Light-load three-axis air bearing table

Abstract

The utility model relates to the technical field of ground semi-physical simulation of spacecrafts, in particular to a light-load three-axis air floating table which comprises an air floating testing device and an air floating supporting device. The air floatation testing device comprises a supporting connecting platform, a control unit arranged on the outer side face of the supporting connecting platform, an air floatation ball and an on-table balancing weight. The gravity center of the control unit is lower than that of the air floating ball; the on-table balancing weight is mounted on the supporting and connecting platform, so that the air floatation testing device is in a balanced state; a spherical groove is formed in the top of the air floatation supporting device, and the supporting connecting platform is movably connected to the air floatation supporting device through an air floatation ball. According to the light-load type three-axis air floating table, the control unit is optimized to be below the center of the air floating ball, so that more platform upper surfaces convenient to expand and operate are vacated on the supporting and connecting platform, and subsequent weight balancing, function expanding or carrying of third-party components are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of spacecraft ground semi-physical simulation, in particular to a light-load three-axis air floating platform. Background Art

[0002] Although the existing three-axis air-floating platform simulation device can realize the simulation control of attitude control, it cannot carry third-party attitude control units and other components due to structural design reasons (the control unit is concentrated on the supporting connection platform), and the space utilization rate is low. Utility Model Content

[0003] The utility model provides a light-load three-axis air floating platform to solve the technical problem that the existing three-axis air floating platform simulation device cannot carry components such as a third-party attitude control unit.

[0004] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0005] The utility model provides a light-load three-axis air floating platform, comprising:

[0006] The air flotation test device comprises a supporting connection platform, a control unit arranged on the outer side of the supporting connection platform, an air flotation ball and a counterweight on the platform; the center of gravity of the control unit is lower than the center of the air flotation ball; the counterweight on the platform is installed on the supporting connection platform, and the air flotation test device can be in a balanced state by adjusting the position of the counterweight on the platform;

[0007] The air-floating support device has a spherical groove on the top, and the supporting connection platform is movably connected to the air-floating support device through an air-floating ball.

[0008] Furthermore, the supporting connection platform comprises:

[0009] The platform part has multiple reserved installation holes to facilitate the loading and testing of counterweights and / or third-party equipment on the platform;

[0010] The connecting part includes a plurality of connecting plates connected with the platform part, and a plurality of components in the control unit are evenly mounted on the connecting plates according to weight.

[0011] Furthermore, the control unit comprises:

[0012] The attitude control assembly is installed on the supporting connection platform and is used to adjust and control the attitude of the air flotation test device;

[0013] The leveling assembly is installed on the supporting connection platform and is used to level the air flotation test device.

[0014] Furthermore, the leveling assembly comprises:

[0015] A plurality of inclined brackets are arranged in a circular array around the center line of the support connection platform and at the edge positions of the support connection platform;

[0016] A plurality of coarse leveling modules are respectively installed on a plurality of inclined brackets in an inclined manner on a side away from the supporting connection platform;

[0017] A plurality of fine-leveling modules are arranged equidistantly at the bottom of the supporting connection platform;

[0018] A plurality of fine leveling modules are respectively installed on a plurality of tilting brackets in a tilted manner.

[0019] Furthermore, the tilt bracket, the coarse leveling module, the fine leveling module and the precise leveling module are each provided in four.

[0020] Furthermore, the air floating ball comprises:

[0021] A flat plate portion connected to the bottom surface of the supporting connection platform by fasteners;

[0022] The spherical part is embedded in the spherical groove of the air floating support device and is connected to the inner wall of the spherical groove of the air floating support device through an air film to achieve an air floating support effect.

[0023] Furthermore, the air floating support device comprises:

[0024] The support frame has a spherical groove on the top surface, and the bottom surface of the support connection platform is movably connected to the spherical groove of the support frame through an air floating ball;

[0025] The load-bearing platform is fixedly installed on the bottom surface of the supporting frame.

[0026] Furthermore, the air-floating support device further comprises:

[0027] The supporting tripod is installed on the bottom surface of the load-bearing platform and is used to support the load-bearing platform.

[0028] Furthermore, the three-axis air-floating platform further comprises a cold air thrust unit whose center of gravity coincides with the center of the air-floating ball, and the cold air thrust unit comprises:

[0029] A connecting frame is erected on the top surface of the supporting connecting platform;

[0030] Multiple gas cylinders are evenly arranged on the supporting connection platform;

[0031] A plurality of solenoid valves are arranged in a circular array around the vertical center line of the connecting frame on the outer edge of the connecting frame; the gas delivery ends of the plurality of gas storage bottles are connected to the gas inlet ends of the plurality of solenoid valves;

[0032] The multiple groups of air jet nozzles are respectively connected to the gas outlet ends of the multiple groups of electromagnetic valves, and the gas stored in the multiple gas storage bottles is ejected outward through the multiple groups of air jet nozzles, so that the air flotation test device is balancedly set on the air flotation support device.

[0033] Furthermore, each group of the solenoid valves comprises:

[0034] A plurality of first solenoid valves, with their air outlet ends disposed toward the vertical center line of the connecting frame;

[0035] The plurality of second solenoid valves are divided into two groups and are symmetrically installed on both sides of the first solenoid valve, and the air outlet ends of the two groups of second solenoid valves are located on the same straight line.

[0036] Beneficial effects of the utility model:

[0037] The light-load three-axis air floating platform disclosed in the utility model optimizes the control unit to below the center of the air floating ball, so that the supporting connection platform frees up more platform upper surfaces that are convenient for expansion and operation, and is convenient for subsequent counterweighting or carrying third-party components. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0039] Figure 2 It is a schematic diagram of the connection between the air flotation test device and the cold air thrust unit in the utility model;

[0040] Figure 3 for Figure 2 A partial enlarged schematic diagram of the A part;

[0041] Figure 4 It is an enlarged schematic diagram of the structure of the cold air thrust unit;

[0042] Figure 5 for Figure 4 A partial enlarged schematic diagram of the B part;

[0043] Figure 6 It is an enlarged schematic diagram of the structure of the air floating ball in the utility model;

[0044] Figure 7 It is an enlarged schematic diagram of the structure of the supporting connection platform in the utility model.

[0045] Description of reference numerals:

[0046] 1. Air flotation test device; 11. Support connection platform; 111. Platform part; 112. Connection part; 12. Control unit; 121. Tilt bracket; 122. Coarse leveling module; 123. Fine leveling module; 124. Fine leveling module; 13. Air flotation ball; 131. Flat plate part; 132. Spherical part;

[0047] 2. Air floating support device; 21. Support frame; 22. Load-bearing platform; 23. Support tripod;

[0048] 3. Cold air thrust unit; 31. Connecting frame; 32. Gas storage bottle; 33. Solenoid valve; 331. First solenoid valve; 332. Second solenoid valve; 34. Air nozzle. DETAILED DESCRIPTION

[0049] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the relevant drawings. The drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. 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 utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0054] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0055] Reference Figure 1 , Figure 2 as well as Figure 6 The present application provides a light-load three-axis air bearing platform, including:

[0056] The air flotation test device 1 comprises a supporting and connecting platform 11, a control unit 12 arranged on the outer side of the supporting and connecting platform 11, an air flotation ball 13 and a counterweight on the platform; the center of gravity of the control unit 12 is lower than the center of the air flotation ball 13; the counterweight on the platform is installed on the supporting and connecting platform 11, and the center of gravity of the air flotation test device 1 can be made close to the center of the air flotation ball 13 by adjusting the counterweight on the platform, so that the air flotation test device 1 enters a balanced state;

[0057] The air-floating support device 2 has a spherical groove on the top, and the supporting connection platform 11 is movably connected to the air-floating support device 2 through the air-floating ball 13 .

[0058] Reference Figure 2 and Figure 7 In some embodiments, the supporting connection platform 11 comprises:

[0059] The platform portion 111 is provided with a plurality of reserved mounting holes to facilitate the loading and testing of the counterweight and / or third-party equipment on the platform;

[0060] The connecting portion 112 includes a plurality of connecting plates connected to the platform portion 111, and a plurality of components in the control unit 12 are evenly mounted on the connecting plates according to weight. In an optional embodiment, the plurality of connecting plates are interconnected, so that the structure of the connecting portion 112 is more stable.

[0061] Reference Figure 2 In some embodiments, the control unit 12 includes:

[0062] A posture control component, installed on the supporting connection platform 11, used to adjust and control the posture of the air flotation test device 1;

[0063] The leveling assembly is installed on the supporting connection platform 11 and is used to level the air flotation testing device 1 .

[0064] In some embodiments, the attitude control component includes a battery, a PCU, an attitude controller, a satellite computer, an X-axis perturbation flywheel, a Y-axis perturbation flywheel, and a Z-axis perturbation flywheel; the PCU (power control unit) is a power control unit, which is electrically connected to the battery and the execution unit. After receiving the control signal, the power control unit distributes the battery's electrical energy to each execution unit, namely the X-axis perturbation flywheel, the Y-axis perturbation flywheel, the Z-axis perturbation flywheel, the leveling component, etc.

[0065] Reference Figure 2 In some embodiments, the leveling assembly includes:

[0066] A plurality of inclined brackets 121 are arranged in a circular array around the center line of the supporting connection platform 11 on the edge of the supporting connection platform 11; the inclined angle between the inclined bracket 121 and the supporting connection platform 11 is 30°-60°, which can be selected according to space requirements and leveling methods. In an optional embodiment, the inclination angle is 45°.

[0067] A plurality of coarse leveling modules 122 are respectively installed in an inclined manner on a side of the plurality of inclined brackets 121 away from the supporting connection platform 11;

[0068] A plurality of fine-leveling modules 123 are equidistantly arranged at the bottom of the supporting connection platform 11;

[0069] The plurality of fine leveling modules 124 are respectively installed on the plurality of inclined brackets 121 in an inclined manner.

[0070] The coarse leveling module 122 and the fine leveling module 124 are installed in an inclined manner to adjust the center of gravity of the three directions of XYZ in the spatial coordinate system, so that the center of gravity is infinitely close to the center of the air-floating ball 13, so that the state of the air-floating test device 1 is infinitely close to the working state in space, which is convenient for subsequent space simulation experiments. The relative position relationship between the three axes of XYZ and the present invention is detailed in Figure 1 shown.

[0071] In some embodiments, the coarse leveling module 122 includes a weight fixing seat, a weight and a weight locking slider. The weight fixing seat is fixed to the bottom of the tilt bracket 121 in a T-shaped frame structure; the weight is slidably connected to the weight fixing seat, and the weight locking slider is installed on the weight to fix the weight so that the weight does not shake when the three-axis air flotation platform is running;

[0072] Optionally, conventional standard weights with open slots are used, including 1g, 2g, 5g, 10g, 20g, 50g, 100g, 200g and 500g, etc. The smaller the weight specification, the more precise the initial leveling. When in use, clamp the weight with open slot on the weight fixing seat, and after basic balancing, lock it with the weight locking slider.

[0073] Reference Figure 2 In some embodiments, the fine-leveling module 123 includes a leveling guide bar, a bearing seat, a bushing, a copper nut, a long screw and a knob. The leveling guide bar is installed at the bottom of the connecting portion 112 of the supporting connection platform 11, and is supported by the leveling guide bar. Bearing seats are installed on the left and right sides of the leveling guide bar, and bushings are installed in the two bearing seats. The copper nut is connected to the long screw by a thread. The long screw has a structure with threads in the middle and smooth rods at both ends. It is installed on the bearing seats with bushings on the left and right sides. A knob is installed at one end of the long screw. By observing the deflection above the air float 13, the knob is rotated to adjust the copper nut so that the copper nut moves left and right along the leveling guide bar. In the process of adjusting the copper nut, the XY axis center of gravity of the air float test device 1 can be moved left and right along the X axis and / or Y axis;

[0074] In some embodiments, the fine leveling module 124 is mainly used for linear motor controlled leveling to eliminate interference from human contact. By monitoring data through a gyroscope, the linear motor moves its own nut seat to achieve fine adjustment of the center of gravity, and the encoder on the linear motor module records the motor adjustment process.

[0075] In some embodiments, four tilt brackets 121 , four coarse leveling modules 122 , four fine leveling modules 123 , and four precise leveling modules 124 are provided.

[0076] Reference Figure 6 In some embodiments, the air floating ball 13 includes:

[0077] The flat plate portion 131 is connected to the bottom surface of the supporting connection platform 11 through fasteners;

[0078] The spherical portion 132 is embedded in the spherical groove of the air-floating support device 2 and connected to the inner wall of the spherical groove of the air-floating support device 2 through an air film to achieve an air-floating support effect.

[0079] The flat plate portion 131 and the spherical portion 132 may be designed and manufactured as an integral unit, or may be designed and manufactured separately and then assembled by fasteners. Generally, for the convenience of processing, they are more often designed and manufactured separately.

[0080] Reference Figure 1 In some embodiments, the air-floating support device 2 comprises:

[0081] The support frame 21 has a spherical groove on its top surface, and the bottom surface of the supporting connection platform 11 is movably connected to the spherical groove of the support frame 21 through the air floating ball 13;

[0082] The load-bearing platform 22 is fixedly mounted on the bottom surface of the supporting frame 21 .

[0083] Optionally, the load-bearing platform 22 is a marble platform, which can resist slight vibrations due to its large area and weight.

[0084] In some embodiments, the air-floating support device 2 further comprises:

[0085] The supporting legs 23 are installed on the bottom surface of the load-bearing platform 22 to support the load-bearing platform 22 .

[0086] In some embodiments, the support frame 21 includes:

[0087] The lower connecting disc is connected to the marble table using fasteners; the fasteners may be screws, bolts, etc.;

[0088] A support rod, vertically fixedly connected to the top surface of the lower connecting disc;

[0089] The upper connecting disc is vertically mounted on the top surface of the supporting rod;

[0090] The air floating seat is fixedly mounted on the upper connecting disc, and the spherical groove opened on the top surface of the support frame 21 is located on the air floating seat, and the bottom surface of the supporting connection platform 11 is movably connected in the spherical groove of the air floating seat through the air floating ball 13.

[0091] Reference Figure 4 and Figure 5 In some embodiments, the three-axis air-floating platform further includes a cold air thrust unit 3 whose center of gravity coincides with the center of the air-floating ball 13, and the cold air thrust unit 3 includes:

[0092] A connecting frame 31 is mounted on the top surface of the supporting connecting platform 11;

[0093] A plurality of gas storage cylinders 32 are evenly arranged on the supporting connection platform 11;

[0094] A plurality of solenoid valves 33 are arranged in a circular array around the vertical center line of the connecting frame 31 on the outer edge of the connecting frame 31; the gas delivery ends of the plurality of gas storage bottles 32 are connected to the gas inlet ends of the plurality of solenoid valves 33;

[0095] The plurality of groups of air nozzles 34 are respectively connected to the gas outlet ends of the plurality of groups of electromagnetic valves 33 , and the gas stored in the plurality of gas storage bottles 32 is ejected outward through the plurality of groups of air nozzles 34 , so that the air floating test device 1 is balancedly set on the air floating support device 2 .

[0096] In some embodiments, each set of solenoid valves 33 includes:

[0097] A plurality of first solenoid valves 331, with their gas outlet ends disposed toward the vertical center line of the connecting frame 31;

[0098] The plurality of second electromagnetic valves 332 are divided into two groups and symmetrically installed on both sides of the first electromagnetic valve 331, and the air outlet ends of the two groups of second electromagnetic valves 332 are located on the same straight line. When the three-axis air-floating platform is in attitude control operation, the electromagnetic valve 33 controls the air ejected from the air nozzle 34 to form thrust, thereby realizing the attitude control of the three-axis air-floating platform; by selecting the models of the electromagnetic valve 33 and the air nozzle 34, the output of different torques can be realized; and it can also be applied to the unloading of the angular momentum of the flywheel during the attitude control of the flywheel.

[0099] Reference Figure 2 and Figure 4 The cold jet thrust unit 3 has two or more gas cylinders 32, which are evenly distributed in a circular manner on the horizontal plane where the air float 13 is located (i.e., the horizontal plane where Z=0 is located in the Z axis of the three-dimensional space). When the compressed gas is used as the thrust source during jetting, when the weight of the compressed gas decreases, the center of gravity of the gas in the gas cylinder 32 remains unchanged. Since its center of gravity in the Z direction of the entire three-axis air floatation platform is zero, it does not affect the center of gravity of the entire three-axis air floatation platform. It can be understood that the gas cylinder contains pure compressed gas, and liquefied gas will have the problem of the center of gravity changing during the jetting process due to the different density of gas and liquid in the gas cylinder.

[0100] The light-load three-axis air floating platform disclosed in the utility model optimizes the control unit 12 to be below the center of the air floating ball 13, so that the supporting connection platform 11 frees up more platform upper surfaces that are convenient for expansion and operation, and is convenient for subsequent counterweighting, expansion of functions or carrying of third-party components.

[0101] It is understandable that because the control unit 12 is optimized to be below the center of the air float 13, the supporting and connecting platform 11 frees up more platform upper surfaces that are convenient for expansion and operation, so that the cold air thrust unit 3 can be carried on the supporting and connecting platform 11, expanding the large torque control function and flywheel unloading function.

[0102] It is understandable that there are devices installed on the upper surface of the supporting and connecting platform 11. When necessary, a small number of devices that need to be frequently replaced and repaired can be installed on the upper surface of the supporting and connecting platform 11. Compared with installing them on the lower surface or side of the supporting and connecting platform 11, the replacement and repair of devices are more convenient and quicker.

[0103] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. In addition, the technical solutions between the various implementations of the utility model can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the utility model. Therefore, the protection scope of the utility model shall be based on the protection scope of the claims.

Claims

1. A light-load three-axis air-floating platform, characterized in that: include: The air flotation test device (1) comprises a supporting connection platform (11), a control unit (12) arranged on the outer side of the supporting connection platform (11), an air flotation ball (13) and an on-stage counterweight; the center of gravity of the control unit (12) is lower than the center of gravity of the air flotation ball (13); the on-stage counterweight is installed on the supporting connection platform (11), and the air flotation test device (1) can be placed in a balanced state by adjusting the position of the on-stage counterweight; The air-floating support device (2) has a spherical groove on the top, and the supporting connection platform (11) is movably connected to the air-floating support device (2) via an air-floating ball (13).

2. The light-load three-axis air bearing platform according to claim 1, characterized in that: The supporting connection platform (11) comprises: The platform part (111) is provided with a plurality of reserved mounting holes to facilitate the loading and testing of the counterweight and / or third-party equipment on the platform; The connecting part (112) comprises a plurality of connecting plates connected to the platform part (111), and a plurality of components in the control unit (12) are evenly mounted on the connecting plates according to weight.

3. The light-load three-axis air bearing platform according to claim 1, characterized in that: The control unit (12) comprises: A posture control component, mounted on the supporting connection platform (11), and used to adjust and control the posture of the air flotation test device (1); A leveling component is installed on the supporting connection platform (11) and is used to level the air flotation test device (1).

4. The light-load three-axis air bearing platform according to claim 3, characterized in that: The leveling assembly comprises: A plurality of inclined brackets (121) are arranged in a circular array around the center line of the supporting and connecting platform (11) and at the edge of the supporting and connecting platform (11); A plurality of rough leveling modules (122) are respectively installed in an inclined manner on a side of a plurality of inclined brackets (121) away from the supporting connection platform (11); A plurality of fine-leveling modules (123) are equidistantly arranged at the bottom of the supporting connection platform (11); A plurality of fine leveling modules (124) are respectively installed on a plurality of inclined brackets (121) in an inclined manner.

5. The light-load three-axis air bearing platform according to claim 4, characterized in that: The tilting bracket (121), the rough leveling module (122), the fine leveling module (123) and the precise leveling module (124) are each provided in four numbers.

6. The light-load three-axis air bearing platform according to claim 1, characterized in that: The air floating ball (13) comprises: A flat plate portion (131) connected to the bottom surface of the supporting connection platform (11) via fasteners; The spherical portion (132) is embedded in the spherical groove of the air-floating support device (2) and is connected to the inner wall of the spherical groove of the air-floating support device (2) via an air film to achieve an air-floating support effect.

7. The light-load three-axis air bearing platform according to claim 1, characterized in that: The air-floating support device (2) comprises: The support frame (21) has a spherical groove on its top surface, and the bottom surface of the supporting connection platform (11) is movably connected to the spherical groove of the support frame (21) through an air floating ball (13); The load-bearing platform (22) is fixedly mounted on the bottom surface of the supporting frame (21).

8. The light-load three-axis air bearing platform according to claim 7, characterized in that: The air-floating support device (2) further comprises: The supporting foot frame (23) is installed on the bottom surface of the load-bearing platform (22) and is used to support the load-bearing platform (22).

9. The light-load three-axis air bearing platform according to claim 1, characterized in that: It also includes a cold air thrust unit (3) whose center of gravity coincides with the center of the air floating ball (13), and the cold air thrust unit (3) includes: A connecting frame (31) is mounted on the top surface of the supporting connecting platform (11); A plurality of gas storage cylinders (32) are evenly arranged on the supporting connection platform (11); A plurality of groups of electromagnetic valves (33) are arranged in a circular array on the outer edge of the connecting frame (31) around the vertical center line of the connecting frame (31); the gas delivery ends of the plurality of gas storage bottles (32) are connected to the gas inlet ends of the plurality of groups of electromagnetic valves (33); The plurality of groups of air jet nozzles (34) are respectively connected to the gas outlet ends of the plurality of groups of electromagnetic valves (33), and the gas stored in the plurality of gas storage bottles (32) is ejected outward through the plurality of groups of air jet nozzles (34), so that the air floating test device (1) is balancedly arranged on the air floating support device (2).

10. The light-load three-axis air bearing platform according to claim 9, characterized in that: Each group of solenoid valves (33) comprises: A plurality of first solenoid valves (331), with their air outlet ends disposed toward the vertical center line of the connecting frame (31); The plurality of second solenoid valves (332) are divided into two groups and are symmetrically installed on both sides of the first solenoid valve (331), and the gas outlet ends of the two groups of second solenoid valves (332) are located on the same straight line.

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