Background technology
As carried out the exercise performance testing experiment of mechanism in ground simulation lunar environment, the gravity due to ground is 6 times of moonscape, and analog machine must provide lunar surface 1/6g gravity environment to simulate.
We are stretched to example with the mechanical arm of the lunar rover vehicle, mechanical arm can at rotation with in surface parallel to the ground around support, extending arm and the wrist pitching joint of mechanical arm can at move in plane perpendicular to the ground around shoulder pitch joint, the relative position of mechanical arm in rotation process between extending arm and wrist pitching joint is constant, can regard a rigid body as.Erecting by overhang is hung by the barycenter of mechanical arm, and in the process that mechanical arm stretches, we will provide a constant hanging force at vertical direction, and do not produce additional power to barycenter at move in plane parallel to the ground, initiatively follow it and move.
Two dimension initiatively follow loss of weight hangar system device be by suspension strop with followed part and be connected, the active movement mainly realized in the constant force loss of weight hanging in vertical ground direction and plane parallel to the ground is followed, and ensures that in motion process, suspension strop is in tension and vertical state.
Prior art adopts line slideway, rotating shaft and assembly pulley to realize usually, suspension strop by assembly pulley respectively with loss of weight counterweight with followed part and be connected, the constant hanging force of vertical direction is provided, again assembly pulley is arranged on guide rail slide block, realize horizontal motion by the motion of slide block on line slideway to follow, line slideway one end can rotate around the shaft, to realize in plane that two dimension is passive follows.But in this device, there is friction drag, there is the friction force of variation between assembly pulley and suspension strop in assembly pulley therein, friction force acts on suspension strop, thus change the size of the application force on suspension strop; On the other hand, the friction force between guide rail slide block and linear module, directly affects the precision that horizontal direction is initiatively followed.There is due to air bearing the features such as friction drag is little, kinematic accuracy is high, cleanliness without any pollution, thus air bearing are adopted to make assembly pulley, common pulley is replaced to reduce friction, adopt air-bearing to match with linear slider and realize horizontal direction without passive following of rubbing, floating cushion cooperation air-bearing realizes rotating shaft and improves loss of weight erecting by overhang further without frictional rotation.。If number of patent application is 201010165657.5, " three-dimensional air-floation follow-up device " just discloses the loss of weight erecting by overhang of this employing air-bearing, loss of weight counterweight, line slideway, rotating shaft composition.Although this arrangement eliminates between slide block and guide rail, between rotating shaft and column and the impact of the friction drag of pulley inherence, but the friction effects between suspension strop and air-bearing is not eliminated, and being of high quality of loss of weight counterweight, when being followed part and being moved at vertical direction acceleration or deceleration, loss of weight counterweight can produce a great subsidiary load because of inertia, act on suspension strop.So, this device be difficult to guarantee one constant, the hanging of high-precision loss of weight, and be only applicable at a slow speed or the uniform movement loss of weight simulation of following.
Summary of the invention
In order to overcome friction force, the loss of weight counterweight inertia force influence between existing apparatus suspension strop and pulley, avoid loss of weight hanging force unstable, 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 realizing constant tensile control and initiatively follow with two dimension, realize being followed by the high-precision motion of following part and ground level and vertical direction, and the hanging force of the vertical direction of continued for constant is provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of two dimension initiatively follows 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 two tension pick-ups of the tension force measuring serving assembly suspension strop out, described tension pick-up is arranged on described track adjusting wheel on tension pick-up support and is arranged on guide wheel bracket, and described guide wheel bracket is arranged on 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 rope-winding shaft, described rope-winding shaft is connected with big gear wheel by keyway, described big gear wheel engages with miniature gears, described miniature gears is connected by keyway with leading screw, described rope-winding shaft and leading screw two ends are arranged on serving assembly seat by antifriction-bearing box, described track adjusting wheel is fixed on serving assembly seat by adapter plate, and described serving assembly seat is fixedly mounted on mounting bracket;
Described two dimension initiatively system for tracking comprises guide rail slide block, linear module, guide rail beam, rotating shaft, rotating beam, first controls motor, second controls motor, lateral angles inductive component and regulation of longitudinal angle inductive component, described guide rail slide block is connected with bottom the mounting bracket in constant tension control system, described first controls one end that motor is arranged on linear module, described guide rail slide block is slidably mounted on described linear module, described linear module is fixed on guide rail beam, described guide rail beam end and rotating shaft are fixed, described rotating shaft is contained in by bearing carrier ring and rotates on beam seat up and down, the output shaft that described rotating shaft and described second controls motor links, described lateral angles inductive component and regulation of longitudinal angle inductive component are arranged on described mounting bracket, spatially in 90 degree between described lateral angles inductive component and regulation of longitudinal angle inductive component.
Further, described two tension pick-ups are spatially in 90 ° of layouts, and suspension strop is out wrapped on described two tension pick-ups through track adjusting wheel by 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 arranged on reading headstock, described code-disc is fixed on the end of balance staff, described balance staff is connected with fork, can rotate in the bearing seat of measurement of angle seat, described fork can swing in balance staff vertical section, described folder rope bearing is arranged on above fork, described roller is fixed on fork by reed, described counterweight is fixed on the below of fork, described roller compression suspension strop, suspension strop first passes through regulation of longitudinal angle inductive component again by lateral angles inductive component.
Further again, described suspension strop wound clockwise on reel, then draws wound clockwise on leading screw, is drawn out in described two tension pick-ups finally by track adjusting wheel.
Further, the equal diameters of described leading screw pitch and described suspension strop.
Described identical tension 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 rope-winding shaft.
Described drive motor is AC servo motor.Certainly, the control motor of other types can also be selected.
Beneficial effect of the present invention is mainly manifested in: the high-precision motion realized by following part and ground level and vertical direction is followed, and provides the hanging force of the vertical direction of continued for constant.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Figure 12, a kind of two dimension initiatively follows 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 two tension pick-ups 7 of the tension force measuring serving assembly suspension strop out, described tension pick-up 7 is arranged on tension pick-up support 6, described two tension pick-ups 7 are spatially in 90 ° of layouts, track adjusting wheel 8 is arranged on guide wheel bracket 9, described guide wheel bracket 9 is arranged on sensor stand 6, and suspension strop is out wrapped on described two tension pick-ups 7 through track adjusting wheel 8 by 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 rope-winding shaft 15, described rope-winding shaft 15 is connected with big gear wheel 13 by keyway, described big gear wheel 13 engages with miniature gears 10, described miniature gears 10 is connected by keyway with leading screw 16, described rope-winding shaft 15 is arranged on serving assembly seat 12 with leading screw 16 two ends by antifriction-bearing box, described track adjusting wheel 11 is fixed on serving assembly seat 12 by adapter plate, described serving assembly seat 12 is fixedly mounted on mounting bracket 2,
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, first controls motor, second controls motor 17, lateral angles inductive component 25 and regulation of longitudinal angle inductive component 26, described guide rail slide block 22 is fixedly connected with the mounting bracket 2 in constant tension control system, described first controls one end that motor is arranged on linear module 21, described guide rail slide block 22 is slidably mounted on described linear module 21, described linear module 21 is fixed on guide rail beam, described guide rail beam end and rotating shaft 19 are fixed, described rotating shaft 19 is contained on rotating beam 20 by bearing carrier ring, described rotating shaft 19 links with the described second output shaft controlling motor 17, described lateral angles inductive component 25 and regulation of longitudinal angle inductive component 26 are arranged on described mounting bracket 2, spatially in 90 degree between described lateral angles inductive component and regulation of longitudinal angle inductive component.
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 arranged on 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 rotate in the bearing seat of measurement of angle seat 25, described fork 28 can swing in balance staff vertical section, described folder rope bearing 31 is arranged on above fork 28, described roller 29 is fixed on fork 28 by reed 32, described counterweight 34 is fixed on the below of fork 28, described roller 29 compresses suspension strop 30, suspension strop 30 first passes through regulation of longitudinal angle inductive component 26 again by lateral angles inductive component 25.
Further, described suspension strop wound clockwise on reel 14, then draws wound clockwise on leading screw, is drawn out in described two tension pick-ups 7 finally by track adjusting wheel 11.
Further, the equal diameters of described leading screw 16 pitch and described suspension strop.
Described identical tension 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, and described torsion Buffer Unit 3 is with on rope-winding shaft 15.Described drive motor 4 is AC servo motor.Certainly, the control motor of other types can also be selected.
Described rotating shaft 19 is connected with coupler, and described coupler is connected with retarder 18, and described retarder 18 is connected with the second output shaft controlling motor 17.
In the present embodiment, constant tension control system exports a constant hanging force, and two dimension initiatively system for tracking initiatively follows the plane motion of sling point.
In the present embodiment, the tension pick-up in tension force inductive component directly can measure the tension force of serving assembly suspension strop out.Computer acquisition tension pick-up signal in motion controller, according to the tension force of setting, obtains the deviation of tension force.According to the corner of tension force deviation adjusting motor.Through torsion Buffer Unit and bull wheel that Low rigidity torsion spring is main composition, the degree of tightness of suspension strop can be adjusted, to adjust Tensity size, make the tension value approaching setting.
Survey the tension force on suspension strop, conventional way is a pulling force sensor of connecting on suspension strop, but do folding and unfolding in a big way with suspension centre at vertical direction by suspension strop, pulling force sensor must be arranged on the position near sling point, and followed part under high and low temperature environment and move, design as such, sensor can not work, go back the disturbing influence of live wire simultaneously, so our sensor adopts tension pick-up, and be arranged on together with constant tension control system in controlled-temperature cabinet, ensure the normal operation of sensor.
Friction force is there is between tension pick-up and suspension strop, and a not constant power.Two tension pick-ups combination unit spatially, to obtain on suspension strop pulling force accurately by computation and measurement.Setting suspension strop is accessed from A mouth by track adjusting wheel, acting on by the hanging force of following on part is F, the power of first tension pick-up measurement is F1, the power of second tension pick-up measurement is F2, according to the principle of measurement of tension pick-up, F1, F2 are actually the pulling force at two ends that breast wheel restricts, observed reading F
2relative to F
1, the friction force of three pulleys in the middle of having surveyed, the friction force thus obtained on single pulley is more
, so, the in fact hanging force of suspension strop end
, the data structure of sensor measurement is fed back to the control system of motion controller, draws the tension value after eliminating friction according to above-mentioned formula.
Suspension strop wound clockwise on reel, then draws wound clockwise on leading screw, is drawn out in tension force inductive component finally by track adjusting wheel.Screw mandrel pitch and suspension strop similar diameters, when then making bull wheel drive spool turns, screw mandrel synchronous axial system, often turn around a mobile pitch, thus ensure that suspension strop can along it axially by the translation of pitch rule, by the tiling of pitch rule on reel, and make the diameter of serving constant, avoid the friction between adjacent rope simultaneously.
Angle inductive component in AC servo, serving assembly, tension force inductive component, two dimension active following control system is installed on mounting bracket, AC servo motor is connected by torsion torque sensor with 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 torsion Buffer Unit and bull wheel that Low rigidity torsion spring is main composition, the degree of tightness of adjustment suspension strop, to adjust Tensity size.Realize constant tensile 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 on its linear module by the first control electric machine control guide rail slide block on guide rail, controls electric machine control guide rail axis of rotation by second.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 two dimension active following control system are by measuring the deviation angle of suspension strop, signal feedback is given two dimension initiatively system for tracking, Serve Motor Control guide rail slide block moves and axis of rotation, initiatively follows the plane motion of sling point.
Angle inductive component is made up 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 arranged on reading headstock, described code-disc is fixed on the end of balance staff, described balance staff is connected with fork, can rotate in the bearing seat of measurement of angle seat, described fork can swing in balance staff vertical section, described folder rope bearing is arranged on fork bottom, and described roller is fixed on 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 the code-disc of this swing rotational angle coder, makes read head to 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 the design, we adopt counterweight to be 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 measure the angle in balance staff square section, and the two dimension active that initiatively following control system need realize moving in two dimensional surface is followed, therefore we adopt two angle inductive components to cooperatively interact, the bidimensional pendulum angle of suspension strop can be measured, namely adopt lateral angles inductive component to be used for one dimension initiatively to follow, regulation of longitudinal angle inductive component is initiatively followed for rotating, horizontal regulation of longitudinal angle inductive component is arranged on the mounting bracket in constant tension control system by measurement of angle seat, spatially in 90 degree, suspension strop first passes through regulation of longitudinal angle inductive component again by lateral angles inductive component.But single angle inductive component only carries out one-dimensional measurement can two-dimensional wiggle because balance staff and the accessory size such as roller, reed very little, avoid suspension strop damage to angle inductive component when two dimensional surface moves.