CN103440796A - Deep space exploration simulation training device based on series-parallel five freedom degree and working method thereof - Google Patents
Deep space exploration simulation training device based on series-parallel five freedom degree and working method thereof Download PDFInfo
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Abstract
The invention relates to a deep space exploration simulation training device based on series-parallel five freedom degree and a working method of the deep space exploration simulation training device. A series freedom degree mechanism and a parallel freedom degree mechanism are combined to achieve five freedom degree motion in the space, five-freedom-degree motion can be achieved within a normal gravity field, and states like transverse overweight, lateral overweight, lateral weightlessness, longitudinal overweight and longitudinal weightlessness are simulated. The deep space exploration simulation training device based on the series-parallel five freedom degree and the working method of the deep space exploration simulation training device can utilize the advantages of a series device which is simple in structure, low in cost, easy to control, wide in motion range and the like and can also utilize the advantages of the parallel device which is high in rigidity, bearing capability and precision, small in tail end piece inertia and the like, ensure that the mechanisms have more comprehensive advantages, are reasonable in decomposition free degree, and achieve five-freedom-degree motion, and the control over the motion is simplified, achieve multifunctional and multi-pose integration in the space, and ensure that training is more reasonably and comprehensively carried out.
Description
Technical field
The present invention relates to a kind of survey of deep space analog training device and method of work thereof based on mixed-coupled five-freedom, be exactly specifically that the particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, can distinguish that simulate for lateral is overweight, lateral overload, side direction are weightless, the vertical state such as overweight, vertical weightlessness, belong to the survey of deep space technical field.
Background technology
Along with the enhancing of national economic strength and overall national strength, increasing country has increased the exploration dynamics to the earth outer space; Survey of deep space not only provides the mirror of one side close examination oneself to the mankind, more to us, bring brand-new technology, promote scientific-technical progress, show overall national strength.
At present, manned space flight ground simulation training apparatus commonly used has three classes: a class is the equipment of being simulated for the particular surroundings run in space flight; Another kind of is to be astronaut training's space flight operation various flight simulators used; Also having a class is to set up various cabins body, and the analog machine of Simulated Spacecraft internal environment is inside arranged.The analog training device of the particular surroundings run in simulation space flight is more.For example, the human centrifuge of simulation genvironments is arranged, also claim the artificial gravity environment simulator, its overweight overload values can become as required, with test subject antigravity overload load-bearing capacity; The large pond of the weightless aircraft of Simulated Weightlessness and simulated weightlessness sensation; During simulation manned spacecraft landing shock, produce " impact tower " of impulsive force etc.
Own through research has comparatively widely been arranged for statics Analysis, kinematics analysis, dynamic analysis and the problems such as optimal design and finite element analysis of parallel institution both at home and abroad at present, obtained a lot of achievements in research.20 th century later, Boeing Co. adopts degree of freedom platform in parallel, developed a flight simulator Flight Simulator Of Boeing737-400, this simulator can be born 90% Flight Training Mission, and training expenses hourly is only the 1/40-1/10 of actual airflight, effect is remarkable, this simulator adopts parallel-connection structure, there is rigidity large, load-bearing capacity is strong, precision is high, the advantages such as end piece inertia is little, in addition, parallel institution is because moving parts is few, effectively improved the dynamic quality of servo-control system, and then allow moving platform to obtain very high speed and acceleration, be specially adapted to the occasion of High-speed Control.
Yet the huge advantage of degree of freedom in parallel mechanism can not be covered unique strong point that series connection degree of freedom mechanism has.Compared to degree of freedom in parallel mechanism, series connection degree of freedom mechanism, carrying out expectation function on the basis of serious analysis, general function can be decomposed into to several minute function, simplifies, and general function is decomposed into and is easy to minute function realized.According to the characteristics of each clamp mechanism, thereby carry out in series Mechanism Combination, obtain various mechanism innovative design scheme; Moreover in series connection degree of freedom mechanism, each degree of freedom is separate, without coupled relation, be easy to control, can greatly simplify the work calculated amount.Survey of deep space simulation system based on mixed-coupled five-freedom, not only can utilize serial machine simple in structure, cost is low, the advantages such as control is simple, and range of movement is large, can also be large in conjunction with parallel manipulator rigidity, load-bearing capacity is strong, the advantages such as precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.
Along with the expansion of parallel machine and parallel institution motion simulator application, the raising of kinematic accuracy, parallel institution and hybrid mechanism application are more and more extensive, and relative dynamics problem has the potentiality that develop on a large scale very much.From control angle, be intended to study the dynamics problem of the aspect of performance of parallel robot and hybrid mechanism, the problem that solves the aspects such as the feedback of control system, stable and coupling becomes research and development trend.
Summary of the invention
In order to give full play to the advantage of parallel institution and serial mechanism, the invention provides a kind of survey of deep space simulation system based on mixed-coupled five-freedom, it not only can utilize serial machine simple in structure, and cost is low, controls simple, the advantages such as range of movement is large, can also be large in conjunction with parallel manipulator rigidity, load-bearing capacity is strong, and precision is high, the advantages such as end piece inertia is little, make mechanism possess advantage more comprehensively.Use the differential mechanism principle to realize two rotary freedoms, compact conformation; Realize another rotary freedom based on the bottom stepper motor; Based on the binary mobile platform of series connection, motion steadily, safe and reliable; Reasonably decompose degree of freedom, even the motion of winding machine five degree of freedom makes again motion control simplify; Realized that space is multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
The present invention is directed to the problem of prior art, proposed a kind of new technical scheme: a kind of survey of deep space analog training device based on mixed-coupled five-freedom is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, it comprises upper mounting plate and two parts of lower platform, and upper and lower two platforms form by bolt-connection.Upper mounting plate is for realizing the parallel moving mechanism of three rotary freedoms of transfer platform (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle), and it comprises transfer platform, differential cross pin, right part drive unit, left part drive unit and bottom drive unit; Lower platform is for realizing the series connection motion of two one-movement-freedom-degrees of transfer platform (the x direction moves, y direction move), and it comprises X-direction displacement adjustment device and Y-direction displacement adjustment device.
It is characterized in that by the connect motion of five degree of freedom in the mode implementation space that degree of freedom mechanism combines with degree of freedom in parallel mechanism of employing, can in normal gravity field, realize the motion of five degree of freedom, simulate for lateral is overweight, lateral overload, side direction weightless, the vertical state such as overweight, vertical weightlessness.Described transfer platform is positioned at the top of whole device, by the transfer platform revolving shaft, with differential cross pin, be connected, the different operating state of bottom stepper motor, left part stepper motor and right part stepper motor can cause the different motion state of differential cross pin, thereby realizes the rotation (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle) of the three degree of freedom of transfer platform; X-direction displacement adjustment device and Y-direction displacement adjustment device can be realized two one-movement-freedom-degrees (the x direction moves, y direction move) of transfer platform.Differential cross pin is comprised of two differential mechanism conelet teeth, two differential mechanism auger teeth, bevel pinion stationary shaft and differential mechanism shells.Described right part drive unit comprises shell bearing, axle bearing, semiaxis sleeve, right axle shaft, runing rest, pad, shaft block ring, the large straight-tooth in top, axle head pad, spring shim, screw rod, the little straight-tooth in top, motor support base I, right part stepper motor and motor support base II.The structure of described left part drive unit and right part drive unit are identical, about the transfer platform Axisymmetric, distribute.Described bottom drive unit comprises that swivel base, bottom motors bearing, the little straight-tooth in bottom, the large straight-tooth in bottom, turning axle sleeve, lower platform connect flat board, rotating shaft bearing, shaft block ring, turning axle, axle sleeve I, back-up ring, axle sleeve II, ring flange, pin with split pin hole, split pin and bottom stepper motor for hole.Upper mounting plate connects flat board by lower platform and is connected with lower platform.Described lower platform, for the series connection motion, comprises X-direction displacement adjustment device and Y-direction displacement adjustment device.Realize the transverse shifting of x direction by the X-direction displacement adjustment device, by the Y-direction displacement adjustment device, realize vertically moving of y direction.
Concrete technical scheme is as follows:
The present invention is directed to the problem of prior art, proposed a kind of new technical scheme: a kind of survey of deep space analog training device based on mixed-coupled five-freedom is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, it comprises upper mounting plate and two parts of lower platform, and upper and lower two platforms form by bolt-connection.Upper mounting plate is for realizing the parallel moving mechanism of three rotary freedoms of transfer platform (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle), and it comprises transfer platform, differential cross pin, right part drive unit, left part drive unit and bottom drive unit; Lower platform is for realizing the series connection motion of two one-movement-freedom-degrees of transfer platform (the x direction moves, y direction move), and it comprises X-direction displacement adjustment device and Y-direction displacement adjustment device.
It is characterized in that by the connect motion of five degree of freedom in the mode implementation space that degree of freedom mechanism combines with degree of freedom in parallel mechanism of employing, can in normal gravity field, realize the motion of five degree of freedom, simulate for lateral is overweight, lateral overload, side direction weightless, the vertical state such as overweight, vertical weightlessness.Described transfer platform is positioned at the top of whole device, by the transfer platform revolving shaft, with differential cross pin, be connected, the different operating state of bottom stepper motor, left part stepper motor and right part stepper motor can cause the different motion state of differential cross pin, thereby realizes the rotation (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle) of the three degree of freedom of transfer platform; X-direction displacement adjustment device and Y-direction displacement adjustment device can be realized two one-movement-freedom-degrees (the x direction moves, y direction move) of transfer platform.Differential cross pin is comprised of two differential mechanism conelet teeth, two differential mechanism auger teeth, bevel pinion stationary shaft and differential mechanism shells.Two differential mechanism conelet teeth are distributed in the upper and lower of differential cross pin, and two differential mechanism auger teeth are distributed in left part and the right part of differential cross pin, differential mechanism conelet tooth and differential mechanism auger tooth alternative arrangement.Two differential mechanism auger tooth left ends are connected with right axle shaft by left half axle respectively with right-hand member, then are threaded connection on the large straight-tooth in top.The left and right sides is symmetrical structure, and structure is identical.Described right part drive unit comprises shell bearing, axle bearing, semiaxis sleeve, right axle shaft, runing rest, pad, shaft block ring, the large straight-tooth in top, axle head pad, spring shim, screw rod, the little straight-tooth in top, motor support base I, right part stepper motor and motor support base II.Wherein right axle shaft carrys out supporting and location by each two axle bearings of its two ends, left and right.The shell bearing carries out supporting and location to the differential mechanism shell.In the outside of right axle shaft, cover has the semiaxis sleeve.Turn the outermost of support at right axle shaft, be threaded by the large straight-tooth in axle head pad, spring shim and screw rod and top.The little straight-tooth external toothing in the large straight-tooth in top and top, the little straight-tooth in top is connected with the output axle key of right part stepper motor.It is upper that the right part stepper motor is fixed on motor support base I, and both integral body is fixed on frame by motor support base II again.The structure of described left part drive unit and right part drive unit are identical, about the transfer platform Axisymmetric, distribute.Described bottom drive unit comprises that swivel base, bottom motors bearing, the little straight-tooth in bottom, the large straight-tooth in bottom, turning axle sleeve, lower platform connect flat board, rotating shaft bearing, shaft block ring, turning axle, axle sleeve I, back-up ring, axle sleeve II, ring flange, pin with split pin hole, split pin and bottom stepper motor for hole.Swivel base and right part drive unit and left part drive unit connect firmly.Turning axle is connected with swivel base by ring flange.Turning axle carrys out supporting and location by four rotating shaft bearings, and in the outside of turning axle, cover has the turning axle sleeve.The large straight-tooth in bottom is connected with split pin by pin with split pin hole with turning axle.The large straight-tooth in bottom and the little straight-tooth external toothing in bottom.The little straight-tooth in bottom is connected with the output axle key of bottom stepper motor.The bottom stepper motor is fixed on the stepper motor bearing of bottom.Upper mounting plate connects flat board by lower platform and is connected with lower platform.Described lower platform, for the series connection motion, comprises X-direction displacement adjustment device and Y-direction displacement adjustment device.The X-direction displacement adjustment device is positioned at the below of Y-direction displacement adjustment device, and both central axis are mutually vertical, moves separate, does not interfere, and can control separately.The X-direction displacement adjustment device, control the stepper motor on its top by pulse, drive its base plate to move on guide rail, with this, realizes the transverse shifting of x direction.The Y-direction displacement adjustment device, control the stepper motor on its top by pulse, drive its base plate to move around on guide rail, with this, realizes the transverse shifting of y direction.
Survey of deep space simulation system based on mixed-coupled five-freedom, not only can utilize serial machine simple in structure, cost is low, the advantages such as control is simple, and range of movement is large, can also be large in conjunction with parallel manipulator rigidity, load-bearing capacity is strong, the advantages such as precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.Use the differential mechanism principle to realize two rotary freedoms, compact conformation; Realize another rotary freedom based on the bottom stepper motor; Based on the binary mobile platform of series connection, motion steadily, safe and reliable; Reasonably decompose degree of freedom, both made the motion of winding machine five degree of freedom, make again motion control simplify; Realized that space is multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.Can carry out the pilot angle displacement by the gating pulse number with stepper motor, thereby reach the purpose of accurate location; Can control by the gating pulse frequency speed and the acceleration of electric machine rotation, thereby reach the purpose of speed governing, by the power-up sequence of controlling each phase winding of motor, control rotation direction simultaneously.
The invention also discloses the method for work of this survey of deep space analog training device based on mixed-coupled five-freedom, comprising:
When the bottom stepper motor works independently, drive the little straight-tooth in bottom and rotate, by gear drive, the large straight-tooth in bottom rotates, and has realized rotatablely moving of z direction that loading platform is simple;
When right part stepper motor and the equidirectional same rotational speed of left part stepper motor, and the bottom stepper motor do not work, and the equidirectional same rotational speed of right axle shaft and left half axle has realized rotatablely moving of y direction that loading platform is simple;
When right part stepper motor and left part stepper motor during in the other direction with rotational speed, and the bottom stepper motor do not work, and right axle shaft and left half axle be during in the other direction with rotational speed, realized rotatablely moving of x direction that loading platform is simple;
When regulating the X-direction displacement adjustment device, loading platform has just been realized transverse shifting in the x-direction; When regulating the Y-direction displacement adjustment device, loading platform has just been realized transverse shifting in the y-direction;
When right part stepper motor and left part stepper motor rotate with any rotating speed any direction, and bottom stepper motor, when X-direction displacement adjustment device and Y-direction displacement adjustment device are also worked simultaneously, loading platform has just been realized rotating and the moving of five degree of freedom moving along x axle and y axle around x-axis, y-axis and z-axis.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, with implementing legend, the invention will be further described.
The front elevation that Fig. 1 is analog training device of the present invention;
The oblique view that Fig. 2 is analog training device of the present invention;
The schematic diagram that Fig. 3 is lower platform of the present invention;
The kinematic sketch that Fig. 4 is upper mounting plate of the present invention;
The kinematic sketch that Fig. 5 is left and right half of the present invention;
Fig. 6 is control system process flow diagram of the present invention.
Marginal data in accompanying drawing:
1-differential mechanism shell, 2-differential mechanism conelet tooth, 3-differential mechanism auger tooth, 4-transfer platform revolving shaft, 5-conelet tooth stationary shaft, 6-shell bearing, 7-axle bearing, 8-semiaxis sleeve, 9-right axle shaft, 10-runing rest, 11-pad, 12-shaft block ring, 13-top large straight-tooth 14-axle head pad, 15-spring shim, 16-screw rod, the little straight-tooth in 17-top, 18-motor support base I, 19-right part stepper motor, 20-motor support base II, 21-swivel base, 22-bottom motors bearing, the little straight-tooth in 23-bottom, the large straight-tooth in 24-bottom, 25-turning axle sleeve, 26-lower platform connects dull and stereotyped, 27-rotating shaft bearing, 28-shaft block ring, 29-turning axle, 30-axle sleeve I, 31-hole back-up ring, 32-axle sleeve II, 33-ring flange, 34-pin with split pin hole, 35-split pin, 36-transfer platform, 37-bottom stepper motor, 38-left part stepper motor, 39-left half axle, 40-X-direction displacement adjustment device, 41-Y-direction displacement adjustment device, 42-differential cross pin, 43-right part drive unit, 44-left part drive unit, 45-bottom drive unit, the 46-upper mounting plate, 47-lower platform
Embodiment
Survey of deep space analog training device based on mixed-coupled five-freedom of the present invention is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, Fig. 1 and Fig. 2 show respectively front elevation and the oblique view of analog training device of the present invention, analog training device comprises upper mounting plate 46 and 47 two parts of lower platform, and upper and lower two platforms form by bolt-connection.Upper mounting plate 46 is for realizing the parallel moving mechanism of 36 3 rotary freedoms of transfer platform (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle), and it comprises transfer platform 36, differential cross pin 42, right part drive unit 43, left part drive unit 44 and bottom drive unit 45; Lower platform 47 is for realizing the series connection motion of 36 two one-movement-freedom-degrees of transfer platform (the x direction moves, y direction move), and it comprises X-direction displacement adjustment device 40 and Y-direction displacement adjustment device 41, referring to Fig. 3.
The present invention is by the connect motion of five degree of freedom in the mode implementation space that degree of freedom mechanism combines with degree of freedom in parallel mechanism of employing, can in normal gravity field, realize the motion of five degree of freedom, simulate for lateral is overweight, lateral overload, side direction weightless, the vertical state such as overweight, vertical weightlessness.According to the load characteristic of system, kinetic characteristic and control accuracy requirement, select the driving element of five stepper motors as system, and the combination by single motor or many motors makes system realize the mixed-coupled five-freedom motion.According to the complexity of system motion, can send multichannel different frequency and mutually non-interfering pulsating wave with requirement, select the core processor of MC9S12XS128 as controller, by being set, its PWM controls motor.Described transfer platform 36 is positioned at the top of whole device, by transfer platform revolving shaft 4, with differential cross pin 42, be connected, the different operating state of bottom stepper motor 37, left part stepper motor 38 and right part stepper motor 19 can cause the different motion state of differential cross pin 42, thereby realizes the rotation (around the rotation of x axle, around the rotation of y axle, around the rotation of z axle) of the three degree of freedom of transfer platform 36; X-direction displacement adjustment device and Y-direction displacement adjustment device can be realized two one-movement-freedom-degrees (the x direction moves, y direction move) of transfer platform 36.Power reaches transfer platform revolving shaft 4 again to transfer platform 36 by differential cross pin 42.The spacefarer holds transfer platform 36 just can be used for carrying out the survey of deep space simulation.Differential cross pin 42 is comprised of two differential mechanism conelet teeth 2, two differential mechanism auger teeth 3, bevel pinion stationary shaft 5 and differential mechanism shells 1.Two differential mechanism conelet teeth 2 are distributed in the upper and lower of differential cross pin 42, and two differential mechanism auger teeth 3 are distributed in left part and the right part of differential cross pin 42, differential mechanism conelet tooth 2 and differential mechanism auger tooth 3 alternative arrangements.Two differential mechanism auger tooth 3 left ends are connected with right axle shaft 9 by left half axle 39 respectively with right-hand member, and their power is passed over by left half axle 39 and right axle shaft 9.Then be threaded connection on the large straight-tooth 13 in top.The left and right sides is symmetrical structure, and structure is identical.Use the differential mechanism principle to realize two rotary freedoms, its advantage is take up room little, compact conformation and good stability.Described right part drive unit 43 comprises shell bearing 6, axle bearing 7, semiaxis sleeve 8, right axle shaft 9, runing rest 10, pad 11, shaft block ring 12, the large straight-tooth 13 in top, axle head pad 14, spring shim 15, screw rod 16, the little straight-tooth 17 in top, motor support base I18, right part stepper motor 19 and motor support base II20.Wherein right axle shaft 9 carrys out supporting and location by each two axle bearings 7 of its two ends, left and right.Shell bearing 6 carries out supporting and location to differential mechanism shell 1.In the outside of right axle shaft 9, cover has semiaxis sleeve 8.Runing rest 10 is in the outermost of right axle shaft 9, and semiaxis sleeve 8 is fixing.Right axle shaft 9 is threaded by the large straight-tooth 13 in axle head pad 14, spring shim 15 and screw rod 16 and top.The large straight-tooth 13 in top and little straight-tooth 17 external toothings in top, the little straight-tooth 17 in top is connected with the output axle key of right part stepper motor 19.It is upper that right part stepper motor 19 is fixed on motor support base I18, and both integral body is fixed on frame by motor support base II20 again.The power of right part is passed to the little straight-tooth 17 in top by right part stepper motor 19, then passes to the large straight-tooth 13 in top, then passes to right axle shaft 9, then passes to the differential mechanism auger tooth 3 in differential cross pin 42, then passes to differential mechanism conelet tooth 2, then passes to transfer platform 36.The structure of described left part drive unit 44 and right part drive unit 43 are identical, symmetrical about transfer platform revolving shaft 4.Described bottom drive unit 45 comprises that swivel base 21, bottom motors bearing 22, the little straight-tooth 23 in bottom, the large straight-tooth 24 in bottom, turning axle sleeve 25, lower platform connect flat board 26, rotating shaft bearing 27, shaft block ring 28, turning axle 29, axle sleeve I30, back-up ring 31, axle sleeve II32, ring flange 33, pin with split pin hole 34, split pin 35 and bottom stepper motor 37 for hole.Swivel base 21 connects firmly with right part drive unit 43 and left part drive unit 44.Turning axle 29 is connected with swivel base 21 by ring flange 33.Turning axle 29 carrys out supporting and location by four rotating shaft bearings 27, and in the outside of turning axle 29, cover has turning axle sleeve 25.The large straight-tooth 24 in bottom is connected with split pin 35 by pin with split pin hole 34 with turning axle 29.The large straight-tooth 24 in bottom and little straight-tooth 23 external toothings in bottom.The little straight-tooth 23 in bottom is connected with the output axle key of bottom stepper motor 37.Bottom stepper motor 37 is fixed on bottom motors bearing 22.Upper mounting plate 46 adopts the advantage rigidity of parallel institution large, and load-bearing capacity is strong, and precision is high, and end piece inertia is little.Upper mounting plate 46 connects dull and stereotyped 26 by lower platform and is connected with lower platform 47.
Described lower platform 47(is referring to Fig. 3) for the series connection motion, comprise X-direction displacement adjustment device 40 and Y-direction displacement adjustment device 41.X-direction displacement adjustment device 40 is positioned at the below of Y-direction displacement adjustment device 41, and both central axis are mutually vertical, moves separate, does not interfere, and can control separately.X-direction displacement adjustment device 40, control the stepper motor on its top by pulse, drive its base plate to move on guide rail, with this, realizes the transverse shifting of x direction.Y-direction displacement adjustment device 41, control the stepper motor on its top by pulse, drive its base plate to move around on guide rail, with this, realizes the transverse shifting of y direction.The advantage that lower platform 47 is based on the binary mobile platform of series connection is simple in structure, and cost is low, controls simply, and range of movement is large, and motion steadily, safe and reliable etc.
Survey of deep space simulation system based on mixed-coupled five-freedom, by reasonably decomposing degree of freedom, had both made the motion of winding machine five degree of freedom, made again motion control simplify; Realized that space is multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
The kinematic sketch that Fig. 4 is upper mounting plate 46 of the present invention, it just shows the workflow of the survey of deep space simulation system based on mixed-coupled five-freedom of the present invention briefly, and concrete method of work is as follows:
(1) original state is exactly that stepper motor is not worked, state during unpowered output.After the system power-up initializing, the inquiry button state, determine which pattern of carrying out.
(2) when bottom stepper motor 37 receives pulse signal and works independently, driving the little straight-tooth 23 in bottom rotates, by gear drive, the large straight-tooth 24 in bottom rotates, power passes to swivel base 21 through turning axle 29 and ring flange 33 again, make swivel base 21 start to rotate, drive all members that are connected with lower platform except turning axle sleeve 25 dull and stereotyped 26 rotates integral body simultaneously around the axle 3 indicated in Fig. 4, our selected axle 3 directions are that vertical direction is the z direction, and loading platform 36 has been realized rotatablely moving of simple z direction.
(3) when right part stepper motor 19 and left part stepper motor 38 receive the equidirectional same rotational speed of pulse signal, now namely two stepper motor common mode inputs (as shown in Fig. 5 (a)), and bottom stepper motor 37 is not worked, power passes to the little straight-tooth 17 in top, the little straight-tooth 17 in top and large straight-tooth 13 external toothings in top, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth 13 in top passes through axle head pad 14 with semiaxis (right axle shaft 9 and left half axle 39), spring shim 15, with the large straight-tooth 13 in screw rod 16 and top, be threaded, power just passes to right axle shaft 9 and left half axle 39, while making right axle shaft 9 and left half axle 39 equidirectional same rotational speed (input of motor common mode), transfer platform 36, differential cross pin 42 will be around central axis (being the axle 2 indicated in Fig. 4) rotation of right axle shaft 9 and left half axle 39, the central axis that we select right axle shaft 9 and left half axle 39 is the y direction, now loading platform 36 has been realized rotatablely moving of simple y direction.
(4) when right part stepper motor 19 and left part stepper motor 38 receive pulse signal in the other direction with rotational speed, now namely two stepper motor difference-mode inputs (as shown in Fig. 5 (b)), and bottom stepper motor 37 is not worked, power passes to the little straight-tooth 17 in top, the little straight-tooth 17 in top and large straight-tooth 13 external toothings in top, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth 13 in top passes through axle head pad 14 with semiaxis (right axle shaft 9 and left half axle 39), spring shim 15, with the large straight-tooth 13 in screw rod 16 and top, be threaded, power just passes to right axle shaft 9 and left half axle 39, while making right axle shaft 9 and left half axle 39 in the other direction with rotational speed (motor difference-mode input), transfer platform revolving shaft 4 transfixions, differential mechanism auger tooth 3 and semiaxis sleeve 8 will be around himself axis rotations, when this axis rotates to z and y direction all when vertical (being the x direction), now loading platform 36 has been realized rotatablely moving of simple x direction.
(5) when right part stepper motor 19 and left part stepper motor 38 receive pulse signal and rotate with any rotating speed any direction (as shown in Fig. 5 (c)), and bottom stepper motor 37 is not worked, power passes to the little straight-tooth 17 in top, the little straight-tooth 17 in top and large straight-tooth 13 external toothings in top, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth 13 in top is threaded by the large straight-tooth 13 in axle head pad 14, spring shim 15 and screw rod 16 and top with semiaxis (right axle shaft 9 and left half axle 39), power just passes to right axle shaft 9 and left half axle 39, then passes to differential cross pin 42.Due to right part stepper motor 19 and 38 outputs of left part stepper motor are rotating speeds of any direction, we can be decomposed into speed one group of common mode speed and one group of differential mode speed, now common mode speed makes loading platform 36 rotate around the y axle, and differential mode speed makes loading platform 36 around himself axis (being the axle 1 indicated in Fig. 4) rotation, when this axis rotates to z and y direction all when vertical (being the x direction), loading platform 36 rotates around the x axle.Now loading platform 36 has been realized the motion of simultaneously rotating around x axle and y axle.
(6) when right part stepper motor 19 and left part stepper motor 38 receive pulse signal and rotate with any rotating speed any direction (as shown in Fig. 5 (c)), and, when bottom stepper motor 37 is also worked simultaneously, loading platform 36 has just been realized the motion of simultaneously rotating around x-axis, y-axis and z-axis.
(7) when the X-direction displacement adjustment device 40 of left and right adjusting lower platform 47, loading platform 36 has just been realized transverse shifting in the x-direction, by distance measuring sensor controlled motion amount, prevents that base from bumping against.
(8) when the Y-direction displacement adjustment device 41 of lower platform 47 is regulated in front and back, loading platform 36 has just been realized transverse shifting in the y-direction, by distance measuring sensor controlled motion amount, prevents that base from bumping against.
(9) when right part stepper motor 19 and left part stepper motor 38 receive pulse signal and rotate with any rotating speed any direction (as shown in Fig. 5 (c)), and bottom stepper motor 37, when X-direction displacement adjustment device 40 and Y-direction displacement adjustment device 41 are also worked simultaneously, loading platform 36 has just been realized rotating and the moving of five degree of freedom moving along x axle and y axle around x-axis, y-axis and z-axis.
Fig. 6 is control system process flow diagram of the present invention, by this control system, controls around x-axis, y-axis and z-axis and rotates and the moving of five degree of freedom moving along x axle and y axle.After this device brings into operation, external interrupt and timer interrupt initialization, and by the inquiry button state, which pattern judgement is.Timer interrupts allowing, and controller sends pulse, controls corresponding drive motor and carries out work, and show by charactron, and the size and Orientation of detection speed, feed back to system again, with this, realizes above-described method of work.
Key point of the present invention and wish protection point
" the survey of deep space simulation system based on mixed-coupled five-freedom " not only can utilize serial machine simple in structure, cost is low, control simple, the advantages such as range of movement is large, can also be large in conjunction with parallel manipulator rigidity, load-bearing capacity is strong, and precision is high, the advantages such as end piece inertia is little, make mechanism possess advantage more comprehensively.Use the differential mechanism principle to realize two rotary freedoms, compact conformation; Realize another rotary freedom based on the bottom stepper motor; Based on the binary mobile platform of series connection, motion steadily, safe and reliable; Reasonably decompose degree of freedom, both made the motion of winding machine five degree of freedom, make again motion control simplify; Realized that space is multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
(1) the present invention is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, and it comprises upper mounting plate 46 and 47 two parts of lower platform, and upper and lower two platforms form by bolt-connection.Upper mounting plate 46 is realized the parallel moving mechanism of three rotary freedoms (around the x axle, rotate, around the y axle, rotate, rotate around the z axle) for transfer platform 36, and it comprises transfer platform 36, differential cross pin 42, right part drive unit 43, left part drive unit 44 and bottom drive unit 45; Lower platform 47 is realized the series connection motion of two one-movement-freedom-degrees (the x direction moves, y direction move) for transfer platform 36, and it comprises X-direction displacement adjustment device 40 and Y-direction displacement adjustment device 41.The advantages such as the advantages such as so not only can utilize serial machine simple in structure, cost is low, controls simply, and range of movement is large, can also be large in conjunction with parallel manipulator rigidity, and load-bearing capacity is strong, and precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.
(2) differential cross pin 42 is comprised of two differential mechanism conelet teeth 2, two differential mechanism auger teeth 3, bevel pinion stationary shaft 5 and differential mechanism shells 1.Two differential mechanism conelet teeth 2 are distributed in the upper and lower of differential cross pin 42, and two differential mechanism auger teeth 3 are distributed in left part and the right part of differential cross pin 42, differential mechanism conelet tooth 2 and differential mechanism auger tooth 3 alternative arrangements.Two differential mechanism auger tooth 3 left ends are connected with right axle shaft 9 by left half axle 39 respectively with right-hand member, then are threaded connection on the large straight-tooth 13 in top.The left and right sides is symmetrical structure, and structure is identical.Use the differential mechanism principle to realize two rotary freedoms, compact conformation.
(3) motor that the present invention uses comprises right part stepper motor 19, left part stepper motor 38 and bottom stepper motor 37 for stepper motor.Can carry out the pilot angle displacement by the gating pulse number, thereby reach the purpose of accurate location; Can control by the gating pulse frequency speed and the acceleration of electric machine rotation, thereby reach the purpose of speed governing, by the power-up sequence of controlling each phase winding of motor, control rotation direction simultaneously.So whole system is not in the situation that adopt closed-loop control, the displacement control accuracy can reach 100%.
Advantage of the present invention
Along with the expansion of parallel machine and parallel institution motion simulator application, the raising of kinematic accuracy, parallel institution and hybrid mechanism application are more and more extensive, and relative dynamics problem has the potentiality that develop on a large scale very much.From control angle, be intended to study the dynamics problem of the aspect of performance of parallel robot and hybrid mechanism, the problem that solves the aspects such as the feedback of control system, stable and coupling becomes research and development trend.
The present invention is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, can in normal gravity field, realize the motion of five degree of freedom, simulate for lateral is overweight, lateral overload, side direction weightless, the vertical state such as overweight, vertical weightlessness.Starting point is the propelling along with " goddess in the moon's series " Lunar Probe Project, with simply, stable, low-cost, manageable characteristics are made spacefarer's survey of deep space analog training device, can be in conjunction with visual system flying condition and actual manned spacecraft motion state in the ground simulation space, for the spacefarer provides kinaesthesis, vision, the various sensations such as the sense of hearing and overweight load, analog training device can make the pilot accept scientific and reasonable simulated training before really entering space, make it adapt in advance the particular surroundings that flies away from terrestrial time, safety guarantee and the operating efficiency of raising in true space environment.Its using value and market outlook are embodied in the following aspects: pilot, spacefarer's choice and training; The experience apparatus of dynamic cinema, chair motions is synchronizeed and is made spectators on the spot in person with film plot; Recreations and athletic facilities, both made people experience space sport, is conducive to again fitness-for-all; Drive simulating.
The advantages such as the advantages such as the present invention not only can utilize serial machine simple in structure, and cost is low, controls simply, and range of movement is large, can also be large in conjunction with parallel manipulator rigidity, and load-bearing capacity is strong, and precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.Use the differential mechanism principle to realize two rotary freedoms, compact conformation; Realize another rotary freedom based on the bottom stepper motor; Based on the binary mobile platform of series connection, motion steadily, safe and reliable; Reasonably decompose degree of freedom, both made the motion of winding machine five degree of freedom, make again motion control simplify; Realized that space is multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.Can carry out the pilot angle displacement by the gating pulse number with stepper motor, thereby reach the purpose of accurate location; Can control by the gating pulse frequency speed and the acceleration of electric machine rotation, thereby reach the purpose of speed governing, by the power-up sequence of controlling each phase winding of motor, control rotation direction simultaneously.
Claims (6)
1. the survey of deep space analog training device based on mixed-coupled five-freedom, it is characterized in that, it is the equipment that a kind of particular surroundings for running in space flight that adopts hybrid mechanism to combine is simulated, comprise (47) two parts of upper mounting plate (46) and lower platform, upper mounting plate (46) and lower platform (47) form by bolt-connection, it is by the connect motion of five degree of freedom in the mode implementation space that degree of freedom mechanism combines with degree of freedom in parallel mechanism of employing, can in normal gravity field, realize the motion of five degree of freedom, simulate for lateral is overweight, lateral overload, side direction weightlessness, vertically overweight, vertically weightlessness waits state,
Wherein, upper mounting plate (46) is for realizing the parallel moving mechanism of (36) three rotary freedoms of transfer platform, wherein, three rotary freedoms are respectively around the rotation of x axle, around the rotation of y axle, around the rotation of z axle, and upper mounting plate (46) comprises transfer platform (36), differential cross pin (42), right part drive unit (43), left part drive unit (44) and bottom drive unit (45);
Lower platform (47) is for realizing the series connection motion of (36) two one-movement-freedom-degrees of transfer platform, wherein, two one-movement-freedom-degrees are respectively that the x direction moves, the y direction moves, and lower platform (47) comprises X-direction displacement adjustment device (40) and Y-direction displacement adjustment device (41); Realize the transverse shifting of x direction by X-direction displacement adjustment device (40), by Y-direction displacement adjustment device (41), realize vertically moving of y direction.
2. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as claimed in claim 1, wherein,
Transfer platform (36) is positioned at the top of whole device, by transfer platform revolving shaft (4), with differential cross pin (42), be connected, the different operating state of bottom stepper motor (37), left part stepper motor (38) and right part stepper motor (19) can cause the different motion state of differential cross pin (42), thereby realizes the rotation of the three degree of freedom that rotates, around the y axle, rotates and rotate around the z axle around the x axle of transfer platform (36); The x direction of transfer platform (36) that can realize X-direction displacement adjustment device (40) and Y-direction displacement adjustment device (41) moves two one-movement-freedom-degrees that move with the y direction.
3. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as claimed in claim 1 or 2, wherein,
Differential cross pin (42) is comprised of two differential mechanism conelet teeth (2), two differential mechanism auger teeth (3), bevel pinion stationary shaft (5) and differential mechanism shell (1); Two differential mechanism conelet teeth (2) are distributed in the upper and lower of differential cross pin (42), and two differential mechanism auger teeth (3) are distributed in left part and the right part of differential cross pin (42), differential mechanism conelet tooth (2) and differential mechanism auger tooth (3) alternative arrangement; Two differential mechanism auger teeth (3) left end is connected with right axle shaft (9) by left half axle (39) respectively with right-hand member, then is threaded connection on the large straight-tooth in top (13); The left and right sides is symmetrical structure, and structure is identical.
4. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as claimed any one in claims 1 to 3, wherein,
Right part drive unit (43) comprises shell bearing (6), axle bearing (7), semiaxis sleeve (8), right axle shaft (9), runing rest (10), pad (11), shaft block ring (12), the large straight-tooth in top (13), axle head pad (14), spring shim (15), screw rod (16), the little straight-tooth in top (17), motor support base I(18), right part stepper motor (19) and motor support base II(20); Wherein right axle shaft (9) carrys out supporting and location by each two axle bearings (7) of its two ends, left and right; Shell bearing (6) carries out supporting and location to differential mechanism shell (1); In the outside of right axle shaft (9), cover has semiaxis sleeve (8); Runing rest (10) is in the outermost of right axle shaft (9), and semiaxis sleeve (8) is fixing; Right axle shaft (9) is threaded with the large straight-tooth in top (13) by axle head pad (14), spring shim (15) and screw rod (16); The large straight-tooth in top (13) and the little straight-tooth in top (17) external toothing, the little straight-tooth in top (17) is connected with the output axle key of right part stepper motor (19); Right part stepper motor (19) is fixed on motor support base I(18) upper, both integral body is again by motor support base II(20) be fixed on frame; The power of right part is passed to the little straight-tooth in top (17) by right part stepper motor (19), pass to again the large straight-tooth in top (13), pass to again right axle shaft (9), pass to again the differential mechanism auger tooth (3) in differential cross pin (42), pass to again differential mechanism conelet tooth (2), then pass to transfer platform (36); The structure of left part drive unit (44) and right part drive unit (43) are identical, symmetrical about transfer platform revolving shaft (4).
5. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as described as any one in claim 1 to 4, wherein,
Bottom drive unit (45) comprises that swivel base (21), bottom motors bearing (22), the little straight-tooth in bottom (23), the large straight-tooth in bottom (24), turning axle sleeve (25), lower platform connect dull and stereotyped (26), rotating shaft bearing (27), shaft block ring (28), turning axle (29), axle sleeve I(30), back-up ring (31), axle sleeve II(32 for hole), ring flange (33), pin with split pin hole (34), split pin (35) and bottom stepper motor (37); Swivel base (21) connects firmly with right part drive unit (43) and left part drive unit (44); Turning axle (29) is connected with swivel base (21) by ring flange (33); Turning axle (29) carrys out supporting and location by four rotating shaft bearings (27), and in the outside of turning axle (29), cover has turning axle sleeve (25); The large straight-tooth (24) in bottom is connected with split pin (35) by pin with split pin hole (34) with turning axle (29); The large straight-tooth (24) in bottom and the little straight-tooth in bottom (23) external toothing; The little straight-tooth in bottom (23) is connected with the output axle key of bottom stepper motor (37); Bottom stepper motor (37) is fixed on bottom motors bearing (22); Upper mounting plate (46) connects dull and stereotyped (26) by lower platform and is connected with lower platform (47).
6. the method for work of the survey of deep space analog training device based on mixed-coupled five-freedom as described as one of claim 1 to 5 comprises:
When bottom stepper motor (37) while working independently, drive the little straight-tooth in bottom (23) and rotate, by gear drive, the large straight-tooth in bottom (24) rotates, and has realized rotatablely moving of z direction that loading platform (36) is simple;
When right part stepper motor (19) and the equidirectional same rotational speed of left part stepper motor (38), and bottom stepper motor (37) is not worked, right axle shaft (9) and the equidirectional same rotational speed of left half axle (39), realized rotatablely moving of y direction that loading platform (36) is simple;
When right part stepper motor (19) and left part stepper motor (38) during in the other direction with rotational speed, and bottom stepper motor (37) is not worked, right axle shaft (9) and left half axle (39) be during in the other direction with rotational speed, realized rotatablely moving of x direction that loading platform (36) is simple;
When regulating X-direction displacement adjustment device (40), loading platform (36) has just been realized transverse shifting in the x-direction; When regulating Y-direction displacement adjustment device (41), loading platform (36) has just been realized transverse shifting in the y-direction;
When right part stepper motor (19) and left part stepper motor (38) rotate with any rotating speed any direction, and bottom stepper motor (37), when X-direction displacement adjustment device (40) and Y-direction displacement adjustment device (41) are also worked simultaneously, loading platform (36) has just been realized rotating and the moving of five degree of freedom moving along x axle and y axle around x-axis, y-axis and z-axis.
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| CN111672081A (en) * | 2020-07-23 | 2020-09-18 | 中国工程物理研究院总体工程研究所 | Five-degree-of-freedom continuous load simulation platform |
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