164 results about "Gravity compensation" patented technology

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention relates to the technical field of industrial robots, in particular to a dynamic simulation damping parameter solving method based on a gravity compensation mechanism, which comprises the following steps of: acquiring a joint basic parameter set of a to-be-tested industrial robot, and determining a test boundary condition according to the joint basic parameter set, and constructing a test task sequence based on the test boundary conditions. According to the method, the fusion weight of the static stiffness and the dynamic stiffness is intelligently adjusted according to the characteristics of the movement speed, the acceleration or the force control frequency band in a specific application task, and the limitation of a single parameter under complex and changeable working conditions is avoided. According to the parameter fusion mechanism aiming at the specific task characteristics, the generated joint comprehensive rigidity parameters can truly reflect the physical response of the robot in different operation stages, and the prediction error between the physical simulation environment and the actual physical operation is reduced; and the strict requirements of high-precision scenes such as semiconductor packaging and the like on micron-level positioning precision and force control stability are met.

The embodiment of the invention relates to the technical field of robots, and discloses a robot zero-force dragging teaching method and system. The teaching method comprises the steps that in response to dragging external force applied by an operator, the joint position and the joint speed are obtained in real time; determining a gravity compensation torque based on the joint position, determining a friction compensation torque based on the joint speed, and obtaining a command torque according to the gravity compensation torque and the friction compensation torque; and controlling the robot to execute dragging teaching through the command torque. According to the scheme of the embodiment of the invention, the operation difficulty and the physical burden are greatly reduced, and zero-force dragging teaching is realized.

The invention discloses a robot compliance force control interaction method, system and device for a collaborative sewing scene and a storage medium. The method comprises the steps of setting a preset period of a contact force track, a speed track and a pose track; before the task is started, collecting data of a plurality of groups of force sensors, completing dynamic gravity compensation, and calculating real contact force in real time; in the task process, the real contact force is continuously obtained, the speed deviation and the pose deviation are obtained, the real contact force, the speed deviation and the pose deviation are input into a compliant controller based on an admittance model, and the target pose of the mechanical arm in the next step is dynamically adjusted; the compliant cooperation is repeatedly executed until the whole cooperation sewing task is completed; after the task is finished, a parameter optimization algorithm based on smooth iterative learning is constructed, the real contact force trajectory, the speed trajectory and the pose trajectory are used as input, the smooth iterative learning algorithm autonomously optimizes parameters of a compliant controller, and the optimal force-position trajectory tracking performance is achieved. According to the invention, a safe and stable robot cooperation sewing task is realized.

The invention discloses a wind turbine generator full-blade load monitoring method based on tower wall vision measurement, and the method comprises the steps: S1, arranging an observation platform, and installing a camera; s2, arranging a blade mark group; s3, synchronizing image acquisition and time; s4, camera calibration and distortion correction; s5, feature detection and tracking; s6, performing three-dimensional reconstruction; s7, centrifugal force and gravity compensation calculation; s8, blade net displacement calculation; and S9, carrying out aerodynamic force load inversion and result output. According to the invention, monitoring of the load in the edge direction of the whole blade of the wind turbine generator can be effectively realized, and reliable technical support is provided for safe operation, optimal design and economical efficiency improvement of the blade of the large-scale wind turbine generator.

The invention relates to the technical field of carts, in particular to a four-wheel quick-release large-base cart which comprises a transmission assembly, a gravity center compensation assembly and a direction reset mechanism. The transmission assembly is arranged in the supporting column. The gravity center compensation assembly is installed in the base in a sliding mode and connected with the transmission assembly. The direction resetting mechanism is connected with the universal wheel; when the bearing platform is rotated, a balancing weight in the gravity center compensation assembly is driven by the transmission assembly to slide reversely along the compensation sliding rail, so that gravity center shift caused by rotation of the bearing platform is counteracted; when the bearing platform is adjusted, the direction resetting mechanism enables the four universal wheels to slowly and automatically recover to the posture that the axes are parallel to the short sides of the base with the four universal wheels arranged in a rectangular shape; the problem that an existing four-wheel medical trolley overturns due to center-of-gravity shift when the angle of a bearing platform is adjusted is solved.

The invention discloses an automatic assembling method of a radio frequency connector, which comprises the following steps that: A, a female joint is static, and a male joint is translated to the upper part of the female joint and is in contact with the female joint; b, acquiring data of a force sensor to obtain contact force information between the male joint and the female joint, and performing filtering and tool gravity compensation on the data; c, inputting the processed force data into the KAN network to obtain a predicted position error between the male joint and the female joint; d, according to the position error, a first rotation center and a second rotation center of the two sections of rotation are calculated through a virtual rotation center algorithm, so that pose changes of the male connector after two times of rotation are obtained, and the speeds of two times of rotation movement of the male connector are obtained; e, inputting the processed force data into an admittance controller at the same time to obtain a compliant speed; f, the compliant speed and the two-time rotating speed are input into a speed controller, the final corresponding movement of the male connector and the speed and displacement of all joints needed by the robot are solved, and pose adjustment is completed; and G, pressing the male joint to complete assembly.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The present invention discloses a chainless electrical bicycle, which is designed to eliminate any type of mechanical means to transfer torque and power from pedals to a traction wheel. The present invention employs a generator to transfer a pedal torque and power with the help of power electronics, control electronics, a battery and control methods to a motor that is used for traction, which is attached to the traction wheel. The generator power is supplemented with the battery power, wherein the battery is rechargeable. The main purpose of the present invention is to emulate a mechanical chain bicycle operation, eliminate shortcomings of a mechanical chain bicycle, and introduce convenience features, such as, but not limited to, continuously variable electronic gear, a gravity compensation, a static and dynamic torque assistance, a ride charge feature, and an electric brake system.

The invention relates to an adaptive master-slave force tracking control system for a surgical robot, which is characterized in that an Omega7 force feedback manipulator is used as a master manipulator, a Franka-R3 seven-degree-of-freedom mechanical arm is used as a slave manipulator, a surgical instrument is assembled at the tail end of the slave manipulator, a master-slave system is constructed, and a mapping relation between the master manipulator and the slave manipulator is established; driving a slave hand to move on the basis of the action of a master hand, and reversely deducing a tail end contact force on the basis of an expansion kinetic model of the mechanical arm and a surgical instrument and a joint torque measured by a joint torque sensor in the Franka-R3 seven-degree-of-freedom mechanical arm; correcting the tail end contact force in real time based on the real-time identified environment rigidity, and updating the environment rigidity in real time based on a recursive least square method; calculating a force received by the master hand based on the corrected tail end contact force and a mapping relation between the master hand and the slave hand; and the force received by the master manipulator after gravity compensation is added is fed back to an operator, and tracking and control of the tail end force are achieved.

The invention relates to the field of artificial intelligence, and discloses an unmanned unloading automatic operation method and system based on machine vision, and the method comprises the steps: collecting images and point clouds through multi-view synchronous imaging, fusing texture and geometric features through a double-flow feature extraction network, and achieving the high-robustness recognition and six-degree-of-freedom pose calculation of a tray; a virtual grabbing point is generated in combination with a structure prior knowledge base, dynamic bottom plate deformation is modeled through a B-spline curved surface, and grabbing parameters are adjusted in a self-adaptive mode; layered path planning and force control pre-judgment cooperate to guarantee movement safety, and a gravity center compensation algorithm maintains stable carrying posture. The system comprises a synchronous imaging module, a feature fusion module, a pose resolving module, a plane modeling module, a path planning module, a force control compensation module and the like.

The invention relates to an active gravity compensation spacecraft cabin separation test system and method. The test system is mainly composed of a tension control system, a comprehensive control system, a high-speed measurement subsystem, a system support subsystem and other subsystems. The tension control system and the comprehensive control system are closed-loop control systems taking a high-precision and fast-response torque motor as a core; the high-speed measurement system is used for acquiring parameters such as the inter-cabin separation speed and the angular speed, and performing whole-course monitoring on the state of an inter-cabin separation surface; the system support is a main bearing structure of the tension control system and the separation cabin section, provides a separation simulation space for a spacecraft, and provides an operation platform for ground workers at the same time. By adopting the test system disclosed by the invention, the vertical separation of the large spacecraft during ground development can be realized, the gravity unloading efficiency is as high as 95-105%, and effective separation parameters are obtained.

The invention relates to an impedance control method for performing gravity compensation on an unknown tail end load of a mechanical arm, which belongs to the field of industrial robots and comprises the following steps: acquiring a kinetic model of a robot in a Cartesian space; external force borne by the robot in the impedance model is obtained; an impedance control law of the robot is obtained according to the external force borne by the robot in the kinetic model and the impedance model of the robot in the Cartesian space; an iterative learning gravity compensation increment is introduced into impedance control, an iterative learning output quantity is added into an impedance control law, a Cartesian space impedance control law combined with gravity iterative learning is generated, and online compensation of the gravity of the unknown load at the tail end is achieved; and executing a steady-state scaling strategy, scaling a steady-state period to a sampling period, and obtaining an updating law. According to the method, the tracking precision of the position of the unknown load at the tail end of the impedance controller can be improved, and the compliance characteristic of impedance control is kept.

A robotic system for performing an ocular surgery includes a robot and an electronic control unit (ECU). The robot includes an end-effector, six or more electric motors connected to or operable for moving six or more links and controllable via the ECU, and all-pose gravity compensation structure. A surgical tool is connected to the end-effector. The robot and surgical tool, in response to electronic control signals from the ECU, perform a surgical task on an eye during the ocular surgery. The ECU includes scaling logic operable for downscaling or limiting a tool force imparted to the eye by the surgical tool and / or a tool velocity of the surgical tool. All-pose gravity compensation minimizes a perceived weight of the surgical tool during the ocular surgery. The robotic system may include a surgeon-operated haptic device / master in which the robot acts as a slave device.

A cantilevered work platform and method with dynamic balancing counterweight are disclosed, belonging to the technical field of high-altitude work safety equipment. The platform includes a main boom, a telescopic boom, a personnel carrier frame, and a base. A dynamic center of gravity compensation device, consisting of a counterweight slide rail, a movable counterweight block, and a drive mechanism, is installed on the base. The counterweight block, linked to the pitch angle and telescopic stroke of the main boom via displacement sensors, moves in real-time along the slide rail in the opposite direction to counteract the variable overturning moment generated during operation. Simultaneously, a dual-rope self-locking fall arrest system, independent of the platform structure, is installed above the personnel carrier frame. This system includes two safety ropes anchored to high-level fixed points and corresponding speed difference controllers, directly connected to the worker's safety belt. This invention improves the overall anti-overturning stability of the machine by actively adjusting the counterweight position and ensures personnel safety even in the event of platform failure, significantly enhancing the reliability and safety of high-altitude operations.

The utility model provides a leg structure with gravity compensation, which comprises a first leg, a second leg, a driving assembly and a gravity compensation module, the driving assembly comprises a driving part mounted at one end of the first leg, and the driving part is used for driving the second leg to rotate, so that the first leg and the second leg are relatively opened and closed; the gravity compensation module comprises a limiting part, a guide column and a reset part, the limiting part is connected to the end, close to the driving part, of the first leg part, a limiting cover is arranged at one end of the guide column, the other end of the guide column penetrates through the limiting part and is rotationally connected to the second leg part through a rotating structure, and the reset part is arranged in the circumferential direction of the guide column; the reset piece abuts against the position between the limiting piece and the limiting cover. According to the leg structure provided by the invention, the extra acting degree of the driving part can be reduced, so that the driving part can be prevented from being overheated or damaged, energy consumption can be reduced, endurance can be prolonged, the service life can be prolonged, and the requirement for model selection of the driving part can be reduced.

The invention relates to a clamping error identification method for precision assembly and electronic equipment, and the method comprises the steps: firstly constructing an assembly system model, initializing a force sensing module, and when a part is clamped, identifying a clamping position error and carrying out gravity compensation through analyzing a mapping relation between force sensing data and a part barycentric coordinate; then, in the contact stage of the part and the reference shaft, a contact force line equation is established, contact point coordinates are solved, and a clamping attitude error is obtained through further calculation; and finally, the robot carries out real-time motion compensation under an impedance control strategy based on the identified position and attitude errors, and the assembly quality is evaluated after assembly is completed until all the parts in the batch are assembled. On-line dynamic recognition and closed-loop correction of position and posture deviation in the clamping process are achieved through force sensing information, and the assembly precision and the self-adaptive capacity of the system are remarkably improved.

The embodiment of the present application relates to the technical field of robots, and discloses a robot zero-force dragging teaching method and system. Wherein, the teaching method comprises: in response to the dragging external force applied by the operator, real-time acquisition of joint position and joint speed; determination of the gravity compensation torque based on the joint position, determination of the friction compensation torque based on the joint speed, and obtaining of the command torque according to the gravity compensation torque and the friction compensation torque; and execution of the dragging teaching by the robot through the command torque control. The scheme of the embodiment of the present application greatly reduces the operation difficulty and physical burden, and realizes the zero-force dragging teaching.

The invention discloses an automatic matching method for a working position of an X-ray machine and a flat panel detector, and relates to the technical field of radiographic imagines.The method comprises the steps that pet struggling features are recognized in real time through a motion state classification model, a compensation mechanism is triggered before displacement occurs, and matching delay caused by passive response in the prior art is avoided; the working position of the X-ray machine can synchronously track the position of the detector to ensure that an imaging area accurately covers a key anatomical structure; when the displacement is overtime, the system automatically stops exposure and reversely calibrates the position based on the anatomical mark point; an operator does not need to interrupt flow manual calibration, the repeated exposure risk of the pet is reduced, and the diagnosis and treatment efficiency is improved; the influence of equipment vibration and operation jitter is suppressed by gravity compensation and smooth filtering, and the displacement prediction model is compatible with motion characteristics of pets with different body types; in a narrow clinic or multi-pet assembly line scene, the matching stability is kept; an autonomous decision closed loop is formed from data acquisition, state judgment, real-time tracking to abnormal calibration.

The application discloses a horizontal hydraulic diaphragm pump and belongs to the technical field of diaphragm pumps. The horizontal hydraulic diaphragm pump comprises a power end, a hydraulic end, an auxiliary system and a control system. The hydraulic end comprises a hydraulic chamber adopting an asymmetric gradually changing cross section design, a gravity compensation type gradient rigidity composite diaphragm, a diaphragm chamber and an integrated intelligent exhaust device, the top of the hydraulic chamber is provided with a spherical crown gas collection concave cavity; the diaphragm is divided into a central flexible area, a transition buffer area and an edge rigid area along the radial direction, and a reinforcing framework is embedded in the lower semicircular area; the intelligent exhaust device comprises a bubble aggregation cavity, a gas-liquid separation microchannel group, a liquid level sensor and an exhaust electromagnetic valve. The auxiliary system comprises a double-cavity pre-pressing pulsation buffer, an air bag is arranged in a main buffer cavity, and a spring piston is arranged in an auxiliary buffer cavity. The control system adopts a pressure gradient self-adaptive reversing control and an iterative learning control algorithm to inhibit pressure pulsation, and solves the problems of asymmetric force bearing of the diaphragm, gas accumulation in the hydraulic chamber, large flow pulsation and reversing impact and the like under the horizontal arrangement.

The application belongs to the technical field of path planning, and particularly relates to a PCB glue tearing machine operation path optimization control method and system, which comprises the following steps: collecting torque and motion state data of a glue tearing machine actuator, performing gravity compensation and filtering on the torque data; calculating accumulated mechanical work according to the processed torque data; obtaining a sticking resistance coefficient according to the accumulated mechanical work, displacement distance and torque change rate; when a continuous preset number of sticking resistance coefficients exceeds a threshold value, sampling control points on an initial path, taking the control point longitudinal coordinate as an optimization variable; constructing a cost function comprising a safety penalty term, a path smoothness penalty term and an efficiency reward term, performing particle swarm optimization on the control points according to the cost function to obtain optimal control points, and generating an avoidance path using a curve fitting algorithm on the optimal control points; and controlling the actuator to complete glue tearing according to the avoidance path. The application adjusts the path by monitoring the sticking state, thereby improving the glue tearing quality.

This invention relates to the field of ultra-long profile processing technology and discloses a laser cutting equipment for ultra-long aluminum profiles for rail transit based on gravity compensation support. The equipment includes a gantry laser cutting machine with a base frame underneath. Supports are uniformly fixedly connected to the base frame, and a positioning mechanism is connected to each support. The positioning mechanism includes a base, which is a cavity structure with an opening at its upper end. This gravity compensation support-based laser cutting equipment for ultra-long aluminum profiles for rail transit effectively solves the problems in existing technologies where ultra-long H-shaped aluminum profiles are prone to bending and deformation after hoisting and placement on the machine frame due to insufficient flexural strength. This leads to deviation between the surface to be cut and the reference surface of the laser cutting head, causing quality problems such as beveled cuts and slag buildup. Furthermore, the bending deformation of the profile prevents it from effectively fitting with the machine frame, further exacerbating the decline in cutting quality.

The invention provides a gravity angle sensor, a calibration method thereof and a gravity compensation method applying the gravity angle sensor, and belongs to the technical field of sensors and intelligent control. The sensor comprises a sensor frame, a flexible spring piece assembly, a mass block and a differential strain measurement unit, the flexible spring piece assembly is symmetrically connected with the mass block and the sensor frame, and the flexible spring piece assembly is configured to generate bending deformation perpendicular to the axial direction of the flexible spring piece assembly under the action of a gravity component; the differential strain measurement units are arranged on the convex side and the concave side when the flexible spring piece is bent and used for detecting the bending strain difference perpendicular to the axial direction. High-precision and real-time gravity compensation under a dynamic working condition is realized by calibrating a maximum strain difference value, measuring a current strain difference in real time, calculating a specific value and directly generating a gravity compensation amount without resolving an attitude angle and breaking through range limitation of a cosine function. According to the scheme, mechanical friction is eliminated, sensitivity and stability are improved, and the method is suitable for high-dynamic force control systems such as robots and precision platforms.

The invention concerns a gravity compensation designed to compensate for the unbalance of a rotating element (1) pivoted on a support (4). The device comprises a compensating mobile (2) pivotally mounted on the support (4) and kinematically connected to the rotating element (1). The device also comprises an elastic return element (3), a first end of which is mounted directly on the compensation mobile (2), eccentrically, to exert on the compensation mobile a force whose intensity and lever arm vary as a function of the angular position of the rotating element. In an original way, a second end of the elastic return element (3) is mounted on the support (4) or on a second compensating mobile (2) pivotally mounted on the support (4) and kinematically connected to the rotating element (1), the characteristics of the device being chosen so that the resulting torque on the rotating element compensates, over a functional angular range, for the torque due to the unbalance.

According to the special-shaped track robot, a Schatz mechanism serves as a basic power unit, the Schatz mechanism and four special-shaped tracks with spatial closed curves as outer contours form a single track module, and then the four single track modules are spatially arranged to serve as a composite power system of the whole mobile robot. Wherein the Schatz mechanism is a typical single closed chain space six-bar 6R mechanism. The outer contour curve of the crawler belt is designed through a gravity compensation method for land motion, the inner contour curved surface is designed for water surface motion, and amphibious motion of the robot is achieved. Each single-track module is driven by two motors, the eight motors drive the whole robot, and the requirement for high maneuvering performance of the robot is met.

The invention discloses a gravity compensation device, a vertical joint, a mechanical arm system and a surgical robot. The gravity compensation device comprises a first fixing part, a second fixing part, a to-be-compensated object, a transmission assembly, an output assembly and a traction cable. Wherein the position of the second fixing part is fixed relative to the first fixing part. The object to be compensated has a tendency to move along a first direction and can move along the first direction and a second direction opposite to the first direction relative to the first fixing part and the second fixing part. The transmission assembly is connected with an object to be compensated, and the transmission assembly is provided with a rotatable rotating part. The force output assembly is arranged on the first fixing part and used for providing approximately constant output force. The traction cable bypasses the rotating part, and the two ends of the traction cable are connected to the load end of the force output assembly and the second fixing part correspondingly. According to the gravity compensation device, the bearing force of the force output assembly is halved by utilizing the principle of the movable pulley, so that the compensable force is doubled.

This invention discloses a flexible cable-driven upper limb exoskeleton device and its control method for over-the-shoulder harvesting in agriculture. It employs a back-mounted drive and Bowden cable distal transmission architecture, and introduces a bidirectional cable chain mechanism to adaptively compensate for the instantaneous rotational center drift of the shoulder joint, eliminating human-machine kinematic interference. The perception layer uses a dual-node pure IMU scheme for the upper and lower arms, combined with a lightweight LSTM network and a majority-voting smoothing strategy to achieve low-latency, highly robust four-state action intention recognition. The control layer constructs a finite state machine scheduling architecture, mapping intention adaptive gravity compensation, position impedance, and zero-force following modes. Implicit state alignment and torque cross-gradient achieve non-disruptive switching between multiple modes. The underlying servo integrates fuzzy PID online tuning to suppress transmission nonlinearity. This invention significantly reduces the activation load on the deltoid and biceps muscles under lightweight design, making it suitable for long-duration over-the-shoulder harvesting operations in orchards.

The application provides a dynamic zero point correction and gravity compensation method of a six-dimensional force sensor, which comprises the following steps: 1, determining a pose change matrix of a robot end coordinate system relative to a base coordinate system M 0 T1; 2, determining a coordinate transformation relationship between an end tool and a robot base coordinate; 3, determining force components of end tool gravity in three directions of a sensor coordinate system XYZ; 4, determining a gravity compensation value, and performing zero point correction and compensation error. The application can compensate the force of the end tool gravity on the sensor; after data processing by using an average filtering algorithm, zero point correction can be performed, so that the influence of external interference factors, operation errors and the like can be reduced; the application is suitable for gravity compensation and zero point correction under various postures and motion states of a robot, and is suitable for various types of mechanical arms, end tools and six-dimensional force sensors; and the application is suitable for zero point correction and gravity compensation in a static state and in a robot motion process.

The invention relates to a Mars ascender launching stage gravity simulation test device and a test method. Simulation of a preparation stage before launching of an ascender in an inclined ground environment, simulation of a Mars gravity environment in a launching stage and gravity restoration of a launching completion stage are realized. The device comprises two functional units, namely a suspension type low-gravity simulation functional unit and a counterweight and unlocking system functional unit. The suspension type low-gravity simulation function unit is a set of gravity compensation device and is connected with the counterweight system and the launching platform through a fixed pulley, and the simulation effect of the gravity of the Mars in the ground environment is achieved through rope tension. The counterweight and unlocking system function unit is connected with the counterweight through an electromagnetic lock, and counterweight locking before launching and gravity restoration after launching are achieved. According to the invention, the Mars gravity suspension balance is carried out on the Mars sampling ascender, and the Mars environment in the launch process of the ascender is simulated.