on a large scale, and the simulated load is low and cannot provide ground simulation equipment technical support for operational reliability. Therefore, this application proposes a three-dimensional space large-scale follow-up suspension device. This suspension device is a full-physical simulation device used to verify the operational reliability of spacecraft mechanisms, and is mainly used to unload the gravity received during the operation of the mechanism. Summary of the invention

[0003] In view of this, the present invention aims to propose a three-dimensional space large-range follow-up suspension device to solve the problems existing in the prior art. The suspension device has the ability to follow up in three-dimensional space, can unload the gravity exerted on the mechanism itself, and has the advantages of high unloading accuracy, large simulated load and reliable operation.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] A three-dimensional large-scale follow-up suspension device comprises two longitudinal guide rails, a main fixed pulley assembly, a fixed seat, a transverse pulley assembly, a main counterweight, a long rope, a fixed pulley trolley assembly, a movable pulley assembly, a transverse guide rail, a main counterweight, a short rope, a secondary fixed pulley assembly and a mounting plate, wherein the two longitudinal guide rails are arranged in parallel at the bottom of the mounting plate, the transverse guide rail is arranged between the two longitudinal guide rails, and the fixed seat and the transverse pulley assembly are respectively installed at one end of the transverse guide rail, the fixed pulley trolley assembly is installed in the middle of the transverse guide rail, the movable pulley assembly is arranged below the fixed pulley trolley assembly, and the movable pulley assembly is arranged below the fixed pulley trolley assembly. The bottom of the wheel assembly is used to install the unloading target, the main fixed pulley assembly and the secondary fixed pulley assembly are respectively provided on one side of the longitudinal guide rail, and the secondary counterweight is provided below the secondary fixed pulley assembly. One end of the long rope is installed to one end of the transverse guide rail, and the other end of the long rope first passes through the fixed pulley trolley assembly and the movable pulley assembly and then returns to the fixed pulley trolley assembly, and then passes through the transverse pulley assembly and the main fixed pulley assembly in sequence to be connected to the main counterweight, one end of the short rope is installed to the fixed seat, and the other end of the short rope is connected to the secondary counterweight after being wrapped around the secondary fixed pulley assembly.

[0006] Furthermore, the main fixed pulley assembly and the auxiliary fixed pulley assembly are both located on the same side of one of the longitudinal guide rails.

[0007] Furthermore, it also includes at least one pulley unit, and the two ends of the transverse guide rail are respectively installed to the two longitudinal guide rails through the pulley units.

[0008] Furthermore, the number of the pulley units is not less than 2.

[0009] Furthermore, it also includes a rope fixing ring, which is fixed to one end of the transverse guide rail away from the fixing seat, and the rope fixing ring is used to fix one end of the long rope.

[0010] Furthermore, the main fixed pulley assembly includes a fixed pulley seat and a fixed pulley body. The top of the fixed pulley seat is mounted to the mounting plate, and the bottom of the fixed pulley seat is provided with the fixed pulley body, and the fixed pulley body is used for use with the long rope.

[0011] Furthermore, the fixed pulley assembly includes a fixed pulley seat, a fixed pulley bearing, a left fixed pulley and a right fixed pulley, a plurality of groups of fixed pulley bearings are symmetrically arranged on the top of the fixed pulley seat, the top of the fixed pulley seat is mounted to the transverse guide rail through the pulley bearings, the left fixed pulley and the right fixed pulley are respectively arranged on the left and right sides of the bottom of the fixed pulley seat, and the left fixed pulley and the right fixed pulley are both wound around the long rope.

[0012] Furthermore, the movable pulley assembly includes a movable pulley frame and a movable pulley body. The bottom of the movable pulley frame is suspended with an unloading target, and the top of the movable pulley frame is provided with a receiving groove for accommodating the movable pulley body. The movable pulley body is installed in the receiving groove, and the movable pulley body is wound around the long rope.

[0013] Furthermore, the pulley unit includes a pulley seat body and at least one pulley bearing body, the bottom of the pulley seat body is installed to one end of the transverse guide rail, a plurality of pulley bearing bodies are provided on the top of the pulley seat body, and the pulley seat body is in rolling contact with the longitudinal guide rail through the pulley bearing body.

[0014] Furthermore, the plurality of pulley bearing bodies are divided into two groups of modules, the two groups of modules are symmetrically arranged on the top of the pulley seat body, and the pulley bearing bodies in each group of modules are arranged parallel to each other.

[0015] Compared with the prior art, the three-dimensional large-range follow-up suspension device described in the present invention has the following advantages:

[0016] (1) The three-dimensional large-range follow-up suspension device described in the present invention is a full-physical simulation device that can verify the reliability of spacecraft mechanism operation. It has the ability to follow up in three-dimensional space and can unload the gravity exerted on the mechanism itself. It has the advantages of high unloading accuracy, large simulated load and reliable operation. It can conduct high-precision full-physical simulation tests directly on the ground for researchers to study the reliability of mechanism operation in space environment.

[0017] (2) The three-dimensional large-range follow-up suspension device described in the present invention realizes three-dimensional follow-up in a large range of space through ropes, horizontal guide rails, longitudinal guide rails, fixed pulleys and movable pulleys; it makes up for the shortcomings of helium balloons in suspending large mass objects and realizes three-dimensional space follow-up suspension of targets with large mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of a main fixed pulley assembly according to an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a fixing seat according to an embodiment of the present invention;

[0022] Figure 4 It is a schematic diagram of a fixed pulley assembly according to an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of a movable pulley assembly according to an embodiment of the present invention;

[0024] Figure 6 It is a schematic diagram of the pulley unit described in an embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1. Longitudinal guide rail; 2. Main fixed pulley assembly; 2-1. Fixed pulley seat; 2-2. Fixed pulley body; 3. Fixed seat; 4. Horizontal pulley assembly; 5. Main counterweight; 6. Long rope; 7. Fixed pulley trolley assembly; 7-1. Fixed pulley trolley seat; 7-2. Fixed pulley trolley bearing; 7-3. Left fixed pulley; 7-4. Right fixed pulley; 8. Moving pulley assembly; 8-1. Moving pulley frame; 8-2. Moving pulley body; 9. Horizontal guide rail; 10. Trolley unit; 10-1. Trolley seat body; 10-2. Trolley bearing body; 11. Rope fixing ring; 12. Auxiliary counterweight; 13. Short rope; 14. Auxiliary fixed pulley assembly; 15. Unloading target; 16. Mounting plate. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] like Figures 1 to 6 As shown, a three-dimensional large-range follow-up suspension device can realize the simulation of high-dynamic tumbling targets in a large range in space. The suspension device includes two longitudinal guide rails 1, a main fixed pulley assembly 2, a fixed seat 3, a transverse pulley assembly 4, a main counterweight 5, a long rope 6, a fixed pulley trolley assembly 7, a movable pulley assembly 8, a transverse guide rail 9, a main counterweight 12, a short rope 13, an auxiliary fixed pulley assembly 14 and a mounting plate 16. The two longitudinal guide rails 1 are arranged in parallel at the bottom of the mounting plate 16, the transverse guide rail 9 is arranged between the two longitudinal guide rails 1, and the fixed seat 3 and the transverse pulley assembly 4 are respectively installed at one end of the transverse guide rail 9, the fixed pulley trolley assembly 7 is installed in the middle of the transverse guide rail 9, the movable pulley assembly 8 is arranged below the fixed pulley trolley assembly 7, and the bottom of the movable pulley assembly 8 is arranged at the bottom of the movable pulley assembly 8. The part is used to install the unloading target 15, the main fixed pulley assembly 2 and the secondary fixed pulley assembly 14 are respectively provided on one side of the longitudinal guide rail 1, and the secondary counterweight 12 is provided below the secondary fixed pulley assembly 14. One end of the long rope 6 is installed to one end of the transverse guide rail 9, and the other end of the long rope 6 first passes through the fixed pulley trolley assembly 7 and the movable pulley assembly 8 and then returns to the fixed pulley trolley assembly 7, and then passes through the transverse pulley assembly 4 and the main fixed pulley assembly 2 in sequence to be connected to the main counterweight 5. One end of the short rope 13 is installed to the fixed seat 3, and the other end of the short rope 13 is connected to the secondary counterweight 12 after being wrapped around the secondary fixed pulley assembly 14.

[0030] The advantages and positive effects of the present invention are:

[0031] 1. The present invention is a full-physical simulation device that can verify the reliability of spacecraft mechanism operation, has the ability to follow up in three-dimensional space, and can conduct high-precision full-physical simulation tests directly on the ground for researchers to study the reliability of mechanism operation in a space environment.

[0032] 2. The present invention realizes three-dimensional follow-up in a large range of space through ropes, transverse guide rails, longitudinal guide rails, fixed pulleys and movable pulleys; it makes up for the deficiency of helium balloons in suspending large mass objects and realizes three-dimensional space follow-up suspension of targets with large mass.

[0033] 3. The present invention achieves the purpose of small resistance and smooth operation during the following process by using a fixed pulley, a movable pulley and a bearing pulley.

[0034] 4. The overall structure of the present invention is stable, the longitudinal guide rail is fixed on the truss, and other motion systems are stably connected, which can unload weights of dozens of kilograms and operate stably for a long time with high reliability.

[0035] In a preferred embodiment of the present invention, the main fixed pulley assembly 2 and the auxiliary fixed pulley assembly 14 are both located on the same side of one of the longitudinal guide rails 1. This facilitates the installation and subsequent unloading of the target 15 for three-dimensional space follow-up suspension.

[0036] In a preferred embodiment of the present invention, at least one pulley unit 10 is further included, and both ends of the transverse guide rail 9 are respectively mounted to the two longitudinal guide rails 1 through the pulley units 10. The number of the pulley units 10 is not less than 2. The pulley units 10 can adjust the longitudinal position of the transverse guide rail 9 on the two longitudinal guide rails 1.

[0037] In a preferred embodiment of the present invention, a rope fixing ring 11 is further included, and the rope fixing ring 11 is fixed to the end of the transverse guide rail 9 away from the fixing seat 3, and the rope fixing ring 11 is used to fix one end of the long rope 6. The rope fixing ring 11 is convenient for the staff to fix the long rope 6.

[0038] In a preferred embodiment of the present invention, the main fixed pulley assembly 2 includes a fixed pulley seat 2-1 and a fixed pulley body 2-2. The top of the fixed pulley seat 2-1 is installed to the mounting plate 16, and the fixed pulley body 2-2 is provided at the bottom of the fixed pulley seat 2-1. The fixed pulley body 2-2 is used for use with the long rope 6. In actual use, the long rope 6 is entangled with the fixed pulley body 2-2 and connected to the main counterweight 5 through the fixed pulley body 2-2 to achieve the counterweight purpose.

[0039] In a preferred embodiment of the present invention, the fixed pulley block assembly 7 includes a fixed pulley block seat 7-1, a fixed pulley block bearing 7-2, a left fixed pulley 7-3 and a right fixed pulley 7-4, a plurality of groups of fixed pulley block bearings 7-2 are symmetrically arranged on the top of the fixed pulley block seat 7-1, the top of the fixed pulley block seat 7-1 is mounted to the transverse guide rail 9 through the pulley block bearings 7-2, and the left fixed pulley 7-3 and the right fixed pulley 7-4 are respectively arranged on the left and right sides of the bottom of the fixed pulley block seat 7-1, and the left fixed pulley 7-3 and the right fixed pulley 7-4 are both wound with the long rope 6. The main fixed pulley assembly 2 and the fixed pulley block assembly 7 can achieve the purpose of small resistance and smooth operation during the following process.

[0040] In a preferred embodiment of the present invention, the movable pulley assembly 8 includes a movable pulley frame 8-1 and a movable pulley body 8-2. The bottom of the movable pulley frame 8-1 is suspended with an unloading target 15. The top of the movable pulley frame 8-1 is provided with a receiving groove for accommodating the movable pulley body 8-2. The movable pulley body 8-2 is installed in the receiving groove. The movable pulley body 8-2 is wound around the long rope 6. In actual use, the unloading target 15 is suspended on the hanging ear provided at the bottom of the movable pulley frame 8-1 through a rope.

[0041] In a preferred embodiment of the present invention, the pulley unit 10 includes a pulley seat body 10-1 and at least one pulley bearing body 10-2, the bottom of the pulley seat body 10-1 is installed to one end of the transverse guide rail 9, and a plurality of pulley bearing bodies 10-2 are arranged on the top of the pulley seat body 10-1, and the pulley seat body 10-1 is in rolling contact with the longitudinal guide rail 1 through the pulley bearing bodies 10-2. The purpose of small resistance and smooth operation during the following process is achieved.

[0042] In a preferred embodiment of the present invention, the plurality of pulley bearing bodies 10-2 are divided into two groups of modules, the two groups of modules are symmetrically arranged on the top of the pulley seat body 10-1, and the pulley bearing bodies 10-2 in each group of modules are arranged parallel to each other. In this embodiment, the mounting plate 16 can be fixedly installed on the roof inside the room. The two longitudinal guide rails 1, the main fixed pulley assembly 2 and the auxiliary fixed pulley assembly 14 are fixedly installed on the lower end surface of the mounting plate 16 by bolts; the two ends of the transverse guide rail 9 are suspended below the longitudinal guide rail 1 by connecting with the pulley unit 10, and the pulley unit 10 is in rolling contact with the longitudinal guide rail 1 through four pulley bearings 10-2. The rope fixing ring 11 is fixedly installed below the left end surface of the transverse guide rail 9, the fixing seat 3 and the transverse pulley assembly 4 are respectively fixed at the front and rear positions below the right end surface of the transverse guide rail 9, the fixed pulley block assembly 7 is suspended on the transverse guide rail 9, and the long rope 6 is fixedly connected to the rope fixing ring 11, and then successively winds around the left fixed pulley 7-3, the movable pulley body 8-2, the right fixed pulley 7-4, the transverse pulley assembly 4 and the main fixed pulley assembly 2, and finally fixedly connected to the main counterweight 5. The short rope 13 is fixedly connected to the fixing seat 3, and is fixedly connected to the auxiliary counterweight 12 after winding around the auxiliary fixed pulley assembly 14. The unloading target 15 is connected to the movable pulley frame 8-1 through a rope and is suspended directly below the movable pulley assembly 8.

[0043] Example 1

[0044] Combine the following Figure 1-Figure 6 , further elaborating on the present invention. The present invention unloads the excess gravity of the target component (the target component, i.e., the unloading target 15) in the vertical direction by hanging a counterweight. The target component of gravity unloading is suspended below the movable pulley seat 8-1 by a rope. Since a movable pulley structure is adopted, the gravity of the main counterweight 5 should be equal to one-half of the unloading gravity. The auxiliary counterweight 12 is connected to the fixed seat 3 by a short rope 13 to offset the tension of the long rope 6 on the transverse guide rail 9 in the axial direction of the long guide rail. The weight of the auxiliary counterweight 12 is equal to the weight of the main counterweight 5. In the axial direction of the transverse guide rail 9, the fixed pulley assembly 7, the movable pulley assembly 8 and the long rope 6 are used in combination to achieve low-resistance follow-up of the system in this direction.

[0045] When the gravity unloading target moves downward, the movable pulley assembly 8 moves downward with it, and at the same time, under the action of the tension of the rope 6, provides a vertical upward force for the unloading target 15. The magnitude of the vertical upward force on the unloading target is twice the weight of the main counterweight 5; when the unloading target 15 moves in the direction of the horizontal guide rail, the combination of the movable pulley 8-2, the left fixed pulley 7-3 and the right fixed pulley 7-4 will cause the movable pulley assembly 8 and the fixed pulley trolley assembly 7 to follow the unloading target 15 and move in the direction of the horizontal guide rail with low resistance.

[0046] In summary, the present invention can realize follow-up suspension in a three-dimensional space, and has the advantages of stable operation, high precision and small follow-up resistance.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional large-range follow-up suspension device, characterized in that: The invention comprises two longitudinal guide rails (1), a main fixed pulley assembly (2), a fixed seat (3), a transverse pulley assembly (4), a main counterweight (5), a long rope (6), a fixed pulley trolley assembly (7), a movable pulley assembly (8), a transverse guide rail (9), a main counterweight (5), a secondary counterweight (12), a short rope (13), a secondary fixed pulley assembly (14) and a mounting plate (16), wherein the two longitudinal guide rails (1) are arranged in parallel at the bottom of the mounting plate (16), the transverse guide rail (9) is arranged between the two longitudinal guide rails (1), and the fixed seat (3) and the transverse pulley assembly (4) are respectively installed at one end of the transverse guide rail (9), the fixed pulley trolley assembly (7) is installed in the middle of the transverse guide rail (9), the movable pulley assembly (8) is arranged below the fixed pulley trolley assembly (7), and the movable pulley assembly (8) is arranged at the bottom of the fixed pulley trolley assembly (7). The bottom of the assembly (8) is used to install the unloading target (15), the main fixed pulley assembly (2) and the secondary fixed pulley assembly (14) are respectively arranged on one side of the longitudinal guide rail (1), and the secondary counterweight (12) is arranged below the secondary fixed pulley assembly (14). One end of the long rope (6) is installed on one end of the transverse guide rail (9), and the other end of the long rope (6) first passes through the fixed pulley trolley assembly (7) and the movable pulley assembly (8) and then returns to the fixed pulley trolley assembly (7), and then passes through the transverse pulley assembly (4) and the main fixed pulley assembly (2) in sequence to be connected to the main counterweight (5). One end of the short rope (13) is installed on the fixed seat (3), and the other end of the short rope (13) is connected to the secondary counterweight (12) after being wound around the secondary fixed pulley assembly (14).

2. A three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: The main fixed pulley assembly (2) and the auxiliary fixed pulley assembly (14) are both located on the same side of one of the longitudinal guide rails (1).

3. The three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: It also comprises at least one pulley unit (10), and both ends of the transverse guide rail (9) are respectively mounted on the two longitudinal guide rails (1) through the pulley units (10).

4. The three-dimensional large-range follow-up suspension device according to claim 3, characterized in that: The number of the pulley units (10) is no less than 2.

5. The three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: It also comprises a rope fixing ring (11), wherein the rope fixing ring (11) is fixed to one end of the transverse guide rail (9) away from the fixing seat (3), and the rope fixing ring (11) is used to fix one end of the long rope (6).

6. The three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: The main fixed pulley assembly (2) comprises a fixed pulley seat (2-1) and a fixed pulley body (2-2); the top of the fixed pulley seat (2-1) is mounted on the mounting plate (16); the bottom of the fixed pulley seat (2-1) is provided with the fixed pulley body (2-2); the fixed pulley body (2-2) is used in conjunction with the long rope (6).

7. The three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: The fixed pulley assembly (7) comprises a fixed pulley seat (7-1), a fixed pulley bearing (7-2), a left fixed pulley (7-3) and a right fixed pulley (7-4); a plurality of groups of fixed pulley bearings (7-2) are symmetrically arranged on the top of the fixed pulley seat (7-1); the top of the fixed pulley seat (7-1) is mounted to the transverse guide rail (9) through the pulley bearings; the left fixed pulley (7-3) and the right fixed pulley (7-4) are respectively arranged on the left and right sides of the bottom of the fixed pulley seat (7-1); the left fixed pulley (7-3) and the right fixed pulley (7-4) are both wound around the long rope (6).

8. The three-dimensional large-range follow-up suspension device according to claim 1, characterized in that: The movable pulley assembly (8) comprises a movable pulley frame (8-1) and a movable pulley body (8-2); the bottom of the movable pulley frame (8-1) is suspended from an unloading target (15); the top of the movable pulley frame (8-1) is provided with a receiving groove for receiving the movable pulley body (8-2); the movable pulley body (8-2) is installed in the receiving groove; the movable pulley body (8-2) is wound around the long rope (6).

9. The three-dimensional large-range follow-up suspension device according to claim 3, characterized in that: The pulley unit (10) comprises a pulley seat body (10-1) and at least one pulley bearing body (10-2); the bottom of the pulley seat body (10-1) is mounted to one end of the transverse guide rail (9); a plurality of pulley bearing bodies (10-2) are arranged on the top of the pulley seat body (10-1); and the pulley seat body (10-1) is in rolling contact with the longitudinal guide rail (1) through the pulley bearing bodies (10-2).

10. The three-dimensional large-range follow-up suspension device according to claim 9, characterized in that: The plurality of pulley bearing bodies (10-2) are divided into two groups of modules, the two groups of modules are symmetrically arranged on the top of the pulley seat body (10-1), and the pulley bearing bodies (10-2) in each group of modules are arranged parallel to each other.

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