阅读说明：本技术 哑铃形变径气浮滑轮纵向重力补偿装置 (Dumbbell-shaped reducing air-float pulley longitudinal gravity compensation device ) 是由 于泽 齐乃明 霍明英 林桐 冯文煜 李铮 乔云一 薛驭风 于 2021-08-16 设计创作，主要内容包括：哑铃形变径气浮滑轮纵向重力补偿装置,涉及飞行器地面零重力模拟领域。解决了现有进行竖直方向零重力模拟装置存在承载能力较低、且需用与目标载荷相同重量的配重去做重力补偿,所需要配重质量较大,存在影响动力学与运动学的模拟的问题。本发明包括哑铃形变径气浮滑轮机构、配重框、随动框、支撑基座和气足；配重框和随动框的运动方向相反；哑铃形变径气浮滑轮机构,用于实现通过气浮润滑的方式实现气浮滑轮近似无摩擦的转动,对其通过配重端绳和随动端绳进行正反变径卷扬的方式,实现配重端以比随动端少的质量达到平衡,进而实现随动端的重力补偿。主要用于航天器动力学方面的地面模拟。(Dumbbell shape reducing air supporting pulley vertical gravity compensation device relates to aircraft ground zero gravity simulation field. The problem of current zero gravity analogue means of going on vertical direction have the bearing capacity lower, and need do gravity compensation with the counter weight of the same weight of target load, required counter weight quality is great, has the simulation that influences dynamics and kinematics is solved. The invention comprises a dumbbell-shaped reducing air floatation pulley mechanism, a counterweight frame, a follow-up frame, a support base and an air foot; the movement directions of the counterweight frame and the follow-up frame are opposite; the dumbbell-shaped reducing air floatation pulley mechanism is used for realizing the approximate frictionless rotation of the air floatation pulley in an air floatation lubrication mode, and realizing the balance of the counterweight end with less mass than the follow-up end in a positive and negative reducing hoisting mode through the counterweight end rope and the follow-up end rope, thereby realizing the gravity compensation of the follow-up end. The method is mainly used for ground simulation in the aspect of spacecraft dynamics.)

1. The dumbbell-shaped reducing air floatation pulley longitudinal gravity compensation device is characterized by comprising N dumbbell-shaped reducing air floatation pulley mechanisms (1), a counterweight frame (2), a follow-up frame (3), a support base (4) and an air foot (5); n is an integer greater than or equal to 2;

a load (6) is fixed on the follow-up frame (3);

n dumbbell-shaped reducing air floatation pulley mechanisms (1) are uniformly distributed on the top end surface of the support base (4) along the circumferential direction;

the air foot (5) is fixed on the bottom end surface of the support base (4);

the counterweight frame (2) and the follow-up frame (3) are coaxial, the counterweight frame (2) is sleeved outside the follow-up frame (3), and a gap is formed between the counterweight frame (2) and the follow-up frame;

the counterweight frame (2) and the follow-up frame (3) can move up and down relative to the top end surface of the support base (4);

the free end of a counterweight end rope (1-1) of each dumbbell-shaped reducing air floatation pulley mechanism (1) is fixedly connected with the lower part of a counterweight frame (2), and the free end of a following end rope (1-2) of each dumbbell-shaped reducing air floatation pulley mechanism (1) is fixedly connected with the lower part of a following frame (3);

the dumbbell-shaped reducing air floatation pulley mechanisms (1) rotate in an air floatation lubricating mode, and the counterweight end rope (1-1) and the follow-up end rope (1-2) on each dumbbell-shaped reducing air floatation pulley mechanism (1) are subjected to reducing winch, so that the counterweight frame (2) connected with the counterweight end rope (1-1) and the follow-up frame (3) connected with the follow-up end rope (1-2) move up and down, and gravity compensation is performed on the follow-up frame (3) and the load (6) through the counterweight frame (2); wherein, the movement directions of the counterweight frame (2) and the follow-up frame (3) are opposite.

2. The dumbbell-shaped reducing air-float pulley longitudinal gravity compensation device according to claim 1, characterized in that each dumbbell-shaped reducing air-float pulley mechanism (1) comprises a counterweight end rope (1-1), a follower end rope (1-2), a dumbbell-shaped reducing air-float pulley (1-3) and two air-float ball sockets (1-4);

the dumbbell-shaped reducing air-floating pulley (1-3) comprises two air-floating balls (1-3-1) and a reducing connecting shaft (1-3-2), the reducing connecting shaft (1-3-2) is divided into two parts in the length direction, namely a large-diameter shaft and a small-diameter shaft,

two ends of the reducing connecting shaft (1-3-2) are respectively fixed with an air floating ball (1-3-1);

the fixed end of the counterweight end rope (1-1) is fixed on a large-diameter shaft of the dumbbell-shaped reducing air floatation pulley (1-3) and is wound on the large-diameter shaft;

the fixed end of the follow-up end rope (1-2) is fixed on a small-diameter shaft of the dumbbell-shaped reducing air floatation pulley (1-3) and is wound on the small-diameter shaft;

the winding direction of the counterweight end rope (1-1) is opposite to that of the follow-up end rope (1-2);

the two air-floating ball sockets (1-4) are fixed on the top end surface of the supporting base (4), and the two air-floating ball sockets (1-4) are respectively connected with the two air-floating balls (1-3-1) of the dumbbell-shaped reducing air-floating pulley (1-3) in an air-floating manner.

3. The dumbbell-shaped diameter-variable air-floating pulley longitudinal gravity compensation device as claimed in claim 2, characterized in that the air-floating ball sockets (1-4) are made of porous material.

4. The dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device according to claim 2, characterized in that the pulling force applied to the counterweight end rope (1-1) is equal to the gravity applied to the counterweight frame (2), and the pulling force applied to the follower end rope (1-2) is equal to the gravity applied to the follower frame (3) and the load (6).

5. The dumbbell-shaped reducing air-bearing pulley longitudinal gravity compensation device according to claim 2, characterized in that the dumbbell-shaped reducing air-bearing pulley (1-3) has a large-diameter shaft diameter of R and a small-diameter shaft diameter of R;

when the relation between the mass M of the counterweight frame (2) and the mass sum M of the follow-up frame (3) and the load (6) is M-mr/R, the gravity of the load (6) is completely compensated.

6. The dumbbell-shaped reducing air-flotation pulley longitudinal gravity compensation device according to claim 1, wherein the counterweight frame (2) comprises a No. 1 upper frame body (2-1), a No. 1 lower frame body (2-2) and a No. 1 air-flotation guide device (2-3);

the No. 1 air floatation guide device (2-3) comprises a No. 1 air floatation guide rod and a No. 1 air floatation bearing, wherein the No. 1 air floatation bearing is sleeved on the No. 1 air floatation guide rod and is in air floatation connection with the No. 1 air floatation guide rod, and the No. 1 air floatation bearing can move up and down relative to the No. 1 air floatation guide rod;

the No. 1 air floatation guide device (2-3) penetrates through the top end face of the support base (4), two ends of the No. 1 air floatation guide rod are fixed between the No. 1 upper frame body (2-1) and the No. 1 lower frame body (2-2), and the top end face of the support base (4) is located between the No. 1 upper frame body (2-1) and the No. 1 lower frame body (2-2);

the outer wall of the No. 1 air bearing is fixed on the top end surface of the support base (4);

the free end of a counterweight end rope (1-1) of each dumbbell-shaped reducing air floatation pulley mechanism (1) is fixedly connected with a No. 1 lower frame body (2-2) of a counterweight frame (2).

7. The dumbbell-shaped reducing air-flotation pulley longitudinal gravity compensation device according to claim 1, wherein the follow-up frame (3) comprises a No. 2 upper frame body (3-1), a No. 2 lower frame body (3-2) and a No. 2 air-flotation guide device (3-3);

the No. 2 air-floating guide device (3-3) comprises a No. 2 air-floating guide rod and a No. 2 air-floating bearing, the No. 2 air-floating bearing is sleeved on the No. 2 air-floating guide rod and is in air-floating connection with the No. 2 air-floating guide rod, and the No. 2 air-floating bearing can move up and down relative to the No. 2 air-floating guide rod;

the No. 2 air-floating guide device (3-3) penetrates through the top end face of the support base (4), two ends of the No. 2 air-floating guide rod are fixed between the No. 2 upper frame body (3-1) and the No. 2 lower frame body (3-2), and the top end face of the support base (4) is located between the No. 2 upper frame body (3-1) and the No. 2 lower frame body (3-2);

the outer wall of the No. 2 air bearing is fixed on the top end surface of the support base (4);

the free end of a following end rope (1-2) of each dumbbell-shaped reducing air floatation pulley mechanism (1) is fixedly connected with a No. 2 lower frame body (3-2) of a following frame (3).

8. The dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device according to claim 1, wherein the support base (4) comprises a top end surface, a bottom end surface and a support rod;

the supporting rod is fixed between the top end surface and the bottom end surface;

the top end surface of the supporting base (4) is of an annular structure;

the bottom end surface of the supporting base (4) is a flat plate structure with a circular transverse section, and a hollow through hole is arranged on the flat plate structure.

9. The dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device as claimed in claim 6, characterized in that the upper frame body No. 1 (2-1) and the lower frame body No. 1 (2-2) are circular ring structures, and the inner diameters of the upper frame body No. 1 (2-1) and the lower frame body No. 1 (2-2) are the same.

10. The dumbbell-shaped reducing air-flotation pulley longitudinal gravity compensation device according to claim 7, wherein the No. 2 upper frame body (3-1) is a flat plate type structure with a circular transverse section, and the flat plate type structure is provided with hollowed-out through holes;

no. 2 lower frame body (3-2) is a circular ring structure, and the diameter of No. 2 upper frame body (3-1) is the same with the external diameter of No. 2 lower frame body (3-2).

Technical Field

The invention relates to the field of zero-gravity simulation of the ground of an aircraft.

Background

The spacecraft ground test is an important means for improving the operation reliability of the spacecraft, the high-fidelity ground test can expose some problems of the on-orbit operation of the spacecraft as early as possible, such as problems in aspects of control, dynamic characteristics and the like, and the high-fidelity ground test requires high-precision attitude, orbit and mechanics simulation. For the simulation of the attitude, an air bearing can be generally adopted, and for the simulation of the horizontal two-dimensional track, an air bearing thrust bearing can be generally adopted to move on a marble platform for simulation.

At present, aerospace tasks are more and more complex, and the high-precision vertical zero gravity simulation requirements of the tasks such as space manipulator and spacecraft on-orbit service are more and more large. The vertical zero-gravity simulation technology is also a difficult technology in the aerospace field, and at present, some attempts are made at home and abroad, but no mature means exists.

One method for simulating zero gravity in the vertical direction is to offset the gravity of a target load by using a counterweight through an air floatation pulley and the counterweight, and realize high-precision gravity compensation by using the fact that the air floatation friction of the air floatation pulley is approximately zero. Generally, the adopted air-floating pulley is a cylindrical air-floating fixed pulley, the bearing capacity of the pulley is low, and the conventional fixed pulley method needs to adopt a counterweight with the same weight as the target load to perform gravity compensation, so that additional mass close to the target load is brought, the mass of the required counterweight is large, and the simulation of dynamics and kinematics is influenced.

Disclosure of Invention

The invention aims to solve the problems that the existing device for carrying out zero-gravity simulation in the vertical direction has low bearing capacity, a counterweight with the same weight as a target load is required to be used for gravity compensation, the mass of the required counterweight is large, and the simulation of dynamics and kinematics is influenced.

The dumbbell-shaped reducing air floatation pulley longitudinal gravity compensation device comprises N dumbbell-shaped reducing air floatation pulley mechanisms, a counterweight frame, a follow-up frame, a support base and air feet; n is an integer greater than or equal to 2;

a load is fixed on the follow-up frame;

the N dumbbell-shaped reducing air floatation pulley mechanisms are uniformly distributed on the top end surface of the support base along the circumferential direction;

the air foot is fixed on the bottom end surface of the support base;

the counterweight frame and the follow-up frame are coaxial, the counterweight frame is sleeved outside the follow-up frame, and a gap is formed between the counterweight frame and the follow-up frame;

the counterweight frame and the follow-up frame can move up and down relative to the top end surface of the supporting base;

the free end of the balance weight end rope of each dumbbell-shaped reducing air floatation pulley mechanism is fixedly connected with the lower part of the balance weight frame, and the free end of the following end rope of each dumbbell-shaped reducing air floatation pulley mechanism is fixedly connected with the lower part of the following frame;

the dumbbell-shaped reducing air floatation pulley mechanisms rotate in an air floatation lubricating mode, and the counterweight frame connected with the counterweight end rope and the follow-up frame connected with the follow-up end rope move up and down through reducing winches of the counterweight end rope and the follow-up end rope on each dumbbell-shaped reducing air floatation pulley mechanism, so that gravity compensation is performed on the follow-up frame and a load through the counterweight frame; wherein, the movement directions of the counterweight frame and the follow-up frame are opposite.

Preferably, each dumbbell-shaped reducing air floatation pulley mechanism comprises a counterweight end rope, a follow-up end rope, a dumbbell-shaped reducing air floatation pulley and two air floatation ball sockets;

the dumbbell-shaped reducing air-floating pulley comprises two air-floating balls and a reducing connecting shaft, the reducing connecting shaft is divided into two parts in the length direction, the two parts are respectively a large-diameter shaft and a small-diameter shaft,

two ends of the reducing connecting shaft are respectively fixed with an air floating ball;

the fixed end of the counterweight end rope is fixed on a large-diameter shaft of the dumbbell-shaped reducing air floatation pulley and is wound on the large-diameter shaft;

the fixed end of the follow-up end rope is fixed on a small-diameter shaft of the dumbbell-shaped reducing air floatation pulley and is wound on the small-diameter shaft;

the winding direction of the counterweight end rope is opposite to that of the follow-up end rope;

and the two air-floating ball sockets are fixed on the top end surface of the support base and are respectively in air-floating connection with the two air-floating balls of the dumbbell-shaped reducing air-floating pulley.

Preferably, the air ball socket is made of a porous material.

Preferably, the pulling force applied to the counterweight end rope is equal to the gravity applied to the counterweight frame, and the pulling force applied to the follow-up end rope is equal to the gravity applied to the follow-up frame and the load.

Preferably, the diameter of a large-diameter shaft of the dumbbell-shaped reducing air floatation pulley is R, and the diameter of a small-diameter shaft of the dumbbell-shaped reducing air floatation pulley is R;

when the relation between the mass M of the counterweight frame and the mass sum M of the follow-up frame and the load is M-mr/R, the gravity of the load is completely compensated.

Preferably, the counterweight frame comprises a No. 1 upper frame body, a No. 1 lower frame body and a No. 1 air floatation guide device;

the No. 1 air-floating guide device comprises a No. 1 air-floating guide rod and a No. 1 air-floating bearing, wherein the No. 1 air-floating bearing is sleeved on the No. 1 air-floating guide rod and is in air-floating connection with the No. 1 air-floating guide rod, and the No. 1 air-floating bearing can move up and down relative to the No. 1 air-floating guide rod;

the No. 1 air floatation guide device penetrates through the top end face of the support base, two ends of the No. 1 air floatation guide rod are fixed between the No. 1 upper frame body and the No. 1 lower frame body, and the top end face of the support base is located between the No. 1 upper frame body and the No. 1 lower frame body;

the outer wall of the No. 1 air bearing is fixed on the top end face of the support base;

the free end of the counterweight end rope of each dumbbell-shaped reducing air floatation pulley mechanism is fixedly connected with the No. 1 lower frame body of the counterweight frame.

Preferably, the follow-up frame comprises a No. 2 upper frame body, a No. 2 lower frame body and a No. 2 air-floating guide device;

the No. 2 air-floating guide device comprises a No. 2 air-floating guide rod and a No. 2 air-floating bearing, the No. 2 air-floating bearing is sleeved on the No. 2 air-floating guide rod and is in air-floating connection with the No. 2 air-floating guide rod, and the No. 2 air-floating bearing can move up and down relative to the No. 2 air-floating guide rod;

the No. 2 air floatation guide device penetrates through the top end face of the support base, two ends of the No. 2 air floatation guide rod are fixed between the No. 2 upper frame body and the No. 2 lower frame body, and the top end face of the support base is located between the No. 2 upper frame body and the No. 2 lower frame body;

the outer wall of the No. 2 air bearing is fixed on the top end face of the support base;

the free end of the following end rope of each dumbbell-shaped reducing air floatation pulley mechanism is fixedly connected with the No. 2 lower frame body of the following frame.

Preferably, the support base comprises a top end face, a bottom end face and a support rod;

the supporting rod is fixed between the top end surface and the bottom end surface;

the top end surface of the supporting base is of an annular structure;

the bottom end face of the supporting base is a flat plate structure with a circular transverse section, and a hollow through hole is formed in the flat plate structure.

Preferably, the No. 1 upper frame and the No. 1 lower frame have circular ring structures, and the No. 1 upper frame and the No. 1 lower frame have the same inner diameter.

Preferably, the No. 2 upper frame body is a flat plate type structure with a circular transverse section, and the flat plate type structure is provided with a hollow through hole;

no. 2 lower frame is the ring structure, and the diameter of No. 2 upper frame is the same with the external diameter of No. 2 lower frame.

The dumbbell-shaped reducing air floatation pulley longitudinal gravity compensation device has the beneficial effects that two air floatation balls are connected to form the dumbbell-shaped reducing air floatation pulley, namely a dumbbell-shaped reducing air floatation pulley mechanism is formed, so that the carrying capacity is higher; the longitudinal gravity compensation device adopts a gas lubrication mode, and realizes vertical zero gravity simulation of a target load by using a counterweight with relatively less mass through different hoisting radiuses of the follow-up end rope and the counterweight end rope.

The dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device can realize complete unloading of load gravity, and the dumbbell-shaped reducing air-floating pulley mechanism can realize the gravity unloading of target load by using smaller counter weight, thereby providing zero-gravity condition for spacecraft ground test, realizing zero-gravity low-friction motion in a certain range in the vertical direction and having small displacement motion interference.

The dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device has the characteristics of simple and reliable structure, high precision and relatively less additional mass. The technology is suitable for the gravity simulation of the spacecraft in the vertical direction in the ground zero-gravity simulation process, and meets the requirements of high precision of the gravity simulation of the vertical direction and small interference of displacement motion.

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 dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device according to the invention;

fig. 2 is a schematic structural diagram of the dumbbell-shaped reducing air-floating pulley mechanism 1;

fig. 3 is a relative position relationship diagram of the dumbbell-shaped variable diameter air-bearing pulley mechanism 1 and the top end surface of the support base 4.

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.

Referring to fig. 1, the dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device according to the present embodiment includes N dumbbell-shaped reducing air-floating pulley mechanisms 1, a counterweight frame 2, a follow-up frame 3, a support base 4, and an air foot 5; n is an integer;

a load 6 is fixed on the follow-up frame 3;

the N dumbbell-shaped reducing air floatation pulley mechanisms 1 are uniformly distributed on the top end surface of the support base 4 along the circumferential direction;

the air foot 5 is fixed on the bottom end surface of the support base 4;

the counterweight frame 2 and the follow-up frame 3 are coaxial, the counterweight frame 2 is sleeved outside the follow-up frame 3, and a gap is formed between the counterweight frame 2 and the follow-up frame 3;

the counterweight frame 2 and the follow-up frame 3 can move up and down relative to the top end surface of the supporting base 4;

the free end of a counterweight end rope 1-1 of each dumbbell-shaped reducing air floatation pulley mechanism 1 is fixedly connected with the lower part of a counterweight frame 2, and the free end of a following end rope 1-2 of each dumbbell-shaped reducing air floatation pulley mechanism 1 is fixedly connected with the lower part of a following frame 3;

the dumbbell-shaped reducing air floatation pulley mechanisms 1 realize rotation in an air floatation lubricating mode, and the counterweight end rope 1-1 and the follow-up end rope 1-2 on each dumbbell-shaped reducing air floatation pulley mechanism 1 are subjected to reducing winch to enable the counterweight frame 2 connected with the counterweight end rope 1-1 and the follow-up frame 3 connected with the follow-up end rope 1-2 to move up and down, so that gravity compensation is performed on the follow-up frame 3 and the load 6 through the counterweight frame 2; wherein, the movement directions of the counterweight frame 2 and the follow-up frame 3 are opposite.

In the preferred embodiment, the follow-up frame 3 and the counterweight frame 2 move up and down due to the external force on the load 6 on the follow-up frame 3, the dumbbell-shaped reducing air floatation pulley mechanism 1 performs reducing hoisting on the counterweight end rope 1-1 and the counterweight end rope 1-2, the counterweight frame 2 and the follow-up frame 3 have opposite moving directions, and the weight of the target load can be compensated equivalently by using a counterweight with less mass in a manner similar to a lever principle, so that the bearing capacity is strong; the tension borne by the counterweight end rope 1-1 is equal to the gravity borne by the counterweight frame 2, and the tension borne by the follow-up end rope 1-2 is equal to the gravity borne by the follow-up frame 3 and the load 6.

The dumbbell-shaped reducing air floatation pulley mechanism 1 performs reducing winding on the counterweight end rope 1-1 and the follow-up end rope 1-2 in an air floatation driving mode, zero-gravity low-friction motion in a certain range can be realized in the vertical direction, and the displacement motion interference is small.

In specific application, the optimal value of N is 3.

When different loads 6 are replaced, corresponding gravity compensation can be realized again only by adjusting the counterweight weight of the counterweight frame 2, so that the whole gravity compensation device has a certain range of adaptability, and the adaptability of the gravity compensation device depends on the dumbbell-shaped air floatation pulley mechanism 1.

Further, referring to fig. 2 and 3, each dumbbell-shaped reducing air-floating pulley mechanism 1 comprises a counterweight end rope 1-1, a follow-up end rope 1-2, a dumbbell-shaped reducing air-floating pulley 1-3 and two air-floating ball sockets 1-4;

the dumbbell-shaped reducing air-floating pulley 1-3 comprises two air floating balls 1-3-1 and a reducing connecting shaft 1-3-2, the reducing connecting shaft 1-3-2 is divided into two parts in the length direction, which are respectively a large-diameter shaft and a small-diameter shaft,

two ends of the reducing connecting shaft 1-3-2 are respectively fixed with an air floating ball 1-3-1;

the fixed end of the counterweight end rope 1-1 is fixed on a large-diameter shaft of the dumbbell-shaped reducing air floatation pulley 1-3 and is wound on the large-diameter shaft;

the fixed end of the follow-up end rope 1-2 is fixed on a small-diameter shaft of the dumbbell-shaped reducing air floatation pulley 1-3 and is wound on the small-diameter shaft;

the winding direction of the counterweight end rope 1-1 is opposite to that of the following end rope 1-2;

two air-floating ball sockets 1-4 are fixed on the top end surface of the supporting base 4, and the two air-floating ball sockets 1-4 are respectively connected with two air-floating balls 1-3-1 of the dumbbell-shaped reducing air-floating pulleys 1-3 in an air-floating mode.

In the preferred embodiment, a specific structure of the dumbbell-shaped reducing air-floating pulley mechanism 1 and the dumbbell-shaped reducing air-floating pulleys 1 to 3 is provided, the structure is simple, the realization is convenient, the dumbbell-shaped reducing air-floating pulleys 1 to 3 do not rotate on the air-floating ball sockets 1 to 4 in a friction-free manner, the dumbbell-shaped reducing air-floating pulleys 1 to 3 are provided with two types of forward and backward coaxial rollers with different diameters, and the gravity of the target load can be compensated equivalently by using a balance weight with less mass in a manner similar to the lever principle.

Two air-floating ball sockets 1-4 are arranged on the top end surface of a supporting base 4, a dumbbell-shaped reducing air-floating pulley 1-3 is arranged on the air-floating ball sockets 1-4, high-pressure gas is introduced into the air-floating ball sockets 1-4, a layer of high-rigidity air film is arranged between the air-floating ball 1-3-1 and the air-floating ball sockets 1-4, and a reducing connecting shaft 1-3-2 is connected with the two air-floating balls 1-3-1, so that the rotation freedom degree of the dumbbell-shaped reducing air-floating pulley 1-3 is limited, and the dumbbell-shaped reducing air-floating pulley can only rotate along a connecting line of the centers of the two air-floating balls 1-3-1. The reducing connecting shaft 1-3-2 has an adjusting function, and the distance between the centers of the two air floating balls 1-3-1 can be adjusted to ensure that the center of each air floating ball 1-3-1 is superposed with the spherical center of the corresponding air floating ball socket 2.

When the device is specifically applied, the fixed end of the counterweight end rope 1-1 is fixed on a large-diameter shaft of the dumbbell-shaped reducing air-floating pulley 1-3 and hoisted along with the reducing connecting shaft 1-3-2, the free end of the counterweight end rope 1-1 is fixedly connected with the lower part of the counterweight frame 2, the fixed end of the follow-up end rope 1-2 is fixed on a small-diameter shaft of the dumbbell-shaped reducing air-floating pulley 1-3 and hoisted along with the reducing connecting shaft 1-3-2; the free end of a following end rope 1-2 of the dumbbell-shaped reducing air floatation pulley mechanism 1 is fixedly connected with the lower part of a following frame 3;

the load 6 is arranged on the upper portion of the follow-up frame 3, the counterweight frame 2 and the follow-up frame 3 are respectively positioned on two sides of the dumbbell-shaped reducing air floatation pulleys 1-3, namely the counterweight frame 2 is arranged on the outer ring, the follow-up frame 3 is arranged on the inner ring, when the counterweight frame 2 is matched with the follow-up frame 3 and the mass of the parts above, the dumbbell-shaped reducing air floatation pulleys 1-3 are in a moment balance state, the moment received by the dumbbell-shaped reducing air floatation pulleys 1-3 is 0, when the load 6 is subjected to an external force, the balance state is destroyed, and then the up-and-down motion occurs, namely: when the follow-up end rope 1-2 is driven by the follow-up frame 3 to rise, the reducing connecting shaft 1-3-2 is hoisted to rotate, and the balance weight end rope 1-1 and the balance weight frame 2 descend along with the reducing connecting shaft.

Further, referring to fig. 2, the air ball sockets 1-4 are made of porous material.

In the preferred embodiment, the air ball sockets 1-4 are made of porous materials, so that the processing of air inlet holes of the air ball sockets 1-4 is simplified, high-pressure gas is introduced into the air ball sockets 1-4 to form high-rigidity air films when the air ball sockets are used, and the air ball floats 1-3-1 can rotate in the corresponding air ball sockets 1-4 approximately without friction.

Further, referring to fig. 1, the tension of the counterweight end rope 1-1 is equal to the gravity of the counterweight frame 2, and the tension of the follower end rope 1-2 is equal to the gravity of the follower frame 3 and the load 6.

Further, referring to fig. 2, the dumbbell-shaped diameter-variable air-floating pulleys 1 to 3 have a large-diameter shaft with a diameter R and a small-diameter shaft with a diameter R;

when the relationship between the mass M of the counterweight frame 2 and the sum M of the masses of the follow-up frame 3 and the load 6 is M ═ mr/R, the gravity of the load 6 is completely compensated, i.e., the mass matching of the counterweight frame 2 with the follow-up frame 3 and the load 6 is realized.

In the preferred embodiment, since R < R, the mass M of the weight frame 2 is smaller than the sum M of the masses of the follow-up frame 3 and the load 6, and thus, the weight of the target load can be compensated equivalently by using a weight with less mass.

Further, referring specifically to fig. 1, the counterweight frame 2 includes a No. 1 upper frame body 2-1, a No. 1 lower frame body 2-2, and a No. 1 air-floating guide device 2-3;

the No. 1 air floatation guide device 2-3 comprises a No. 1 air floatation guide rod and a No. 1 air floatation bearing, the No. 1 air floatation bearing is sleeved on the No. 1 air floatation guide rod and is in air floatation connection with the No. 1 air floatation guide rod, and the No. 1 air floatation bearing can move up and down relative to the No. 1 air floatation guide rod;

the No. 1 air floatation guide device 2-3 penetrates through the top end face of the support base 4, two ends of the No. 1 air floatation guide rod are fixed between the No. 1 upper frame body 2-1 and the No. 1 lower frame body 2-2, and the top end face of the support base 4 is positioned between the No. 1 upper frame body 2-1 and the No. 1 lower frame body 2-2;

the outer wall of the No. 1 air bearing is fixed on the top end surface of the support base 4;

the free end of a counterweight end rope 1-1 of each dumbbell-shaped reducing air floatation pulley mechanism 1 is fixedly connected with a No. 1 lower frame body 2-2 of a counterweight frame 2.

In the preferred embodiment, a specific structure of the counterweight frame 2 is provided, and the No. 1 air-floating guide rod and the No. 1 air-floating bearing form No. 1 air-floating guide devices 2-3, which can provide a certain radial support to guide the counterweight frame 2 and the follow-up frame 3, and because the No. 1 air-floating bearing is communicated with high-pressure gas and a layer of high-rigidity air film is arranged between the No. 1 air-floating guide rod and the No. 1 air-floating guide rod to form gas lubrication, the No. 1 air-floating guide devices 2-3 can realize the guide similar to frictionless and reduce the interference to the gravity compensation device, that is, the interference to the gravity compensation device is reduced by the movement of the counterweight frame 2.

Further, referring specifically to fig. 1, the follow-up frame 3 includes a No. 2 upper frame body 3-1, a No. 2 lower frame body 3-2, and a No. 2 air-floating guide device 3-3;

the No. 2 air-floating guide device 3-3 comprises a No. 2 air-floating guide rod and a No. 2 air-floating bearing, the No. 2 air-floating bearing is sleeved on the No. 2 air-floating guide rod and is in air-floating connection with the No. 2 air-floating guide rod, and the No. 2 air-floating bearing can move up and down relative to the No. 2 air-floating guide rod;

the No. 2 air-floating guide device 3-3 penetrates through the top end face of the support base 4, two ends of the No. 2 air-floating guide rod are fixed between the No. 2 upper frame body 3-1 and the No. 2 lower frame body 3-2, and the top end face of the support base 4 is positioned between the No. 2 upper frame body 3-1 and the No. 2 lower frame body 3-2;

the outer wall of the No. 2 air bearing is fixed on the top end surface of the support base 4;

the free end of a following end rope 1-2 of each dumbbell-shaped reducing air floatation pulley mechanism 1 is fixedly connected with a No. 2 lower frame body 3-2 of a following frame 3.

In the preferred embodiment, a specific structure of the follow-up frame 3 is provided, and the No. 2 air-floating guide rod and the No. 2 air-floating bearing form No. 2 air-floating guide devices 3-3, which can provide a certain radial support to guide the counterweight frame 2 and the follow-up frame 3, and because the No. 2 air-floating bearing is communicated with high-pressure gas and a layer of high-rigidity air film is arranged between the No. 2 air-floating guide rod and the No. 2 air-floating guide rod to form gas lubrication, the No. 2 air-floating guide devices 3-3 can realize guide similar to frictionless and reduce interference to the gravity compensation device, that is, the interference to the gravity compensation device is reduced by the movement of the follow-up frame 3.

Further, with particular reference to fig. 1, the support base 4 comprises a top end surface, a bottom end surface and a support bar;

the supporting rod is fixed between the top end surface and the bottom end surface;

the top end surface of the supporting base 4 is of an annular structure;

the bottom end face of the supporting base 4 is a flat plate structure with a circular transverse section, and the flat plate structure is provided with a hollow through hole.

In the preferred embodiment, the specific structure of the support base 4 is provided, and the specific structure of the top end surface and the bottom end surface of the support base simplifies the weight of the whole dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device, so that the whole dumbbell-shaped reducing air-floating pulley longitudinal gravity compensation device is simple in structure and compact in structure.

Further, referring specifically to fig. 1, the upper frame body No. 1 2-1 and the lower frame body No. 1 2-2 are circular ring structures, and the inner diameters of the upper frame body No. 1 2-1 and the lower frame body No. 1 2-2 are the same.

Further, referring to fig. 1, the upper frame 3-1 of No. 2 is a flat plate structure with a circular transverse cross section, and the flat plate structure is provided with a hollow through hole;

no. 2 lower frame body 3-2 is the ring shape structure, and the diameter of No. 2 upper frame body 3-1 is the same with the external diameter of No. 2 lower frame body 3-2.

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.