Swing type following mechanism and suspension type gravity unloading test device

Abstract

The invention relates to a swing type following mechanism which comprises a rack, a horizontal swing unit and an air supply unit. The rack comprises a bottom plate and a supporting seat; the horizontal swinging unit comprises two radial air floating supports, an end surface air floating support, a rotating shaft and a rotating arm; the radial air floating support comprises a sleeve and a lining, and a first air inlet hole is formed in the inner side wall of the sleeve; the end surface air floating support comprises a mounting seat and a thrust plate, a mounting groove is formed in the top surface of the mounting seat, and a second air inlet hole is formed in the side wall of the mounting groove; the rotating shaft is arranged in the bushings of the two radial air floating bearings in a penetrating manner, and an end panel is arranged at the bottom of the rotating shaft and is supported on the thrust plate; the air supply unit is connected with the first air inlet hole and the second air inlet hole through pipelines. The rotating shaft can be stably supported in a non-contact mode through the two radial air floating supports and the end face air floating support, the friction resistance is extremely low when the rotating arm drives the rotating shaft to rotate, and therefore the following precision of the device can be guaranteed, and the ground unfolding test speed is increased.

Description

Technical Field

[0001] The invention belongs to the technical field of ground microgravity simulation, and in particular relates to a swing-type following mechanism and a suspended gravity unloading test device. Background Art

[0002] As an important part of the spacecraft subsystem, the space deployable mechanism plays an increasingly important role in the deployment process of high-precision antennas, space telescopes, and high-power solar wings. With the rapid development of aerospace technology, the demand for establishing a gravity unloading system on the ground to produce an equivalent space environment for space mission verification is increasing rapidly. At present, for the ground deployment test of the two-dimensional pointing mechanism, the existing gravity unloading device, its swing-type following mechanism often adopts the support method of rolling bearings. In the case of passive gravity unloading, the friction resistance of this support method is large, not only the following accuracy is not high, but also the ground deployment test speed is very limited. Therefore, the introduction of air floating support is considered. However, the current air floating support adopts the air floating cushion structure with micro-pore throttling. Although this air floating cushion structure has extremely small air resistance, it is limited by the number of voids and specific surface area, and its bearing capacity and static stiffness are low, making it difficult to use in large load ground microgravity tests. Summary of the invention

[0003] The main purpose of the present invention is to propose a swing-type following mechanism and a suspended gravity unloading test device, which can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A swing-type following mechanism comprises a frame, a horizontal swing unit and an air supply unit;

[0006] The frame comprises a bottom plate and a support base, and the support base is fixed to the bottom plate;

[0007] The horizontal swing unit includes two radial air-floating supports, one end-surface air-floating support, a rotating shaft and a rotating arm;

[0008] Wherein, the two radial air-floating supports are fixed up and down on the side of the support seat, the radial air-floating supports include a sleeve and a bushing, the inner side wall of the sleeve is provided with a plurality of first air inlet holes, the bushing is made of a porous medium carbon-based material, and is fixedly sleeved in the sleeve;

[0009] The end face air floating support is arranged on the bottom plate below the radial air floating support, and the end face air floating support comprises a mounting seat and a thrust plate, the top surface of the mounting seat is provided with a mounting groove, the thrust plate is made of a porous medium carbon-based material, and is fixedly embedded in the mounting groove, and the side wall of the mounting groove is provided with a plurality of second air inlet holes;

[0010] The rotating shaft is inserted into the bushings of the two radial air bearings, and the bottom of the rotating shaft has an end panel, which is supported on the thrust plate;

[0011] The rotating arm is fixedly connected to the rotating shaft;

[0012] The air supply unit is connected to the first air inlet and the second air inlet through pipelines respectively.

[0013] Preferably, the end face air floating support also includes a support rod, which is fixed to the base plate and has a spherical head. The bottom surface of the mounting seat has a ball socket, and the head of the support rod contacts the ball socket and ball pair to form a ball joint.

[0014] A suspended gravity unloading test device comprises the above-mentioned swing-type following mechanism, and also comprises a horizontal linear following unit, a vertical suspension unit, a hanging tooling unit and a control unit;

[0015] The horizontal linear follower unit comprises a cylindrical guide rail and a pulley assembly, wherein the cylindrical guide rail is fixed at the bottom of the rotating arm, and the pulley assembly is horizontally slidably mounted on the cylindrical guide rail;

[0016] The vertical suspension unit comprises an electric cylinder, a force sensor, an angle sensor and an elastic component which are sequentially connected by a steel wire rope, and the electric cylinder is fixedly connected to the pulley assembly by the steel wire rope;

[0017] The hanging fixture unit is fixedly connected to the elastic component via a steel wire rope and is used to install a two-dimensional pointing mechanism;

[0018] The control unit is electrically connected to the electric cylinder, the force sensor, and the angle sensor respectively.

[0019] Preferably, the cylindrical guide rail is fixed to the bottom of the swivel arm through an adjustment assembly, the adjustment assembly includes a T-block and a connecting block, the connecting block is fixed to the top of the T-block, the connecting block is fixedly connected to the swivel arm, a gasket is provided between the connecting block and the swivel arm, a rectangular groove is provided on the cylindrical guide rail, and the T-block is fixedly connected to the rectangular groove after matching.

[0020] Preferably, the pulley assembly includes a pulley seat and four roller members, the pulley seat is a "Y"-shaped structure, and the four roller members are symmetrically installed on the top of both ends of the pulley seat, with the space forming an angle of 90°, and the roller member includes a center axis and a roller bearing, the lower end of the center axis is fixedly connected to the pulley seat, and the roller bearing is installed on the upper end, and the cylindrical guide rail is located in the middle recessed area of ​​the pulley seat and abuts against the roller bearing.

[0021] Preferably, the elastic component is a low-rigidity spring.

[0022] Preferably, the control unit includes an electric cylinder control module and a host computer software system, and the electric cylinder control module is electrically connected to the electric cylinder, the force sensor, the angle sensor and the host computer software respectively.

[0023] The present invention provides a swing-type following mechanism and a suspended gravity unloading test device, which have the following beneficial effects:

[0024] 1. After the air supply unit supplies air, an air film is formed between the bushing and the rotating shaft to radially support the rotating shaft. An air film is formed between the thrust plate and the end plate to support the bottom of the rotating shaft. The rotating shaft can be stably supported without contact through two radial air bearings and one end face air bearing. When the rotating arm drives the rotating shaft to rotate, the friction resistance is extremely low, thereby ensuring the following accuracy of the device and improving the ground deployment test speed.

[0025] 2. The bushing and thrust plate of the present invention are both made of porous medium carbon-based materials with large voids and specific surface area, which can greatly improve the bearing capacity and static stiffness of the radial air floating support and the end face air floating support, so that the device can be used in large load ground microgravity tests.

[0026] 3. The angle sensor and force sensor measure the force and spatial inclination of the wire rope in real time. The control unit automatically calculates the adjustment amount according to the feedback signals of the angle sensor and force sensor, and feeds back to the electric cylinder to automatically control its displacement and extension, and compensate for the unloading force, thereby providing a two-dimensional pointing mechanism and accurate gravity unloading during the antenna deployment process.

[0027] 4. The vertical suspension unit is also equipped with elastic components, which can effectively suppress the rope force disturbance caused by external interference such as impact loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The structure of the suspended gravity unloading test device of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 2 The structure of the suspended gravity unloading test device of the present invention is shown in FIG. Figure 2 ;

[0030] Figure 3 It is a schematic diagram of the structure of the radial air floating support and the end surface air floating support of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the adjustment assembly of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the pulley assembly of the present invention;

[0033] Figure 6 It is a cross-sectional view of the pulley assembly of the present invention.

[0034] In the figure:

[0035] 0, frame; 01, base plate; 02, support base;

[0036] 1. Horizontal swing unit; 11. Radial air bearing; 12. End face air bearing; 13. Rotating shaft; 14. Rotating arm; 15. End panel; 111. Sleeve; 112. Bushing; 1111. First air inlet; 121. Mounting seat; 122. Thrust plate; 1211. Mounting groove; 1212. Second air inlet; 123. Support rod;

[0037] 2. Horizontal linear follower unit; 21. Cylindrical guide rail; 22. Pulley assembly; 221. Pulley seat; 222. Roller assembly; 2221. Center shaft; 2222. Roller bearing; 23. Adjustment assembly; 231. T-block; 232. Connecting block;

[0038] 3. Vertical suspension unit; 31. Electric cylinder; 32. Force sensor; 33. Angle sensor; 34. Elastic component;

[0039] 4. Hanging tooling unit;

[0040] 5. Air supply unit;

[0041] 6. Control unit; 61. Electric cylinder control module; 62. Host computer software system. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0043] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] Example

[0047] Reference Figure 1-3 , a swing-type following mechanism, comprising a frame 0, a horizontal swing unit 1 and an air supply unit 5;

[0048] The frame 0 includes a bottom plate 01 and a support base 02, and the support base 02 is fixed on the bottom plate 01;

[0049] The horizontal swing unit 1 includes two radial air-floating supports 11, an end-surface air-floating support 12, a rotating shaft 13 and a rotating arm 14;

[0050] The two radial air-floating supports 11 are fixed up and down on the side of the support seat 02. The radial air-floating supports 11 include a sleeve 111 and a bushing 112. The inner wall of the sleeve 111 is provided with a plurality of first air inlet holes 1111. The bushing 112 is made of a porous medium carbon-based material and is fixedly sleeved in the sleeve 111.

[0051] The end face air floating support 12 is arranged on the bottom plate 01 below the radial air floating support 11, and the end face air floating support 12 comprises a mounting seat 121 and a thrust plate 122. The top surface of the mounting seat 121 is provided with a mounting groove 1211. The thrust plate 122 is made of a porous medium carbon-based material and is fixedly embedded in the mounting groove 1211. The side wall of the mounting groove 1211 is provided with a plurality of second air inlet holes 1212.

[0052] The rotating shaft 13 is inserted into the bushings 112 of the two radial air bearings 11, and the bottom of the rotating shaft 13 has an end panel 15, and the end panel 15 is supported on the thrust plate 122;

[0053] The rotating arm 14 is fixedly connected to the rotating shaft 13;

[0054] The air supply unit 5 is connected to the first air inlet 1111 and the second air inlet 1212 through pipelines respectively.

[0055] Specifically, a plurality of first air inlet holes 1111 are arranged in a circle on the bearing seat, and can be connected to the air supply unit 5 through pipes respectively, or can be connected to each other and connected to the air supply unit 5 through pipes using a total air inlet hole. Similarly, a plurality of second air inlet holes 1212 are arranged in a circle on the mounting seat 121, and can be connected to the air supply unit 5 through pipes respectively, or can be connected to each other and connected to the air supply unit 5 through pipes using a total air inlet hole. It is sufficient to ensure uniform air supply to the bushing 112 and the thrust plate 122 as much as possible, and no structural limitation is made here.

[0056] After the air supply unit 5 supplies air, an air film is formed between the bushing 112 and the rotating shaft 13, which is used to radially support the rotating shaft 13. An air film is formed between the thrust plate 122 and the end panel 15, which is used to support the bottom of the rotating shaft 13. The rotating shaft 13 can be stably supported without contact through two radial air floating supports 11 and one end face air floating support 12. When the rotating arm 14 drives the rotating shaft 13 to rotate, the friction resistance is extremely low, thereby ensuring the following accuracy of the device and improving the ground deployment test speed.

[0057] The bushing 112 and thrust plate 122 of the present invention are both made of porous medium carbon-based materials with large voids and specific surface area, which can greatly improve the bearing capacity and static stiffness of the radial air floating support 11 and the end face air floating support 12, so that the device can be used in large load ground microgravity tests.

[0058] In a specific embodiment, the end face air floating support 12 also includes a support rod 123, which is fixed on the base plate 01 and has a spherical head. The bottom surface of the mounting seat 121 has a ball socket, and the head of the support rod 123 contacts the ball socket and ball pair to form a ball joint, so that the thrust plate 122 can adaptively adjust its posture to maintain the position tolerance relationship with the rotating shaft 13.

[0059] The present invention also provides a suspended gravity unloading test device, comprising the above-mentioned swing-type following mechanism, and also comprising a horizontal linear following unit 2, a vertical suspension unit 3, a hanging tooling unit 4 and a control unit 6;

[0060] The horizontal linear follower unit 2 includes a cylindrical guide rail 21 and a pulley assembly 22. The cylindrical guide rail 21 is fixed to the bottom of the rotating arm 14, and the pulley assembly 22 is horizontally slidably mounted on the cylindrical guide rail 21.

[0061] The vertical suspension unit 3 includes an electric cylinder 31, a force sensor 32, an angle sensor 33 and an elastic component 34 which are sequentially connected by a steel wire rope, and the electric cylinder 31 is fixedly connected to the pulley component 22 by a steel wire rope;

[0062] The hanging fixture unit 4 is fixedly connected to the elastic component 34 via a steel wire rope, and is used to install a two-dimensional pointing mechanism;

[0063] The control unit 6 is electrically connected to the electric cylinder 31 , the force sensor 32 , and the angle sensor 33 , respectively.

[0064] When implementing the ground deployment test, the suspended gravity unloading test device of the present invention is connected to the two-dimensional pointing mechanism through the hanging tooling unit 4, providing gravity unloading during the deployment of the two-dimensional pointing mechanism and the antenna.

[0065] When the two-dimensional pointing mechanism swings in the horizontal plane, the hanging tooling unit 4 of the present invention drives the vertical suspension unit 3, and then drives the rotating arm 14 and the rotating shaft 13 of the horizontal swing unit 1 to passively rotate through the pulley assembly 22 on the horizontal linear follower unit 2 to follow the movement trajectory of the center of gravity of the two-dimensional pointing mechanism and the antenna in the horizontal plane.

[0066] When the two-dimensional pointing mechanism pitches in the vertical plane, the hanging tooling unit 4 of the present invention drives the vertical suspension unit 3, and then through the pulley assembly 22 on the horizontal linear follower unit 2, makes it passively move along the cylindrical guide rail 21; at the same time, the angle sensor 33 and the force sensor 32 measure the force and spatial inclination angle of the wire rope in real time, and the control unit 6 automatically calculates the adjustment amount according to the feedback signals of the angle sensor 33 and the force sensor 32, and feeds back to the electric cylinder 31 to automatically control its displacement and extension amount, and compensates for the unloading force, thereby providing accurate gravity unloading during the deployment of the two-dimensional pointing mechanism and the antenna; the synthetic motion of the two linear motions follows the motion trajectory of the center of gravity of the two-dimensional pointing mechanism and the antenna in the vertical plane.

[0067] The vertical suspension unit 3 is also provided with an elastic component 34, which can effectively suppress the rope force disturbance caused by external interference such as impact load.

[0068] In a specific embodiment, referring to Figure 2 , Figure 4 The cylindrical guide rail 21 is fixed to the bottom of the rotating arm 14 through an adjustment component 23. The adjustment component 23 includes a T-block 231 and a connecting block 232. A rectangular groove is opened on the cylindrical guide rail 21. The T-block 231 is fixedly connected with the rectangular groove after being positioned in coordination. The connecting block 232 is fixed on the top of the T-block 231. The connecting block 232 is fixedly connected to the rotating arm 14. A gasket is arranged between the connecting block 232 and the rotating arm 14, and the horizontality of the cylindrical guide rail 21 can be adjusted by the gasket.

[0069] In a specific embodiment, referring to Figure 5 , Figure 6 The pulley assembly 22 includes a pulley seat 221 and four roller members 222. The pulley seat 221 is a "Y"-shaped structure. The four roller members 222 are symmetrically installed on the top of both ends of the pulley seat 221, and the space forms a 90° angle. The roller member 222 includes a central axis 2221 and a roller bearing 2222. The lower end of the central axis 2221 is fixedly connected to the pulley seat 221, and the roller bearing 2222 is installed on the upper end. The cylindrical guide rail 21 is located in the middle recessed area of ​​the pulley seat 221 and abuts against the roller bearing 2222. The pulley assembly 22 can slide on the cylindrical guide rail 21 through the four roller bearings 2222.

[0070] In this embodiment, the central shaft 2221 is a stepped eccentric shaft, wherein section A is used to install the roller bearing 2222 , and section B is interference fit with the hole of the pulley seat 221 .

[0071] In a specific embodiment, the elastic component 34 is a low-rigidity spring.

[0072] In a specific implementation, the control unit 6 includes an electric cylinder 31 control module and a host computer software system 62 , and the electric cylinder control module 61 is electrically connected to the electric cylinder 31 , the force sensor 32 , the angle sensor 33 and the host computer software system 62 , respectively.

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A swing-type following mechanism, characterized in that: It includes a frame, a horizontal swing unit and an air supply unit; The frame comprises a bottom plate and a support base, and the support base is fixed to the bottom plate; The horizontal swing unit includes two radial air-floating supports, one end-surface air-floating support, a rotating shaft and a rotating arm; Wherein, the two radial air-floating supports are fixed up and down on the side of the support seat, the radial air-floating supports include a sleeve and a bushing, the inner side wall of the sleeve is provided with a plurality of first air inlet holes, the bushing is made of a porous medium carbon-based material, and is fixedly sleeved in the sleeve; The end face air floating support is arranged on the bottom plate below the radial air floating support, and the end face air floating support comprises a mounting seat and a thrust plate, the top surface of the mounting seat is provided with a mounting groove, the thrust plate is made of a porous medium carbon-based material, and is fixedly embedded in the mounting groove, and the side wall of the mounting groove is provided with a plurality of second air inlet holes; The rotating shaft is inserted into the bushings of the two radial air bearings, and the bottom of the rotating shaft has an end panel, which is supported on the thrust plate; The rotating arm is fixedly connected to the rotating shaft; The air supply unit is connected to the first air inlet and the second air inlet through pipelines respectively.

2. The swing-type following mechanism according to claim 1, characterized in that: The end face air floating support also includes a support rod, which is fixed to the base plate and has a spherical head. The bottom surface of the mounting seat has a ball socket, and the head of the support rod contacts the ball socket and ball pair to form a ball joint.

3. A suspended gravity unloading test device according to claim 1, comprising the swing-type following mechanism according to any one of claims 1 to 2, characterized in that: It also includes a horizontal linear follow-up unit, a vertical suspension unit, a hanging fixture unit and a control unit; The horizontal linear follower unit comprises a cylindrical guide rail and a pulley assembly, wherein the cylindrical guide rail is fixed at the bottom of the rotating arm, and the pulley assembly is horizontally slidably mounted on the cylindrical guide rail; The vertical suspension unit comprises an electric cylinder, a force sensor, an angle sensor and an elastic component which are sequentially connected by a steel wire rope, and the electric cylinder is fixedly connected to the pulley assembly by the steel wire rope; The hanging fixture unit is fixedly connected to the elastic component via a steel wire rope and is used to install a two-dimensional pointing mechanism; The control unit is electrically connected to the electric cylinder, the force sensor, and the angle sensor respectively.

4. A suspended gravity unloading test device according to claim 3, characterized in that: The cylindrical guide rail is fixed to the bottom of the rotating arm through an adjustment component, and the adjustment component includes a T-block and a connecting block. The connecting block is fixed to the top of the T-block, and the connecting block is fixedly connected to the rotating arm. A gasket is provided between the connecting block and the rotating arm. A rectangular groove is opened on the cylindrical guide rail, and the T-block is fixedly connected to the rectangular groove after matching.

5. A suspended gravity unloading test device according to claim 3, characterized in that: The pulley assembly includes a pulley seat and four roller members. The pulley seat is a "Y"-shaped structure. The four roller members are symmetrically installed on the top of both ends of the pulley seat, and the space forms an angle of 90°. The roller member includes a central axis and a roller bearing. The lower end of the central axis is fixedly connected to the pulley seat, and the roller bearing is installed on the upper end. The cylindrical guide rail is located in the middle recessed area of ​​the pulley seat and abuts against the roller bearing.

6. A suspended gravity unloading test device according to claim 3, characterized in that: The elastic component is a low-rigidity spring.

7. A suspended gravity unloading test device according to claim 3, characterized in that: The control unit includes an electric cylinder control module and a host computer software system. The electric cylinder control module is electrically connected to the electric cylinder, the force sensor, the angle sensor and the host computer software respectively.

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