An air-floating motion platform capable of autonomous attitude control

Abstract

The utility model discloses a kind of air floating motion platforms of autonomous attitude control, including substrate, gas supply assembly, air floating bearing assembly and attitude control component, the gas supply assembly, the air floating bearing assembly and the attitude control component are respectively fixed in the bottom surface of the substrate, the air floating bearing assembly includes at least three air floating bearing modules distributed in the edge of the substrate, the attitude control component includes multiple symmetrically arranged in the edge of the substrate thrust nozzle module, the gas supply assembly is respectively connected the air floating bearing assembly and the attitude control component to be used for respectively to each air floating bearing module and each thrust nozzle module provide compressed gas.The utility model can solve the problem that air floating motion platform needs external gas source as power and platform attitude control.

Description

Technical Field

[0001] This utility model relates to the field of air-float microgravity testing technology, and in particular to an air-float motion platform with autonomous attitude control. Background Technology

[0002] Equipment on spacecraft (especially motion mechanisms, satellites, robotic arms, and other moving equipment) is usually assembled, debugged, and tested on the ground before being launched into space. In this case, the testing environment on the ground must simulate the space environment as much as possible to ensure the authenticity of the test. As we all know, space is a zero-gravity environment. Therefore, the first priority is to have experimental devices or systems on the ground that can simulate zero gravity or microgravity in space.

[0003] Air flotation is a common method for conducting microgravity experiments on the ground to overcome gravity. Its principle involves passing compressed gas (0.4–0.8 MPa) through an air bearing, creating a μm-level air film between the bearing and a smooth marble platform. This reduces the bearing's resistance to negligible levels, resulting in a platform with very low in-plane resistance, making it suitable for simulating microgravity experiments on the ground. However, existing air-floating motion platforms typically require an external air source for power, which introduces additional resistance, leading to lower accuracy in platform movement.

[0004] The above background information is provided only to aid in understanding the concept and technical solution of this utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Utility Model Content

[0005] The purpose of this invention is to provide a high-precision, highly autonomous air-floating motion platform with autonomous attitude control, in order to solve the problem that the air-floating motion platform needs an external air source for power and platform attitude control.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This utility model discloses an air-bearing motion platform with autonomous attitude control, including a base plate, a gas supply assembly, an air bearing assembly, and an attitude control assembly. The gas supply assembly, the air bearing assembly, and the attitude control assembly are respectively fixed to the bottom surface of the base plate. The air bearing assembly includes at least three air bearing modules distributed along the edge of the base plate. The attitude control assembly includes multiple thrust nozzle modules symmetrically arranged along the edge of the base plate. The gas supply assembly is connected to the air bearing assembly and the attitude control assembly to provide compressed gas to each air bearing module and each thrust nozzle module respectively.

[0008] Preferably, the gas supply assembly includes a high-pressure gas cylinder, a connecting pipeline, a filling module, and a pressure reducing module. The filling module and the pressure reducing module are respectively connected to the high-pressure gas cylinder through the connecting pipeline. The filling module is used to fill the high-pressure gas cylinder with high-pressure gas through the connecting pipeline, and the pressure reducing module is used to receive the high-pressure gas in the high-pressure gas cylinder through the connecting pipeline and reduce its pressure.

[0009] Preferably, the pressure reducing module includes a first pressure reducing valve, a second pressure reducing valve, and a pressure regulating valve. The first pressure reducing valve, the second pressure reducing valve, and the pressure regulating valve are connected in series on the connecting pipeline connected to the high-pressure gas cylinder. The first pressure reducing valve is used to reduce the gas pressure to a first threshold range, the second pressure reducing valve is used to reduce the gas pressure from the first threshold range to a second threshold range, and the pressure regulating valve is used to adjust the gas pressure from the second threshold range to a compressed gas pressure of 0.4 to 0.8 MPa.

[0010] Preferably, the air bearing assembly further includes an air bearing air path splitter, which is connected to the gas supply assembly to receive compressed gas. Each air bearing module is connected to the air bearing air path splitter to receive compressed gas, and the compressed gas forms an air film at the bottom of the air-bearing motion platform to support the air-bearing motion platform in suspension.

[0011] Preferably, the air bearing module includes an air bearing and a mounting block. The air bearing is fixed to the edge of the bottom surface of the substrate by the mounting block, and the lower surface of the air bearing is lower than all other components fixed to the bottom surface of the substrate.

[0012] Preferably, the substrate has a polygonal structure, and each of the air bearing modules is installed at a corner of the bottom surface of the substrate.

[0013] Preferably, the attitude control assembly further includes an attitude control gas path splitter, which is connected to the gas supply assembly for receiving compressed gas, and each of the thrust nozzle modules is connected to the attitude control gas path splitter for receiving compressed gas.

[0014] Preferably, the thrust nozzle module includes a thrust nozzle and a corresponding proportional valve. The input end of the proportional valve is connected to the attitude control splitter to receive compressed gas, and the output end of the proportional valve is connected to the thrust nozzle to control the compressed gas flow rate of the thrust nozzle.

[0015] Preferably, the substrate has a polygonal structure, and at least two thrust nozzle modules are provided at the edge of each side of the substrate, and two of the thrust nozzles in the at least two thrust nozzle modules at the edge of each side of the substrate are symmetrically arranged at both ends of the side of the substrate.

[0016] Preferably, the top surface of the substrate is a complete plane, and the top surface of the substrate is provided with a standardized mechanical interface for connecting external devices.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: The air-floating motion platform with autonomous attitude control disclosed in this utility model integrates a gas supply component, an air-floating bearing component, and an attitude control component on the bottom surface of the substrate. This allows the air-floating bearing component and the attitude control component to achieve levitation and attitude control without connecting to an external air source, realizing high-precision, autonomous six-degree-of-freedom (in-plane) motion simulation without external constraints, significantly improving the fidelity and reliability of ground simulation tests; thus avoiding the additional resistance introduced by connecting to an external air source, thereby ensuring the accuracy of the platform's motion.

[0018] In a further embodiment, each thrust nozzle module in the attitude control component includes a thrust nozzle and a corresponding proportional valve. A single proportional valve controls a single thrust nozzle, which features high attitude control accuracy and smooth, adjustable motion speed.

[0019] In a further design, a reasonable weight distribution and layout are used to ensure that the platform still has good static and dynamic stability after the gas source is integrated. Attached Figure Description

[0020] Figure 1 This is an isometric view of a preferred embodiment of the autonomous attitude control air-floating motion platform of this utility model;

[0021] Figure 2 This is a bottom view of the autonomous attitude control air-floating motion platform according to a preferred embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the gas supply component of the autonomous attitude control air-floating motion platform according to a preferred embodiment of the present invention.

[0023] Figure 4 The preferred embodiment of this utility model shows an autonomous attitude control air-floating motion platform with the bottom view of the air-floating bearing module removed.

[0024] Figure 5 This is a schematic diagram of the attitude control system of the autonomous attitude control air-floating motion platform according to a preferred embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 100. Air-floating motion platform;

[0027] 10. Substrate;

[0028] 20. Gas supply assembly; 21. High-pressure gas cylinder; 211. Gas cylinder support; 212. Gas cylinder valve; 22. Connecting pipeline; 221. Pipeline switch; 23. Gas filling module; 231. Gas filling port; 232. Gas filling switch; 24. Pressure reducing module; 241. First pressure reducing valve; 242. Second pressure reducing valve; 243. Pressure regulating valve;

[0029] 30. Air bearing assembly; 31. Air bearing module; 311. Air bearing; 312. Mounting block; 32. Air bearing air path splitter;

[0030] 40. Attitude control assembly; 41. Thrust nozzle module; 411. Thrust nozzle; 411A. First thrust nozzle; 411B. Second thrust nozzle; 411C. Third thrust nozzle; 411D. Fourth thrust nozzle; 411E. Fifth thrust nozzle; 411F. Sixth thrust nozzle; 411G. Seventh thrust nozzle; 411H. Eighth thrust nozzle; 412. Proportional valve; 412A. First proportional valve; 412B. Second proportional valve; 412C. Third proportional valve; 412D. Fourth proportional valve; 412E. Fifth proportional valve; 412F. Sixth proportional valve; 412G. Seventh proportional valve; 412H. Eighth proportional valve; 42. Attitude control air path splitter. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below. It should be emphasized that the following description is merely exemplary and not intended to limit the scope and application of this utility model.

[0032] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be used for both fixing and circuit / signal connectivity.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] like Figure 1 As shown, a preferred embodiment of this utility model discloses an air-floating motion platform 100 with autonomous attitude control, including a base plate 10, a gas supply assembly 20, an air-floating bearing assembly 30, and an attitude control assembly 40. The gas supply assembly 20, the air-floating bearing assembly 30, and the attitude control assembly 40 are respectively fixed to the bottom surface of the base plate 10, combined with... Figure 2 The air bearing assembly 30 includes at least three air bearing modules 31 distributed on the edge of the substrate, the attitude control assembly 40 includes a plurality of thrust nozzle modules 41 symmetrically arranged on the edge of the substrate, and the gas supply assembly 20 is connected to the air bearing assembly 30 and the attitude control assembly 40 respectively to provide compressed gas to each air bearing module 31 and each thrust nozzle module 41 respectively.

[0036] All components of the air-floating motion platform 100 are integrated on the bottom surface of the substrate 10, and the top surface of the substrate 10 is a complete plane, ensuring the maximum usable area of ​​the platform; and the top surface of the substrate 10 is provided with standardized mechanical interfaces as needed for connecting external devices.

[0037] refer to Figure 3The gas supply assembly 20 includes a high-pressure gas cylinder 21, a connecting pipe 22, a filling module 23, and a pressure reducing module 24. The high-pressure gas cylinder 21 is fixed near the center of the bottom surface of the base plate 10 by a bracket to lower the center of gravity of the entire platform as much as possible and ensure stability during suspension and movement. The connecting pipe 22 uses a high-strength pressure-resistant hose, and its rated working pressure is higher than the maximum pressure of its respective pipe. The filling module 23 and the pressure reducing module 24 are respectively connected to the high-pressure gas cylinder 21 through the connecting pipe 22. The filling module 23 is used to fill the high-pressure gas cylinder 21 with high-pressure gas through the connecting pipe 22, and the pressure reducing module 24 is used to receive the high-pressure gas in the high-pressure gas cylinder 21 through the connecting pipe 22 and reduce its pressure. The high-pressure gas cylinder 21 is fixed to the bottom surface of the base 10 by a cylinder bracket 211, and a cylinder valve 212 is provided at the cylinder opening of the high-pressure gas cylinder 21. The cylinder bracket 211 has shockproof and locking functions to ensure that the high-pressure gas cylinder 21 is secure and reliable during platform movement. The inflation module 23 includes an inflation port 231 and an inflation switch 232. The connecting pipeline 22 is also equipped with a pipeline switch 221 before the pressure reducing module 24. The pressure reducing module 24 includes a first pressure reducing valve 241, a second pressure reducing valve 242, and a pressure regulating valve 243. The first pressure reducing valve 241... The second pressure reducing valve 242 and the pressure regulating valve 243 are connected in series on the connecting pipe 22 connected to the high-pressure gas cylinder 21. The first pressure reducing valve 241 is used to reduce the gas pressure to a first threshold range, which is, for example, 3-5 MPa, preferably 3 MPa. The second pressure reducing valve 242 is used to reduce the gas pressure from the first threshold range to a second threshold range, which is, for example, 1-2 MPa, for example, 1 MPa. The pressure regulating valve 243 is used to adjust the gas pressure from the second threshold range to a compressed gas pressure of 0.4-0.8 MPa. Specifically, before use, the gas supply component 20 first fills the high-pressure gas cylinder 21. During filling, the cylinder valve 212 is opened, the pipeline switch 221 is closed, the filling port 231 is connected to the high-pressure gas filler, and the filling switch 232 is opened to fill the high-pressure gas cylinder 21 with high-pressure gas. The filling pressure of the high-pressure gas cylinder 21 can reach 30MPa. After the gas is full, the filling switch 232 and the cylinder valve 212 are closed to complete the filling of the gas supply component 20. After filling, when the gas supply component 20 needs to supply gas to the air bearing component 30 and the attitude control component 40, the cylinder valve 212 is opened, the filling switch 232 is closed, and the pipeline switch 221 is opened. The gas in the cylinder first passes through the first pressure reducing valve 241, and the pressure is reduced from 30MPa to about 3MPa. Then it passes through the second pressure reducing valve 242 and the pressure is reduced to about 1MPa. At this time, the gas can be introduced into the pressure regulating valve 243 through the hose and adjusted to a compressed gas of 0.4 to 0.8MPa.In this embodiment, the first pressure reducing valve 241 is used to reduce the ultra-high pressure gas to medium-high pressure to improve the safety and lifespan of the downstream pressure reducing element; the second pressure reducing valve 242 further reduces the pressure to the range of conventional industrial pneumatic pressure; the pressure regulating valve 243 finally precisely adjusts the pressure to the optimal working pressure range of 0.4 to 0.8 MPa for the air bearing 311 and the thrust nozzle 411. This pressure range has been experimentally verified to form a stable gas film on the marble platform and provide sufficient attitude control thrust.

[0038] In addition, the pressure reducing module 24 may also include a safety valve (not shown in the figure), which is connected in parallel after the pressure regulating valve 243 and is set to a pressure of 1.0 MPa. When the pressure regulating valve fails and causes the outlet pressure to rise abnormally, the safety valve opens to release pressure, so as to protect the downstream air bearing assembly 30 and attitude control assembly 40.

[0039] The air bearing assembly 30 includes an air bearing air path distributor 32 and at least three air bearing modules 31 distributed along the edge of the substrate 10. The air bearing air path distributor 32 is connected to the gas supply assembly 20 to receive compressed gas. Each air bearing module 31 is connected to the air bearing air path distributor 32 to receive compressed gas, and the compressed gas forms an air film at the bottom of the air-bearing motion platform 100 to support its levitation. Each air bearing module 31 includes an air bearing 311 and a mounting block 312. The air bearing 311 is fixed to the edge of the bottom surface of the substrate 10 via the mounting block 312, and the lower surface of the air bearing 311 is lower than all other components fixed to the bottom surface of the substrate 10. Further, the substrate 10 has a polygonal structure, and each air bearing module 31 is mounted at a corner of the bottom surface of the substrate 10.

[0040] In this specific embodiment, the substrate 10 has a rectangular structure, and the air bearing assembly 30 contains four air bearing modules 31. Each air bearing 311 is mounted on one of the four corners of the bottom surface of the substrate 10 via mounting blocks 312 to support the entire air-bearing motion platform 100. The height of all other components must not be lower than the lower surface of the air bearing 311. Compressed gas of 0.4 to 0.8 MPa from the pressure regulating valve 243 of the gas supply assembly 20 can be delivered to the air bearing gas path divider 32, which then delivers the 0.4 to 0.8 MPa compressed gas to the four air bearings 311, thereby ensuring that the air bearings 311 can form an air film with the smooth platform, supporting the entire air-bearing motion platform 100 to suspend on the smooth platform, such as a marble platform.

[0041] The attitude control assembly 40 includes an attitude control gas path splitter 42 and a plurality of thrust nozzle modules 41 symmetrically arranged on the edge of the substrate. The attitude control gas path splitter 42 is connected to the gas supply assembly 20 for receiving compressed gas, and each thrust nozzle module 41 is connected to the attitude control gas path splitter 42 for receiving compressed gas. (Reference) Figure 4 The thrust nozzle module 41 includes a thrust nozzle 411 and a corresponding proportional valve 412. The input end of the proportional valve 412 is connected to the attitude control splitter 42 to receive compressed gas, and the output end of the proportional valve 412 is connected to the thrust nozzle 411 to control the compressed gas flow rate of the thrust nozzle 411. Further, the substrate 10 has a polygonal structure, and at least two thrust nozzle modules 41 are provided at the edge of each side of the substrate 10. Two of the two thrust nozzle modules 41 at the edge of each side of the substrate 10 are symmetrically arranged at both ends of the side of the substrate 10.

[0042] In this specific embodiment, the substrate 10 has a rectangular structure, and the attitude control assembly 40 contains eight thrust nozzle modules 41. Two thrust nozzle modules 41 are arranged on each side of the substrate 10. The thrust nozzle 411 in each thrust nozzle module 41 is located at the end of the side near the air bearing module 31, and the corresponding proportional valve 412 is also located at the edge of the side. (See reference...) Figure 5 The bottom surface of the entire substrate 10 is arranged with eight thrust nozzles 411 and eight proportional valves 412, arranged clockwise. The eight thrust nozzles 411 include a first thrust nozzle 411A, a second thrust nozzle 411B, a third thrust nozzle 411C, a fourth thrust nozzle 411D, a fifth thrust nozzle 411E, a sixth thrust nozzle 411F, a seventh thrust nozzle 411G, and an eighth thrust nozzle 411H. The corresponding eight proportional valves 412 include a first proportional valve 412A, a second proportional valve 412B, a third proportional valve 412C, a fourth proportional valve 412D, a fifth proportional valve 412E, a sixth proportional valve 412F, a seventh proportional valve 412G, and an eighth proportional valve 412H. The compressed gas of 0.4–0.8 MPa provided by the gas supply assembly 20 can be delivered to the attitude control air path splitter 42 to supply gas to the eight thrust nozzles 411. Figure 5Taking the direction shown as an example, to make the air-floating motion platform 100 move downwards, the first thrust nozzle 411A and the second thrust nozzle 411B are opened simultaneously. The first thrust nozzle 411A and the second thrust nozzle 411B will expel air upwards, forming a reverse thrust to push the air-floating motion platform 100 downwards. Adjusting the air intake of the first thrust nozzle 411A and the second thrust nozzle 411B will adjust the downward speed of the air-floating motion platform 100 accordingly. The larger the air intake, the faster the movement speed; similarly... To make the air-floating motion platform 100 move upward, the fifth thrust nozzle 411E and the sixth thrust nozzle 411F need to be opened simultaneously. To make the air-floating motion platform 100 move to the left, the third thrust nozzle 411C and the fourth thrust nozzle 411D need to be opened simultaneously. To make the air-floating motion platform 100 move to the right, the seventh thrust nozzle 411G and the eighth thrust nozzle 411H, which spray to the left, need to be opened simultaneously, and their reaction force is used to push the air-floating motion platform 100 to move to the right. To achieve clockwise rotation of the air-floating motion platform 100, the second thrust nozzle 411B and the sixth thrust nozzle 411F can be opened simultaneously. The force couple generated by the two nozzles can cause the platform to rotate clockwise around its center without translational components. Alternatively, the fourth thrust nozzle 411D and the eighth thrust nozzle 411H can be opened simultaneously. Both of these methods can form a pair of dual torques that cause the air-floating motion platform 100 to rotate clockwise. Adjusting the jet volume of the corresponding nozzles will also adjust the rotation speed of the air-floating motion platform 100. Similarly, to achieve clockwise rotation of the air-floating motion platform 100, the first thrust nozzle 411A and the fifth thrust nozzle 411E can be opened simultaneously, or the third thrust nozzle 411C and the seventh thrust nozzle 411G can be opened simultaneously.

[0043] The preferred embodiment of this utility model provides an air-floating motion platform 100 with autonomous attitude control. Its gas supply component 20 can receive high-pressure gas (inflation) from the outside and also provide compressed gas (0.4–0.8 MPa) to the air-floating bearing assembly 30 and attitude control component 40, thus solving the problem that conventional air-floating platforms require a constant external gas source. The air-floating bearing assembly 30 can use the compressed gas supplied by the gas supply component 20 to form an air film between the air-floating bearing 311 and the smooth platform, supporting the entire air-floating motion platform 100 in suspension on the smooth platform. The attitude control component 40 can control the amount of compressed gas entering the thrust nozzle 411 through a proportional valve 412, thereby controlling the platform's attitude by adjusting the magnitude and direction of the generated thrust. This utility model's air-floating motion platform can achieve translational and rotational attitude control on a plane.

[0044] The background section of this utility model may include background information about the problems or circumstances surrounding the present utility model, rather than a description of prior art by others. Therefore, the content included in the background section is not an admission of prior art by the applicant.

[0045] The above description, in conjunction with specific / preferred embodiments, provides a further detailed explanation of the present invention and should not be construed as limiting the specific implementation of the present invention to these descriptions. For those skilled in the art, various substitutions or modifications can be made to these described embodiments without departing from the concept of the present invention, and all such substitutions or modifications should be considered within the protection scope of the present invention. In the description of this specification, the reference to terms such as "an embodiment," "some embodiments," "preferred embodiment," "example," "specific example," or "some examples," etc., indicates that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations may be made herein without departing from the scope defined by the appended claims.

Claims

1. A self-regulating air-floating motion platform, characterized in that, The device includes a substrate, a gas supply assembly, an air bearing assembly, and an attitude control assembly. The gas supply assembly, the air bearing assembly, and the attitude control assembly are respectively fixed to the bottom surface of the substrate. The air bearing assembly includes at least three air bearing modules distributed along the edge of the substrate. The attitude control assembly includes multiple thrust nozzle modules symmetrically arranged along the edge of the substrate. The gas supply assembly is connected to the air bearing assembly and the attitude control assembly to provide compressed gas to each air bearing module and each thrust nozzle module respectively.

2. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The gas supply assembly includes a high-pressure gas cylinder, a connecting pipeline, a filling module, and a pressure reducing module. The filling module and the pressure reducing module are respectively connected to the high-pressure gas cylinder through the connecting pipeline. The filling module is used to fill the high-pressure gas cylinder with high-pressure gas through the connecting pipeline, and the pressure reducing module is used to receive the high-pressure gas in the high-pressure gas cylinder through the connecting pipeline and reduce its pressure.

3. The air-floating motion platform with autonomous attitude control according to claim 2, characterized in that, The pressure reducing module includes a first pressure reducing valve, a second pressure reducing valve, and a pressure regulating valve. The first pressure reducing valve, the second pressure reducing valve, and the pressure regulating valve are connected in series on the connecting pipeline connected to the high-pressure gas cylinder. The first pressure reducing valve is used to reduce the gas pressure to a first threshold range, the second pressure reducing valve is used to reduce the gas pressure from the first threshold range to a second threshold range, and the pressure regulating valve is used to adjust the gas pressure from the second threshold range to a compressed gas pressure of 0.4~0.8MPa.

4. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The air bearing assembly also includes an air bearing air path splitter, which is connected to the gas supply assembly to receive compressed gas. Each air bearing module is connected to the air bearing air path splitter to receive compressed gas, and the compressed gas forms an air film at the bottom of the air-bearing motion platform to support the air-bearing motion platform in suspension.

5. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The air bearing module includes an air bearing and a mounting block. The air bearing is fixed to the edge of the bottom surface of the substrate by the mounting block, and the lower surface of the air bearing is lower than all the components fixed to the bottom surface of the substrate.

6. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The substrate has a polygonal structure, and each of the air bearing modules is installed at a corner of the bottom surface of the substrate.

7. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The attitude control assembly further includes an attitude control gas path splitter, which is connected to the gas supply assembly for receiving compressed gas, and each of the thrust nozzle modules is connected to the attitude control gas path splitter for receiving compressed gas.

8. The air-floating motion platform with autonomous attitude control according to claim 7, characterized in that, The thrust nozzle module includes a thrust nozzle and a corresponding proportional valve. The input end of the proportional valve is connected to the attitude control splitter to receive compressed gas, and the output end of the proportional valve is connected to the thrust nozzle to control the compressed gas flow rate of the thrust nozzle.

9. The air-floating motion platform with autonomous attitude control according to claim 8, characterized in that, The substrate has a polygonal structure, and at least two thrust nozzle modules are provided at the edge of each side of the substrate. Two of the thrust nozzle modules at the edge of each side of the substrate are symmetrically arranged at both ends of the side of the substrate.

10. The air-floating motion platform with autonomous attitude control according to claim 1, characterized in that, The top surface of the substrate is a complete plane, and the top surface of the substrate is provided with a standardized mechanical interface for connecting external devices.

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