A kind of air floating table system capable of simulating two-dimensional motion attitude of spacecraft in space

Abstract

The utility model discloses a kind of air floating table systems that can simulate the two-dimensional motion attitude of spacecraft in space, belong to mechanical engineering field, including outer frame, air floating mechanism, power mechanism and motion capture mechanism, the air floating mechanism includes the center gas cylinder being arranged in the center position of outer frame, and the air foot being arranged in the bottom of outer frame, compressed air of center gas cylinder is formed by air foot spray out and makes the system suspend, the power mechanism is distributed in the top of outer frame around, for providing the power of two-dimensional motion for the system.This air floating table system that can simulate the two-dimensional motion attitude of spacecraft in space, by adopting graphite material porous four air foot, eight fan power mechanism of symmetrical layout and the frame design of coinciding with barycenter and geometric center, realized the advantages of small friction, wide temperature zone, long life, low cost, small noise, strong stability, easy to build, can accurately simulate spacecraft two-dimensional motion attitude, provide reliable simulation platform for attitude control algorithm verification.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, and in particular to an air-bearing platform system that can simulate the two-dimensional motion attitude of a spacecraft in space. Background Technology

[0002] An air-bearing platform is a simulation platform that utilizes high-pressure gas to form an air film between moving parts and a supporting surface, thereby achieving near-frictionless motion. It has significant practical value in many fields, including satellite attitude control algorithm verification, spacecraft rendezvous and docking simulation, microgravity environment simulation, missile seeker performance testing, UAV swarm collaborative control, space robot technology verification, basic physics experiments, and inertial navigation system calibration. Suspended by a high-pressure air film, the frictional resistance is only 1 / 1000th that of traditional mechanical bearings, closely resembling the microgravity environment in space. With no mechanical wear, it is suitable for long-term continuous operation (such as satellite lifecycle simulation). Traditional mechanical platforms (such as turntables) can only simulate single-axis / dual-axis motion, while air-bearing platforms can achieve multi-degree-of-freedom motion based on their own structure, resulting in fast dynamic response. Traditional motor and gear drives introduce micro-vibrations, affecting high-precision sensor testing, while air-bearing platforms rely solely on air film support, resulting in very low vibration and noise, good environmental adaptability, and compatibility with vacuum chambers to simulate vacuum environments.

[0003] Currently, mainstream air flotation platform technologies are mainly divided into three categories: porous air flotation, small-hole throttling air flotation, and composite air flotation. In porous air flotation, the sintered metal foot is highly sensitive to velocity and risks failure at temperatures below -10°C, requiring polishing during manufacturing to extend its lifespan. Porous ceramic foot is prone to localized overheating, and its strength decreases by 50% at temperatures above 400°C, making it prone to breakage; even after acid pickling, its daily service life is only a few hundred hours. Small-hole throttling air feet consume a lot of air, and the airflow reflection during ejection causes pressure fluctuations; precision drilling is required during manufacturing, resulting in high costs. Composite air feet rely on mechanical bearings for compensation, introducing friction and requiring additional motor power, resulting in significant mechanical vibration and noise; the complex hybrid structure also increases assembly costs. Utility Model Content

[0004] The purpose of this invention is to propose an air-bearing platform system that can simulate the two-dimensional motion attitude of spacecraft in space in order to solve the existing problems.

[0005] To achieve the above objectives, this utility model employs the following technology: an air-bearing platform system capable of simulating the two-dimensional motion attitude of a spacecraft in space, comprising;

[0006] The outer frame, which is a rectangular frame design, provides an installation carrier for the air-float platform system.

[0007] The air flotation mechanism includes a central air cylinder located at the center of the outer frame and four porous graphite air feet located at the bottom of the outer frame. Compressed air from the central air cylinder is ejected through the air feet to form an air cushion that suspends the system.

[0008] A power mechanism, distributed around the top of the outer frame, is used to provide power for the two-dimensional motion of the system;

[0009] The motion capture mechanism is located on the top of the outer frame and can work with the motion capture device to capture the motion posture of the system.

[0010] As a further description of the above technical solution: the outer frame includes a lower connecting plate and an upper connecting plate arranged in parallel in the vertical direction, and the lower connecting plate and the upper connecting plate are connected by an H-shaped aluminum frame.

[0011] As a further description of the above technical solution: the central gas cylinder is detachably installed between two aluminum frames via two ring plates, and the two ring plates are reinforcedly connected to the central gas cylinder via connectors.

[0012] As a further description of the above technical solution: the four air feet are arranged in a square at the bottom four corners of the lower connecting plate, and the air feet are connected to the central air cylinder by air lines.

[0013] As a further description of the above technical solution: the air foot is provided with an adjusting nut for adjusting the height, and a valve is provided at the connection between the air line and the central air cylinder.

[0014] As a further description of the above technical solution: the power mechanism includes eight fixed-rotation fans, which are divided into four pairs by a mounting plate and symmetrically arranged around the upper connecting plate.

[0015] As a further description of the above technical solution: the motion capture mechanism includes six motion capture balls, which are symmetrically arranged on the top of the upper connecting plate via copper pillars.

[0016] As a further description of the above technical solution: the system also includes a control mechanism, which is located in the space between the upper connecting plate and the moving ball.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0018] By using graphite air feet as the motion mechanism, compared with other air flotation technologies, it has less friction, wider operating temperature range, and longer service life. The airflow noise of graphite air feet is also lower than that of other air flotation technologies, and it does not require specific high-precision processing technology, which can save costs.

[0019] With its four-legged structure, compared to traditional three-legged or single-legged air-bearing systems, it has stronger anti-overturning ability, higher control precision, and stronger load capacity and stiffness, making it particularly suitable for fields such as high-dynamic satellite simulation and precision inertial testing.

[0020] Using large-capacity gas cylinders as the air source significantly extends the operating time; at the same time, the gas cylinders are fixed in the center, which facilitates the layout of the air circuit and ensures a stable supply of compressed air.

[0021] The structure is simple and clear, making it easy to build, assemble, and maintain. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure provided according to an embodiment of the present utility model is shown. Figure 1 ;

[0023] Figure 2 A schematic diagram of the structure provided according to an embodiment of the present utility model is shown. Figure 2 .

[0024] Legend:

[0025] 1. Lower connecting plate; 2. Upper connecting plate; 3. Aluminum frame; 4. Ring plate; 5. Connector; 6. Central gas cylinder; 7. Mounting plate; 8. Fan; 9. Copper column; 10. Moving catch ball; 11. Gas supply. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0027] Reference Figures 1-2 This embodiment provides an air-bearing platform system that can simulate the two-dimensional motion attitude of a spacecraft in space. The system includes an outer frame with a rectangular frame design, which provides an installation carrier for the air-bearing platform system. The outer frame includes a lower connecting plate 1 and an upper connecting plate 2 arranged in parallel in the vertical direction. The lower connecting plate 1 and the upper connecting plate 2 are connected by an H-shaped aluminum frame 3.

[0028] In this embodiment, the lower connecting plate 1, the upper connecting plate 2, and the H-shaped aluminum frame 3 constitute the installation frame of the air-floating platform system. The aluminum tubes of the H-shaped aluminum frame 3 are fixed to each other by aluminum alloy angle brackets and boat-shaped nuts.

[0029] To enable the air flotation platform system to levitate, the system includes an air flotation mechanism, which includes a central air cylinder 6 located at the center of the outer frame and an air foot 11 located at the bottom of the outer frame. The air foot 11 is connected to the central air cylinder 6 by an air line. A valve is provided at the connection between the air line and the central air cylinder 6. Compressed air from the central air cylinder 6 is ejected through the air foot 11 to form an air cushion that levitates the system. The air foot 11 is a porous structure made of graphite.

[0030] The central gas cylinder 6 is detachably installed between the two aluminum frames 3 via two ring plates 4, and the two ring plates 4 are reinforced to the central gas cylinder 6 by connectors 5. The two ring plates 4 and the connectors 5 form a "ring-like" fixation for the central gas cylinder 6, which can firmly restrain the gas cylinder between the two aluminum frames 3, preventing the central gas cylinder 6 from shifting or shaking due to vibration or external force during the suspension and movement of the air float platform. At the same time, the connection between the ring plates 4 and the aluminum frames 3 makes the central gas cylinder 6 part of the outer frame, further enhancing the overall rigidity of the entire system and preventing structural deformation from affecting the stability of the gas path and the balance of the system.

[0031] The central gas cylinder 6 serves as the energy carrier, storing compressed air to provide power for levitation. The four air feet 11 are made of graphite and arranged in a square at the bottom corners of the lower connecting plate 1. After the compressed air enters the air feet 11, it will permeate and diffuse evenly through a large number of tiny interconnected pores inside, avoiding local airflow concentration. The evenly diffused compressed air is ejected from the bottom of the air feet 11, forming a stable high-pressure air cushion (air film) between the air feet 11 and the support surface. The buoyancy generated by the air film counteracts the weight of the air-floating platform system, allowing the system to detach from the support surface and achieve levitation. The formation of the air cushion eliminates the direct contact between the system and the support surface, greatly reducing frictional resistance. The graphite porous air feet 11 ensure that the airflow is ejected evenly, avoiding levitation tilting caused by airflow fluctuations. In addition, the graphite material has both self-lubricating properties and wide temperature range adaptability, which not only extends the service life of the air feet 11, but also can stably generate air cushions in different temperature environments, meeting the levitation requirements of complex scenarios such as deep space exploration satellite simulation.

[0032] The air foot 11 is equipped with an adjusting nut for adjusting the height. The adjusting nut can finely adjust the height of each air foot 11 individually. By calibrating, the four air feet 11 are placed on the same horizontal plane, which can ensure that the air film formed after the compressed air is sprayed is of uniform thickness and pressure. This avoids uneven force on the air film caused by the height difference of the air feet 11, thereby preventing the system from tilting or overturning when it is suspended, and providing a basis for the overall stable suspension.

[0033] After the air-bearing platform system is suspended, in order to simulate the two-dimensional motion of a spacecraft in space, the system includes a power mechanism. The power mechanism is distributed around the top of the outer frame and is used to provide power for the two-dimensional motion of the system. The power mechanism includes eight fixed fans 8. The eight fans 8 are divided into four pairs by the mounting plate 7 and symmetrically arranged around the upper connecting plate 2.

[0034] Eight fixed-direction fans 8 serve as power output units, integrated into four pairs via mounting plates 7 and symmetrically distributed around the upper connecting plate 2. This ensures that the power output is aligned with the geometric center of the system. When the system performs translational motion, if it wants to move in the positive x-axis direction, only the two fans 8 in the negative x-axis direction rotate. The same applies when the system translates in other directions. When the system performs rotational motion, if it wants to rotate counterclockwise, only the right fan 8 in each of the four directions rotates, while the left fan 8 remains stationary. The opposite applies when the system wants to rotate clockwise. The four pairs of symmetrically distributed fans 8 can achieve translational and rotational two-dimensional motions through differentiated start and stop, meeting the accuracy requirements for spacecraft attitude simulation in scenarios such as high-dynamic satellite simulation and precision inertial testing.

[0035] The system is also equipped with a motion capture mechanism, which is located on the top of the outer frame and can work with the motion capture equipment to capture the motion posture of the system. The motion capture mechanism includes six motion capture balls 10, which are symmetrically arranged on the top of the upper connecting plate 2 via copper pillars 9.

[0036] External motion capture equipment (usually a multi-view optical camera array) captures the spatial position changes of the motion capture ball 10 in real time, calculates the three-dimensional coordinates of each motion capture ball 10 using algorithms such as triangulation, and then combines the fixed position relationship between the motion capture ball 10 and the system body to deduce the two-dimensional attitude parameters of the air-bearing platform system, such as translation distance, rotation angle, and motion speed / acceleration.

[0037] The system also includes a control mechanism located in the space between the upper connecting plate 2 and the motion capture ball 10. The control mechanism consists of a microcontroller, an ESC, etc. The control mechanism is located below the motion capture ball 10, and the motion capture ball 10 is supported by copper pillars 9 and is higher than the control mechanism. There is no structural obstruction between the two, so it will not affect the visual recognition of the motion capture ball 10 by external motion capture equipment, ensuring that the motion capture mechanism can accurately capture the system attitude data and avoid measurement errors caused by layout conflicts.

[0038] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An air-bearing platform system capable of simulating the two-dimensional motion attitude of a spacecraft in space, characterized in that, include: The outer frame, which is a rectangular frame design, provides an installation carrier for the air-float platform system. The air flotation mechanism includes a central air cylinder (6) located at the center of the outer frame and four porous graphite air feet (11) located at the bottom of the outer frame. Compressed air from the central air cylinder (6) is ejected through the air feet (11) to form an air cushion that suspends the system. A power mechanism, distributed around the top of the outer frame, is used to provide power for the two-dimensional motion of the system; The motion capture mechanism is located on the top of the outer frame and can work with the motion capture device to capture the motion posture of the system.

2. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 1, characterized in that, The outer frame includes a lower connecting plate (1) and an upper connecting plate (2) arranged in parallel in the vertical direction, and the lower connecting plate (1) and the upper connecting plate (2) are connected by an H-shaped aluminum frame (3).

3. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 2, characterized in that, The central gas cylinder (6) is detachably installed between two aluminum frames (3) via two ring plates (4), and the two ring plates (4) are reinforcedly connected to the central gas cylinder (6) via connectors (5).

4. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 3, characterized in that, The four gas feet (11) are arranged in a square at the bottom four corners of the lower connecting plate (1), and the gas feet (11) are connected to the central gas cylinder (6) by gas lines.

5. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 4, characterized in that, The air foot (11) is provided with an adjusting nut for adjusting the height, and a valve is provided at the connection between the air line and the central air cylinder (6).

6. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 2, characterized in that, The power mechanism includes eight fixed-rotation fans (8), which are divided into four pairs by mounting plates (7) and symmetrically arranged around the upper connecting plate (2).

7. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 2, characterized in that, The motion capture mechanism includes six motion capture balls (10), which are symmetrically arranged on the top of the upper connecting plate (2) via copper pillars (9).

8. The air-bearing platform system for simulating the two-dimensional motion attitude of a spacecraft in space according to claim 7, characterized in that, The system also includes a control mechanism located in the space between the upper connecting plate (2) and the moving ball (10).

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