Micro-low gravity simulation system for complex multi-body target

Abstract

The application provides a micro-low-gravity simulation system for a complex multi-body target, which is driven by a hybrid method of active and passive driving and adopts a multi-stage suspension method, so that the flexibility of system movement is greatly improved, and aims at meeting the ground experiment requirements of a space mechanical arm, a lunar rover and other complex multi-degree-of-freedom spacecrafts; the system comprises a main frame, the main frame is a frame structure built by a rod body, the main frame supports a top sling driving system and a multi-stage movement system through a plurality of supporting legs; a control cabinet is further installed on the main frame, and the control cabinet is used for controlling the actions of the sling driving system and the multi-stage movement system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical fields of aerospace micro-low gravity simulation, mechanical engineering, etc., and particularly relates to a micro-low gravity simulation system for complex multi-body targets. BACKGROUND

[0002] China's manned space program is developing rapidly, and space station construction, on-orbit construction, on-orbit maintenance, etc. require more astronauts to go into space; NASA has announced a manned landing on Mars program, SpaceX has launched a private transport and interstellar travel program, and human activities are gradually expanding into space. It is particularly important to design ground experiments for complex multi-degree-of-freedom spacecraft such as space manipulators and lunar rovers in a simulated micro-low gravity environment on the ground, and therefore, China urgently needs technology and equipment for micro-low gravity simulation experiments. The commonly used parabolic flight method, neutral buoyancy method, air floatation method, etc. all have different degrees of shortcomings such as high cost, short duration, large liquid resistance, and limited space movement. The suspension method applies a number of concentrated forces through the center of mass of the unloaded target to offset all or part of the gravity, and more importantly, it can realize complex three-dimensional space movement, which is currently a relatively ideal unloading method for complex multi-body targets. However, the existing suspension systems mostly use single or few cable schemes, and when facing complex multi-body targets for gravity unloading, multiple cables are often needed, which can cause the top follow-up mechanism to be complicated and interfere with each other, seriously affecting the movement space of the unloaded target. The application designs a micro-low gravity simulation system for complex multi-body targets, which greatly improves the flexibility of system movement by using a multi-stage suspension method. SUMMARY

[0003] Based on the above technical problems, the application designs a micro-low gravity simulation system for complex multi-body targets, which is a hybrid of active and passive driving, and uses a multi-stage suspension method to greatly improve the flexibility of system movement, aiming to meet the ground experiment needs of complex multi-degree-of-freedom spacecraft such as space manipulators and lunar rovers.

[0004] A micro-low gravity simulation system for complex multi-body targets, characterized in that it comprises a main frame, which is a frame structure built by a rod body, and the main frame supports a top cable driving system and a multi-stage movement system through multiple support legs.

[0005] The multi-stage motion system comprises a horizontal two-degree-of-freedom servo system and a local servo system, the mutual horizontal two-degree-of-freedom servo system comprises synchronous belt tracks one and three arranged in parallel on the top of a main body frame, a synchronous belt track two is installed on the synchronous belt tracks one and three, both ends of the synchronous belt track are slidably installed on the synchronous belt tracks one and three, an end of the synchronous belt track one is provided with a driver one, an end of the synchronous belt track three is provided with a driver three, the driver one and the driver three jointly drive the synchronous belt track two to slide along the length direction of the synchronous belt tracks one and three, and the end of the synchronous belt track two is provided with a driver two.

[0006] The synchronous belt track one is provided with a slider two, the synchronous belt track three is provided with a slider three, both ends of the synchronous belt track two are slidably installed on the synchronous belt tracks one and three through the slider two and the slider three, the synchronous belt track two is slidably installed with a slider one, and the cable driving system is fixedly installed on the slider one.

[0007] The local servo system is installed on the slider one of the two-degree-of-freedom servo system, and two-degree-of-freedom translation of the local servo system can be realized through the movement of the slider one.

[0008] The local servo system comprises a main cable driving system and an auxiliary cable driving system, and the auxiliary cable driving system is installed below a connecting structure.

[0009] The main cable driving system comprises a main motor, an extension support, a mounting plate, a main drum and a guide wheel, the extension support is slidably mounted on the second synchronous belt track, the main motor is fixedly mounted on the extension support through a main motor mounting seat, the mounting plate is fixedly mounted on the extension support, and a shooting device is arranged on the mounting plate, the shooting device comprises a camera one and a camera two, and the camera one and the camera two are respectively arranged at the left and right end portions of the mounting plate; the output shaft of the main motor drives the main drum to rotate, the main drum is fixedly locked on the output shaft of the main motor through a locking ring, and the locking ring is fixedly mounted with the main drum through a locking screw; the inside of the locking ring is a conical cylindrical surface, the inside of the main drum is a circumferential array of cantilever curved beam structures, the end portion of the curved beam is a partial ring, a plurality of such partial rings are circumferentially arrayed to form a discrete complete ring structure with a certain deformation capacity, the outside of the ring structure is a conical surface with the same taper as the inner wall of the locking ring for cooperation with the locking ring, and the inside is a cylindrical surface matched with the output shaft of the motor; the locking ring can press the discrete cylinder structure in the main drum on the motor shaft through the internal taper by screwing the locking screw; the guide wheel is mounted on the extension support through a guide wheel mounting seat, and the position of the guide wheel is such that the main cable is lowered from the main drum and then lowered downward from the horizontal middle position of the camera one and the camera two under the guidance of the guide wheel; the camera one and the camera two can form a binocular vision measurement system to measure the relative positions of the upper and lower ends of each cable in the positioning field of view relative to the main cable driving system, which serves as the control basis for the control system to judge the cable number value; since the main lock will be wound relative to the main drum during the rotation of the main drum, the upper end outlet of the main cable is fixed by the guide wheel. The main cable system can realize the vertical movement of the auxiliary cable system by winding and unwinding the main cable.

[0010] The auxiliary cable driving system comprises a plurality of auxiliary cable driving system modules, each auxiliary cable driving system module comprises a top support, parallelogram link mechanisms are symmetrically arranged on the two sides of the top support, one auxiliary motor is arranged at the end of each of the two parallelogram link mechanisms through an auxiliary motor mounting seat, an auxiliary drum is fixedly mounted on the output shaft of the auxiliary motor, and an auxiliary cable is wound on the auxiliary drum; a first auxiliary cable driving system module is suspended below the main cable, a second auxiliary cable driving system module is suspended below the auxiliary cable at the two ends of the first auxiliary cable driving system module, and a connecting structure is suspended below the auxiliary cable at the two ends of each of the two second auxiliary cable driving modules.

[0011] Two parallelogram linkage mechanisms are hinged with a micro electric cylinder, the micro electric cylinder changes the included angle between the two parallelogram linkage mechanisms by stretching and contracting, so that the relative distance of the two end auxiliary hoist ropes is changed. The length of the two parallelogram linkage mechanisms can be designed according to the tension of the hoist rope at the two ends of the auxiliary hoist driving system module, and the equal moment mode ensures that the hoist rope included angle between the two parallelogram linkage mechanisms and the top of the auxiliary hoist driving system module is equal at all times. A plurality of auxiliary hoist driving system modules can be expanded into any number of auxiliary hoists at the lowermost end through series-parallel connection to meet the suspension requirements of any multi-body target.

[0012] The connecting structure comprises a low-rigidity elastic body, a tension sensor and a connector, the auxiliary hoist rope is connected above the low-rigidity elastic body, and the connector is hung and connected below the low-rigidity elastic body through the tension sensor. The low-rigidity elastic body is connected by a plurality of low-rigidity units, the low-rigidity unit is an elastic steel plate spliced into a four-star cross-section structure, four recesses of the four-star structure are provided with connecting plates, and a plurality of low-rigidity units are connected into a force buffering structure in multiple rows and multiple columns through the connecting plates. The force buffering structure comprises a plurality of low-rigidity units connected side by side. Negative rigidity can be formed in the deformation of the low-rigidity unit, and by adjusting the angle, plate thickness and other parameters of the low-rigidity unit, a series of low-rigidity units with different positive and negative rigidity characteristics can be formed. These low-rigidity units are connected in series and parallel to form a low-rigidity elastic body with parameterized rigidity design to meet the anti-disturbance control requirements of the control system.

[0013] The technical scheme of the present application has the following advantages:

[0014] 1. The present application is aimed at the characteristics of multiple degrees of freedom in the process of multi-body target gravity unloading. The motion of the target is divided into two types of local motion of overall translation and attitude adjustment, and a horizontal two-degree-of-freedom servo system and a main hoist driving system are used to realize the overall translation of the target, and then a auxiliary hoist driving system is used to realize the local motion of attitude adjustment of the target, so that the suspension motion system is greatly simplified.

[0015] 2. The auxiliary hoist driving system can expand into any number of auxiliary hoists at the lowermost end through series-parallel connection to meet the suspension requirements of any multi-body target. The active control mode is used, which improves the motion control accuracy compared with the passive system.

[0016] 3. The low-rigidity elastic body is connected by a plurality of low-rigidity units, and negative rigidity can be formed in the deformation of the low-rigidity unit. By adjusting the angle, plate thickness and other parameters of the low-rigidity unit, a series of low-rigidity units with different positive and negative rigidity characteristics can be formed. These low-rigidity units are connected in series and parallel to form a low-rigidity elastic body with parameterized rigidity design to meet the anti-disturbance control requirements of the control system.

[0017] 4, the cooperation of the winding drum and the motor adopts the mode that the discrete cylinder structure in the main winding drum is pressed on the motor shaft through the taper surface in the locking ring, the cooperation is compact, the structure is compact without gap. Compared with the mode that the torque is transmitted through the key, the control precision is higher. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structural principle diagram of the application;

[0019] Figure 2 is the local motion system structural principle diagram of the application;

[0020] Figure 3 is the horizontal two-degree-of-freedom servo system structural principle diagram of the application;

[0021] Figure 4 is the driver installation structure schematic diagram of the multi-stage motion system of the application;

[0022] Figure 5 is the sling drive system structure schematic diagram of the application;

[0023] Figure 6 is the main sling drive system explosion principle schematic diagram of the sling drive system of the application;

[0024] Figure 7 is the auxiliary sling drive system principle schematic diagram of the sling drive system of the application;

[0025] Figure 8 is the auxiliary sling drive system module single principle schematic diagram of the application;

[0026] Figure 9 is the low-rigidity elastic body structure principle schematic diagram of the application;

[0027] Figure 10 is the main winding drum structure schematic diagram of the application;

[0028] Figure 11 is the locking ring structure schematic diagram of the application;

[0029] In the figure: 1, main body frame, 2, multi-stage motion system, 3, wire slot support, 4, wire slot, 5, control cabinet, 6, horizontal two-degree-of-freedom follow-up system, 7, local follow-up system, 8, synchronous belt track one, 9, synchronous belt track two, 10, synchronous belt track three, 11, slider one, 12, slider two, 13, slider three, 14, driver one, 15, driver three, 16, driver two, 17, driving motor, 18, speed reducer, 19, speed reducer support, 20, track mounting seat, 21, main sling driving system, 22, auxiliary sling driving system, 23, connecting structure, 24, main motor, 25, main motor mounting seat, 26, expansion support, 27, camera one, 28, main winding drum, 29, locking ring, 30, locking screw, 31, mounting plate, 32, guide wheel, 33, guide wheel mounting seat, 34, camera two, 35, main sling, 36, auxiliary sling driving system module, 37, auxiliary sling, 38, low stiffness elastic body, 39, tension sensor, 40, connector, 41, top support, 42, parallelogram linkage, 43, auxiliary motor, 44, micro electric cylinder, 45, auxiliary motor mounting seat, 46, auxiliary winding drum, 47, low stiffness unit. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, which are described here only to illustrate and explain the present application, and are not intended to limit the present application.

[0031] Referring to the drawings, the structure, proportion, size, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not intended to limit the defined conditions under which the present application can be implemented, and therefore do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the positional limitation terms used in the present specification are only for the convenience of clear description, and are not intended to limit the scope of the present application, and the change or adjustment of the relative relationship is also considered as the implementation of the present application.

[0032] As Figure 1 shown is the overall structure principle diagram of the present application, the micro-low gravity simulation system of the present application facing complex multi-body targets, the main body frame 1 is a frame structure built by a rod body, the main body frame 1 is stably supported by a plurality of legs to support the top sling driving system and the multi-stage motion system, the main body frame 1 is also provided with a control cabinet 5, and the control cabinet 5 is used to control the actions of the sling driving system and the multi-stage motion system.

[0033] Specifically, the top of the main frame 1 is constructed as a square frame by a rod body, a horizontal moving rod with two ends slidingly supported on the rod bodies on the two sides of the square frame is arranged in the middle of the square frame, a sling driving system is arranged on the horizontal moving rod, the sling driving system is driven to move horizontally and laterally by a multi-stage motion system, and the multi-stage motion driving system is installed on the rod body of the square frame.

[0034] Figure 2 is a local motion system structure principle diagram of the application, Figure 3 is a horizontal two-degree-of-freedom servo system structure principle diagram of the application, referring to Figures 1-3 , the multi-stage motion system includes a horizontal two-degree-of-freedom servo system 6 and a local servo system 7; the two ends of the horizontal moving rod are slidably installed on the rod bodies on the two sides of the square frame through a sliding block two 12 and a sliding block three 13, respectively, the rod bodies on the two sides of the square frame are synchronous belt tracks one 8 and synchronous belt tracks three 10, respectively, the end of the synchronous belt track one 8 is provided with a driver one 14, the end of the synchronous belt track three 10 is provided with a driver three 15, the driver one 14 drives the sliding block two 12 to slide along the synchronous belt track one 8, the driver three 15 drives the sliding block three 13 to slide along the synchronous belt track three 10, specifically, the driver one 14 drives the sliding block two 12 to slide along the synchronous belt track one 8 through a pull wire type transmission mode, and the driver three 15 drives the sliding block three 13 to slide along the synchronous belt track three 10 through a pull wire type transmission mode; referring to Figure 1 , the rod body side of the direction frame is provided with a wire slot 4 through a wire slot support 3, one side of the horizontal moving rod is also provided with a wire slot 4, and a plurality of wire slots 4 are used to arrange pull wires for power transmission, so as to synchronously drive the local servo system 7 to slide when the sliding block two 12 and the sliding block three 13 slide horizontally.

[0035] The local servo system 7 includes a synchronous belt track two 9 acting as a horizontal moving rod, a sliding block one 11 arranged on the synchronous belt track two 9, and a driver two 16 arranged at the end of the synchronous belt track two 9, the sliding block one 11 can slide along the synchronous belt track two 9 under the action of the pull wire, thereby driving the sling driving system installed on the sliding block one 11 to move.

[0036] The driver one 14, the driver two 16 and the driver three 15 all adopt motor driving, and the installation structures of the three are the same, referring to Figure 4 , Figure 4Figure 1 is a schematic diagram of the driver mounting structure of the multi-stage motion system of the present application, which illustrates the mounting structure of the driver by taking a detailed view of driver two 16 as an example, including a driving motor 17, a speed reducer 18, and a speed reducer support 19, the output shaft of the driving motor 17 is connected to the speed reducer 18, the speed reducer 18 is fixedly installed on the synchronous belt track two 9 through the speed reducer support 19, so that when the driving motor 17 is working, the output shaft of the driving motor 17 drives the runner on the synchronous belt track two 9 to rotate after being decelerated by the speed reducer 18, so as to transmit power to the stay cable. The synchronous belt track two 9 is installed on the synchronous belt track three 10 through the slider three 13, specifically, the slider three 13 is slidingly installed on the synchronous belt track three 10, the synchronous belt track two 9 is fixedly installed on the slider three 13 through the track mounting seat 20, and the synchronous belt track two 9, the slider two 12, and the synchronous belt track one 8 are also assembled in the same way.

[0037] Figure 5 Figure 2 is a schematic diagram of the structure of the sling driving system of the present application, the sling driving system includes a main sling driving system 21 and a secondary sling driving system 22, and a connecting structure 23 is installed below the secondary sling driving system 22.

[0038] Figure 6 Figure 3 is an exploded schematic diagram of the main sling driving system of the sling driving system of the present application, as shown in the figure, the main sling driving system includes a main motor 24, an expansion support 26, a mounting plate 31, a main drum 28, and a guide wheel 32, the expansion support 26 is fixedly installed on the slider one 11, the main motor 24 is fixedly installed on the expansion support 26 through a main motor mounting seat 25, the mounting plate 31 is fixedly installed on the expansion support 26, and a shooting device is arranged on the mounting plate 13, the shooting device includes a camera one 27 and a camera two 34, the camera one 27 and the camera two 34 are arranged at the left and right end portions of the mounting plate 13 respectively; the output shaft of the main motor 24 drives the main drum 28 to rotate, specifically, the main drum 28 is fixedly locked on the output shaft of the main motor 24 through a locking ring 29, and the locking ring 29 is fixedly installed with the main drum 28 through a locking screw 30; the guide wheel 32 is installed on the expansion support 26 through a guide wheel mounting seat 33, and the position of the guide wheel 32 is such that the main sling is vertically lowered from the main drum 28 and then vertically lowered from the horizontal middle position of the camera one 27 and the camera two 34 under the guidance of the guide wheel 32.

[0039] Figure 7 Figure 4 is a schematic diagram of the secondary sling driving system of the sling driving system of the present application, Figure 8 Figure 5 is a schematic diagram of a single module of the secondary sling driving system of the present application, referring to Figure 7 , Figure 8The main cable is connected with a secondary cable driving system below, the secondary cable driving system comprises a plurality of secondary cable driving system modules 36, the secondary cable driving system module comprises a top support 41, the top support 41 is symmetrically provided with a parallelogram linkage 42 on both sides, one secondary motor 43 is installed on the end of the two parallelogram linkages 42 through a secondary motor mounting seat 45, the output shaft of the secondary motor 43 is fixedly installed with a secondary drum 46, the secondary cable 37 is wound on the secondary drum 46, a micro electric cylinder 44 is hinged between the two parallelogram linkages 42, the micro electric cylinder 44 can be extended and retracted to change the included angle between the two parallelogram linkages 42. The first secondary cable driving system module is suspended and installed below the main cable 35, the second secondary cable driving system module is suspended and installed below the secondary cable 37 at both ends of the first secondary cable driving system module, the connecting structure 23 is suspended below the secondary cable 37 at both ends of the two second secondary cable driving modules, the connecting structure 23 comprises a low-rigidity elastic body 38, a tension sensor 39 and a connector 40, the secondary cable 37 is connected above the low-rigidity elastic body 38, and the connector 40 is suspended and connected below the low-rigidity elastic body 38 through the tension sensor 39.

[0040] Figure 9 It is the schematic diagram of the low-rigidity elastic body structure principle of the application, as shown in the figure, the low-rigidity elastic body 38 is connected by a plurality of low-rigidity units 47, the low-rigidity unit 47 is an elastic steel plate spliced into a four-star cross-section structure, the four concave parts of the four-star structure are provided with connecting plates, and the plurality of low-rigidity units 47 are connected with each other into a force buffering structure of multiple rows and multiple columns through the connecting plates, and the force buffering structure can be used in parallel.

Claims

1. A micro-low gravity simulation system for complex multi-body targets, characterized in that, Including the main body frame, the main body frame is the frame structure of the pole body, the main body frame is supported by multiple support legs and is stably supported The hoist drive system and the multi-stage motion system on the top; The multi-stage motion system includes a synchronous belt track one and a synchronous belt track three arranged in parallel on the top of the main body frame, a synchronous belt track two is installed on the synchronous belt track one and the synchronous belt track three, both ends of the synchronous belt track are slidably installed on the synchronous belt track one and the synchronous belt track three, the end of the synchronous belt track one is provided with a driver one, the end of the synchronous belt track three is provided with a driver three, the driver one and the driver three jointly drive the synchronous belt track two to slide along the length direction of the synchronous belt track one and the synchronous belt track three; The end of the synchronous belt track two is provided with a driver two, and the driver two drives the hoist drive system installed on the synchronous belt track two to slide along the length direction of the synchronous belt track two. The hoist drive system includes a main hoist drive system and a secondary hoist drive system, and the secondary hoist drive system is installed below the connecting structure. The main hoist drive system includes a main motor, an expansion support, a mounting plate, a main drum, and a guide wheel, the expansion support is slidably installed on the synchronous belt track two, the main motor is fixedly installed on the expansion support through a main motor mounting seat, the mounting plate is fixedly installed on the expansion support, and a shooting device is arranged on the mounting plate, the shooting device includes a camera one and a camera two, the camera one and the camera two are arranged at the left and right ends of the mounting plate respectively; The output shaft of the main motor drives the main drum to rotate; The guide wheel is installed on the expansion support through a guide wheel mounting seat, and the position of the guide wheel is such that the main hoist is vertically lowered from the main drum and then vertically lowered from the horizontal middle position of the camera one and the camera two under the guidance of the guide wheel; The secondary hoist drive system includes a plurality of secondary hoist drive system modules, the secondary hoist drive system module includes a top bracket, the two sides of the top bracket are symmetrically provided with parallelogram link mechanisms, one secondary motor is installed on each of the two parallelogram link mechanisms through a secondary motor mounting seat, the output shaft of the secondary motor is fixedly installed with a secondary drum, and the secondary drum is wound with a secondary hoist; The first secondary hoist drive system module is suspended and installed below the main hoist, the second secondary hoist drive system module is suspended and installed below the secondary hoist at both ends of the first secondary hoist drive system module, and the connecting structure is suspended below the secondary hoist at both ends of the two second secondary hoist drive modules.

2. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, The synchronous belt track one is provided with a sliding block two, the synchronous belt track three is provided with a sliding block three, and the two ends of the synchronous belt track two are slidably installed on the synchronous belt track one and the synchronous belt track three through the sliding block two and the sliding block three.

3. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, The installation structures of the driver one, the driver two and the driver three are the same, and all include a driving motor, a speed reducer and a speed reducer support, the output shaft of the driving motor is connected with the speed reducer, and the speed reducer is fixedly installed on the corresponding synchronous belt track through the speed reducer support.

4. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, The synchronous belt track two is slidably installed with a sliding block one, and the hoist drive system is fixedly installed on the sliding block one.

5. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, A micro electric cylinder is hinged between the two parallelogram link mechanisms, and the micro electric cylinder changes the included angle between the two parallelogram link mechanisms through extension and retraction.

6. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, The main drum is fixedly locked on the output shaft of the main motor through a locking ring, and the locking ring is fixedly installed on the main drum through a locking screw.

7. The micro-low-gravity simulation system for complex multi-body targets according to claim 1, characterized in that, The connecting structure comprises a low-rigidity elastic body, a tension sensor and a connector, the auxiliary sling is connected above the low-rigidity elastic body, and the connector is suspendedly connected below the low-rigidity elastic body through the tension sensor.

8. The micro-low-gravity simulation system for complex multi-body targets according to claim 7, characterized in that, The low-rigidity elastic body is connected by a plurality of low-rigidity units, the low-rigidity unit is an elastic steel plate spliced into a four-star cross-section structure, four recesses of the four-star structure are provided with connecting plates, and the plurality of low-rigidity units are connected to each other into a force buffering structure with multiple rows and multiple columns through the connecting plates.

9. The micro-low-gravity simulation system for complex multi-body objects according to claim 8, characterized in that, The force buffering structure comprises a plurality of low-rigidity units connected side by side.

10. The micro-low-gravity simulation system for complex multi-body objects according to any one of claims 1-9, characterized in that, The main body frame is further provided with a control cabinet, and the control cabinet is used for controlling the actions of the sling driving system and the multi-stage motion system.

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