Multi-degree-of-freedom space manipulator gravity balance suspension device

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Multi-degree-of-freedom space manipulator gravity balance suspension device

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SUN YINJIN / LIU YONG / XU ZHIGANG / HE YUN / WEI YAQIANG / ZHANG XIAO / LI QIUSHI / WANG YUANYU

The invention relates to a space ground simulation experiment system, in particular to a multi-degree-of-freedom space manipulator gravity balance suspension device, which is characterized in that a clamping rolling inner ring is fixed on a space manipulator connecting rod, a rolling bearing mounting ring is connected with the clamping rolling inner ring through a rolling bearing, and a joint bearing seat is connected with the rolling bearing mounting ring; the knuckle bearings are connected with the knuckle bearing seat through a spherical hinge pair, the plumb bob suspender is fixed between the upper knuckle bearing and the lower knuckle bearing, the adjusting shaft is connected with the upper knuckle bearing through a spherical hinge pair, the top bearing seat is fixed to the cross beam, and the suspension shaft penetrates through the suspension ring to be fixed to the top bearing seat. The clamping rolling inner ring clamps the space mechanical arm and moves along with the space mechanical arm, when the posture of the space mechanical arm in a three-dimensional space changes, the rolling bearing and the spherical hinge pair change freely, the plumb bob hanging rod is perpendicular all the time, it is ensured that a steel wire rope extension line passes through the mass center of the clamping rolling inner ring all the time, and therefore the space mechanical arm can stably move. The gravity balance precision of the space manipulator is improved.

本发明涉及空间地面仿真实验系统，具体地说是一种多自由度空间机械臂重力平衡悬吊装置，夹持滚动内环固定在空间机械臂连杆上，滚动轴承安装环与夹持滚动内环通过滚动轴承连接，关节轴承座与滚动轴承安装环连接，关节轴承与关节轴承座通过球铰副进行连接，铅锤吊杆固定在上下关节轴承中间，调节轴与上方关节轴承用球铰副连接，顶部轴承座与横梁固定，悬吊轴穿过悬吊环与顶部轴承座固定。本发明的夹持滚动内环夹持着空间机械臂，并随空间机械臂进行运动，当空间机械臂在三维空间内的位姿发生变化，滚动轴承和球铰副自由变化，使铅锤吊杆始终垂直，并确保钢丝绳延长线始终通过夹持滚动内环的质心，以提高空间机械臂重力平衡的精度。

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Title :

Multi-degree-of-freedom space manipulator gravity balance suspension device

Additional title:

一种多自由度空间机械臂重力平衡悬吊装置

Contributors:

SUN YINJIN (author) / LIU YONG (author) / XU ZHIGANG (author) / HE YUN (author) / WEI YAQIANG (author) / ZHANG XIAO (author) / LI QIUSHI (author) / WANG YUANYU (author)

Publication date :

2023-03-14

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B64G Raumfahrt , COSMONAUTICS