CN105539889B - A kind of agravic simulated test bed of suspension type and its application method - Google Patents

Abstract

The present invention provides a suspended weightless simulated test bed, comprising an active tracking subsystem, a plurality of passive tracking subsystems and a plurality of suspension systems, the active tracking subsystem includes a first guide rail and a A plurality of active mobile platforms on which guide rails move, and the plurality of passive tracking subsystems are respectively fixedly installed on the plurality of active mobile platforms, and the passive tracking subsystem includes a second guide rail and a passive mobile platform, and the plurality of passive tracking subsystems A suspension system is fixedly installed on multiple passive mobile platforms respectively. The beneficial technical effects of the present invention are: the non-gravity test bed of the present invention adopts active and passive hybrid tracking mode and has a power-off protection function, and can be used for non-gravity simulation tests of complex motion mechanisms requiring multi-point suspension. The invention also provides a method for using the suspended gravity-free simulated test bed.

Description

A suspended gravity-free simulated test bed and its application method

technical field

The invention relates to a non-gravity simulation test bed, in particular to a non-gravity simulation test bed and a test method with planar active and passive mixed tracking and vertical closed-loop suspension tension control.

Background technique

The zero-gravity simulation test is of great significance for the development and testing of the space mechanism. It can verify the design of the space mechanism by simulating the response of the system in a zero-gravity environment.

At present, the general non-gravity test bed and test methods are as follows:

(1) The air flotation platform and the air flotation method use the downward air flotation device to balance the gravity, which can obtain very small movement resistance and good gravity balance effect, high simulation accuracy, unlimited simulation time, and high reliability , strong adaptability. The disadvantage is that it is difficult to achieve movement in three-dimensional space;

(2) Neutral pool and water floatation method, using water buoyancy to offset gravity, can simulate a gravity-free state in the case of three-dimensional movement, but requires high waterproof performance of the equipment, and the movement resistance is relatively large, and the test cost is relatively high.

(3) The weightless flight test realizes the weightless environment through free fall, which has the advantage of good simulation effect, but the cost is expensive, and the duration is often only a dozen seconds;

(4) Suspension test balances gravity by controlling the pulling force of the suspension point. The pulling force can be provided by balloons, counterweights, and motors. To keep the suspension force vertical, a plane tracking system needs to be matched. Suspension simulation systems can generally be divided into passive, active, and hybrid. When the movement speed is slow, it can be regarded as a quasi-static process, and the influence of the passive following mechanism can be ignored. At this time, it is suitable for passive tracking, and the method is simple in system and low in cost; when the requirements for tracking dynamics or motion dimensions are high , it is advisable to use the active tracking method of the servo system, such as cranes, booms, etc.; combined with the requirements of the experiment, the active-passive hybrid system can achieve a balance in terms of simulation accuracy and cost control. The advantage of this method is that it can be tested for a long time, but the disadvantage is that the simulation accuracy is not high and the realization and control of multiple suspension point tracking are difficult.

At present, the non-gravity test bed with multiple suspension points in China is a single-degree-of-freedom passive tracking system, while the active tracking test bed is a single suspension point system, neither of which can satisfy the gravity-free simulation of a three-dimensional space moving manipulator Experimental requirements.

Contents of the invention

In view of the above-mentioned defects of the prior art, the present invention provides a new suspension-type weightless simulation test bed, and the technical problem to be solved is to realize semi-active tracking multi-point suspension.

In order to solve the above problems, the technical solution adopted by the present invention is: a suspended gravity-free simulated test bed, comprising an active tracking subsystem, a plurality of passive tracking subsystems and a plurality of suspension systems, and the active tracking subsystem includes The first guide rail and a plurality of active mobile platforms moving along the first guide rail, the plurality of passive tracking subsystems are respectively fixedly installed on the plurality of active mobile platforms, and the passive tracking subsystem includes a second guide rail and the passive mobile platform, the plurality of suspension systems are respectively fixedly installed on the plurality of passive mobile platforms.

Preferably, the axis of the first guide rail is perpendicular to the axis of the second guide rail.

Preferably, the active tracking subsystem further includes a plurality of driving devices, respectively used to drive the plurality of active moving platforms to move along the first guide rail. More preferably, the drive device includes a stepping drive motor, a spur gear installed on the shaft driven by the stepping drive motor, a spur rack meshed with the spur gear, and the spur rack is connected to the Active mobile platform connection.

Preferably, the first guide rail is a V-shaped guide rail, and the active mobile platform includes rollers matching the V-shaped guide rail and a mounting plate for installing the passive tracking subsystem.

Preferably, the second guide rail is a linear circular guide rail, and the passive tracking subsystem further includes a linear circular guide guide sliding assembly for the linear circular guide guide to move along the axial direction of the first guide rail, and the linear circular guide guide The sliding assembly includes a cylindrical guide rail parallel to the first guide rail, a sliding block sliding along the cylindrical guide rail, and a connecting block connecting the sliding block and the straight circular guide tube. More preferably, the passive mobile platform includes four claws fitted with ball bearings matched with the straight circular guide tube and a fixed base for installing the suspension system.

Preferably, the suspension system includes a constant tension control mechanism, and the constant tension control mechanism includes a servo drive motor, a steel wire reel driven by the servo drive motor, a wire lanyard wound around the steel wire reel, and a A tension sensor for monitoring the tension of the steel wire lanyard. More preferably, the suspension system further includes a power-off brake for braking the wire drum when power is off.

The present invention provides a kind of using method of suspension type non-gravity simulation test bed provided by the present invention, comprises the following steps:

1) Install the tracking subsystem according to the number of suspension points required;

2) Manually adjust the position of the mobile platform to make the wire rope vertical;

3) Fix the steel wire rope, set the suspension force of each suspension point to force the mechanism, set the parameters of the servo drive motor according to the data of the tension sensor, and power on to release the power-off brake;

4) Drive the object under test to perform a gravity-free test;

5) After the test, cut off the power to lock the power-off brake, loosen the wire rope and remove the mechanism under test.

The beneficial technical effects of the present invention are: the non-gravity test bed of the present invention adopts the active and passive mixed tracking mode and has the power-off protection function, and can be used for the non-gravity simulation test of complex motion mechanisms requiring multi-point suspension, and the number of suspension points can be expanded , and can realize the independent closed-loop control of the suspension force of each suspension point, and provide a multi-point suspension balance wireless system that satisfies the three-dimensional space movement of the testing mechanism, has small movement resistance, low cost, long working time and stability. The gravity simulation test bed has high universality and good simulation effect, which fills the blank of the non-gravity simulation test bed using the semi-active tracking multi-point suspension method in China.

The idea, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.

Description of drawings

Fig. 1 is the front view of a preferred embodiment of the suspended weightless simulated test bed provided by the present invention.

Fig. 2 is a left view of the suspended weightless simulated test bed shown in Fig. 1 .

Fig. 3 is a front view of the tracking subsystem of the suspended weightless simulated test bed shown in Fig. 1 .

FIG. 4 is a left side view of the tracking subsystem shown in FIG. 3 .

FIG. 5 is a schematic structural diagram of a Y-axis tracking subsystem of the tracking subsystem shown in FIG. 3 .

detailed description

Fig. 1-Fig. 4 have shown a preferred embodiment of the suspension type weightless simulated test bed provided by the present invention.

As shown in Figure - Figure 4, the suspended weightless simulated test bed in this specific embodiment includes a set of active tracking subsystems 1, six sets of passive tracking subsystems 2, six sets of suspension systems and a support frame 4. The active tracking subsystem 1 is the X-axis active tracking subsystem 1, the passive tracking subsystem 2 is the Y-axis passive tracking subsystem 2, the suspension system includes the Z-axis constant tension control mechanism 3, and the support frame 4 is assembled from aluminum profiles.

Among them, the X-axis active tracking subsystem 1 includes a main beam 101, a V-shaped guide rail 102, an active mobile platform, and a driving device; the two ends of the main beam 101 are fixed on the support frame 4, and the V-shaped guide rail 102 is fixed below by special bar nuts for profiles. The driving device drives the active moving platform to move along the V-shaped guide rail 102, the V-shaped guiding rail 102 is the first guide rail, and six sets of active moving platforms and driving devices are installed.

The active mobile platform includes a V-shaped guide rail matching roller 104 and an adjustable motor support 107 , and the active mobile platform moves along the V-shaped guide rail 102 through the V-shaped guide rail matching roller 104 . The driving device includes a spur rack 103 , a spur gear 105 and a stepping motor 108 . The spur gear 105 is installed on the rotating shaft of the stepping motor 108, the spur rack 103 meshes with the spur gear 105, the spur rack 103 is fixed below the main beam 101 through the special bar nut for the profile, and the mobile platform is supported by an adjustable motor. The seat 107 is connected with a stepping motor 108 . In this way, the stepping motor 108 drives the spur gear 105 to realize the active tracking control of the active moving platform in the X-axis direction.

The active mobile platform also includes a mounting plate 106 and a connecting stud 109. One end of the connecting stud 109 is installed on the mounting plate 106, and the other end is connected to the Y-axis passive tracking subsystem 2. Like this, the active mobile platform is connected to the Y-axis through the connecting stud 109. Passive tracking subsystem 2 fixed.

The Y-axis passive tracking subsystem 2 includes a linear circular guide 201 and a passive moving platform. The passive mobile platform moves along the linear circular guide 201 in the Y-axis direction. The linear circular guide 201 is the second guide rail. The straight circular conduit 201 is installed on the other end of the connecting stud 109 , and the Y-axis passive tracking subsystem 2 is fixed on the active mobile platform through the linear circular conduit 201 . When the active moving platform moves in the X-axis direction, the linear circular guide tube 201 will be driven as a whole and also move in the X-axis direction. In order to achieve better movement of the linear circular catheter 201 in the X-axis direction, the Y-axis passive tracking subsystem 2 also includes a linear circular catheter sliding assembly. As shown in FIG. 5 , the linear guide tube sliding assembly has a cylindrical guide rail 207 , a matching sliding block 206 and a connecting block 205 . The cylindrical guide rail 207 extends along the X axis and is parallel to the V-shaped guide rail 102. The sliding block 206 matches the cylindrical guide rail 207 and slides along the cylindrical guide rail 207. One end of the connecting block 205 is connected to the sliding block 206, and the other end is connected to the cylindrical guide rail 207. . The linear circular conduit 201 is fixed below the X-axis active tracking subsystem 1 through the connecting stud 109 at the center, and the two sides are fixed on the sliding block 206 matched with the cylindrical guide rail 207 through bolts and connecting blocks 205, so that the linear circular conduit 201 Achieve better movement in the X-axis direction.

The passive mobile platform includes four claws 202 and a fixed base 204. Ball bearings 203 are installed on the claws 202. The four claws 202 just snap out of the upper part of the straight circular conduit 201. The passive mobile platform passes through the four claws. The ball bearing 203 of the member 202 slides along the straight circular guide 201. The passive mobile platform is thus suspended below the linear circular conduit.

The effect of fixed base 204 is to install suspension system. In addition, the fixed base 204 is connected to the suspension system by an L-shaped support, and the connection position can be adjusted to eliminate the bending moment of the passive mobile platform due to its own weight and suspension force.

The suspension system includes a Z-axis constant tension control mechanism 3 . The Z-axis constant tension control mechanism 3 includes a frame 301 , a servo drive motor 303 , a steel wire reel 304 , a steel wire lanyard 308 , a power-off brake 305 , and a tension sensor 307 . The frame 301 is connected to the fixed base 204 through a right-angle connector 302, and the position is adjustable; the servo motor 303 is fixed on the frame 301, and is connected to the wire reel 304 through a shaft; the wire reel is connected to the power-off brake through another shaft 305 connection, the power-off brake 305 is automatically locked to ensure the safety of the suspended mechanism when the power is off; the power-off brake 305 is fixed on the frame by bolts, and the fixing parts include a brake support 306 and a sleeve 309; the steel wire rope 308 is fixed and Wound on the wire reel, then connected to the suspended mechanism through the tension sensor 307. In this specific embodiment, the tension sensor 307 is a three-wheel tension sensor, which measures the tension without changing the direction of the steel wire hanging rope, and feeds it back to the servo drive motor controller to form a closed-loop control of tension.

In the above specific embodiment, the mounting plate 106, the adjustable motor support 107, the claw 202, the base 204, the frame 301, and the steel wire reel 304 are made of aluminum alloy or steel; the support frame 4 and the main beam 101 Made of aluminum profiles.

Utilize the non-gravity simulation test bed of above specific embodiment to carry out the concrete work process of non-gravity test as follows:

The first step is to install a corresponding number of tracking subsystems according to the number of required suspension points;

In the second step, manually adjust the position of the mobile platform to make the wire rope 308 vertical;

The third step is to fix the steel wire rope, set the suspension force of each suspension point and force the mechanism, the tension sensor 307 has an indication, power on to release the de-energized brake 305, and the servo motor 303 is subjected to torque. Balance, fine-tune the tension setting value and control parameters so that the suspended object can move up and down freely and hover with appropriate damping;

The fourth step is to drive the object to be tested, and use the program interface to control the driving speed and direction of each mobile platform of the X-axis active tracking subsystem, so as to keep the steel wire rope 308 basically vertical. At this time, the gravity-free test is normally carried out;

Step 5: After the test is over, power off to lock the power-off brake 305, and loosen the wire rope 308 to remove the mechanism under test.

The gravity-free simulation test bed in this specific embodiment adopts the active-passive hybrid tracking mode and has the power-off protection function, which can be used for the gravity-free simulation test of complex motion mechanisms that require multi-point suspension. The number of suspension points can be expanded, and it can realize Separate closed-loop control of the suspension force of each suspension point provides a multi-point suspension balance gravity-free simulation test bed that satisfies the three-dimensional space movement of the testing mechanism, has small movement resistance, low cost, long working hours and stability , has high universality and good simulation effect, and fills the blank of the current domestic semi-active tracking multi-point suspension method for non-gravity simulation test bed.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.

Claims (8)

1. a suspension type gravity-free simulation test bed, is characterized in that, comprises active tracking subsystem, a plurality of passive tracking subsystems and a plurality of suspension systems, and described active tracking subsystem comprises first guide rail and along described A plurality of active mobile platforms moved by the first guide rail, the plurality of passive tracking subsystems are respectively fixedly installed on the plurality of active mobile platforms, the passive tracking subsystem includes a second guide rail and a passive mobile platform, the A plurality of suspension systems are respectively fixedly installed on a plurality of passive mobile platforms, the axis of the first guide rail is perpendicular to the axis of the second guide rail, the first guide rail is a V-shaped guide rail, and the suspension system includes a constant The tension control mechanism, the constant tension control mechanism includes a servo drive motor, a steel wire reel driven by the servo drive motor, a steel wire rope wound on the steel wire reel, and a device for monitoring the tension of the steel wire rope The tension sensor is a three-wheel tension sensor. 2. The suspended gravity-free simulated test bed as claimed in claim 1, wherein said active tracking subsystem also includes a plurality of driving devices, which are respectively used to drive said plurality of active mobile platforms along said active moving platform. The first guide rail moves. 3. suspension type gravity-free simulation test bed as claimed in claim 2, is characterized in that, described driving device comprises stepping drive motor, is installed in the spur gear of the rotating shaft that described stepping drive motor drives, and described A spur rack meshed with a spur gear, the spur rack is connected with the active moving platform. 4. The suspended weightless simulated test bed according to claim 1, wherein the active mobile platform includes rollers matching the V-shaped guide rail and a mounting plate for installing the passive tracking subsystem. 5. The suspended gravity-free simulated test bed as claimed in claim 1, wherein the second guide rail is a straight circular guide rail, and the passive tracking subsystem also includes a guide rail for the straight circular guide along the A linear circular conduit sliding assembly that moves in the axial direction of the first guide rail, the linear circular conduit sliding assembly includes a cylindrical guide rail parallel to the first guide rail, a sliding block that slides along the cylindrical guide rail and connects the sliding block Connecting block with the straight round conduit. 6. The suspension type weightless simulated test bed as claimed in claim 5, characterized in that, the passive mobile platform comprises four claws that are equipped with ball bearings matched with the straight circular conduit and are used for mounting The fixed base of the suspension system. 7. The suspended weightless simulated test bed according to claim 1, wherein the suspension system further comprises a power-off brake for braking the wire reel when the power is cut off. 8. The using method of the suspension type weightless simulated test bed as described in any one of claims 1-7, is characterized in that, comprises the steps: 1) Install the tracking subsystem according to the number of required suspension points; 2) Manually adjust the position of the mobile platform to make the wire rope vertical; 3) Fix the steel wire rope, set the suspension force of each suspension point to force the mechanism, set the parameters of the servo drive motor according to the data of the tension sensor, and power on to release the power-off brake; 4) Drive the object under test to perform a gravity-free test; 5) After the test, cut off the power to lock the power-off brake, loosen the wire rope and remove the object under test.