Docking analog mechanism suspension type gravity balance device

Abstract

The present application relates to the technical field of spacecraft docking simulation, in particular to a docking simulation mechanism suspension type gravity balancing device, which comprises a device base, a main fixed support, a gravity balancing support, a gravity balancing follow-up unit, an electric hoist, a gravity balancer, a steel cable, an adjustable vertical transfer frame body, a horizontal obstacle avoidance support and a hinged support rod assembly. The gravity balancer can match the gravity of the docking ring of the active docking mechanism, the balance parameters can be adjusted, the active docking mechanism of different weights and sizes can be adapted, the gravity load can be completely offset, the vibration during docking can be reduced, and the docking accuracy can be improved. The adjustable vertical transfer frame body and the horizontal obstacle avoidance support are cooperatively arranged, the active docking mechanism docking ring can be kept stable, interference with the surrounding fixed components can be avoided, the docking success rate and stability can be improved, different active docking mechanisms can be adapted, and the connected horizontal obstacle avoidance support can be kept horizontal.

Description

Technical Field

[0001] This invention relates to the field of spacecraft docking simulation technology, specifically a suspended gravity balancing device for docking simulation mechanisms. Background Technology

[0002] In docking simulation tests in aerospace, mechanical, and other fields, the suspension stability, gravity balance accuracy, and obstacle avoidance capabilities of the active docking mechanism directly affect the realism and accuracy of the simulation. Most existing docking simulation devices employ simple, integrated rigid supports or simple spring suspensions, which cannot dynamically adjust the balance force based on the weight of the active docking mechanism. Gravity loads easily induce vibrations in the mechanism, thus reducing docking accuracy. Furthermore, during docking, the fixed angle of the suspension support prevents flexible adjustment of the active docking mechanism's spatial attitude according to the docking position, resulting in a slow response speed and difficulty in simulating dynamic docking processes. Interference between the active docking mechanism and surrounding fixed components is also prone to occur, leading to docking failure. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a suspended gravity balancing device for a docking simulation mechanism.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A suspension gravity balancing device for docking simulation mechanism is applicable to docking simulation of active docking mechanism of aircraft simulator. The active docking mechanism includes active docking mechanism fixed end and active docking mechanism docking ring. The active docking mechanism fixed end is fixedly connected to one end of the main beam of aircraft simulator. The active docking mechanism docking ring and the active docking mechanism fixed end are in contact with each other in the initial state before docking.

[0006] The suspended gravity balancing device for docking simulation mechanism disclosed in this invention includes a device base, a main fixed support, a gravity balancing support, a gravity balancing follower unit, an electric hoist, a gravity balancer, a steel cable, an adjustable vertical transfer frame, a horizontal obstacle avoidance support, and a hinged support rod assembly.

[0007] The device base is used to connect with the main beam of the aircraft simulator. The bottom end of the main fixed bracket is fixed to the device base, and one end of the gravity balance bracket is fixed to the top end of the main fixed bracket. The gravity balance follower unit has a fixed end and a follower telescopic end. The electric hoist has a fixed end and a hook output end. The gravity balancer has an upper fixed end and a power conversion end.

[0008] The fixed end of the gravity balance follower unit is connected to the end of the gravity balance bracket away from the main fixed bracket. The fixed end of the electric hoist is set on the follower telescopic end of the gravity balance follower unit. The upper fixed end of the gravity balancer is connected to the hook output end of the electric hoist. The electric hoist and the gravity balancer are both located directly above the docking ring of the active docking mechanism. The power transfer end of the gravity balancer is connected to the adjustable vertical transfer frame through the steel cable. The adjustable vertical transfer frame is connected to the horizontal obstacle avoidance bracket. The horizontal obstacle avoidance bracket is connected to the docking ring of the active docking mechanism through the hinged support rod assembly.

[0009] The horizontal obstacle avoidance bracket is M-shaped in general and is divided into a V-shaped through section in the middle and outer connecting sections on the left and right sides of the V-shaped through section;

[0010] The V-shaped through-part of the horizontal obstacle avoidance bracket passes through the hollowed-out portion of the fixed end of the active docking mechanism. The central tip of the horizontal obstacle avoidance bracket is located on the side of the fixed end of the active docking mechanism away from the device base. The central tip of the horizontal obstacle avoidance bracket is connected to the hinged support rod assembly. The left and right ends of the horizontal obstacle avoidance bracket are respectively located on the side of the fixed end of the active docking mechanism closer to the device base. The outer connecting parts of the horizontal obstacle avoidance bracket on the left and right sides are respectively located on the left and right sides of the fixed end of the active docking mechanism. The outer connecting part on the left side of the horizontal obstacle avoidance bracket is connected to the left end of the V-shaped through-part of the horizontal obstacle avoidance bracket. The outer connecting part on the right side of the horizontal obstacle avoidance bracket is connected to the right end of the V-shaped through-part of the horizontal obstacle avoidance bracket. Each of the outer connecting parts on the left and right sides of the horizontal obstacle avoidance bracket has an end extending to the side of the fixed end of the active docking mechanism away from the device base, for connection with the adjustable vertical connecting frame.

[0011] The adjustable vertical adapter frame includes a steel cable connecting rod, a steel cable connecting rod connecting seat, a hanging beam, a spherical hinge A, a vertical adjustment rod assembly, and a spherical hinge B;

[0012] The upper end of the steel cable connecting rod is connected to the steel cable, and the lower end of the steel cable connecting rod is connected to the steel cable connecting rod connecting seat. The steel cable connecting rod connecting seat is connected to the middle of the suspended crossbeam. The length direction of the suspended crossbeam is parallel to the horizontal plane. The left and right ends of the suspended crossbeam are respectively connected to the upper end of a vertical adjustment rod assembly through a spherical hinge A. The lower end of each vertical adjustment rod assembly is respectively connected to the horizontal obstacle avoidance bracket through a spherical hinge B.

[0013] The upper end of the steel cable connecting rod connecting seat is fitted with a bearing, and the lower end of the steel cable connecting rod is rotatably connected to the upper end of the steel cable connecting rod connecting seat through the bearing. The lower end of the steel cable connecting rod connecting seat has a fixing groove, and several fixing bolts are inserted on the steel cable connecting rod connecting seat at the position corresponding to the fixing groove.

[0014] A locking seat is formed in the middle of the suspended crossbeam, and several bolt through holes are opened in the horizontal direction on the locking seat of the suspended crossbeam; each of the fixing bolts is used for the fixed connection between the steel cable connecting rod connecting seat and the locking seat of the suspended crossbeam, so that the locking seat of the suspended crossbeam is engaged in the fixing groove of the steel cable connecting rod connecting seat, and each fixing bolt on the steel cable connecting rod connecting seat passes through the corresponding bolt through hole to adjust the installation position of the steel cable connecting rod connecting seat and the locking seat of the suspended crossbeam.

[0015] Each vertical adjustment rod assembly includes a double-ended adjusting screw, an upper suspension rod, and a lower suspension rod. The upper end of the upper suspension rod of each vertical adjustment rod assembly serves as the upper end of the entire vertical adjustment rod assembly and is connected to the left or right end of the corresponding suspension beam via a spherical hinge A. The lower end of the lower suspension rod of each vertical adjustment rod assembly serves as the lower end of the entire vertical adjustment rod assembly and is connected to the horizontal obstacle avoidance bracket via a spherical hinge B. The lower end of the upper suspension rod of each vertical adjustment rod assembly has a threaded hole A, and the upper end of the lower suspension rod of each vertical adjustment rod assembly has a threaded hole B. The threaded holes A and B in the vertical adjustment rod assembly have opposite directions of rotation and are both self-locking threads. The upper end of the double-ended adjustment screw of each vertical adjustment rod assembly is provided with a threaded rod portion A. The threaded rod portion A of the double-ended adjustment screw of each vertical adjustment rod assembly is connected to the threaded hole A of the upper suspension rod of the same vertical adjustment rod assembly through threads. The lower end of the double-ended adjustment screw of each vertical adjustment rod assembly is provided with a threaded rod portion B. The threaded rod portion B of the double-ended adjustment screw of each vertical adjustment rod assembly is connected to the threaded hole B of the lower suspension rod of the same vertical adjustment rod assembly through threads.

[0016] The length direction of the steel cable connecting rod and the length direction of each of the vertical adjusting rod assemblies are both perpendicular to the horizontal plane.

[0017] The articulated support rod assembly includes a central articulated seat, an articulated support rod, and sub-articulated seat blocks. The central articulated seat is fixedly connected to the horizontal obstacle avoidance bracket. A plurality of sub-articulated seat portions are evenly provided on the outer periphery of the central articulated seat. Each sub-articulated seat portion is respectively hinged to one end of the articulated support rod. The other end of each articulated support rod is respectively hinged to one sub-articulated seat block. All sub-articulated seat blocks are respectively fixedly connected to the docking ring of the active docking mechanism along the circumference of the docking ring of the active docking mechanism.

[0018] The number of hinged support rods and three sub-hinged seat blocks are both provided.

[0019] The gravity balance support is provided with a counterweight at the end away from the docking ring of the active docking mechanism.

[0020] The gravity balance follower unit includes a rear rotating shaft mounting base, a rear rotating shaft, a rear connecting arm, a front connecting arm, a front rotating shaft, a pneumatic brake A, and a pneumatic brake B.

[0021] The rear rotating shaft mounting seat is fixed to the end of the gravity balance bracket away from the main fixed bracket. One end of the rear connecting arm is provided with a rear rotating shaft connecting end, and the other end of the rear connecting arm is provided with a front rotating shaft connecting end. One end of the front connecting arm is provided with a front rotating shaft connecting seat. The other end of the front connecting arm serves as the follower extension end of the gravity balance follower unit and is connected to the fixed end of the electric hoist. The front rotating shaft connecting seat of the front connecting arm and the front rotating shaft connecting end of the rear connecting arm are hinged through the front rotating shaft. The rear rotating shaft connecting end of the arm is hinged to the rear rotating shaft mounting seat via the rear rotating shaft. The pneumatic brake A has a fixed end and a clamping brake block end, and the pneumatic brake B also has a fixed end and a clamping brake block end. The fixed ends of the pneumatic brake A and the pneumatic brake B are respectively disposed on the rear connecting arm. The clamping brake block end of the pneumatic brake A is used in conjunction with the rear rotating shaft to brake the rear connecting arm. The clamping brake block end of the pneumatic brake B is used in conjunction with the front rotating shaft to brake the front connecting arm.

[0022] The advantages and positive effects of this invention are as follows:

[0023] 1. By setting up a gravity balancer, the present invention can match the gravity of the docking ring of the active docking mechanism, adjust the balance parameters, adapt to active docking mechanisms of different weights and sizes, completely offset the gravity load, reduce vibration during docking, and improve docking accuracy.

[0024] 2. By setting up an M-shaped horizontal obstacle avoidance bracket, the present invention can keep the docking ring of the active docking mechanism extended stably, avoid interference with surrounding fixed components, and improve the docking success rate and stability.

[0025] 3. The present invention has a large amount of space for rotation due to the adjustable vertical connecting frame, and it is easy to adjust the overall vertical length, so as to adapt to different active docking mechanisms and ensure that the connected horizontal obstacle avoidance bracket can remain horizontal.

[0026] 4. This invention, through the setting of a gravity balance follow-up unit including a pneumatic brake, enables precise angle adjustment and braking of the rear connecting arm and the front connecting arm, with fast response speed and the ability to adapt to the follow-up requirements of different docking positions. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention when the docking ring of the active docking mechanism is not extended;

[0028] Figure 2 This is a schematic diagram of the structure of the present invention after the docking ring of the active docking mechanism has extended;

[0029] Figure 3 This is a schematic diagram of the adjustable vertical adapter frame, horizontal obstacle avoidance bracket, and hinged support rod assembly of the present invention.

[0030] Figure 4 for Figure 3 Enlarged view of point A;

[0031] Figure 5 This is a schematic diagram of the configuration structure of the gravity balance follower unit of the present invention.

[0032] In the diagram: 1 is the device base, 2 is the main fixed support, 3 is the gravity balance support, 4 is the gravity balance follower unit, 5 is the electric hoist, 6 is the gravity balancer, 7 is the steel cable, 8 is the horizontal obstacle avoidance support, 801 is the V-shaped through part, 802 is the external adapter part, 9 is the steel cable connecting rod, 10 is the steel cable connecting rod connecting seat, 11 is the hanging crossbeam, 1101 is the snap-fit ​​seat part, 1102 is the bolt through hole, and 12 is the spherical shape. Hinges A and 13 are spherical hinges; 14 is a fixing bolt; 15 is a double-ended adjusting screw; 16 is an upper suspension rod; 17 is a lower suspension rod; 18 is a center hinge seat; 19 is a hinge support rod; 20 is a split hinge seat block; 21 is a counterweight; 22 is a rear rotating shaft mounting seat; 23 is a rear rotating shaft; 24 is a rear connecting arm; 25 is a front connecting arm; 26 is a front rotating shaft; 27 is a pneumatic brake A; and 28 is a pneumatic brake B.

[0033] 001 is the active docking mechanism, 0011 is the fixed end of the active docking mechanism, 0012 is the docking ring of the active docking mechanism, 0013 is the hinged seat block mounting base, and 002 is the main beam of the aircraft simulator. Detailed Implementation

[0034] The following is in conjunction with the appendix Figures 1-5 The present invention will be described in further detail below.

[0035] A suspended gravity balancing device for a docking simulation mechanism, such as Figures 1-5As shown, this describes the docking simulation of the active docking mechanism 001 used in an aircraft simulator. The active docking mechanism 001 includes a fixed end 0011 and a docking ring 0012. The fixed end 0011 is fixedly connected to one end of the main beam 002 of the aircraft simulator. The docking ring 0012 and the fixed end 0011 are in contact in the initial, un-docked state, i.e., as shown... Figure 1 As shown. Figure 2 This is a schematic diagram showing the extension of the docking ring 0012 of the active docking mechanism under the actuation of external related equipment (omitted in the attached drawings of the instruction manual). Figure 2 The arrow at the bottom center indicates the direction of extension of the docking ring 0012 of the active docking mechanism. The arrangement of the main beam 002 of the aircraft simulator and the fixed end 0011 of the active docking mechanism is existing technology.

[0036] The docking simulation mechanism suspended gravity balancing device in this embodiment includes a device base 1, a main fixed bracket 2, a gravity balancing bracket 3, a gravity balancing follow-up unit 4, an electric hoist 5, a gravity balancer 6, a steel cable 7, an adjustable vertical transfer frame, a horizontal obstacle avoidance bracket 8, and a hinged support rod assembly.

[0037] The device base 1 is used to connect with the main beam 002 of the aircraft simulator, and the connection method is existing technology. The bottom end of the main fixed bracket 2 is fixed to the device base 1, and one end of the gravity balance bracket 3 is fixed to the top end of the main fixed bracket 2. The gravity balance follower unit 4 has a fixed end and a follower telescopic end, the electric hoist 5 has a fixed end and a hook output end, and the gravity balancer 6 has an upper fixed end and a power conversion end.

[0038] The fixed end of the gravity balance follower unit 4 is connected to the end of the gravity balance bracket 3 away from the main fixed bracket 2. The fixed end of the electric hoist 5 is set on the follower telescopic end of the gravity balance follower unit 4. The upper fixed end of the gravity balancer 6 is connected to the hook output end of the electric hoist 5. The electric hoist 5 and the gravity balancer 6 are both located directly above the docking ring 0012 of the active docking mechanism. The power transfer end of the gravity balancer 6 is connected to the adjustable vertical transfer frame through the steel cable 7. The adjustable vertical transfer frame is connected to the horizontal obstacle avoidance bracket 8. The horizontal obstacle avoidance bracket 8 is connected to the docking ring 0012 of the active docking mechanism through the hinged support rod assembly. Figure 2The arrow at the top center indicates the extension direction of the gravity balance follower unit 4 when the docking ring 0012 of the active docking mechanism extends. In this embodiment, the electric hoist 5 is a commercially available product, controlled by an external control system; the gravity balancer 6 is a commercially available spring-type gravity balancer. The spring force of the spring-type gravity balancer matches the weight of the docking ring 0012 of the active docking mechanism, and is used to automatically adjust the tension of the steel cable 7 to maintain the gravity balance of the docking ring 0012 of the active docking mechanism. It can also adjust the balance gravity parameters to adapt to active docking mechanisms of different weights. In this embodiment, a counterweight 21 is provided at the end of the gravity balance support 3 away from the docking ring 0012 of the active docking mechanism to balance the gravity of the structure of the gravity balance support 3 on the side closer to the docking ring 0012 of the active docking mechanism, preventing overturning.

[0039] Specifically, such as Figure 3 As shown, in this embodiment, the horizontal obstacle avoidance bracket 8 is M-shaped and is divided into a V-shaped through part 801 located in the middle and an outer transition part 802 located on the left and right sides of the V-shaped through part 801, which is a symmetrical structure.

[0040] The V-shaped through-part 801 of the horizontal obstacle avoidance bracket 8 passes through the hollowed-out portion of the active docking mechanism fixing end 0011. The central tip of the horizontal obstacle avoidance bracket 8 is located on the side of the active docking mechanism fixing end 0011 away from the device base 1. The central tip of the horizontal obstacle avoidance bracket 8 is connected to the hinged support rod assembly. The left and right ends of the horizontal obstacle avoidance bracket 8 are respectively located on the side of the active docking mechanism fixing end 0011 closer to the device base 1. The outer connecting parts 802 of the horizontal obstacle avoidance bracket 8 on the left and right sides are respectively located on the active docking mechanism fixing end 0011. On both sides of end 0011, the left outer adapter 802 of the horizontal obstacle avoidance bracket 8 is connected to the left end of the V-shaped through portion 801 of the horizontal obstacle avoidance bracket 8, and the right outer adapter 802 of the horizontal obstacle avoidance bracket 8 is connected to the right end of the V-shaped through portion 801 of the horizontal obstacle avoidance bracket 8. Both the left and right outer adapter portions 802 of the horizontal obstacle avoidance bracket 8 have an end extending to the side of the active docking mechanism fixed end 0011 away from the device base 1, for connection to the adjustable vertical adapter frame. The M-shaped horizontal obstacle avoidance bracket 8 effectively maintains the stability of the active docking mechanism docking ring 0012 after it extends, avoids interference with surrounding fixed components, improves docking success rate and stability, and effectively saves space.

[0041] Specifically, such as Figure 3 and Figure 4As shown, the adjustable vertical adapter frame in this embodiment includes a steel cable connecting rod 9, a steel cable connecting rod connecting seat 10, a hanging beam 11, a spherical hinge A 12, a vertical adjustment rod assembly, and a spherical hinge B 13. The upper end of the steel cable connecting rod 9 is connected to the steel cable 7 using existing technology, such as fixing the steel cable 7 by installing screw blocks on the steel cable connecting rod 9. The lower end of the steel cable connecting rod 9 is connected to the steel cable connecting rod connecting seat 10, which is connected to the middle of the hanging beam 11. The length direction of the hanging beam 11 is parallel to the horizontal plane. The left and right ends of the hanging beam 11 are respectively connected to the upper end of a vertical adjustment rod assembly through a spherical hinge A 12. The lower end of each vertical adjustment rod assembly is connected to the outer adapter part 802 of the horizontal obstacle avoidance bracket 8 through a spherical hinge B 13. The length direction of the steel cable connecting rod 9 and the length direction of each vertical adjustment rod assembly are both perpendicular to the horizontal plane. Both spherical hinges A 12 and B 13 are commercially available products, preferably those with lockable hinge positions. In this embodiment, the suspended beam 11 is connected to the two vertical adjustment rod assemblies to form a "door"-shaped suspension frame structure. The use of spherical hinges A 12 and B 13 allows for sufficient space for rotation at the connections between the vertical adjustment rod assemblies, the suspended beam 11, and the horizontal obstacle avoidance bracket 8, improving the overall adaptability of the adjustable vertical transition frame and ensuring that the horizontal obstacle avoidance bracket 8 remains level.

[0042] like Figure 4As shown, in this embodiment, a bearing is embedded in the upper end of the cable connecting rod connecting seat 10, and the lower end of the cable connecting rod 9 is rotatably connected to the upper end of the cable connecting rod connecting seat 10 through the bearing. A fixing groove is formed at the lower end of the cable connecting rod connecting seat 10, and four fixing bolts 14 are inserted through the cable connecting rod connecting seat 10 at the corresponding positions of the fixing groove. A snap-fit ​​seat 1101 is formed in the middle of the hanging beam 11, and several bolt through holes 1102 are opened in the horizontal direction on the snap-fit ​​seat 1101 of the hanging beam 11. Each fixing bolt 14 is used for the fixed connection between the cable connecting rod connecting seat 10 and the locking seat 1101 of the suspension beam 11, so that the locking seat 1101 of the suspension beam 11 is engaged in the fixing groove of the cable connecting rod connecting seat 10. Each fixing bolt 14 on the cable connecting rod connecting seat 10 passes through the corresponding bolt through hole 1102 to adjust the installation position of the cable connecting rod connecting seat 10 and the locking seat 1101 of the suspension beam 11. The matching arrangement of the fixing groove and the locking seat 1101 facilitates the positioning between the cable connecting rod connecting seat 10 and the suspension beam 11. By having each fixing bolt 14 pass through different bolt through holes 1102, the installation and fixing position between the cable connecting rod connecting seat 10 and the suspension beam 11 can be finely adjusted as needed. The lower end of the steel cable connecting rod 9 has a certain amount of room for rotation relative to the steel cable connecting rod connecting seat 10, which further improves the overall adaptability of the adjustable vertical transfer frame and ensures that the horizontal obstacle avoidance bracket 8 can remain horizontal.

[0043] In this embodiment, each vertical adjustment rod assembly includes a double-headed adjusting screw 15, an upper suspension rod 16, and a lower suspension rod 17. The upper end of the upper suspension rod 16 of each vertical adjustment rod assembly serves as the upper end of the entire vertical adjustment rod assembly and is connected to the left or right end of the corresponding hanging beam 11 via a spherical hinge A12. The lower end of the lower suspension rod 17 of each vertical adjustment rod assembly serves as the lower end of the entire vertical adjustment rod assembly and is connected to the left or right end of the corresponding hanging beam 11 via a spherical hinge B12. 13 is connected to the horizontal obstacle avoidance bracket 8. The lower end of the upper suspension rod 16 of each vertical adjustment rod assembly is provided with a threaded hole A, and the upper end of the lower suspension rod 17 of each vertical adjustment rod assembly is provided with a threaded hole B. The threaded holes A and B in the same vertical adjustment rod assembly have opposite directions of rotation and are both self-locking threads. The upper end of the double-ended adjusting screw 15 of each vertical adjustment rod assembly is provided with a threaded rod part A. The threaded rod part A of the double-ended adjusting screw 15 of each vertical adjustment rod assembly is connected to the threaded hole A of the upper suspension rod 16 of the same vertical adjustment rod assembly through threads. The lower end of the double-ended adjusting screw 15 of each vertical adjustment rod assembly is provided with a threaded rod part B. The threaded rod part B of the double-ended adjusting screw 15 of each vertical adjustment rod assembly is connected to the threaded hole B of the lower suspension rod 17 of the same vertical adjustment rod assembly through threads. The length of the vertical adjustment rod assembly can be adjusted by rotating the double-headed adjusting screw 15, thereby adapting to different active docking mechanisms and ensuring that the connected horizontal obstacle avoidance bracket 8 can remain horizontal.

[0044] Specifically, such as Figure 3 As shown, in this embodiment, the hinged support rod assembly includes a central hinge seat 18, a hinged support rod 19, and sub-hinged support blocks 20. The central hinge seat 18 is fixed to the horizontal obstacle avoidance bracket 8. Three sub-hinged support portions are evenly distributed around the outer periphery of the central hinge seat 18. Each sub-hinged support portion is hinged to one end of a hinged support rod 19, and the other end of each hinged support rod 19 is hinged to a sub-hinged support block 20. All sub-hinged support blocks 20 are fixed to the active docking mechanism docking ring 0012 along its circumference. That is, there are three hinged support rods 19 and three sub-hinged support blocks 20. In this embodiment, the active docking mechanism docking ring 0012 may be provided with sub-hinged support block mounting seats 0013 to facilitate the separate fixing of the sub-hinged support blocks 20. The hinged support rod assembly directly supports the docking ring 0012 of the active docking mechanism and ensures that the docking ring 0012 of the active docking mechanism remains stable.

[0045] Specifically, such as Figure 5 As shown, in this embodiment, the gravity balance follower unit 4 includes a rear rotating shaft mounting base 22, a rear rotating shaft 23, a rear connecting arm 24, a front connecting arm 25, a front rotating shaft 26, a pneumatic brake A 27, and a pneumatic brake B 28.

[0046] The rear rotating shaft mounting seat 22 is fixed to the end of the gravity balance bracket 3 away from the main fixed bracket 2. One end of the rear connecting arm 24 is provided with a rear rotating shaft connecting end, and the other end of the rear connecting arm 24 is provided with a front rotating shaft connecting end. One end of the front connecting arm 25 is provided with a front rotating shaft connecting seat, and the other end of the front connecting arm 25 serves as the follower extension end of the gravity balance follower unit 4 and is connected to the fixed end of the electric hoist 5. The front rotating shaft connecting seat of the front connecting arm 25 and the front rotating shaft connecting end of the rear connecting arm 24 are hinged through the front rotating shaft 26, and the rear rotating shaft connecting end of the rear connecting arm 24 and the rear rotating shaft mounting seat 22 are hinged through the rear rotating shaft 23. Pneumatic brake A 27 has a fixed end and a clamping brake block end, and pneumatic brake B 28 also has a fixed end and a clamping brake block end. The fixed ends of pneumatic brake A 27 and pneumatic brake B 28 are respectively set on the rear connecting arm 24. The clamping brake block end of pneumatic brake A 27 is used in conjunction with the rear rotating shaft 23 to brake the rear connecting arm 24. The clamping brake block end of pneumatic brake B 28 is used in conjunction with the front rotating shaft 26 to brake the front connecting arm 25. In this embodiment, both pneumatic brake A 27 and pneumatic brake B 28 are commercially available products with clamping force provided by cylinders, and their actions are controlled by an external control system. The gravity balance follow-up unit 4 is used to ensure that the electric hoist 5, gravity balancer 6, steel cable 7, adjustable vertical transfer frame, horizontal obstacle avoidance bracket 8, and hinged support rod assembly can effectively and accurately follow the docking ring 0012 of the active docking mechanism.

[0047] Working principle:

[0048] During the docking process, the suspension-type gravity balancing device of the docking simulation mechanism exists in the following typical states: initial state (not docked), docking preparation state, docking process state, and docking completion and reset state.

[0049] 1. Initial state (not docked): The docking ring 0012 of the active docking mechanism is in contact with the fixed end 0011 of the active docking mechanism; the gravity balance follower unit 4 is in a retracted state (the angle between the rear connecting arm 24 and the gravity balance bracket 3 is small, and the angle between the front connecting arm 25 and the rear connecting arm 24 is small); the electric hoist 5 remains stationary, its hook output end is not released, and the gravity balancer 6 is in a pre-tightened state, counteracting the gravity of the docking ring 0012 of the active docking mechanism.

[0050] II. Docking Preparation: After the pneumatic brake A 27 is released, the rotating shaft 23 rotates; before the pneumatic brake B 28 is released, the rotating shaft 26 rotates. The electric hoist 5 and gravity balancer 6 at the end of the gravity balance follower unit 4 are adjusted to their preset positions. Simultaneously, the electric hoist 5 slowly releases its hook output end, and the gravity balancer 6 adjusts the tension of the steel cable 7 to ensure that the gravity of the docking ring 0012 of the active docking mechanism is always counteracted, preventing the mechanism from sagging or vibrating. At this point, the degrees of freedom of each joint of the gravity balance follower unit 4 are released, enabling it to follow the movement.

[0051] III. Docking Process: The docking ring 0012 of the active docking mechanism extends under the influence of external equipment. The adjustable vertical transfer frame, horizontal obstacle avoidance bracket 8, and hinged support rod assembly move with the docking ring 0012, gradually moving away from the fixed end 0011 of the active docking mechanism. The rear rotation shaft 23 and front rotation shaft 26 of the gravity balance follower unit 4 passively rotate, causing the rear connecting arm 24 and front connecting arm 25 to extend, following the extension of the docking ring 0012 of the active docking mechanism. Due to the extension of the adjustable vertical transfer frame, horizontal obstacle avoidance bracket 8, and hinged support rod assembly... With proper coordination, the docking ring 0012 of the active docking mechanism maintains a stable spatial attitude during its extension and does not interfere with the fixed end 0011 of the active docking mechanism or the main beam 002 of the aircraft simulator. When the docking ring 0012 of the active docking mechanism reaches the target docking position, the electric hoist 5 locks and the gravity balancer 6 maintains the tension of the steel cable 7, ensuring that the docking ring 0012 of the active docking mechanism is in a stable state. After the docking ring 0012 of the active docking mechanism is adjusted to the target position, the external control system at the end of the gravity balance follower unit 4 causes the pneumatic brake A 27 to clamp the rear rotating shaft 23 and the pneumatic brake B 28 to clamp the front rotating shaft 26, thereby braking and fixing the positions of the rear connecting arm 24 and the front connecting arm 25.

[0052] IV. Docking Completion and Reset: After docking, the external control system causes pneumatic brake A 27 to release the rear rotating shaft 23 and pneumatic brake B 28 to release the front rotating shaft 26, allowing the rear connecting arm 24 and the front connecting arm 25 to rotate; the electric hoist 5 retracts its hook output end, and the docking ring 0012 of the active docking mechanism returns to its initial position, engaging with the fixed end 0011 of the active docking mechanism; the external control system at the end of the gravity balance follower unit 4 causes pneumatic brake A 27 to tighten the rear rotating shaft 23 and pneumatic brake B 28 to tighten the front rotating shaft 26, and the rear connecting arm 24 and the front connecting arm 25 return to their initial positions; after reset, the device returns to its initial state, awaiting the next docking test.

Claims

1. A suspension gravity balance device for docking simulation mechanism, applicable to docking simulation of active docking mechanism (001) of aircraft simulator, the active docking mechanism (001) includes active docking mechanism fixed end (0011) and active docking mechanism docking ring (0012), wherein the active docking mechanism fixed end (0011) is fixedly connected to one end of the main beam (002) of aircraft simulator, and the active docking mechanism docking ring (0012) is in contact with the active docking mechanism fixed end (0011) in the initial state before docking; Its features are: Includes device base (1), main fixed bracket (2), gravity balance bracket (3), gravity balance follower unit (4), electric hoist (5), gravity balancer (6), steel cable (7), adjustable vertical transfer frame, horizontal obstacle avoidance bracket (8) and hinged support rod assembly; The device base (1) is used to connect with the main beam (002) of the aircraft simulator. The bottom end of the main fixed bracket (2) is fixed to the device base (1). One end of the gravity balance bracket (3) is fixed to the top end of the main fixed bracket (2). The gravity balance follower unit (4) has a fixed end and a follower telescopic end. The electric hoist (5) has a fixed end and a hook output end. The gravity balancer (6) has an upper fixed end and a power conversion end. The fixed end of the gravity balance follower unit (4) is connected to the end of the gravity balance bracket (3) away from the main fixed bracket (2). The fixed end of the electric hoist (5) is set on the follower extension end of the gravity balance follower unit (4). The upper fixed end of the gravity balancer (6) is connected to the hook output end of the electric hoist (5). The electric hoist (5) and the gravity balancer (6) are both located directly above the docking ring (0012) of the active docking mechanism. The power transfer end of the gravity balancer (6) is connected to the adjustable vertical transfer frame through the steel cable (7). The adjustable vertical transfer frame is connected to the horizontal obstacle avoidance bracket (8). The horizontal obstacle avoidance bracket (8) is connected to the docking ring (0012) of the active docking mechanism through the hinged support rod assembly.

2. The suspended gravity balancing device for a docking simulation mechanism according to claim 1, characterized in that: The horizontal obstacle avoidance bracket (8) is M-shaped in general and is divided into a V-shaped through section (801) located in the middle and an outer connecting section (802) located on the left and right sides of the V-shaped through section (801). The V-shaped through-part (801) of the horizontal obstacle avoidance bracket (8) passes through the hollowed-out portion of the active docking mechanism fixing end (0011). The central tip of the horizontal obstacle avoidance bracket (8) is located on the side of the active docking mechanism fixing end (0011) away from the device base (1). The central tip of the horizontal obstacle avoidance bracket (8) is connected to the hinged support rod assembly. The left and right ends of the horizontal obstacle avoidance bracket (8) are respectively located on the side of the active docking mechanism fixing end (0011) close to the device base (1). The outer connecting parts (802) of the horizontal obstacle avoidance bracket (8) located on the left and right sides are respectively located on the active docking mechanism fixing end (0011). On the left and right sides of the end (0011), the outer adapter (802) on the left side of the horizontal obstacle avoidance bracket (8) is connected to the left end of the V-shaped through part (801) of the horizontal obstacle avoidance bracket (8), and the outer adapter (802) on the right side of the horizontal obstacle avoidance bracket (8) is connected to the right end of the V-shaped through part (801) of the horizontal obstacle avoidance bracket (8). The outer adapter (802) on both the left and right sides of the horizontal obstacle avoidance bracket (8) has one end extending to the side away from the device base (1) of the active docking mechanism fixed end (0011) for connection with the adjustable vertical adapter frame respectively.

3. The suspended gravity balancing device for a docking simulation mechanism according to claim 1, characterized in that: The adjustable vertical transfer frame includes a steel cable connecting rod (9), a steel cable connecting rod connecting seat (10), a hanging beam (11), a spherical hinge A (12), a vertical adjustment rod assembly, and a spherical hinge B (13). The upper end of the steel cable connecting rod (9) is connected to the steel cable (7), the lower end of the steel cable connecting rod (9) is connected to the steel cable connecting rod connecting seat (10), the steel cable connecting rod connecting seat (10) is connected to the middle part of the hanging beam (11), the length direction of the hanging beam (11) is parallel to the horizontal plane, the left and right ends of the hanging beam (11) are respectively connected to the upper end of the vertical adjustment rod assembly through a ball hinge A (12), and the lower end of each vertical adjustment rod assembly is respectively connected to the horizontal obstacle avoidance bracket (8) through a ball hinge B (13).

4. The suspension-type gravity balancing device for a docking simulation mechanism according to claim 3, characterized in that: The upper end of the cable connecting rod connecting seat (10) is fitted with a bearing, and the lower end of the cable connecting rod (9) is rotatably connected to the upper end of the cable connecting rod connecting seat (10) through the bearing. The lower end of the cable connecting rod connecting seat (10) has a fixing groove, and several fixing bolts (14) are inserted on the cable connecting rod connecting seat (10) at the position corresponding to the fixing groove. A locking seat (1101) is formed in the middle of the suspended crossbeam (11). Several bolt through holes (1102) are opened in the horizontal direction on the locking seat (1101) of the suspended crossbeam (11). Each fixing bolt (14) is used for the fixed connection between the steel cable connecting rod connecting seat (10) and the locking seat (1101) of the suspended crossbeam (11), so that the locking seat (1101) of the suspended crossbeam (11) is inserted into the fixing groove of the steel cable connecting rod connecting seat (10). Each fixing bolt (14) on the steel cable connecting rod connecting seat (10) passes through the corresponding bolt through hole (1102) to adjust the installation position of the steel cable connecting rod connecting seat (10) and the locking seat (1101) of the suspended crossbeam (11).

5. The suspension-type gravity balancing device for a docking simulation mechanism according to claim 3, characterized in that: Each vertical adjustment rod assembly includes a double-headed adjusting screw (15), an upper suspension rod (16), and a lower suspension rod (17). The upper end of the upper suspension rod (16) of each vertical adjustment rod assembly serves as the upper end of the entire vertical adjustment rod assembly and is connected to the left or right end of the corresponding hanging beam (11) via a spherical hinge A (12). The lower end of the lower suspension rod (17) of each vertical adjustment rod assembly serves as the lower end of the entire vertical adjustment rod assembly and is connected to the horizontal obstacle avoidance bracket (8) via a spherical hinge B (13). The lower end of the upper suspension rod (16) of each vertical adjustment rod assembly is provided with a threaded hole A, and the upper end of the lower suspension rod (17) of each vertical adjustment rod assembly is provided with a thread. Hole B, the threaded holes A and B in the same vertical adjusting rod assembly have opposite directions of rotation and are both self-locking threads. The upper end of the double-ended adjusting screw (15) of each vertical adjusting rod assembly is provided with a threaded rod A. The threaded rod A of the double-ended adjusting screw (15) of each vertical adjusting rod assembly is connected to the threaded hole A of the upper hanging rod (16) of the same vertical adjusting rod assembly by thread. The lower end of the double-ended adjusting screw (15) of each vertical adjusting rod assembly is provided with a threaded rod B. The threaded rod B of the double-ended adjusting screw (15) of each vertical adjusting rod assembly is connected to the threaded hole B of the lower hanging rod (17) of the same vertical adjusting rod assembly by thread.

6. The suspended gravity balancing device for a docking simulation mechanism according to claim 3, characterized in that: The length direction of the steel cable connecting rod (9) and the length direction of each of the vertical adjusting rod assemblies are perpendicular to the horizontal plane.

7. The suspended gravity balancing device for a docking simulation mechanism according to claim 1, characterized in that: The articulated support rod assembly includes a central articulated seat (18), an articulated support rod (19), and sub-articulated seat blocks (20). The central articulated seat (18) is fixed to the horizontal obstacle avoidance bracket (8). The outer periphery of the central articulated seat (18) is evenly provided with a number of sub-articulated seat parts. Each sub-articulated seat part is respectively hinged to one end of the articulated support rod (19). The other end of each articulated support rod (19) is respectively hinged to one sub-articulated seat block (20). All sub-articulated seat blocks (20) are respectively fixed to the active docking mechanism docking ring (0012) along the circumference of the active docking mechanism docking ring (0012).

8. The suspended gravity balancing device for a docking simulation mechanism according to claim 7, characterized in that: The number of hinged support rods (19) and split hinged seat blocks (20) is three.

9. A suspended gravity balancing device for a docking simulation mechanism according to claim 1, characterized in that: The gravity balance support (3) is provided with a counterweight (21) at the end away from the docking ring (0012) of the active docking mechanism.

10. A suspended gravity balancing device for a docking simulation mechanism according to claim 1, characterized in that: The gravity balance follower unit (4) includes a rear rotating shaft mounting seat (22), a rear rotating shaft (23), a rear connecting arm (24), a front connecting arm (25), a front rotating shaft (26), a pneumatic brake A (27), and a pneumatic brake B (28). The rear rotating shaft mounting seat (22) is fixed to the end of the gravity balance bracket (3) away from the main fixed bracket (2). One end of the rear connecting arm (24) is provided with a rear rotating shaft connecting end, and the other end of the rear connecting arm (24) is provided with a front rotating shaft connecting end. One end of the front connecting arm (25) is provided with a front rotating shaft connecting seat. The other end of the front connecting arm (25) serves as the follower extension end of the gravity balance follower unit (4) and is connected to the fixed end of the electric hoist (5). The front rotating shaft connecting seat of the front connecting arm (25) and the front rotating shaft connecting end of the rear connecting arm (24) are hinged through the front rotating shaft (26). The rear connecting arm (24) The rear rotating shaft connection end is hinged to the rear rotating shaft mounting seat (22) via the rear rotating shaft (23). The pneumatic brake A (27) has a fixed end and a clamping brake block end. The pneumatic brake B (28) also has a fixed end and a clamping brake block end. The fixed end of the pneumatic brake A (27) and the fixed end of the pneumatic brake B (28) are respectively mounted on the rear connecting arm (24). The clamping brake block end of the pneumatic brake A (27) is used in conjunction with the rear rotating shaft (23) to brake the rear connecting arm (24). The clamping brake block end of the pneumatic brake B (28) is used in conjunction with the front rotating shaft (26) to brake the front connecting arm (25).

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