阅读说明：本技术 基于气浮滑轮的六自由度微重力试验系统 (Six-degree-of-freedom microgravity test system based on air floatation pulley ) 是由 于泽 齐乃明 霍明英 赵策 赵钧 林桐 冯文煜 乔云一 薛驭风 于 2021-08-16 设计创作，主要内容包括：基于气浮滑轮的六自由度微重力试验系统,解决了现有航天器地面试验中运动自由度不全面的问题,属于航天器地面试验领域。本发明采用气浮球轴承、气足、气浮滑轮和配重的方式,实现了对航天器的六自由度微重力模拟,即三轴的平动运动和绕三轴的旋转运动。本发明能够实现载荷重力的完全卸载,为航天器地面试验提供零重力条件,在竖直方向可以实现一定范围的零重力低摩擦运动。本发明能够提高卫星地面仿真精度,可应用于空间机构对接、抓捕等动力学方面的地面模拟。本发明用于航天器地面试验领域。(A six-degree-of-freedom microgravity test system based on an air-floatation pulley solves the problem of incomplete freedom of motion in the existing spacecraft ground test, and belongs to the field of spacecraft ground tests. The invention adopts the modes of the air-floating ball bearing, the air foot, the air-floating pulley and the counterweight to realize six-degree-of-freedom microgravity simulation of the spacecraft, namely the translation motion of three shafts and the rotation motion around the three shafts. The invention can realize the complete unloading of load gravity, provide zero gravity condition for spacecraft ground test, and realize zero gravity low friction motion in a certain range in the vertical direction. The method can improve the ground simulation precision of the satellite, and can be applied to ground simulation in dynamics aspects such as docking and capturing of space mechanisms. The invention is used in the field of spacecraft ground test.)

1. The six-degree-of-freedom microgravity test system based on the air floatation pulley is characterized by comprising an upper-layer attitude simulation platform and a lower-layer air floatation pulley gravity compensation platform, wherein the upper-layer attitude simulation platform is a triaxial attitude simulation platform;

the lower-layer air-floating pulley gravity compensation platform comprises a lower support base (209), an air foot (210), a dumbbell-shaped air-floating pulley (201), a lower air-floating ball socket (202), a rope (203), a counterweight frame (204), a follow-up frame (205) and a cylindrical air-floating bearing (206);

two lower air floating ball sockets (202) are arranged at the bottom of each dumbbell-shaped air floating pulley (201), the lower air floating ball sockets (202) are fixed on a lower support base (209), after each lower air floating ball socket (202) is ventilated, an air film is formed between the lower air floating ball socket and a pulley corresponding to the upper portion of the lower air floating ball socket, a rope (203) is hung on the middle portion of each dumbbell-shaped air floating pulley (201), one end of the rope (203) is fixedly connected with a counterweight frame (204), the other end of the rope is fixedly connected with a follow-up frame (205), and an upper-layer posture simulation platform is arranged at the top of the follow-up frame (205) and is fixedly connected with the follow-up frame (205); the weight of the counterweight frame (204) is equal to the weight of the follow-up frame (205) and the parts above;

the centers of the follow-up frame (205), the counterweight frame (204) and the lower support base (209) are on the same line;

the counterweight frame (204) and the follow-up frame (205) are respectively provided with an air floatation guide rod (207), each air floatation guide rod (207) penetrates through the lower support base (209), a cylindrical air floatation bearing (206) is arranged between each air floatation guide rod (207) and the lower support base (209), the air floatation guide rods (207) and the corresponding cylindrical air floatation bearings (206) form air floatation guide, and after the cylindrical air floatation bearings (206) are filled with gas, air films are formed between the air floatation guide rods (207) and the cylindrical air floatation bearings (206);

the air foot (210) is arranged at the bottom of the lower support base (209), the air outlet faces downwards, and after ventilation, an air film is formed between the air foot and the marble plane.

2. The air-floating pulley-based six-degree-of-freedom microgravity test system according to claim 1, wherein the counterweight frame (204) comprises a counterweight upper plate and a counterweight lower plate;

the counterweight upper plate and the counterweight lower plate are both annular; the counterweight upper plate and the counterweight lower plate are connected through a plurality of air floatation guide rods (207);

the follow-up frame (205) comprises a follow-up upper plate and a follow-up lower plate, and the follow-up lower plate is annular; the follow-up upper plate and the follow-up lower plate are connected through a plurality of air floatation guide rods (207);

the inner diameters of the counterweight upper plate and the counterweight lower plate are larger than the outer diameters of the follow-up upper plate and the follow-up lower plate, the follow-up frame (205) is arranged in the ring of the counterweight frame (204), and the follow-up frame (205) and the counterweight frame (204) are not in contact with each other.

3. The six-degree-of-freedom microgravity test system based on the air-floating pulley as claimed in claim 2, wherein one end of the rope (203) passes through a lower counterweight plate of a counterweight frame (204) from a lower support base (209) to be connected with the lower counterweight plate;

the other end of the rope (203) penetrates through the lower supporting base (209) to be connected with the follow-up lower plate of the follow-up frame (205).

4. The six-degree-of-freedom microgravity test system based on the air-floating pulley as claimed in claim 3, wherein the upper-layer attitude simulation platform comprises an air floating ball (101), an upper air floating ball socket (102) and an attitude platform mounting plate (110);

the upper air floating ball socket (102) is arranged at the central position of the attitude platform mounting plate (110), the air floating ball (101) is arranged on the upper air floating ball socket (102), and air is communicated between the air floating ball (101) and the upper air floating ball socket (102) to form an air film.

5. The six-degree-of-freedom microgravity test system based on the air-floating pulley as claimed in claim 4, wherein the upper-layer attitude simulation platform further comprises a leveling module (106), the leveling module (106) is arranged on the attitude platform mounting plate (110), the leveling module (106) comprises a motor-driven linear module and a mass block, and the adjustment of the mass center of the upper-layer attitude simulation platform is realized by adjusting the position of the mass block through the motor-driven linear module.

6. The six-degree-of-freedom microgravity test system based on the air-floating pulley as claimed in claim 4, wherein the upper-layer attitude simulation platform further comprises an air injection module (103) and an upper-platform air cylinder (104);

the air injection module (103) and the upper platform air cylinder (104) are fixed on the attitude platform mounting plate (110), the upper platform air cylinder (104) provides air for the air injection module (103) and the upper air floating ball socket (102), an air film is formed between the upper air floating ball socket (102) and the corresponding air floating ball, and the air injection module (103) is used for providing thrust.

7. The air-floating pulley-based six-degree-of-freedom microgravity test system as claimed in claim 6, wherein the upper-layer attitude simulation platform further comprises a mass flow meter (105), the mass flow meter (105) is arranged in a total gas supply pipeline of an upper-layer gas cylinder (104), measures the consumed gas mass in the gas injection process and sends the measured gas mass to the lower-layer air-floating pulley gravity compensation platform;

the lower support base (209) comprises an upper support plate, a lower support plate and a support rod, the upper support plate and the lower support plate are fixedly connected through the support rod, and a through hole is formed in the middle of the upper support plate;

the lower-layer air floatation pulley gravity compensation platform further comprises a linear motor (211), the linear motor (211) is arranged on the support lower plate, a rotor of the linear motor (211) penetrates through a through hole of the support upper plate and is fixedly connected with the follow-up upper plate, and the rotor of the linear motor (211) is controlled to drive the follow-up frame (205) to move according to the gas quality measured by the mass flow meter (105), so that gravity compensation for consumed gas is realized.

8. The air-floating pulley-based six-degree-of-freedom microgravity test system according to claim 1, wherein the lower air-floating pulley gravity compensation platform further comprises a lower platform gas cylinder (208), and the lower platform gas cylinder (208) is arranged on a lower support base (209) and supplies gas for the cylindrical air-floating bearing (206), the lower air-floating ball socket (202) and the gas foot (210).

9. The air-floating pulley-based six-degree-of-freedom microgravity test system according to claim 1, further comprising a support column (3) and a weighing sensor (4);

support column (3) are fixed between gesture platform mounting panel (110) and follow-up frame (205) top for realize follow-up frame (205) and support upper strata gesture simulation platform through support column (3), and weighing sensor (4) set up between support column (3) and follow-up frame (205) top, detect the atress of upper strata gesture simulation platform in real time.

10. The air-floating pulley-based six-degree-of-freedom microgravity test system according to claim 1, wherein the upper-layer attitude simulation platform further comprises an on-table computer (107);

the bench computer (107) is used for data calculation, data transmission and control instruction issuing.

Technical Field

The invention relates to a six-degree-of-freedom microgravity test system based on an air floatation pulley, and belongs to the field of spacecraft ground tests.

Background

The spacecraft is subjected to extensive ground testing prior to launch. The high-precision distributed spacecraft needs to analyze the control coupling characteristic of the attitude orbit, and complex space missions such as in-orbit capture, in-orbit docking and the like need to evaluate the stress condition of a mechanism in ground tests so as to realize better operation effect in-orbit. The complex space missions put high requirements on ground tests, and the high-fidelity ground tests can analyze and clarify problems possibly occurring on the ground as far as possible and improve the reliability of on-orbit operation. The spacecraft operates in a microgravity environment in orbit, is not restricted by the outside, is a free boundary condition, and has 6 rigid body modes with zero frequency; during ground test, certain constraints are needed to balance the action of the gravity field, and each constraint needs to achieve high precision.

The existing three-degree-of-freedom or five-degree-of-freedom air floatation simulation test system can only partially complete the simulation of orbit or attitude motion, and can not comprehensively disclose the on-orbit running state of the spacecraft. At present, no effective method exists for simulating translation motion in the vertical direction or simulating zero gravity state in the vertical direction, and the conventional exploration methods such as a constant force cylinder method, a constant force spring, a suspension method and the like have low simulation precision and limitation, so that the method is not widely applied.

Disclosure of Invention

Aiming at the problem that the freedom of motion is incomplete in the existing spacecraft ground test, the invention provides a six-freedom-degree microgravity test system based on an air floatation pulley.

The invention discloses a six-degree-of-freedom microgravity test system based on an air-floating pulley, which is characterized by comprising an upper-layer attitude simulation platform and a lower-layer air-floating pulley gravity compensation platform, wherein the upper-layer attitude simulation platform is a triaxial attitude simulation platform;

the lower-layer air-floating pulley gravity compensation platform comprises a lower support base 209, an air foot 210, a dumbbell-shaped air-floating pulley 201, a lower air-floating ball socket 202, a rope 203, a counterweight frame 204, a follow-up frame 205 and a cylindrical air-floating bearing 206;

two lower air floating ball sockets 202 are arranged at the bottom of each dumbbell-shaped air floating pulley 201, the lower air floating ball sockets 202 are fixed on a lower support base 209, after each lower air floating ball socket 202 is ventilated, an air film is formed between the corresponding pulley above the lower air floating ball socket 202, a rope 203 is hung in the middle of each dumbbell-shaped air floating pulley 201, one end of the rope 203 is fixedly connected with a counterweight frame 204, the other end of the rope 203 is fixedly connected with a follow-up frame 205, and an upper-layer posture simulation platform is arranged at the top of the follow-up frame 205 and is fixedly connected with the follow-up frame 205; the weight of the counterweight frame 204 is equal to the weight of the follow-up frame 205 and the parts above;

and the centers of the follow-up frame 205, the counterweight frame 204 and the lower support base 209 are on the same line;

the counterweight frame 204 and the follow-up frame 205 are both provided with air floatation guide rods 207, each air floatation guide rod 207 penetrates through the lower support base 209, a cylindrical air floatation bearing 206 is arranged between each air floatation guide rod 207 and the lower support base 209, the air floatation guide rods 207 and the corresponding cylindrical air floatation bearings 206 form air floatation guide, and after the cylindrical air floatation bearings 206 are filled with gas, an air film is formed between the air floatation guide rods 207 and the cylindrical air floatation bearings 206;

the air foot 210 is arranged at the bottom of the lower support base 209, the air outlet faces downwards, and after ventilation, an air film is formed with the marble plane.

Preferably, the weight frame 204 includes a weight upper plate and a weight lower plate;

the counterweight upper plate and the counterweight lower plate are both annular; the counterweight upper plate and the counterweight lower plate are connected through a plurality of air floatation guide rods 207;

the follow-up frame 205 comprises a follow-up upper plate and a follow-up lower plate, and the follow-up lower plate is annular; the follow-up upper plate and the follow-up lower plate are connected through a plurality of air floatation guide rods 207;

the inner diameters of the upper counterweight plate and the lower counterweight plate are larger than the outer diameters of the upper follow-up plate and the lower follow-up plate, the follow-up frame 205 is arranged in the ring of the counterweight frame 204, and the follow-up frame 205 and the counterweight frame 204 are not in contact with each other.

Preferably, one end of the string 203 is connected to the lower counterweight plate of the counterweight frame 204 through the lower support base 209;

the other end of the string 203 passes through the lower support base 209 and is connected to the follower lower plate of the follower frame 205.

Preferably, the upper-layer attitude simulation platform comprises an air floating ball 101, an upper air floating ball socket 102 and an attitude platform mounting plate 110;

the upper air floating ball socket 102 is arranged at the central position of the attitude platform mounting plate 110, the air floating ball 101 is arranged on the upper air floating ball socket 102, and air is communicated between the air floating ball 101 and the upper air floating ball socket 102 to form an air film.

Preferably, the upper-layer attitude simulation platform further comprises a leveling module 106, the leveling module 106 is arranged on the attitude platform mounting plate 110, the leveling module 106 comprises a motor-driven linear module and a mass block, and the mass center of the upper-layer attitude simulation platform is adjusted by adjusting the position of the mass block through the motor-driven linear module.

Preferably, the upper-layer attitude simulation platform further comprises an air injection module 103 and an upper platform air cylinder 104;

the gas injection module 103 and the upper platform gas cylinder 104 are fixed on the attitude platform mounting plate 110, the upper platform gas cylinder 104 provides gas for the gas injection module 103 and the upper gas floating ball socket 102, a gas film is formed between the upper gas floating ball socket 102 and the corresponding gas floating ball, and the gas injection module is used for providing thrust.

Preferably, the upper-layer attitude simulation platform further comprises a mass flow meter 105, the mass flow meter 105 is arranged in a total gas supply pipeline of the upper-layer air cylinder 104, measures the gas mass consumed in the gas injection process, and sends the gas mass to the lower-layer air-floatation pulley gravity compensation platform;

the lower supporting base 209 comprises an upper supporting plate, a lower supporting plate and a supporting rod, the upper supporting plate and the lower supporting plate are fixedly connected through the supporting rod, and a through hole is formed in the middle of the upper supporting plate;

the lower-layer air floatation pulley gravity compensation platform further comprises a linear motor 211, the linear motor 211 is arranged on the support lower plate, a rotor of the linear motor 211 penetrates through a through hole of the support upper plate and is fixedly connected with the follow-up upper plate, the rotor of the linear motor 211 is controlled to drive the follow-up frame 205 to move according to the gas quality measured by the mass flow meter 105, and gravity compensation for consumed gas is achieved.

Preferably, the lower air-floating pulley gravity compensation platform further comprises a lower platform air cylinder 208, and the lower platform air cylinder 208 is arranged on a lower support base 209 and supplies air to the cylindrical air-floating bearing 206, the lower air-floating ball socket 202 and the air foot 210.

Preferably, the six-degree-of-freedom microgravity test system further comprises a support column 3 and a weighing sensor 4;

the support column 3 is fixed between the attitude platform mounting plate 110 and the top of the follow-up frame 205 and used for supporting the upper-layer attitude simulation platform through the support column 3 by the follow-up frame 205, and the weighing sensor 4 is arranged between the support column 3 and the top of the follow-up frame 205 and used for detecting the stress of the upper-layer attitude simulation platform in real time.

Preferably, the upper-layer attitude simulation platform further comprises an on-table computer 107;

the desktop computer 107 is used for data calculation, data transmission and control instruction issuing.

The six-degree-of-freedom microgravity simulation device has the beneficial effects that the six-degree-of-freedom microgravity simulation device realizes six-degree-of-freedom microgravity simulation of a spacecraft in a mode of the air-float ball bearing, the air foot, the air-float pulley and the counterweight, namely three-axis translation motion and three-axis rotation motion. The invention can realize the complete unloading of load gravity, provide zero gravity condition for spacecraft ground test, and realize zero gravity low friction motion in a certain range in the vertical direction. The method can improve the ground simulation precision of the satellite, and can be applied to ground simulation in dynamics aspects such as docking and capturing of space mechanisms. The invention is used in the field of spacecraft ground test.

Drawings

Fig. 1 is a schematic structural diagram of a six-degree-of-freedom microgravity test system based on an air-floating pulley according to the embodiment;

fig. 2 is a schematic structural view of the upper-layer posture simulation platform 1 of the present embodiment;

FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;

FIG. 4 is a schematic structural diagram of the lower air-floating pulley gravity compensation platform 2 of the present embodiment;

FIG. 5 is a schematic view of the dumbbell-shaped air-bearing pulley mounting structure of the present embodiment;

fig. 6 is a schematic structural view of the follower frame of the present embodiment;

fig. 7 is a schematic structural view of the weight frame of the present embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

As shown in fig. 1, 4 and 5, the six-degree-of-freedom microgravity test system based on the air-floating pulley of the present embodiment includes an upper-layer attitude simulation platform 1 and a lower-layer air-floating pulley gravity compensation platform 2, where the upper-layer attitude simulation platform 1 is a three-axis-around attitude simulation platform;

the upper-layer attitude simulation platform 1 of the embodiment realizes the rotation motion around three axes, and the lower-layer air-floatation pulley gravity compensation platform 2 realizes the translation motion of three axes while compensating the upper-layer attitude simulation platform 1;

the lower-layer air-floatation pulley gravity compensation platform 2 comprises a lower support base 209, an air foot 210, a dumbbell-shaped air-floatation pulley 201, a lower air-floatation ball socket 202, a rope 203, a counterweight frame 204, a follow-up frame 205 and a cylindrical air-floatation bearing 206;

two lower air floating ball sockets 202 are arranged at the bottom of each dumbbell-shaped air floating pulley 201, the lower air floating ball sockets 202 are fixed on a lower support base 209, after each lower air floating ball socket 202 is ventilated, an air film is formed between the corresponding pulley above the lower air floating ball socket 202, a rope 203 is hung in the middle of each dumbbell-shaped air floating pulley 201, one end of the rope 203 is fixedly connected with a counterweight frame 204, the other end of the rope 203 is fixedly connected with a follow-up frame 205, and an upper-layer posture simulation platform 1 is arranged at the top of the follow-up frame 205 and is fixedly connected with the follow-up frame 205; the weight of the counterweight frame 204 is equal to that of the follow-up frame 205 and the parts above, so that gravity compensation of the target load can be realized;

and the centers of the follow-up frame 205, the counterweight frame 204 and the lower support base 209 are on the same line;

the counterweight frame 204 and the follow-up frame 205 are both provided with air floatation guide rods 207, each air floatation guide rod 207 penetrates through the lower support base 209, a cylindrical air floatation bearing 206 is arranged between the air floatation guide rod 207 and the lower support base 209, the air floatation guide rods 207 and the corresponding cylindrical air floatation bearings 206 form air floatation guide, and after the cylindrical air floatation bearings 206 are filled with gas, an air film is formed between the air floatation guide rods 207 and the cylindrical air floatation bearings 206, so that the motion which is approximate to frictionless motion is realized, the guide function is completed, and the interference on gravity compensation is reduced as much as possible;

the air foot 210 is arranged at the bottom of the lower supporting base 209, an air outlet faces downwards, an air film is formed with the marble plane after ventilation, the air foot 210 supports the whole system and is communicated with nitrogen with certain pressure, and the air foot 210 and the marble air floatation platform realize approximate frictionless motion, so that the translation freedom degree in the horizontal plane is provided for the whole system.

The dumbbell-shaped air floating pulley 201, the lower air floating ball socket 202 and the rope 203 form the air floating pulley, the lower air floating pulley gravity compensation platform 2 achieves zero gravity simulation in the vertical direction in a mode that the dumbbell-shaped air floating pulley 201 is balanced with the counterweight frame, and achieves horizontal two-dimensional translation through the air foot 210.

As shown in fig. 7, the weight frame 204 of the present embodiment includes a weight upper plate and a weight lower plate;

the counterweight upper plate and the counterweight lower plate are both annular; the counterweight upper plate and the counterweight lower plate are connected through a plurality of air floatation guide rods 207;

as shown in fig. 6, the follower frame 205 includes a follower upper plate and a follower lower plate, the follower lower plate being annular; the follow-up upper plate and the follow-up lower plate are connected through a plurality of air floatation guide rods 207;

the inner diameters of the upper counterweight plate and the lower counterweight plate are larger than the outer diameters of the upper follow-up plate and the lower follow-up plate, the follow-up frame 205 is arranged in the ring of the counterweight frame 204, and the follow-up frame 205 and the counterweight frame 204 are not in contact with each other.

One end of the string 203 of the present embodiment is connected to the lower counterweight plate of the counterweight frame 204 through the lower support base 209;

the other end of the cord 203 of the present embodiment is connected to the follower lower plate of the follower frame 205 through the lower support base 209.

As shown in fig. 2 and 3, the upper-layer attitude simulation platform 1 of the present embodiment includes an air float 101, an upper air float socket 102, and an attitude platform mounting plate 110;

the upper air floating ball socket 102 is arranged at the central position of the attitude platform mounting plate 110, the air floating ball 101 is arranged on the upper air floating ball socket 102, and air is communicated between the air floating ball 101 and the upper air floating ball socket 102 to form an air film.

This embodiment the upper strata gesture simulation platform 1 still includes leveling module 106, leveling module 106 sets up on gesture platform mounting panel 110, leveling module 106 includes motor drive straight line module and quality piece, and the position through motor drive straight line module adjusting quality piece realizes the adjustment to upper strata gesture simulation platform 1 barycenter, finally adjusts the position of center of rotation with the barycenter.

The upper-layer attitude simulation platform 1 of the embodiment further comprises an air injection module 103 and an upper platform air cylinder 104;

the gas injection module 103 and the upper platform gas cylinder 104 are fixed on the attitude platform mounting plate 110, the upper platform gas cylinder 104 provides gas for the gas injection module 103 and the upper gas floating ball socket 102, a gas film is formed between the upper gas floating ball socket 102 and the corresponding gas floating ball, and the gas injection module is used for providing thrust.

The upper air floating ball socket 102 in the upper layer attitude simulation platform 1 of the embodiment is made of porous material, is filled with gas with certain pressure, and has a high-rigidity air film with the air floating ball 101, and the structure can enable the upper layer attitude simulation platform 1 to realize the rotation which is approximate to frictionless around three axes; the gas injection module 103 is composed of a nozzle, an electromagnetic valve and a mounting seat, is a control execution unit of the whole system, generates gas injection reaction force by injecting nitrogen with certain pressure, and supplies gas after being decompressed by high-pressure nitrogen in the upper platform gas cylinder 104;

aiming at the problem that gas consumed by gas injection in the test process can cause mass change of an upper-layer attitude simulation platform 1, namely the compensation target of a gravity compensation mechanism is changed, the upper-layer attitude simulation platform 1 of the embodiment also comprises a mass flowmeter 105, wherein the mass flowmeter 105 is arranged in a total gas supply pipeline of an upper-layer gas cylinder 104, measures the mass of the gas consumed in the gas injection process and sends the gas to a lower-layer gas-floating pulley gravity compensation platform 2;

the lower support base 209 comprises an upper support plate, a lower support plate and a support rod, the upper support plate and the lower support plate are fixedly connected through the support rod, and a through hole is formed in the middle of the upper support plate;

the lower-layer air-floatation pulley gravity compensation platform 2 further comprises a linear motor 211 and a linear motor battery 212, the linear motor 211 and the linear motor battery 212 are arranged on the supporting lower plate, a rotor of the linear motor 211 penetrates through a through hole of the supporting upper plate and is fixedly connected with the bottom of the follow-up upper plate, and the rotor of the linear motor 211 is controlled to drive the follow-up frame 205 to move according to the gas quality measured by the mass flow meter 105, so that gravity compensation for consumed gas is realized. The linear motor battery 212 supplies power to the linear motor 211;

the mass flowmeter 105 is arranged in the main gas supply pipeline after the upper platform gas cylinder 104 is decompressed, can measure the mass flow of gas flowing through the pipeline in real time and accumulate the mass flow to obtain the mass M1 of nitrogen consumed by the gas injection module 103 in the gas injection process, and the mass M1 is collected by the on-board computer 107 and then is transmitted to the lower-layer air-floating pulley gravity compensation platform 22 to be used as gravityCompensation use, linear motor 211, according to M measured by mass flow meter 105₁The output force compensates the mass of the nitrogen consumed by the air injection in real time and keeps the zero gravity state.

The lower air-floating pulley gravity compensation platform 2 of the present embodiment further includes a lower platform air cylinder 208, and the lower platform air cylinder 208 is disposed on a lower support base 209 and supplies air to the cylindrical air-floating bearing 206, the lower air-floating ball socket 202, and the air foot 210.

The embodiment also comprises a support column 3 and a weighing sensor 4;

support column 3 is fixed between gesture platform mounting panel 110 and follow-up frame 205 top for realize that follow-up frame 205 supports upper strata gesture simulation platform 1 through support column 3, and weighing sensor 4 sets up between support column 3 and follow-up frame 205 top, detects the atress of upper strata gesture simulation platform 1 in real time.

The upper-layer posture simulation platform 1 of the present embodiment further includes an on-board computer 107, a battery 108, and a power supply 109;

the desktop computer 107 is used for data calculation, data transmission and control instruction sending, the battery 108 and the power supply 109 can realize power supply, and different electrical elements can be installed according to different task requirements.

Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.