A splicing and expanding porous material throttling air floating platform

Abstract

The application discloses a splicing and expandable porous material throttling air floating platform, and belongs to the technical field of precision displacement, which comprises an adjusting footing, a flat plate, a porous medium plate and an assembling body; the flat plate is supported on the adjusting footing, the porous medium plate is arranged above the flat plate, and the assembling body which can be disassembled and assembled is laid between the porous medium and the flat plate; the assembling body is provided with a flow channel which can make gas flow; the flow channel is connected with the porous medium plate, so as to provide high-pressure gas flow for the porous medium plate. The assembling body is sealed and connected with the porous medium material, so that the gas can only flow out through the porous medium material. The application provides a two-dimensional microgravity experimental environment for a modular robot on the ground, simulates the working state in space, and is suitable for microgravity experimental simulation of various modular robots and other small robots.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of precision displacement, and particularly relates to a porous material throttling air floating platform capable of being spliced and expanded. BACKGROUND

[0002] The air floating platform has a relatively perfect manufacturing process, and has advantages of stability, outstanding effect of reducing friction in a two-dimensional plane, large bearing capacity and the like. The current air floating platform experimental system is composed of a smooth platform (such as a marble platform), an air floating bearing (air foot), and a gas supply system. However, this way is not good for microgravity simulation of objects with small volume and mass, because the weight of the air foot cannot be ignored at this time, and the inflation hose following the movement of the air foot also interferes with the simulation of the microgravity experiment. In addition, the inflation hose also has a great influence on the simulation of the interaction between multiple objects. SUMMARY

[0003] The present application provides a porous material throttling air floating platform capable of being spliced and expanded. The application uses a splicing body and a porous medium material sealing connection, so that gas can only flow out through the porous medium material. A glass is placed above the porous medium material plate, and a spacecraft or a robot or the like can be placed above the glass. When working, an air film can be generated to balance the mass of the object, leave the ground, and form a microgravity experiment effect.

[0004] A porous material throttling air floating platform capable of being spliced and expanded comprises an adjusting foot, a flat plate, a porous medium plate, and a splicing body. The flat plate is supported on the adjusting foot, and the porous medium plate is arranged above the flat plate. The splicing body is arranged between the porous medium and the flat plate and is detachable. The splicing body has a flow channel for gas flow. The flow channel is connected with the porous medium plate to provide high-pressure gas flow for the porous medium plate.

[0005] Further, the splicing body is a 3D printed part.

[0006] Further, the porous medium plate is a graphite plate.

[0007] The present application has the following beneficial effects compared with the prior art:

[0008] 1. The porous medium is used to construct a microgravity experiment table, so that gas can uniformly penetrate the surface of the porous medium plate to form a stable air film.

[0009] 2、The application has innovation compared with the traditional air foot. First, the air foot is placed from "upper" to "lower", and the porous medium material plate is placed below to expand. The glass is placed above the porous medium material plate. The glass placed above is much lighter than the traditional air foot. The advantage of the newly constructed air floating platform is that it has all the advantages of the experimental platform constructed by the air foot, and further greatly reduces the weight of the accessories attached to the object, making the effect of weightlessness simulation more prominent. Second, it solves the defects of the air foot experimental platform without the interference of the inflatable hose. It can simulate the movement effect of multiple objects interacting with each other in a weightless environment, and can simulate the extreme position of the experimental object on many planes. The simulation effect is better. Third, the porous material can effectively throttle and reduce the consumption of gas flow of the experimental platform. The air floating platform has good stability and fault tolerance, and can provide a stable microgravity environment. Fourth, it has good precision and can offset the entire gravity of the object, making the friction almost zero. The air floating platform has generalization, that is, the performance of the air floating platform is stable, whether the area is large or small, it has the characteristics of being easy to construct, and the experimental platform can be expanded.

[0010] 3、Since the gas used is high-pressure gas, the use of large-area porous media will cause great pressure if the traditional air foot method is used, which requires high strength of the porous media material and the 3D fitting part connected to the porous media material. The improvement of the connection method of the 3D printed part and the porous media material in the application does not change the effect of the throttling air floating platform much, and greatly reduces the requirement for material strength. Moreover, this connection method allows the throttling air floating platform to be expanded or reduced at will without increasing the complexity of the connection process.

[0011] 4、The application can be applied to the fields of aerospace and object transportation, and can greatly reduce friction in two-dimensional space for object transportation. By reducing friction, transportation is very convenient.

[0012] The application will be further described in conjunction with the drawings and embodiments: BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a schematic diagram of a traditional contact type air suspension device;

[0014] Figure 2 is a perspective view of the porous material throttling air floating platform of the application which can be spliced and expanded;

[0015] Figure 3 is a perspective view of the porous material throttling air floating platform from one direction after removing the porous medium plate;

[0016] Figure 4 is another perspective view of the porous material throttling air floating platform after removing the porous medium plate from another direction;

[0017] Figure 5 is a structural schematic diagram of the assembled part;

[0018] Figure 6 is a schematic diagram of the assembled part cooperating with the porous medium plate;

[0019] Figure 7 is a schematic diagram of the connection mode of adjacent assembled parts;

[0020] Figure 8 is a schematic diagram of the arrangement of a plurality of assembled parts;

[0021] Figure 9 is a schematic diagram of the throttling air floating platform constructed by the splicable porous medium plate;

[0022] Figure 10 is a partial sectional view of Figure 9 ;

[0023] Figure 11 is a schematic diagram of the arrangement of a plurality of assembled parts.

[0024] Figure 12 is a process diagram of the translational experiment of the modular robot using the air floating platform in the embodiment of the application;

[0025] Figure 13 is a process diagram of the rotation experiment of the modular robot using the air floating platform in the embodiment of the application;

[0026] Figure 14 is a process diagram of the rotation experiment of the modular robot using the air floating platform in the embodiment of the application. DETAILED DESCRIPTION

[0027] The embodiments of the technical solutions of the application will be described in detail below with reference to the drawings. Unless otherwise specified, the technical terms or scientific terms used in the application have the usual meanings understood by those skilled in the art.

[0028] Figure 1 A conventional air suspension device generated by a contact connection mode is shown. Graphite is in large-area contact with high-pressure air. This design is not too stressful for small air feet, and the strength requirement of the material of the cooperating part is not too high. However, if the porous medium material is placed below, the graphite area is too large, and if this mode is still used for connection under the action of high-pressure gas, the unit of high-pressure gas is 10 5 Pa. For a 1 square meter platform, the force of high-pressure gas on graphite and the cooperating part is at least 10 5N, so the feasibility of using this connection in reality is not high.

[0029] In view of this, the embodiment provides a porous material throttling air floating platform which can be spliced and expanded, like Figures 2-4 As shown, it comprises an adjusting foot 1, a flat plate 2, a porous medium plate 3 and an assembly body 4; the flat plate 2 is supported on the adjusting foot 1, the porous medium plate 3 is arranged above the flat plate 2, and the assembly body 4 which can make gas flow is laid between the porous medium plate 3 and the flat plate 2, the flow channel of the assembly body 4 is connected with the porous medium plate 3 to provide high-pressure gas flow for the porous medium plate 3.

[0030] The principle of the embodiment is shown in Figure 2 The lowermost adjusting foot 1 can fine-tune the height and levelness of the microgravity experiment platform, the adjusting foot 1 is connected with the flat plate 2 with high levelness, and the function is to place the porous medium plate 3 (such as graphite plate) on a plane, so that the microgravity experiment platform can be adjusted, the assembly body 4 is used to connect the air compressor, the pipeline with gas flow provides high-pressure gas flow for the graphite, the porous medium plate 3 and the assembly body 4 are bonded by means of glue and the like, so as to ensure that the high-pressure gas can only penetrate out through the porous medium plate 3 to achieve the throttling effect, the upper surface of the porous medium plate 3 needs to be polished and processed to improve the flatness of the plane and reduce the roughness (for example, the roughness is Ra0.4). The glass plate 5 (or other low-roughness and high-flatness plane) is placed above the porous medium plate 3, the glass plate 5 is customized and cooperates with the experimental object without relative motion with the experimental object, and the function is to generate an air film between the upper surface of the porous medium plate 3 to make the experimental object suspended and further produce the microgravity effect, and it is necessary to ensure that the surface in contact with the graphite has high flatness and low roughness.

[0031] Exemplarily, the gas outlet end of the gas outlet pipe head 412 is placed in the groove in the lower surface of the porous medium plate 3, and the end face of the gas outlet end is bonded and sealed with the groove. The flat plate 2 is a metal plate. The upper surface of the porous medium plate 3 is further provided with a glass plate 5, and the glass plate 5 is configured to generate an air film with the upper surface of the porous medium plate 3 when the assembly body 4 is ventilated.

[0032] The embodiment mainly aims at two-dimensional microgravity simulation experiment of small robots working in space, adopts gas buoyancy, uses a plate made of porous medium material, throttles the gas flow rate, forms high-pressure low-flow gas, generates a gas film, then places the porous medium material below, sprays the gas upward, places a glass plate on the porous medium material, places a robot above the glass plate, suspends the robot by the gas film, and forms a microgravity effect. Compared with a general two-dimensional air floating microgravity experiment platform, the structure design does not have a gas foot and a connected air hose to affect the movement between modular robots, has strong pertinence to robots with small volume and mass, and has better microgravity simulation effect.

[0033] Exemplarily, the assembling body 43 is assembled by a plurality of assembling pieces 41. The assembling piece 41 is a 3D printed piece.

[0034] The porous medium plate 3 is a graphite plate.

[0035] The overall configuration of the 3D printed piece is as shown in Figure 5 Different models are used according to different positions.

[0036] The assembling piece 41 includes a connecting pipe head 411, a gas outlet pipe head 412 and a pipe assembly 413; the pipes of the pipe assembly 413 are arranged in a horizontal and vertical manner, the gas outlet pipe head 412 is installed at the horizontal and vertical intersection of the pipes, and the outermost gas outlet pipe head 412 is provided with a connecting pipe head 411 in communication therewith.

[0037] Optionally, the gas outlet pipe head 412 is designed as 4*4 holes, one 3D printed piece can cover 16 hole positions, and the connecting mode between the 3D printed pieces is as shown in Figure 7 Similar to the connection and cooperation between the 3D printed piece and the graphite plate, the sealing mode is also glue sealing.

[0038] Exemplarily, in the design of the 3D cooperation piece for the large-area graphite, the 3D printed piece is improved due to the upper glue and printing limitations, a new processing technology is designed, and the technology has general universality, and the experimental platform can be infinitely expanded in theory, and the construction difficulty is not improved.

[0039] The connection mode between the 3D printed piece and the graphite and the gas entering mode of the graphite are as shown in Figure 5 The high-pressure gas flows in the pipe of the 3D printed piece, then contacts a small part of the graphite, a circular hole groove is dug in the graphite, a special 3D printed piece is designed to cooperate with the graphite, and the 3D printed piece is as shown in Figure 5As shown, the outlet end of the vent pipe 412 is placed in a groove on the lower surface of the porous medium plate 3, and the end face of the outlet end is bonded and sealed with the groove. The adhesive bonding surface is used for adhesive bonding to prevent air leakage and provide adhesive force. This bonding process is convenient to process. During processing, it is only necessary to apply a ring of adhesive around the outer perimeter of the annular surface of the outlet end face using a dispensing machine. Then, the gas flows into the graphite through the central cylinder that matches the central hole of the outlet end, and then diffuses in the space of the graphite.

[0040] For example, the combination of 3D printed parts and large graphite is as follows: Figure 8 As shown, the graphite plate is 480mm×480mm×30mm in size. One side is polished smooth to place the glass, and the other side has an annular groove to fit with the air outlet head 412 of the 3D printed part. A total of 16×16 holes are drilled in the graphite plate, and a total of 16 3D printed parts are used for assembly. For example, the spacing between the holes is 30mm, but it can be changed according to the actual situation.

[0041] like Figure 8 As shown, the assembly sequence is from top left to bottom right. There are slight differences between the different printed parts to facilitate fitting. The left connecting surface of each 3D printed part faces upwards, and the right connecting surface faces downwards, thus preventing interference during assembly. This innovative assembly method transforms large-area assembly into small-area assembly, improving assembly precision, reducing assembly time for each 3D printed part, and simplifying assembly. Two parts have pagoda-like air outlet heads (412) designed on them, which connect to an air compressor via air hoses to provide high-pressure gas.

[0042] After assembling multiple of the above units, they can be spliced ​​together, as shown in the diagram below. Figure 1 As shown, it is necessary to ensure that the perpendicularity between the side surface and the top surface of the graphite is high enough so that the surfaces can be joined together. Minor errors can be corrected by adjusting foot 1 for leveling, and minor leveling errors can also be corrected by adjusting foot 1 for leveling. With this, the microgravity experimental platform is fully constructed. A larger microgravity experimental platform can be obtained by splicing these components together.

[0043] For example, such as Figures 9-11 As shown, the porous dielectric plate 3 is assembled from several porous plates 31 of the same material, and each porous plate 31 corresponds to a set of assembly bodies 4. Each assembly body 4 is formed by assembling multiple assembly parts 41, and the multiple assembly bodies 4 are assembled as follows: Figure 11 As shown, several perforated plates 31 (graphite plates) are assembled as follows: Figure 10 As shown, a porous medium plate 3 is formed. After the air flotation platform in this embodiment is assembled, it is as follows: Figure 9 As shown.

[0044] Example:

[0045] The microgravity experiment platform formed by the above embodiment applied to the modular robot is built by air floating, and provides a two-dimensional microgravity experiment environment for the modular robot on the ground, simulating the working state in space. The microgravity experiment simulation of various modular robots and other small robots can be achieved by adjusting the size of the glass plate and the size of the matching piece unit.

[0046] The experiment of the modular robot is as follows:

[0047] Firstly, the large-area micro-hole platform is tested. It can be known from the experiment that the platform can still work stably after continuously inputting high-pressure gas for 1 hour, and the stability and safety of the platform are good.

[0048] Secondly, the rotation experiment of the modular robot is carried out. A self-rotation torque is given to the modular robot. It can be seen that the modular robot does not stop and is suspended in the air without sliding friction, and the angular velocity is almost not reduced.

[0049] The translation experiment of the modular robot is as shown in Figure 12 The interval time in the figure is 0.1s, the moving distance is approximately the same, and it can be concluded that the speed of the modular robot almost does not change, that is, the resistance is almost not received, which indicates that the modular robot is suspended in the air by the air film, and the suspension effect of the microgravity experiment platform is good.

[0050] The self-rotation of the modular robot is as shown in Figure 13 It can be seen that when the modular robot rotates, the upper and lower parts have the same weight, the upper part and the lower part have the same angle relative to the ground, and the directions are opposite, that is, the whole modular robot does not rotate relative to the ground, which indicates that the angular momentum of the modular robot is basically conserved. It is proved that the weightlessness simulation effect of the microgravity experiment platform is very good, and the microgravity experiment platform can form a stable air film for a long time to make the sliding friction disappear. The experiment is the same as the theoretical motion analysis of the modular robot in the weightlessness environment, and therefore the good simulation of the large-area micro-hole platform is verified.

[0051] Then, the microgravity experiment of two modular robots is carried out. Firstly, the experiment of the magnetic attraction between the modular robots is carried out. The modular robots slowly approach each other under the action of the magnetic force, and then are adsorbed together. It can be known from the experiment that the distance of the modular robots that can be adsorbed is much larger than that without the microgravity experiment platform, which indicates that there is almost no sliding friction between the modular robots and the ground, and the weightlessness simulation is very good.

[0052] Then the rotation experiment of the modular robot is carried out, first, only one modular robot is rotated, in the weightless environment, the system is not affected by external force, the angular momentum is conserved, and the center of mass hardly changes, as shown in the experiment Figure 14 When rotating, the center of mass of the modular robot system hardly moves, the part with light mass rotates at a large angle, the part with heavy mass rotates at a small angle, when the modular robot returns to the state without rotation angle, the modular robot system returns to the horizontal state consistent with the state before movement, which indicates that the overall system does not rotate, verifies the angular momentum conservation of the system, and the movement state in the space weightless environment is consistent, which indicates that the large-area micro-hole platform is very good for simulating weightlessness.

[0053] Finally, the rotation experiment of the modular robot is carried out, both modules are rotated, the movement state of the modular robot is relatively complex when both modules of the modular robot move, but the center of mass of the modular robot hardly moves, and the system does not rotate, the overall angular momentum is conserved, which is consistent with the movement under the weightless condition.

[0054] This experiment verifies that the advantage of the large-area micro-hole platform is to have all the advantages of the air foot experimental platform, and further greatly reduces the weight of the accessories attached to the modular robot, so that the weightlessness simulation effect is more prominent, and then solves the defects of the air foot experimental platform, can simulate the magnetic connection and magnetic break of the modular robot in weightlessness, without the interference of the inflatable hose, and can simulate the movement of the limit position of the modular robot on many planes. It is also verified that the expansion scheme of the large-area micro-hole platform is reliable, and the theory and experiment are feasible, and the experimental platform can be expanded.

[0055] The present application has been fully demonstrated by the preferred embodiments, but this does not mean the limitation of the present application. Any person with relevant professional knowledge can make appropriate adjustment or optimization to the above disclosed structure and technical content without violating the core of the technical scheme of the present application, to form equivalent implementation cases. These adjusted or optimized implementation cases still belong to the scope of the technical scheme of the present application.

Claims

1. A modular and expandable porous material throttling air flotation platform, characterized in that: It includes adjustable feet (1), a flat plate (2), a porous medium plate (3), and an assembly body (4); A flat plate (2) is supported on an adjustable foot (1). A porous medium plate (3) is positioned above the flat plate (2). A detachable assembly (4) is laid flat between the porous medium plate (3) and the flat plate (2). The assembly (4) has a flow channel that allows gas to flow. The flow channel is in contact with the porous medium plate (3) to provide high-pressure airflow to the porous medium plate (3). The assembly (4) is formed by assembling multiple assembly parts (41), which are 3D printed parts. (41) Includes a connecting pipe head (411), an air outlet pipe head (412), and a pipe assembly (413); the pipes of the pipe assembly (413) are arranged in a horizontal and vertical manner, and an air outlet pipe head (412) is installed at the intersection of the horizontal and vertical pipes. The outermost air outlet pipe head (412) is provided with a connecting pipe head (411) communicating with it. The air outlet end of the air outlet pipe head (412) is placed in the groove on the lower surface of the porous medium plate (3), and the end face of the air outlet end is bonded and sealed with the groove.

2. The expandable porous material throttling air flotation platform according to claim 1, characterized in that: The porous medium plate (3) is a graphite plate.

3. The expandable porous material throttling air flotation platform according to claim 1, characterized in that: The flat plate (2) is a metal plate.

4. The expandable porous material throttling air flotation platform according to claim 1, characterized in that: A glass plate (5) is also arranged on the upper surface of the porous medium plate (3). The glass plate (5) is configured as an assembly (4) that can generate an air film with the upper surface of the porous medium plate (3) when it is ventilated.

5. The expandable porous material throttling air flotation platform according to claim 1, characterized in that: The porous medium plate (3) is assembled from several porous plates (31) of the same material, and each porous plate (31) corresponds to a set of assembly bodies (4).

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