28 results about "Microgravity Simulation" patented technology

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

The present application relates to the technical field of biological cell culture, and particularly relates to a three-dimensional cell culture device with automatic liquid replacement function, comprising: a box body; a rotating assembly, a liquid replacement assembly and a control display assembly are integrally installed in the box body. The three-dimensional cell culture device with automatic liquid replacement function provided by the present application integrates microgravity simulation and liquid replacement function in a relatively closed culture box body space, ensures that the culture environment in the cell culture process has high stability by not excessively affecting the air flow, temperature and humidity environment, etc. in the culture box body during liquid replacement; the device for replacing culture solution does not need to rotate, effectively releases the culture space while reducing the energy consumption required in the rotation process, can load multiple culture bottles for three-dimensional culture and automatic liquid replacement at the same time, and has high potential for large-scale cell preparation.

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

The application provides a comprehensive environment simulation test system for rotating parts, comprising a vacuum cabin, a high-low temperature test subsystem arranged in the vacuum cabin and provided with a first temperature control assembly for cooling the vacuum cabin and a second temperature control assembly for heating the vacuum cabin, a high vacuum obtaining subsystem connected with the vacuum cabin for adjusting the vacuum degree of the vacuum cabin, a micro-gravity simulation subsystem arranged in the vacuum cabin and provided with a magnetic suspension bearing connected with the rotating part to be tested, a dynamic torque test subsystem provided with a driving motor, a magnetic powder brake and at least one shaft coupling, the driving motor and the magnetic powder brake being connected with the rotating part to be tested in the vacuum cabin through the shaft coupling and at least one magnetic fluid dynamic sealing device, and a dynamic parameter measurement subsystem arranged in the vacuum cabin and provided with at least one measurement unit for obtaining the dynamic parameters of the rotating part to be tested. Therefore, the application can improve the effectiveness of the space environment simulation test of the rotating part.

The application discloses a microgravity simulation simulation dynamic anchor point seat rope-driven parallel robot, relates to the field of rope-driven parallel robots, and comprises an outer frame, at least two layers of track modules are arranged in the outer frame, a plurality of dynamic anchor point seats are slidably connected on the track modules, at least four groups of dynamic anchor point seats are arranged on the track modules in the same layer, and the plurality of dynamic anchor point seats are connected with long-arm spread mechanical arms through ropes. Through the structure arranged in the application, the dynamic anchor point seat rope-driven parallel robot has super-redundant degrees of freedom and sufficient working space, can be applied to ground microgravity simulation simulation of the long-arm spread mechanical arm, a plurality of dynamic anchor point seats are installed on the track, the dynamic anchor point seats are connected with upper lifting points of the mechanical arms through the ropes, and each section of the rope can be used to drive the mechanical arm.

The application provides a device and method for simulating microgravity fluid on the ground by using motion method, and belongs to the field of ground microgravity simulation. The application comprises a microcomputer control system, a fluid carrier U-shaped pipe, a gas source power equipment and a sensor detection system. The pipe opening of the U-shaped pipe is upward and is fixed on the ground near by a support. The two ends of the pneumatic pipeline in the gas source power equipment are connected with the two vertical sections of the U-shaped pipe through rubber hoses. The sensor detection system is used for detecting and collecting the motion parameters of the liquid fluid in the U-shaped pipe. The sensor detection system is connected with the microcomputer control system, and the microcomputer control system is used for controlling the gas source power equipment. The application adopts the motion method to make the liquid fluid move in the U-shaped pipe in a set rule. The acceleration of the liquid fluid in the motion process is consistent with the gravity field by the microcomputer control system, so as to eliminate the gravity influence between the micro elements of the liquid fluid and achieve the weightlessness.

The application discloses a kind of spacecraft ground microgravity simulation platform dynamics modeling and mass balancing method, belong to the technical field of space technology.The application includes the following steps: according to the component assembly relationship of spacecraft ground microgravity semi-physical simulation platform, distinguish each component and component group;According to the condition of each component and component group and whole, respectively, each component and component group are established coordinate system;Dynamics derivation is carried out based on coordinate system, and dynamics model is obtained;The complete dynamics model of ground simulation platform is obtained by analyzing dynamics model by Lagrange method;The complete dynamics model of ground simulation platform is simplified by hypothesis, and simplified dynamics model is obtained;Mass balancing is carried out to simplified dynamics model, and the spacecraft ground microgravity semi-physical simulation platform of approximate quasi-zero stiffness is obtained.The introduction of pivot system makes the system reach approximate quasi-zero stiffness, and then reconstructs microgravity environment on the ground.

The application discloses a microgravity simulation device and method, and relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experiment duration in the prior art. The microgravity simulation device comprises a rotating driving mechanism, at least one floater and at least one container for containing a liquid medium. The rotating driving mechanism has at least one power output shaft, each floater is arranged on a corresponding power output shaft, the floater floats on the liquid medium, the center of mass of the floater is located above the liquid medium, and the distance between the geometric center of the floater and the center of mass of the floater is greater than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the application are used in microgravity simulation.

The invention belongs to the technical field of spacecraft ground test equipment, and particularly relates to a microgravity simulation device for spacecraft component ground test, which comprises a base, an air floatation support mechanism, an ultrasonic standing wave stabilization mechanism, a self-adaptive clamping mechanism, a servo drive error compensation mechanism, a control system and a test platform. The air floatation supporting mechanism provides vertical non-contact supporting force to offset gravity, the ultrasonic stabilizing mechanism maintains horizontal stability, the self-adaptive clamping mechanism is adaptive to parts of multiple sizes, and the servo compensation mechanism corrects deviation in real time. The composite suspension structure is combined with PID-fuzzy closed-loop control, the simulation error is controlled within 4.0%, the defects that existing equipment is low in precision, short in time, prone to pollution and poor in universality are overcome, long-time stable simulation can be achieved, and reliable support is provided for part ground verification.

The application discloses an active quasi-zero stiffness construction method based on nonlinear characteristic digital fitting, and steps include: a quasi-zero stiffness system completes automatic zero point calibration, a force actuator unit drives a load platform to make a low-speed quasi-static scanning within a preset stroke, displacement and static force signals are synchronously collected, and a full-stroke force-displacement data set of a support assembly is constructed; then, a numerical approximation algorithm is used for fitting the data set, a digital twin mechanical model containing a high-order nonlinear term is established, and parameters are stored in a control unit. When the system is running, a high-frequency displacement detection unit collects instantaneous displacement of the load platform in real time, the control unit calls the model to calculate a current positive stiffness restoring force, generates a negative stiffness compensation instruction, drives the actuator unit to apply a compensation force to offset the positive stiffness, and makes the system present a quasi-zero stiffness characteristic within a working stroke. The method realizes quasi-zero stiffness, has advantages of no friction, parameter self-adaptation, large dynamic range and the like, and can be widely used in scenes such as spacecraft ground microgravity simulation and high-precision constant force assembly.

The application discloses a self-leveling air gap equalization and multi-cavity stable voltage ultra-low disturbance air cavity system and a control method, and belongs to the field of aircraft control and ground simulation. The system comprises an outer shaft air floating sleeve, an inner shaft movement sleeve, a lifting device, a surrounding air gap monitoring device, a distributed air pressure sensor array and an air path control board card; an automatic air gap pressure difference elimination is realized by adopting a surrounding communication air path, and a partitioned air supply and a feedforward pressure field shaping are matched, and a constant air cavity volume is maintained by the synchronous lifting device to weaken the hysteresis effect. The control method relies on a neural network offline training to build a compensation model, and realizes closed loop stable voltage and disturbance suppression by adopting a feedforward neural backstepping control. The application can effectively improve the precision, stability and dynamic response of vertical microgravity simulation, and solves the multi-source disturbance problem caused by air gap loss, air supply and exhaust coupling and hysteresis feedback of a traditional pneumatic compensation system.

Microgravity simulation systems and methods of simulating microgravity are disclosed. This disclosure relates to a microgravity simulation system having multiple platforms, where each platform may include an outer rotating element, an inner rotating element, a sample station coupled to the inner rotating element. The microgravity simulation system may include where multiple rotating elements of each of the plurality of platforms are rotated either independently or synchronously. Furthermore, each platform of the microgravity simulation system may include a lighting element, or in particular a multi-spectral lighting element.

The invention relates to the technical field of spaceflight, and particularly provides an optical-mechanical structure motion error measurement method, device and product under microgravity. The method comprises the following steps: acquiring a pre-constructed microgravity simulation device and a measurement platform; the measuring platform is used for fixing and supporting a to-be-measured optical machine structure, and the to-be-measured optical machine structure comprises an optical delay line and a fast reflecting mirror; under the condition that the trigger signal is received, the measuring platform does free falling motion in the microgravity simulation device; after the measurement platform completes the free falling motion, motion error data of the to-be-measured optical machine structure is acquired; wherein the kinematic error data of the optical delay line represents the rotational kinematic error of the optical machine structure to be measured in three degrees of freedom and the translational kinematic error in one direction, and the kinematic error data of the fast reflecting mirror represents the translational kinematic error in three directions. According to the invention, the rotation motion error data and the translation motion error data of the to-be-tested optical machine structure are obtained by respectively measuring the motion error data of the optical delay line and the fast reflecting mirror.

The application discloses a micro-gravity simulation device for a reel type flexible solar wing, which comprises a hanging platform, guide rails, a gravity unloading assembly, a first supporting table and a second supporting table; two guide rails parallel to each other are arranged below the hanging platform along the solar wing unfolding direction, the gravity unloading assembly is connected between the guide rails, the first supporting table is used for solar wing installation, and the second supporting table is used for solar wing unfolding; the second supporting table has a downward slope, and the weight of the solar wing gradually decreases during the unfolding process; the gravity unloading assembly and the solar wing are connected through a pulley and a rope linkage, and during the solar wing unfolding process, the rope rotates in the opposite direction of the solar wing unfolding, and the weight of the rotating rope is equivalent to the weight of the unfolded part of the solar wing, so that zero-gravity simulation of the solar wing unfolding is realized.

The application discloses a three-dimensional rotary gas recovery and acoustic suspension microgravity gas-thermal environment simulation cultivation method, and relates to the technical field of microgravity environment simulation. The method comprises the following steps: establishing a microgravity simulation cultivation experiment system based on acoustic suspension, gas recovery and RPM double closed-loop control; first closed-loop control: monitoring the environment parameters of the cultivation cabin, calculating the key physiological parameters based on the gas exchange diagnosis model; comparing with the first preset target to dynamically regulate the acoustic field parameters of the acoustic suspension and the environment parameters of the cultivation cabin; second closed-loop control: obtaining the multispectral image of the plants in the cultivation cabin to extract the phenotype data; comparing the phenotype data with the second preset target to correct the parameters of the stomatal conductance prediction model and the first preset target. Through the double closed-loop control mechanism, the traditional physical environment reproduction is innovated into an intelligent experiment system for actively studying and optimizing the physiological response of plants, and the problem that the environment simulation is disconnected with the physiological effect is solved.

This invention discloses a self-leveling air gap equalization and multi-cavity pressure-stabilized ultra-low disturbance air cavity system and control method, belonging to the field of aircraft control and ground simulation. The system includes an outer axis air-bearing sleeve, an inner axis moving sleeve, a lifting device, a surrounding air gap monitoring device, a distributed air pressure sensor array, and an air path control board. A surrounding interconnected air path is used to automatically eliminate air gap pressure difference. Combined with zoned air supply and feedforward pressure field shaping, a synchronous lifting device maintains a constant air cavity volume to reduce hysteresis effects. The control method relies on offline training of a neural network to construct a compensation model and uses feedforward neural backstepping control to achieve closed-loop pressure stabilization and disturbance suppression. This invention can effectively improve the accuracy, stability, and dynamic response of vertical microgravity simulation, solving the multi-source disturbance problems caused by air gap imbalance, supply and exhaust coupling, and hysteresis feedback in traditional aerodynamic compensation systems.

The application discloses a plant microgravity simulation method based on buoyancy disturbance biaxial rotation and barycenter following, relates to the field of space life science technology, and comprises the following steps: constructing a random buoyancy disturbance biaxial rotation microgravity control algorithm and a plant growth barycenter following algorithm; importing the algorithm into a device control system; and using the device control system to carry out plant microgravity simulation. The application uses the random buoyancy disturbance biaxial rotation microgravity control algorithm to carry out microgravity regulation and control, the double-factor coupling of buoyancy and rotation speed increases disturbance to actual gravity, and the physiological adverse effects of the rotation speed on plants are reduced; the plant growth barycenter following algorithm is used to carry out barycenter displacement control, so that the barycenter of plants is always located at the rotation axis position, and the problem that the microgravity simulation is uneven due to the uneven centripetal force of the rotation cultivation surface with the growth of plants is avoided; the simultaneous application of the two algorithms improves the microgravity simulation effect, improves fitting reproduction accuracy, and prolongs the cultivation time.

The invention relates to the technical field of spacecraft simulation experiments, and provides a microgravity simulation experiment system and experiment method of an unfolding mechanism. The experiment system comprises a cable winding mechanism which comprises a cable winding and unwinding device, a detector and a pull wire, the cable winding and unwinding device is arranged on the ground, one end of the pull wire is connected with the cable winding and unwinding device, and the cable winding and unwinding device can take up and release the pull wire; the detector is used for detecting the speed of releasing the pull wire by the cable take-up and pay-off equipment; the bottom of the suspension unmanned aerial vehicle is provided with a guide wheel set, and the other end of the pull wire penetrates through the guide wheel set and is used for being connected with a to-be-tested unfolding mechanism; the observation unmanned aerial vehicle carries a camera device; the control center is electrically connected with the cable take-up and pay-off equipment, the detector and the camera device; when the suspension unmanned aerial vehicle carries the unfolding mechanism to fly to a preset height and hover, the cable take-up and pay-off equipment can release the pull wire, so that the unfolding mechanism freely falls and is gradually unfolded, and a camera device on the observation unmanned aerial vehicle shoots the freely falling unfolding mechanism.

The micro-gravity simulation test system for fine operation of a space dexterous arm in a narrow area comprises a space dynamics target machine, a ground test system console, a motion simulator console, a wireless communication module, an optical darkroom, a distributed infrared measurement camera, a sunlight simulation device, a service star motion simulator, a target star motion simulator, a suspension type micro-gravity simulation system and a marble air floatation table; the light illumination condition and the micro-gravity condition in the space environment can be simulated simultaneously, and the actual operation environment of the space dexterous arm is simulated with high fidelity. The micro-gravity compensation scheme combining the air floatation system and the suspension mechanism can provide more accurate gravity compensation in more directions without being limited by the interference collision between the ropes and the mechanism. The rope winding and unwinding devices for horizontal and vertical motions are designed, and the contradiction between the high gravity compensation accuracy of the dexterous arm and the narrow space operation is considered, so that the dexterous arm end can be deeply operated in the narrow space of the sailboard slit.

The invention discloses a universal multi-degree-of-freedom microgravity simulation device. The device comprises a first-stage platform, a second-stage platform, a rotating assembly and a target load, wherein the secondary platform is mounted on the primary platform; the rotating assembly is mounted on the secondary platform; the target load is installed on the rotating assembly. The device has the advantages of being high in compatibility and capable of achieving multi-degree-of-freedom simulation and having a locking function.

The application discloses a kind of spacecraft ground microgravity simulation platform similarity analysis method, belong to space technology technical field.The following steps are included: the space dynamics model of spacecraft ground microgravity semi-physical simulation platform is established and the space dynamics model is rewritten to Lagrange dynamics, and the rewritten simulation platform is obtained;Similarity analysis is carried out on spacecraft ground microgravity semi-physical simulation platform and the rewritten simulation platform based on π theorem, and the space satellite platform parameters involved are obtained to determine the design parameters of the rewritten simulation platform;Space attitude scanning trajectory and attitude scanning PID control law are designed for the space satellite platform involved, and the space attitude scanning PID control law is obtained;Similarity analysis is carried out on space attitude scanning PID control law based on π theorem, and the ground microgravity simulation platform attitude scanning PID control law parameter is designed, to obtain ground space attitude scanning PID control law.The dynamics and control effect of the platform can be consistent with the effect of space actual satellite.

The application provides a manned microgravity simulation device and belongs to the field of aerospace. The device comprises an air floating platform, a swing platform, a rotary platform, a driving wheel, a zero-gravity seat and a double compression spring connecting mechanism. The air floating platform is provided with uniformly distributed air feet and universal driving wheels at the bottom. The swing platform is connected with the air floating platform through swing joints at both ends. The rotary platform is connected with the swing platform through a rotary joint. The rotary platform is connected with the zero-gravity seat through the double compression spring connecting mechanism and a six-dimensional force sensor. One end of the six-dimensional force sensor is fixedly connected with the rotary platform, and the other end is connected with the bottom of the seat base through a spring. One end of the double compression spring connecting mechanism is hingedly connected with the seat base through a hinge support, and the other end is fixedly connected with the rotary platform through a compression spring support frame. The microgravity simulation device has low requirements for passengers and high comfort, and is helpful for the popularization and application of the ground microgravity simulation device.

The invention relates to a large flexible thin film solar cell wing gravity unloading device and method, and belongs to the field of spaceflight microgravity simulation. A gravity unloading system provided by the invention comprises an active suspension gravity unloading device and an air injection barrel type air flotation device; wherein the active suspension gravity unloading device comprises a suspension supporting device, a double-free-movement device and an active constant-force unloading mechanism, and the air injection barrel type air flotation device comprises a supporting device, a conveying device and an air injection device. Large-scale flexible thin film battery air flotation gravity unloading and rigid solar wing framework suspension type unloading and sectional type combined unloading are ingeniously fused, and large-scale flexible thin film solar wing high-precision microgravity simulation is achieved; meanwhile, according to the rigid-flexible coupling structure characteristics of the large-size flexible solar wing and the movement characteristics of the large-size flexible solar wing in the unfolding process, gravity unloading of parts with different characteristics is achieved through segmented combination of different forms of gravity unloading methods, the limitation of a traditional single unloading device is overcome, and better adaptability and unloading precision are achieved.

The invention discloses a microgravity simulation system capable of repeatedly unfolding and folding a solar wing, which comprises a foldable solar wing, a gravity compensation device, a driving device and a six-degree-of-freedom mechanical arm, and is characterized in that the foldable solar wing is formed by hinging a plurality of panels, and the tail end of the six-degree-of-freedom mechanical arm is hinged with the innermost panel of the foldable solar wing through a bracket; the gravity compensation device comprises lifting lugs arranged in the geometric center of each panel, pulley assemblies, sliding rails, ropes and springs, the number of the pulley assemblies is the same as that of the lifting lugs, one ends of the ropes are connected with the lifting lugs, the other ends of the ropes are connected to the pulley assemblies through the springs, and the pulley assemblies are slidably connected to the sliding rails. The spring is configured to provide elastic force equal to the gravity of the corresponding panel; the track of the slide rail is matched with the horizontal movement path of the hanging point of the corresponding panel in the unfolding and folding process of the solar wing; the driving device is used for driving the panels to rotate relatively, and unfolding and folding of the solar wing are achieved. And the requirements of a large-scale multi-panel solar wing ground test can be met.

The invention discloses a low-speed single-shaft microgravity simulation pulley, and relates to the technical field of microgravity simulation. An auxiliary wheel shaft and a main wheel shaft are arranged at the front end and the rear end of the top of the tackle body, a driven roller and a driving roller are installed, a gear motor is installed on the side of the tackle body, and the driving roller is controlled to rotate through a driving gear and a driven gear which are meshed. The unfolding mechanism is suspended below through two ropes with the same length, and when the unfolding mechanism moves under external force and the readings of the two force sensors are inconsistent or exceed a set threshold range, the computer or the single-chip microcomputer sends a driving signal to the H bridge to control the pulley to move. Friction resistance in the moving process of the tackle is counteracted by combining a gear motor with gear transmission, and when an unfolding mechanism is subjected to external force, a binding force sensor detects and controls the gear motor in real time to drive the tackle to perform movement compensation, so that equivalent friction-free smooth movement is realized.

The invention discloses a space climbing and assembling integrated robot structure for a ground experiment, and belongs to the technical field of robots. In order to solve the technical problems that during ground verification of an existing space robot, due to the gravity effect, the joint load is too large, and a high-performance motor and microgravity simulation equipment are relied on, the technical scheme includes that a shoulder joint set and a wrist joint set which are symmetrically arranged are adopted, and an elbow pitching joint is connected with the upper end of the wrist joint set through a first arm rod; the connecting module is connected with the upper end of the shoulder joint group through a second arm rod, and is provided with a first end effector and a second end effector which are respectively connected with the lower ends of the wrist joint group and the shoulder joint group, so that stable climbing movement and fine assembly operation are realized by using a conventional performance driving element in a ground gravity environment; and a cooperative control and safety braking mechanism aiming at a non-collinear series kinematic chain is integrated, and the integrated operation capability of spatial large-scale load on-orbit climbing and fine assembly is verified mainly for a ground experimental environment.

The invention designs a magnetic-gas suspension servo device which is used for gravity unloading in the ground unfolding experiment process of a space manipulator, and belongs to the technical field of ground microgravity simulation tests. According to the magnetic air suspension servo device, active following of a suspended object in all directions is achieved through the omni-directional wheels, additional resistance and additional resistance moment in the gravity unloading process are remarkably reduced, the precision of a microgravity simulation test is improved, magnetic attraction force is provided by the three magnetic suspension air feet which are arranged in a 120-degree mode, the whole device is attracted to a working platform, and the working efficiency is improved. And friction between the bottom surface of the magnetic-air combined type magnetic suspension air foot and the contact surface of the magnetic suspension plate is eliminated through the high-pressure air film, so that friction-free suspension is realized.

A space robot ground microgravity climbing test system, the lower end of the outer frame is fixed on the ground, the upper end is provided with X / Z axis gravity compensation module and Y axis gravity compensation module, the centroid following module is fixed with the suspension rope in the X / Z axis gravity compensation module through the tension sensor, and the lower end is fixed with the space climbing robot through the universal joint and spherical hinge, the space climbing robot performs space microgravity climbing test on the target simulator, the target simulator is placed on the ground through the universal wheel, when the robot climbs, the target simulator moves in X / Y and rotates around Z axis under the reaction force, so as to provide three degrees of freedom space microgravity simulation conditions. Meanwhile, the X / Z axis gravity compensation module and the Y axis gravity compensation module can realize the autonomous following of the space climbing robot in X / Y / Z three directions, and the centroid following module can realize that the centroid of the robot is always on the extension line of the suspension point when the robot changes the posture and configuration.