CN102935901A - Two-dimensional active-following weight-reduction hanging device - Google Patents
Two-dimensional active-following weight-reduction hanging device Download PDFInfo
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- CN102935901A CN102935901A CN2012104069952A CN201210406995A CN102935901A CN 102935901 A CN102935901 A CN 102935901A CN 2012104069952 A CN2012104069952 A CN 2012104069952A CN 201210406995 A CN201210406995 A CN 201210406995A CN 102935901 A CN102935901 A CN 102935901A
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Abstract
The invention discloses a two-dimensional active-following weight-reduction hanging device. The device comprises a two-dimensional active following system and a constant-tension control system, wherein the constant-tension control system comprises a mounting support, a tension induction assembly and a rope winding assembly; the tension induction assembly comprises two tension sensors which are used for measuring the tension of a suspension rope coming out of the rope winding assembly and arranged on a tension sensor support; guiding wheels are arranged on a guiding wheel support; the guiding wheel support is arranged on the sensor support; and the two-dimensional active following system comprises a guiding rail sliding block, a linear module, a guide rail cross beam, a rotary shaft, a rotary beam, a first control motor, a second control motor, a transverse angle induction assembly and a longitudinal angle induction assembly. The two-dimensional active-following weight-reduction hanging device can implement the high-accuracy movement following of a followed member and the ground in horizontal and vertical directions, and provide continuous and constant suspending force in the vertical direction.
Description
Technical field
The present invention relates to loss of weight and hang technical field, especially a kind of two dimension is initiatively followed the loss of weight erecting by overhang.
Background technology
As carry out the exercise performance testing experiment of mechanism in the ground simulation lunar environment, because the gravity on ground is 6 times of moonscape, analog machine must provide the simulation of lunar surface 1/6g gravity environment.
We are stretched to example with the mechanical arm of the lunar rover vehicle, mechanical arm can be at rotation with in surface parallel to the ground around support, can move in plane perpendicular to the ground around shoulder pitching joint in the extending arm of mechanical arm and wrist pitching joint, mechanical arm relative position between extending arm and the wrist pitching joint in rotation process is constant, can regard a rigid body as.The barycenter of erecting by overhang by mechanical arm hangs, and in the process that mechanical arm stretches, we will provide a constant hanging force at vertical direction, and barycenter moved in plane parallel to the ground do not produce additional power, initiatively follows its motion.
Two dimension is initiatively followed loss of weight hangar system device and is followed part by suspension strop with quilt to be connected, the main constant force loss of weight of realizing the vertical ground direction hang and plane parallel to the ground in active movement follow, guarantee that suspension strop is in the motion process to strain and vertical state.
Prior art adopts line slideway, rotating shaft and assembly pulley to realize usually, suspension strop is followed part with the loss of weight counterweight with quilt respectively by assembly pulley and is connected, the constant hanging force of vertical direction is provided, again assembly pulley is installed on the guide rail slide block, follow by the motion realization horizontal motion of slide block on line slideway, line slideway one end can rotate around the shaft, realizes passive the following of two dimension in the plane.Yet in this device, there is the friction force that has change between friction drag, assembly pulley and the suspension strop in assembly pulley self inside, and friction force acts on the suspension strop, thereby has changed the size of the application force on the suspension strop; On the other hand, the friction force between guide rail slide block and the linear module directly affects the precision that horizontal direction is initiatively followed.Because air bearing have the characteristics such as friction drag is little, kinematic accuracy is high, cleanliness without any pollution, thereby adopt air shaft to make assembly pulley, replace common pulley to reduce friction, adopt air-bearing to match with linear slider and realize horizontal direction without passive the following of friction, floating cushion cooperates air-bearing to realize that rotating shaft has further improved the loss of weight erecting by overhang without frictional rotation.。Be that 201010165657.5 " three-dimensional air-floation follow-up device " just announced the loss of weight erecting by overhang that this employing air-bearing, loss of weight counterweight, line slideway, rotating shaft form such as number of patent application.Although this device has been eliminated between slide block and the guide rail, the impact of the friction drag of between rotating shaft and the column and pulley inherence, but the impact of the friction force between suspension strop and air-bearing is not eliminated, and being of high quality of loss of weight counterweight, when being followed part when the vertical direction acceleration or deceleration moves, the loss of weight counterweight can produce a great subsidiary load because of inertia, acts on the suspension strop.So this device be difficult to guarantee that constant, a high-precision loss of weight hangs, and be only applicable at a slow speed or loss of weight simulation that uniform movement is followed.
Summary of the invention
In order to overcome friction force, the loss of weight counterweight inertia force influence between existing apparatus suspension strop and the pulley, avoid the loss of weight hanging force unstable, the air-floating apparatus cost is high, gas source feed is complicated and be difficult to the shortcomings such as maintenance, the invention provides a kind of loss of weight erecting by overhang of realizing that permanent tension force control and two dimension are initiatively followed, realization is followed the high-precision motion of part and ground level and vertical direction and is followed, and the hanging force that continues constant vertical direction is provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of two dimension is initiatively followed the loss of weight erecting by overhang, comprises two dimension initiatively system for tracking and constant tension control system, wherein,
Described constant tension control system comprises mounting bracket, tension force inductive component and serving assembly, described tension force inductive component comprises measuring two tension pick-ups of the tension force of serving assembly suspension strop out, described tension pick-up is installed in the above track adjusting wheel of tension pick-up support and is installed on the guide wheel bracket, and described guide wheel bracket is installed on the sensor stand;
Described serving assembly comprises serving assembly seat, leading screw, rope-winding shaft, reel, big gear wheel, track adjusting wheel and miniature gears, described reel is fixedly mounted on the rope-winding shaft, described rope-winding shaft is connected with big gear wheel by keyway, described big gear wheel and pinion, described miniature gears is connected by keyway with leading screw, described rope-winding shaft and leading screw two ends are installed on the serving assembly seat by antifriction-bearing box, fixedly on the serving assembly seat, described serving assembly seat is fixedly mounted on the mounting bracket described track adjusting wheel by adapter plate;
Described two dimension initiatively system for tracking comprises guide rail slide block, linear module, guide rail beam, rotating shaft, rotating beam, the first control motor, the second control motor, lateral angles inductive component and regulation of longitudinal angle inductive component, mounting bracket bottom in described guide rail slide block and the constant tension control system is connected, described the first control motor is installed in an end of linear module, described guide rail slide block is slidably mounted on the described linear module, described linear module is fixed on the guide rail beam, described guide rail beam is terminal to be fixed with rotating shaft, described rotating shaft is contained in by bearing carrier ring rotates up and down on the beam seat, the output shaft interlock of described rotating shaft and described the second control motor, described lateral angles inductive component and regulation of longitudinal angle inductive component are installed on the described mounting bracket, are 90 degree between described lateral angles inductive component and the regulation of longitudinal angle inductive component on the space.
Further, described two tension pick-ups spatially are 90 ° of layouts, and suspension strop out is wrapped on described two tension pick-ups through track adjusting wheel by the serving assembly again.
Described angle inductive component comprises code-disc and the read head of Non-contact angle coder, roller, folder rope swing seat, reed, counterweight and band bearing balance staff, described read head is installed on the reading headstock, described code-disc is fixed on the end of balance staff, described balance staff is connected with fork, can in the bearing seat of measurement of angle seat, rotate, described fork can swing in the balance staff vertical section, described folder rope bearing is installed in the fork top, described roller is fixed on the fork by reed, described counterweight is fixed on the below of fork, described roller compression suspension strop, suspension strop pass through the regulation of longitudinal angle inductive component again by the lateral angles inductive component first.
Further again, described suspension strop cw is wrapped on the reel, draws cw again and is wrapped on the leading screw, is drawn out in described two tension pick-ups by track adjusting wheel at last.
Further, the equal diameters of described leading screw pitch and described suspension strop.
Described permanent tension force loss of weight erecting by overhang also comprises drive motor and torsion Buffer Unit, and the output shaft of described drive motor is connected with described torsion Buffer Unit, on described torsion Buffer Unit and the rope-winding shaft.
Described drive motor is AC servo motor.Certainly, also can select the control motor of other types.
Beneficial effect of the present invention is mainly manifested in: realization is followed the high-precision motion of part and ground level and vertical direction and is followed, and the hanging force that continues constant vertical direction is provided.
Description of drawings
Fig. 1 is the schematic diagram that two dimension is initiatively followed the loss of weight erecting by overhang.
Fig. 2 is the schematic diagram of constant tension control system.
Fig. 3 is the lateral plan of Fig. 2.
Fig. 4 is the birds-eye view of Fig. 2.
Fig. 5 is the schematic diagram of tension force inductive component.
Fig. 6 is the lateral plan of Fig. 5.
Fig. 7 is the block diagram of tension force inductive component.
Fig. 8 is the stressed schematic diagram of tension force inductive component.
Fig. 9 is the schematic diagram of serving assembly.
Figure 10 is the lateral plan of Fig. 9.
Figure 11 is the schematic diagram of angle inductive component.
Figure 12 is the lateral plan of Figure 11.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
With reference to Fig. 1～Figure 12, a kind of two dimension is initiatively followed the loss of weight erecting by overhang, comprises two dimension initiatively system for tracking 24 and constant tension control system 23, wherein,
Described constant tension control system 23 comprises mounting bracket 2, tension force inductive component 5 and serving assembly 1, described tension force inductive component 5 comprises measuring two tension pick-ups 7 of the tension force of serving assembly suspension strop out, described tension pick-up 7 is installed on the tension pick-up support 6, described two tension pick-ups 7 spatially are 90 ° of layouts, track adjusting wheel 8 is installed on the guide wheel bracket 9, described guide wheel bracket 9 is installed on the sensor stand 6, and suspension strop out is wrapped on described two tension pick-ups 7 through track adjusting wheel 8 by the serving assembly again;
Described serving assembly 1 comprises serving assembly seat 12, leading screw 16, rope-winding shaft 15, reel 14, big gear wheel 13, track adjusting wheel 11 and miniature gears 10, described reel 14 is fixedly mounted on the rope-winding shaft 15, described rope-winding shaft 15 is connected with big gear wheel 13 by keyway, described big gear wheel 13 and miniature gears 10 engagements, described miniature gears 10 and leading screw 16 are connected by keyway, described rope-winding shaft 15 is installed on the serving assembly seat 12 by antifriction-bearing box with leading screw 16 two ends, fixedly on the serving assembly seat 12, described serving assembly seat 12 is fixedly mounted on the mounting bracket 2 described track adjusting wheel 11 by adapter plate;
Described two dimension initiatively system for tracking 24 comprises guide rail slide block 22, linear module 21, guide rail beam, rotating shaft 19, rotating beam 20, the first control motor, the second control motor 17, lateral angles inductive component 25 and regulation of longitudinal angle inductive component 26, described guide rail slide block 22 is captiveed joint with the mounting bracket 2 in the constant tension control system, described the first control motor is installed in an end of linear module 21, described guide rail slide block 22 is slidably mounted on the described linear module 21, described linear module 21 is fixed on the guide rail beam, described guide rail beam is terminal fixing with rotating shaft 19, described rotating shaft 19 is contained on the rotating beam 20 by bearing carrier ring, described rotating shaft 19 links with the output shaft of described the second control motor 17, described lateral angles inductive component 25 and regulation of longitudinal angle inductive component 26 are installed on the described mounting bracket 2, are 90 degree between described lateral angles inductive component and the regulation of longitudinal angle inductive component on the space.
Further, described lateral angles inductive component and regulation of longitudinal angle inductive component include code-disc and the read head of Non-contact angle coder, roller, folder rope swing seat, reed, counterweight and band bearing balance staff, read head is installed on the reading headstock 26, described code-disc 27 is fixed on the end of balance staff 33, described balance staff 33 is connected with fork 28, can in the bearing seat of measurement of angle seat 25, rotate, described fork 28 can swing in the balance staff vertical section, described folder rope bearing 31 is installed in fork 28 tops, described roller 29 is fixed on the fork 28 by reed 32, described counterweight 34 is fixed on the below of fork 28, described roller 29 compresses suspension strop 30, and suspension strop 30 passes through regulation of longitudinal angle inductive component 26 again by lateral angles inductive component 25 first.
Further, described suspension strop cw is wrapped on the reel 14, draws cw again and is wrapped on the leading screw, is drawn out in described two tension pick-ups 7 by track adjusting wheel 11 at last.
Further, the equal diameters of described leading screw 16 pitch and described suspension strop.
Described permanent tension force loss of weight erecting by overhang also comprises drive motor 4 and torsion Buffer Unit 3, and the output shaft of described drive motor 4 is connected with described torsion Buffer Unit 3, on described torsion Buffer Unit 3 and the rope-winding shaft 15.Described drive motor 4 is AC servo motor.Certainly, also can select the control motor of other types.
Described rotating shaft 19 is connected with coupler, and described coupler is connected with retarder 18, and described retarder 18 is connected with the output shaft of the second control motor 17.
In the present embodiment, constant hanging force of constant tension control system output, two dimension active system for tracking is initiatively followed the plane motion of sling point.
In the present embodiment, the tension pick-up in the tension force inductive component can directly be measured the tension force of serving assembly suspension strop out.Computer acquisition tension pick-up signal in the motion controller according to the tension force of setting, is obtained the deviation of tension force.Corner according to tension force deviation adjusting motor.Through torsion Buffer Unit and the bull wheel that low rigidity torsion spring is main composition, can adjust the degree of tightness of suspension strop, to adjust Tensity size, so that approach the tension value of setting.
Survey the tension force on the suspension strop, way commonly used is at pulling force sensor of suspension strop series connection, but do in a big way folding and unfolding with suspension centre at vertical direction by suspension strop, pulling force sensor must be installed in the position near sling point, moved under high and low temperature environment and follow part, as design, sensor can not be worked, go back simultaneously the disturbing influence of live wire, so we adopt tension pick-up by sensor, and in constant tension control system is installed in controlled-temperature cabinet, guarantee the normal operation of sensor.
There is friction force between tension pick-up and the suspension strop, and is not a constant power.Two tension pick-ups composite set spatially can obtain on the suspension strop accurately pulling force by computation and measurement.Setting suspension strop accesses from the A mouth by track adjusting wheel, acting on the hanging force of being followed on the part is F, the power that first tension pick-up is measured is F1, the power of second tension pick-up measurement is F2, principle of measurement according to tension pick-up, F1, F2 are actually the pulling force at rope two ends on the breast wheel, observed reading F
2With respect to F
1, the friction force of three pulleys in the middle of having surveyed more, thereby the friction force that obtains on the single pulley is
So,, the hanging force of suspension strop end in fact
, the data structure of sensor measurement is fed back to the control system of motion controller, draw the tension value of eliminating after the friction according to above-mentioned formula.
The suspension strop cw is wrapped on the reel, draws cw again and is wrapped on the leading screw, is drawn out in the tension force inductive component by track adjusting wheel at last.Screw mandrel pitch is close with the suspension strop diameter, then so that bull wheel band movable reel when rotating, screw mandrel rotates synchronously, whenever mobile pitch turns around, thereby guarantee that suspension strop can be along it axially by the translation of pitch rule, tile by the pitch rule at reel, and so that the diameter of serving is constant, avoided simultaneously the friction between adjacent rope.
Angle inductive component in AC servo, serving assembly, tension force inductive component, the two dimension active following control system is installed on the mounting bracket, AC servo motor is connected by torsion torque sensor with the serving assembly, the accurate value of thrust that tension pick-up records suspension strop feeds back to AC servo, according to tension force deviation adjusting motor corner, by hanging down torsion Buffer Unit and the bull wheel that the rigidity torsion spring is main composition, adjust the degree of tightness of suspension strop, to adjust Tensity size.Realize permanent tension force control.
In the present embodiment, described two dimension initiatively system for tracking comprises guide rail slide block, linear module, guide rail beam, rotating shaft, rotating beam, the first control motor, the second control motor, lateral angles inductive component and regulation of longitudinal angle inductive component.Two dimension initiatively system for tracking is moved at its linear module by the control of first on guide rail electric machine control guide rail slide block, rotates by the second control electric machine control guide rail rotating shaft.Constant tension control system is connected with two dimension active system for tracking by guide rail slide block, two groups of angle inductive components in the two dimension active following control system are by measuring the deviation angle of suspension strop, give initiatively system for tracking of two dimension with signal feedback, servomotor control guide rail slide block moves with rotating shaft and rotates, and initiatively follows the plane motion of sling point.
The angle inductive component is comprised of the code-disc of Non-contact angle coder and read head, roller, folder rope swing seat, reed, counterweight, band bearing balance staff etc.Described read head is installed on the reading headstock, described code-disc is fixed on the end of balance staff, described balance staff is connected with fork, can in the bearing seat of measurement of angle seat, rotate, described fork can swing in the balance staff vertical section, described folder rope bearing is installed in the fork bottom, and described roller is fixed on the fork by reed, and described counterweight is fixed on the upper end of fork.
Band reed roller compresses suspension strop slightly, and fork can bidirectional swinging.A direction swings in the square section of balance staff, and this swings the code-disc of rotational angle coder, so that read head can record rotational angle.Another direction swings in the vertical section of balance staff, for freely swinging, does not measure.The side-play amount of the angle that the computing machine of motion control device records according to angular encoder.
In design, we adopt counterweight is in order to eliminate in swing process, and roller, reed produce increment load because of himself weight to hanging rope, and impact is measured.
Single angle inductive component can only be measured the angle in the balance staff square section, and two dimension initiatively following control system need realize that the active of motion in the two dimensional surface follows, therefore we adopt two angle inductive components to cooperatively interact, can measure the bidimensional pendulum angle of suspension strop, namely adopting the lateral angles inductive component to be used for one dimension initiatively follows, the regulation of longitudinal angle inductive component is used for rotation and initiatively follows, laterally the regulation of longitudinal angle inductive component is installed on the mounting bracket in the constant tension control system by the measurement of angle seat, be 90 degree on the space, suspension strop passes through the regulation of longitudinal angle inductive component again by the lateral angles inductive component first.But single angle inductive component only carries out one-dimensional measurement can two dimension swing, because balance staff and the accessory sizes such as roller, reed are very little, avoided suspension strop damage to the angle inductive component when two dimensional surface moves.
Claims (8)
1. a two dimension is initiatively followed the loss of weight erecting by overhang, it is characterized in that: comprise two dimension initiatively system for tracking and constant tension control system, wherein,
Described constant tension control system comprises mounting bracket, tension force inductive component and serving assembly, described tension force inductive component comprises measuring two tension pick-ups of the tension force of serving assembly suspension strop out, described tension pick-up is installed on the tension pick-up support, described track adjusting wheel is installed on the guide wheel bracket, and described guide wheel bracket is installed on the sensor stand;
Described serving assembly comprises serving assembly seat, leading screw, rope-winding shaft, reel, big gear wheel, track adjusting wheel and miniature gears, described reel is fixedly mounted on the rope-winding shaft, described rope-winding shaft is connected with big gear wheel by keyway, described big gear wheel and pinion, described miniature gears is connected by keyway with leading screw, described rope-winding shaft and leading screw two ends are installed on the serving assembly seat by antifriction-bearing box, fixedly on the serving assembly seat, described serving assembly seat is fixedly mounted on the mounting bracket described track adjusting wheel by adapter plate;
Described two dimension initiatively system for tracking comprises guide rail slide block, linear module, guide rail beam, rotating shaft, rotating beam, the first control motor, the second control motor, lateral angles inductive component and regulation of longitudinal angle inductive component, mounting bracket bottom in described guide rail slide block and the constant tension control system is connected, described the first control motor is installed in an end of linear module, described guide rail slide block is slidably mounted on the described linear module, described linear module is fixed on the guide rail beam, described guide rail beam is terminal to be fixed with rotating shaft, described rotating shaft is contained in by bearing carrier ring rotates up and down on the beam seat, the output shaft interlock of described rotating shaft and described the second control motor, described lateral angles inductive component and regulation of longitudinal angle inductive component are installed on the described mounting bracket, are 90 degree between described lateral angles inductive component and the regulation of longitudinal angle inductive component on the space.
2. two dimension as claimed in claim 1 is initiatively followed the loss of weight erecting by overhang, it is characterized in that: described two tension pick-ups spatially are 90 ° of layouts, and suspension strop out is wrapped on described two tension pick-ups through track adjusting wheel by the serving assembly again.
3. two dimension as claimed in claim 1 is initiatively followed the loss of weight erecting by overhang, it is characterized in that: described lateral angles inductive component and regulation of longitudinal angle inductive component include code-disc and the read head of Non-contact angle coder, roller, folder rope swing seat, reed, counterweight and band bearing balance staff, described read head is installed on the reading headstock, described code-disc is fixed on the end of balance staff, described balance staff is connected with fork, can in the bearing seat of measurement of angle seat, rotate, described fork can swing in the balance staff vertical section, described folder rope bearing is installed in the fork bottom, described roller is fixed on the fork by reed, described counterweight is fixed on the upper end of fork, described roller compression suspension strop, suspension strop pass through the regulation of longitudinal angle inductive component again by the lateral angles inductive component first.
4. initiatively follow the loss of weight erecting by overhang such as the described two dimension of one of claim 1 ~ 3, it is characterized in that: described suspension strop cw is wrapped on the reel, draws cw again and is wrapped on the leading screw, is drawn out in described two tension pick-ups by track adjusting wheel at last.
5. two dimension as claimed in claim 4 is initiatively followed the loss of weight erecting by overhang, it is characterized in that: the equal diameters of described leading screw pitch and described suspension strop.
6. initiatively follow the loss of weight erecting by overhang such as the described two dimension of one of claim 1 ~ 3, it is characterized in that: described permanent tension force loss of weight erecting by overhang also comprises drive motor and torsion Buffer Unit, the output shaft of described drive motor is connected with described torsion Buffer Unit, on described torsion Buffer Unit and the rope-winding shaft.
7. two dimension as claimed in claim 6 is initiatively followed the loss of weight erecting by overhang, it is characterized in that: described drive motor is AC servo motor.
8. initiatively follow the loss of weight erecting by overhang such as the described two dimension of one of claim 1 ~ 3, it is characterized in that: described rotating shaft is connected with coupler, and described coupler is connected with retarder, and described retarder is connected with the output shaft of the second control motor.
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| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN103511459A (en) * | 2013-10-18 | 2014-01-15 | 浙江工业大学 | Three-dimensional follow-up constant force hanging device |
| CN103587722A (en) * | 2013-10-23 | 2014-02-19 | 浙江大学 | Tied rope contracting and releasing device with controllable tension and controllable contracting and releasing length |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN106114920A (en) * | 2016-06-21 | 2016-11-16 | 哈尔滨工业大学 | A kind of have the microgravity simulation tension control mechanism loading adjustable function on a large scale |
| CN108674700A (en) * | 2018-05-21 | 2018-10-19 | 哈尔滨工业大学 | Low perturbed force supported planar position follower tracking system based on series connection double-lever mechanism |
| CN110937139A (en) * | 2019-12-31 | 2020-03-31 | 哈尔滨工业大学 | Air supporting two-dimensional passive translation gravity unloading device |
| CN114229049A (en) * | 2021-11-25 | 2022-03-25 | 北京控制工程研究所 | Low-gravity simulation device and method based on weight reduction counterweight and inclination angle induction |
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| CN108674700B (en) * | 2018-05-21 | 2019-07-16 | 哈尔滨工业大学 | Low perturbed force supported planar position follower tracking system based on series connection double-lever mechanism |
| CN110937139A (en) * | 2019-12-31 | 2020-03-31 | 哈尔滨工业大学 | Air supporting two-dimensional passive translation gravity unloading device |
| CN114229049A (en) * | 2021-11-25 | 2022-03-25 | 北京控制工程研究所 | Low-gravity simulation device and method based on weight reduction counterweight and inclination angle induction |
| CN114229049B (en) * | 2021-11-25 | 2023-09-29 | 北京控制工程研究所 | Low gravity simulation device and method based on weight reduction counterweight and inclination angle induction |
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