91 results about "Microgravity Simulation" patented technology

The invention discloses a spatial microgravity simulation experiment system. The system mainly comprises six parts, namely a peripheral frame, a leveling system, a driven regulation mechanism in a horizontal plane, a Z-direction driving gravity compensation system, a rotation driven regulation mechanism and a pitching and deflection driving adjustment system. The system can simulate the microgravity environment of an outer space, can reproduce a zero-gravity state, is safe and reliable, simple in structure, low in cost, convenient to use, practicable, and convenient to popularize, and can be utilized repeatedly; and a platform is provided when an astronaut or a space station robot moves outside a space capsule, and handrail distribution outside the capsule can be simulated.

The invention discloses a space on-orbit fault removing operation ground simulation experiment system. The space on-orbit fault removing operation ground simulation experiment system comprises a simulation service spacecraft, a simulation target spacecraft, a microgravity simulation air-floating platform and a simulation ground control station. The simulation service spacecraft and the simulation target spacecraft operate on the microgravity simulation air-floating platform and communicate with the simulation ground control station through wireless communication. The simulation service spacecraft is used for simulating a spacecraft with on-orbit operation and service capabilities. The simulation target spacecraft is used for simulating a spacecraft with on-orbit faults. According to the space on-orbit fault removing operation ground simulation experiment system, on-orbit approach and on-orbit capture can be simulated, and an automatic control mode, a man-in-loop control mode and other various control modes are achieved.

The invention provides a device and method for simulating a space mechanical arm to capture ground three-dimensional space microgravity of a target satellite, and relates to a device and method of the ground three-dimensional space microgravity. The problem that the movement of a floating satellite base in the three-dimensional space and operation process of the space mechanical arm is not considered is solved. The device comprises two industrial mechanical arms, the space mechanical arm, a hand eye camera, a capturing paw, a capturing connector, a service satellite body simulator, a target satellite body simulator and six-dimensional force and torque sensors; the method comprises the steps that target satellite movement is simulated; the position and attitude of the target satellite and movement information of joints of the space mechanical arm are determined; movement information of a service satellite body simulator base and the industrial mechanism arms is calculated; the capturing connector captures the target satellite body simulator in a capturing paw area; a movement state of the service satellite body simulator is achieved by simulating a real target satellite movement sate. The device and method for simulating the space mechanical arm to capture the ground three-dimensional space microgravity of the target satellite is applied to the field of space mechanical arm ground three-dimensional space microgravity simulation.

The invention provides a micro-low-gravity simulation apparatus and test method. The simulation apparatus comprises a magnetic guiding panel, a rotating mechanism, an arc guide rail, a suck-back typebearing, a pulley block, a suspension mechanism and a fixed pulley; the magnetic guiding panel and the arc guide rail are respectively horizontally arranged, and the center of the arc guide rail is disposed on a rotating axis of the rotating mechanism; the suck-back bearing is stabilized on a noncontact balance point of a bottom surface of the magnetic guiding panel; the suspension mechanism is suspended on the suck-back bearing by virtue of the pulley block, one end of a rope is fixed on a sliding block of the arc guide rail, and the other end passes by the first fixed pulley to be provided with a weight block in a suspension manner. By adopting the micro-low-gravity simulation apparatus of the invention, a low-cost micro-gravity simulation experimental environment is provided, the suck-back type bearing is combined with an air floatation technology and an electromagnetic technology, the micro-low-gravity simulation apparatus can be adsorbed on the lower surface of the magnetic guiding panel and can move freely in a bottom plane of the magnetic guiding panel; and moreover, the micro-low-gravity simulation apparatus has the advantages of no friction and no contact, so that the testinterference is greatly reduced, and the accuracy of a test simulation result is further improved.

The invention belongs to the technical field of aviation and astronavigation of a ground microgravity simulation experimental platform, and discloses a six-freedom-degree zero-gravity simulation system based on combination of hoisting and air-suspending. A shaft at the other end of a large-diameter coiling block and a shaft at the other end of a small-diameter coiling block are rotationally installed on a base through a second set of air-suspending bearings. The other end of a torque sensor and the other end of a large torque sensor are in transmission connection with a rotary shaft of the small-diameter coiling block through a clutch and a brake. An air-suspending guide rail is vertically installed on a base. After going out of the large-diameter coiling block in a tangent mode, a first sling rope is swerved through a pulley and connected with a platform for a workpiece to be tested perpendicularly in a suspended mode. The workpiece to be tested is horizontally arranged on the upper end surface of a spherical air-suspending bearing, the lower end surface of the spherical air-suspending bearing is arranged on the platform for the workpiece to be tested, and an air tank supplies air to the spherical air-suspending bearing so that the air-suspending bearing can float. The six-freedom-degree zero-gravity simulation system based on combination of hoisting and air-suspending is compact in structure, overcomes the defect that common air-suspending microgravity equipment can not carry out freedom-degree simulation in the vertical direction, and additionally has the function of simulation of hoisting type microgravity equipment on three rotation freedom degrees.

The invention relates to intelligent three dimensional microgravity air feet, which pertains to the microgravity simulation experiment device of spatial mechanism. Three air feet are arranged on the lower side of a supporting plate and a shell and three steering bars are arranged on the upper side of the supporting plate. The bottom part and the upper part of the shell are respectively provided with a servo-actuator and an antithrust bearing. A shaft joint and a speed reducer are arranged between the servo-actuator and the antithrust bearing. The lower end of a screw bolt inserted in the antithrust bearing bore is connected with the shaft joint. Transmission nuts matched with three sleeves are arranged on a connection board. A linear bearing is matched with and arranged on the lower end of the sleeve. Three flexible spring mechanisms are connected with a working plate on which a sensor and a joint for a test piece bracket are arranged. The intelligent air feet can effectively solve the technical problem of microgravity simulation during the complicated three dimensional movement of the spatial mechanism and is characterized by simple structure, high simulation precision, flexible test method, simple technique, small floor occupation and convenient debugging, thus being particularly applicable to the microgravity simulation test of complicated three-dimensional movement.

The invention discloses a longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms, and relates to a gravity compensation device. By the aid of the longitudinal gravity compensation device, the problem of difficulty in implementing longitudinal gravity compensation by an existing gravity compensation mechanism in a scheme when spatial mechanisms are heavy can be solved. The longitudinal gravity compensation device is characterized in that an upper-layer platform, a middle platform and a lower-layer platform of the longitudinal gravity compensation device are sequentially arranged from top to bottom, a central upright column is vertically arranged between the lower surface of the upper-layer platform and the upper surface of the middle platform, the upper end of the central upright column is connected with the lower surface of the upper-layer platform by a ball bearing, the lower end of the central upright column is connected with the upper surface of the middle platform, four compensation systems are arranged on the upper surface of the lower-layer platform to form a square, the middle platform is connected with the lower-layer platform by the four compensation systems, and pneumatic feet are uniformly distributed on the lower surface of the lower-layer platform. The longitudinal gravity compensation device is used in the field of spaceflight.

The invention discloses a suspension type microgravity simulation device and a control method, and relates to visual pose measurement. The suspension type microgravity simulation device and the control method solve the problem that the follower deviation causes a suspension wire to generate disturbance torque in the horizontal direction resulting in damage to the mechanical environment of microgravity simulation. The device disclosed by the invention consists of a supporting rotation module, an on-arm module and a suspension point module, wherein the supporting rotation module is connected tothe on-arm module; and a suspension cable in the on-arm module is connected to a lightweight aluminum plate in the suspension point module. The method calculates position and speed control parametersof rotation and translation by taking the position offset of the suspension point, the inclination angle of the suspension wire and the tension of the suspension wire as inputs, and performs real-timefeedback on the position and speed so as to achieve radial and rotational tracking of the suspension point. The suspension type microgravity simulation device and the control method ensure the advantages of authenticity, stability and reliability of the ground simulation of space missions.

The invention discloses a novel passive microgravity simulation device, which comprises a cylindrical base, a sleeve, parallelogram connecting rods, transverse shafts, a spring, pulleys, a steel wireand wearable equipment, wherein the sleeve is mounted on the cylindrical base, is in clearance fit with the cylindrical base and can rotate freely; four groups of parallelogram connecting rods are arranged, two groups of parallelogram connecting rods are symmetrically arranged on the sleeve, the other two groups of parallelogram connecting rods are arranged at the front ends of the two groups, andthe parallelogram connecting rods are assembled by virtue of the transverse shafts; one end of the spring is fixed on the base, and the other end is connected with the steel wire; the pulley is fixedon the transverse shaft of the parallelogram connecting rod structure; and the steel wire is connected to a specific transverse shaft after bypassing a specific pulley. According to the method and the system, more economical, more reliable and safer passive simulation of the microgravity environment is realized, and a novel gravity counteracting method is provided.

The invention discloses a multi-functional device for simulating a space environment foundation. The multi-functional device comprises a base. A magnetic control system is fixed on the base, a sample table penetrates through the magnetic control system, a microgravity simulation device and/or a sample bottle are/is arranged on the table, a constant temperature constant humidity lighting box is covered on the upper portion of the base, the magnetic control system, the microgravity simulation device and/or the sample bottle are sealed in the constant temperature constant humidity lighting box, and an irradiation system is arranged outside the constant temperature constant humidity lighting box. The magnetic control system is composed of three groups of helmholtz coils, and the three groups of helmholtz coils are perpendicular to each other and sleeved with each other. The microgravity simulation device adopts a tail suspension device. A temperature control humidity control system and a fluorescent lamp are arranged inside the constant temperature constant humidity lighting box. The multi-functional device simulates space radiation, microgravity, flux weakening, circadian rhythms and air particle recombination action on the ground and has a simulation effect on a radiation biological effect of different energy and different kinds of particles and a synergy effect of various space environment factors such as particles and microgravity and a magnetic effect.

The invention provides a space mechanical arm suspension microgravity simulation method, and belongs to the field of simulation experiments, wherein the method comprises the steps: S1, installing a space machine, and controlling a six-degree-of-freedom table to move to a test starting position on an air floatation platform; S2, adjusting the alignment position according to the target point of thesix-degree-of-freedom table; S3, controlling a mechanical swing arm to move, and connecting a suspension assembly with a suspension point; S4, controlling an omnidirectional mobile platform to move along with the six-degree-of-freedom platform; S5, controlling a space mechanical arm to be unfolded; S6, after the space mechanical arm completes the test, controlling the space mechanical arm to moveto an original folded state; S7, after the six-degree-of-freedom table moves to the parking position, closing an air source, and supporting and fixing the six-degree-of-freedom table; and S8, ending the test of disassembling a suspension assembly. The action of the gravity of the mechanical arm on the posture of a spacecraft when the mechanical arm is unfolded is eliminated, meanwhile, more motionfreedom degrees and motion ranges of the mechanical arm are reserved, and the unfolding range of the space mechanical arm is adapted to in a large range.

The invention relates to the field of microgravity air flotation simulation devices, particularly to a four-degree-of-freedom free target microgravity air flotation simulation device. The device includes a plane air foot, a counterweight strut, a free floating target and a magnetic suspension bearing assembly, wherein the magnetic suspension bearing assembly includes a fixed sleeve, a slide bar and a linear bearing; the magnetic suspension bearing assembly is fixedly mounted on the upper end of the planar air foot, the counterweight strut is fixed on the upper end of the magnetic suspension bearing assembly, the free floating target is fixedly mounted on the top of the counterweight strut, and motion of the free floating target on the ground in an analog microgravity environment along four degrees of freedom of three translation directions of X, Y and Z and a rotation direction of Z can be realized. The degree of freedom of motion simulation of the device is higher than a suspension spring method, but disturbing force levels of all directions are close to a planar air foot method and far lower than the suspension spring method, and the device improves the equivalence of a spatial free floating target ground microgravity simulation motion experiment.

The invention discloses a gravity unloading device for air floatation supporting three-dimensional active movement, and belongs to the technical field of microgravity simulation equipment. The problemthat existing microgravity simulation equipment is not suitable for large-load unloaded objects is solved. The movement of each air floating block on the corresponding air floating guide rail is realized through a linear motor; an electric cylinder type unloading mechanism comprises a connecting frame, an angle sensor, a tension sensor and an electric cylinder. The connecting frame is fixedly connected to the bottom end of the second air floating block, the angle sensor is horizontally arranged on the connecting frame, the electric cylinder is located below the angle sensor and fixedly connected with the angle sensor through the tension sensor, and an unloaded object is fixedly arranged at the bottom end of the piston rod of the electric cylinder through a steel wire rope. Two-dimensionalmotion is driven by a linear motor, response is fast, precision is high, and the device is suitable for large-scale and heavy-load equipment. A electric cylinder type gravity unloading mechanism is adopted in the vertical direction to complete the gravity unloading task of the experimental equipment.

A microgravity simulation device for rolling characteristics of a large space target comprises a bottom base, mechanical arms and a target simulator, wherein bases of the mechanical arms are fixed onthe bottom base; ends of the mechanical arms are provided with ball bearings; the mechanical arms support the target simulator through the ball bearings; the target simulator is used for simulating the 6DoF microgravity motion characteristics of space debris, and used for acquiring self position and attitude data in real time and feeding the data back to the mechanical arms; and the mechanical arms adjust the motion speeds of joints and the positions of the ball bearings at the ends in real time according to the self position and attitude data fed back by the target simulator so as to achievethe ground demonstration and verification of the speed, position and attitude control of the target simulator. The microgravity simulation device for the rolling characteristics of the large space target can simulate the 6DoF microgravity motion characteristics of the large-size and heavy-weight space target in the space, and can achieve the ground demonstration and verification of multi-arm combined manipulation on the space debris target.

The invention relates to a microgravity effect ground simulation method based on magnetic-fluid mixed floating. The technical feature is that: based on the buoyancy of liquid, a mixed suspension mode of electromagnetic and liquid floating is used to provide means for accurately simulating space microgravity effects. Among them, most of the gravity of the object is overcome by the buoyancy of the liquid (coarse trim), and the remaining very small part of the gravity is overcome by fine-tuning the electromagnetic force (fine trim), so as to achieve the purpose of precise trim. At the same time, the adjustment of the levitation height of the object under the microgravity effect simulation environment controls the magnitude and direction of the electromagnetic force by controlling the current intensity or other electromagnetic field parameters, so as to realize the arbitrary change of the levitation height and position of the object under the weightlessness effect.

The invention discloses a communication bus system for a microgravity simulation experiment platform for space robots. The communication bus system relates to selection of high-speed communication buses, design of a bus protocol, design of a bus controller, design of a hardware circuit, and erection of a software platform. A central controller is communicated with a master controller in a bus manner, namely wireless communication manner, thus space environment can be simulated. A Space Wire standard bus is selected for the master controller, a double-joint controller and a grab controller. According to platform demands, the bus protocol is designed with 9 zone bits, 8 command bits and 8 data bits. The hardware circuit is provided with an FPGA having an embedded LEON3 soft-ware processor. A Space Wire IP core is designed as the bus controller to transmit and receive data. Wireless communication applications, a master controller and the double-joint controller are compiled for a central control unit by VC development environment, and an RTEMS is used as a control platform for the grab controller.

The invention relates to a microgravity simulation tension control mechanism with a function of capable of adjusting a load in a large range, and aims to solve the problems that the weight of the load of a conventional suspension cable type microgravity simulation tension control buffering mechanism cannot be adjusted and the conventional suspension cable type microgravity simulation tension control buffering mechanism has weak damping characteristics. A driving shaft drives a driving component; a reel is fixedly mounted on the driving shaft; a swinging arm bottom wheel is mounted on a driven shaft; a swinging wheel is mounted on a swinging wheel shaft; each front swinging rod is connected with a corresponding rear swinging rod through a connecting element; a rope wheel is fixedly mounted on an upper bracket; a damping aluminum plate is arranged between two magnets; two sliding blocks are in sliding connection to each guide rail; a nut is in threaded connection with a screw rod; the nut and the four sliding blocks are separately and fixedly connected with a spring base; one end of a spring device is hinged to the spring base, and the other end of the spring device is fixedly connected with a steel wire rope; the other end of the steel wire rope goes around the rope wheel to be fixedly connected to a steel wire fixing wheel; and one end of a suspension cable is wound on the reel, and the other end of the suspension cable goes around the swinging arm bottom wheel and the swinging wheel to be connected with a work piece. The microgravity simulation tension control mechanism disclosed by the invention is used for simulating the working condition and each technical indicator of a space mechanism in ground environment.

The invention discloses an antenna microgravity simulation system, and belongs to the field of antenna microgravity simulation. The antenna microgravity simulation system comprises a magnetic levitation plate, magnetic levitation air feet, lifting ropes, pulleys, balancing weights and an antenna. The ground microgravity simulation experimental subject is the antenna. The balancing weights are usedfor unloading the gravity of the antenna. The magnetic levitation plate and the magnetic levitation air feet are used for generating magnetic attraction force for enabling the magnetic levitation airfeet to be adsorbed on the surface of the magnetic levitation plate. A magnetic air-suspending hoisting device is adopted, the balancing blocks for unloading the gravity can move in any direction ofthe surface of the magnetic levitation plate in a follow-up manner according to the unfolding and folding motion state of the antenna and does not move along a fixed guide rail, and gravity unloadingon the whole antenna structure is completed; and the gravity unloading precision is high, and the microgravity simulation effect is closer to the true state of the ontrack work of the antenna. The antenna microgravity simulation system can meet the antenna microgravity simulation requirements of different numbers of gravity unloading points and different gravity unloading positions, can adapt to antennae of different sizes and is good in universality.

The invention provides a reverse suction air bearing structure. The structure comprises an air floatation pad, and a permanent magnet and electromagnets that are arranged on the air floatation pad. Vent holes of the air floatation pad are disposed on the top surface, a concave part is disposed at the center of the air floatation pad top surface, and the permanent magnet is embedded in the concavepart. The reverse suction air bearing structure provided by the invention combines the air flotation technology and electromagnetic technology, during use, the reverse suction air bearing is adsorbedunder a magnetic conductive panel, suspension force is generated by electromagnetic force to achieve balance with the resultant force of an air flotation unit's air flotation force and a hanging load,a hanging point can realize frictionless two-dimensional movement along the bottom of the magnetic conductive panel at the top, and frictionless non-contact free movement in the plane, and the accuracy of microgravity simulation and the system reliability are improved.

The invention discloses a general loading platform for a ground microgravity simulation experiment based on magnetic-fluid mixing suspension. The platform comprises a vertical framework and a horizontal framework, wherein a first rotary shaft and a second rotary shaft are arranged on two sides of the vertical framework correspondingly; a third rotary shaft and a fourth rotary shaft are installed on the other set of opposite sides of the horizontal framework; a first ejector rod and a second ejector rod are installed on the inner side of the third rotary shaft and the inner side of the fourth rotary shaft correspondingly; a first chuck and a second chuck are installed at the tail end of the first ejector rod and the tail end of the second ejector rod correspondingly; and a loading model is clamped between the first chuck and the second chuck. The general loading platform can be used for fixing loading models of any size and shape, and the loading model installed on the general loading platform can conduct angular motion of three degrees of freedom. Residual gravity balancing force is applied through the platform, the angular motion of the platform is not affected, and the effect that the residual gravity balancing force always passes through the center of mass of the loading model can be ensured.

The invention provides a three-dimensional zero-gravity simulation device combining a knife cam constant-force spring and an air thrust bearing and relates to a three-dimensional zero-gravity simulation device. The three-dimensional zero-gravity simulation device combining the knife cam constant-force spring and the air thrust bearing is to solve a problem that the aircraft microgravity simulationaccuracy is affected by friction, resistance or turbulent flow in the existing space microgravity simulation method and device. An air film can be formed between a plane air foot and an air supporting plate; a housing is arranged on the plane air foot; two horizontal springs are symmetrically arranged on the internal side wall of the housing; one ends of two knife cams are symmetrically arrangedon the internal side wall of the housing through hinging pieces; the other ends or middle parts of the two knife cams are connected with the two horizontal springs through hinges and connecting pieces; a bearing spindle is connected with a roller arm; rollers are respectively arranged at the two ends of the roller arm; the two rollers are respectively in contact with the arch back parts of the twoknife cams; a vertical main spring sleeves the bearing spindle; and the two ends of the vertical main spring respectively prop against the roller arm and a spring partition plate. The three-dimensional zero-gravity simulation device combining the knife cam constant-force spring and the air thrust bearing is applicable to aircraft three-dimensional zero-gravity simulation tests.

The invention provides a six-degree-of-freedom space microgravity simulation device and a control method and belongs to the field of microgravity simulation control. An air cylinder tension and pressure sensor is fixed to the top of an air cylinder piston, a lead screw nut on the outer side of a ball screw is connected with a ball screw tension and pressure sensor, the air cylinder tension and pressure sensor and the ball screw tension and pressure sensor are fixed to the bottom of a connecting plane, and a dumbbell type three-axis air floating rotary table is fixed to the center of the connecting plane; and a simulated object is fixed on the dumbbell type three-axis air floating rotary table. Compared with an existing microgravity simulation device, the system adopts the cooperative cross coupling effect of a ball screw and a low-friction air cylinder to carry out microgravity simulation in the vertical direction, the dumbbell type three-axis air floating rotary table is used for space microgravity simulation, and a neural network and terminal sliding mode variable structure control are combined to carry out intelligent control; control precision and robustness of the system are improved, and the motion range of the simulation system and the motion attitude of the simulated object are expanded.

The invention discloses a six-degree-of-freedom microgravity test system with a double-layer structure, solves the problem of incomplete motion degree of freedom in an existing spacecraft ground test, and belongs to the field of spacecraft ground tests. The double-layer structure is adopted, an upper-layer structure is a complete five-degree-of-freedom simulator, a lower-layer structure is a displacement supporting platform, an air floating flat plate is arranged between the lower-layer structure and the upper-layer structure, position tracking of the upper-layer five-degree-of-freedom simulator can be achieved through active driving of Mecanum wheels, and the lower-layer structure further has a vertical zero-gravity compensation function. Through the structure, six-degree-of-freedom microgravity simulation of a spacecraft ground test system is achieved, and meanwhile the additional mass is reduced through the active tracking function of the lower layer structure. The six-degree-of-freedom microgravity test system is suitable for six-degree-of-freedom ground zero-gravity simulation tests of spacecrafts, and can meet high-precision dynamics and kinematics simulation test requirements.