CN103489355B - Deep space exploration simulation training device and working method thereof - Google Patents
Deep space exploration simulation training device and working method thereof Download PDFInfo
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- CN103489355B CN103489355B CN201310334449.7A CN201310334449A CN103489355B CN 103489355 B CN103489355 B CN 103489355B CN 201310334449 A CN201310334449 A CN 201310334449A CN 103489355 B CN103489355 B CN 103489355B
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Abstract
The invention relates to a deep space exploration simulation training device based on parallel-serial five degrees of freedom and a working method thereof. Movement with five degrees of freedom in a space is achieved by the adoption of a mode of a combination between a series connection degree of freedom mechanism and a parallel connection degree of freedom mechanism, movement with five degrees of freedom can be achieved in a normal gravity field, and the states of transverse overweight, lateral overweight, lateral weightlessness, longitudinal overweight, longitudinal weightlessness and the like are simulated. According to the deep space exploration simulation training device and the working method, the advantages of a simple structure, low cost, simple control, a wide movement range and the like of a series connection machine can be utilized, and the advantages of high rigidity, bearing capacity and precision and low inertia in a tail end piece of a parallel connection machine can also be combined, so the device has more comprehensive advantages. The degree of freedom is reasonably decomposed, and not only the device achieves movement with the five degrees of freedom, but also control over the movement is simplified; multifunctional and multi-pose comprehensiveness of the space is achieved, and training is more reasonable and comprehensive.
Description
Technical field
The present invention relates to a kind of survey of deep space analog training device based on mixed-coupled five-freedom and method of work thereof, what the concrete hybrid mechanism of employing exactly combined simulates for the particular surroundings run in space flight, the states such as simulate for lateral is overweight, lateral overload, side direction weightless, longitudinal direction is overweight, longitudinal weightlessness can be distinguished, belong to field of deep space exploration.
Background technology
Along with the enhancing of national economic strength and overall national strength, increasing country increases the exploration dynamics to the earth outer space; Survey of deep space not only provides one side to examine the mirror of oneself closely to the mankind, more brings brand-new technology to us, promote scientific-technical progress, shows overall national strength.
At present, conventional manned space flight ground simulation training apparatus has three classes: a class carries out the equipment of simulating for the particular surroundings run in space flight; Another kind of is be astronaut training's space flight operation various flight simulators used; Also have a class to be set up various cabins body, inside have the analog machine of Simulated Spacecraft internal environment.The analog training device of the particular surroundings run in simulation space flight is more.Such as, have the human centrifuge of simulation genvironments, also claim artificial gravity environment simulator, it is overweight, and overload values can become as required, to test subject's antigravity overload load-bearing capacity; The large pond of the zero gravity airplane of Simulated Weightlessness and simulated weightlessness sensation; " impact tower " of impulsive force etc. is produced during simulation manned spacecraft landing shock.
The domestic and international statics Analysis for parallel institution, kinematics analysis, dynamic analysis and the problem such as optimal design and finite element analysis are own at present studies comparatively widely through having had, and achieves a lot of achievement in research.20 th century later, Boeing Co. adopts degree of freedom platform in parallel, develop a flight simulator Flight Simulator Of Boeing737-400, this simulator can bear the Flight Training Mission of 90%, and training expenses hourly is only the 1/40-1/10 of actual airflight, Be very effective, 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 due to moving parts few, effectively improve 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.
But the huge advantage of degree of freedom mechanism in parallel can not cover unique strong point that series connection degree of freedom mechanism has.Compared to degree of freedom mechanism in parallel, series connection degree of freedom mechanism, is carrying out expectation function on the basis of serious analysis, general function can be decomposed into several point of function, simplify, and general function is decomposed into point function being easy to realize.According to the feature of each clamp mechanism, carry out Mechanism Combination in series thus obtain various mechanism innovative design scheme; Moreover each degree of freedom is separate in series connection degree of freedom mechanism, without coupled relation, be easy to control, can greatly simplify work calculated amount.Based on the survey of deep space simulation system of mixed-coupled five-freedom, serial machine structure not only can be utilized simple, 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, 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 more and more extensive, relative dynamics problem tool grows a lot potentiality.From control angle, be intended to the dynamics problem of the aspect of performance studying parallel robot and hybrid mechanism, solve the feedback of control system, stablize and the problem of the aspect such as 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 structure simple, 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.Differential mechanism principle is used to realize two rotary freedoms, compact conformation; Another rotary freedom is realized based on bottom stepper motor; Based on the binary mobile platform of series connection, stable movement, safe and reliable; Rational decomposition degree of freedom, even if mechanism realizes the motion of five degree of freedom, makes again motion control simplify; Achieve space multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
The present invention is directed to the problem of prior art, propose a kind of new technical scheme: a kind of survey of deep space analog training device based on mixed-coupled five-freedom be a kind of adopt hybrid mechanism to combine carry out the equipment of simulating for the particular surroundings run in space flight, it comprises upper mounting plate and lower platform two parts, and upper and lower two platforms are formed by bolt-connection.Upper mounting plate is for realizing the parallel moving mechanism of transfer platform three rotary freedoms (rotate around x-axis, rotate around y-axis, rotate around z-axis), 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 serial kinematic mechanism of transfer platform two one-movement-freedom-degrees (x moves in direction, y direction move), and it comprises X to displacement adjustment device and Y-direction displacement adjustment device.
It is characterized in that the motion of five degree of freedom in the mode implementation space by adopting series connection degree of freedom mechanism to combine with degree of freedom mechanism in parallel, states such as can realizing the motion of five degree of freedom in normal gravity field, simulate for lateral is overweight, lateral overload, side direction are weightless, longitudinal direction is overweight, longitudinal direction is weightless.Described transfer platform is positioned at the top of whole device, be connected with differential cross pin by transfer platform revolving shaft, 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, thus realizes the rotation (rotate around x-axis, rotate around y-axis, rotate around z-axis) of the three degree of freedom of transfer platform; X can realize two one-movement-freedom-degrees (x moves in direction, y direction move) of transfer platform to displacement adjustment device and Y-direction displacement adjustment device.Differential cross pin is made up of two differential mechanism small bevel gear, 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 is identical with right part drive unit, distributes about transfer platform Axisymmetric.Described bottom drive unit comprises swivel base, bottom motors bearing, the little straight-tooth in bottom, the large straight-tooth in bottom, turning axle sleeve, lower platform connection flat board, rotating shaft bearing, shaft block ring, turning axle, axle sleeve I, hole back-up ring, axle sleeve II, ring flange, pin with split pin hole, split pin and bottom stepper motor.Upper mounting plate connects flat board by lower platform and is connected with lower platform.Described lower platform is serial kinematic mechanism, comprises X to displacement adjustment device and Y-direction displacement adjustment device.Realized the transverse shifting in x direction by X to displacement adjustment device, realize vertically moving of y direction by Y-direction displacement adjustment device.
Concrete technical scheme is as follows:
The present invention is directed to the problem of prior art, propose a kind of new technical scheme: a kind of survey of deep space analog training device based on mixed-coupled five-freedom be a kind of adopt hybrid mechanism to combine carry out the equipment of simulating for the particular surroundings run in space flight, it comprises upper mounting plate and lower platform two parts, and upper and lower two platforms are formed by bolt-connection.Upper mounting plate is for realizing the parallel moving mechanism of transfer platform three rotary freedoms (rotate around x-axis, rotate around y-axis, rotate around z-axis), 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 serial kinematic mechanism of transfer platform two one-movement-freedom-degrees (x moves in direction, y direction move), and it comprises X to displacement adjustment device and Y-direction displacement adjustment device.
It is characterized in that the motion of five degree of freedom in the mode implementation space by adopting series connection degree of freedom mechanism to combine with degree of freedom mechanism in parallel, states such as can realizing the motion of five degree of freedom in normal gravity field, simulate for lateral is overweight, lateral overload, side direction are weightless, longitudinal direction is overweight, longitudinal direction is weightless.Described transfer platform is positioned at the top of whole device, be connected with differential cross pin by transfer platform revolving shaft, 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, thus realizes the rotation (rotate around x-axis, rotate around y-axis, rotate around z-axis) of the three degree of freedom of transfer platform; X can realize two one-movement-freedom-degrees (x moves in direction, y direction move) of transfer platform to displacement adjustment device and Y-direction displacement adjustment device.Differential cross pin is made up of two differential mechanism small bevel gear, two differential mechanism auger teeth, bevel pinion stationary shaft and differential mechanism shells.Two differential mechanism small bevel gear 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, and differential mechanism small bevel gear and differential mechanism auger tooth are alternately arranged.Two differential mechanism auger tooth left ends are connected with right axle shaft respectively by left half axle with right-hand member, are then 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 in its two ends, left and right.Shell bearing carries out supporting and location to differential mechanism shell.In the outside of right axle shaft, cover has 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 of 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.Right part stepper motor is fixed on motor support base I, and both entirety is fixed in frame by motor support base II again.The structure of described left part drive unit is identical with right part drive unit, distributes about transfer platform Axisymmetric.Described bottom drive unit comprises swivel base, bottom motors bearing, the little straight-tooth in bottom, the large straight-tooth in bottom, turning axle sleeve, lower platform connection flat board, rotating shaft bearing, shaft block ring, turning axle, axle sleeve I, hole back-up ring, axle sleeve II, ring flange, pin with split pin hole, split pin and bottom stepper motor.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 turning axle sleeve.The large straight-tooth in bottom is connected by pin with split pin hole and split pin 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.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 is serial kinematic mechanism, comprises X to displacement adjustment device and Y-direction displacement adjustment device.X is positioned at the below of Y-direction displacement adjustment device to displacement adjustment device, and both central axis are mutually vertical, move separate, do not interfere, can control separately.X, to displacement adjustment device, by the stepper motor on its top of Pulse Width Control, drives its base plate to move on guide rail, realizes the transverse shifting in x direction with this.Y-direction displacement adjustment device, by the stepper motor on its top of Pulse Width Control, drives its base plate to move around on guide rail, realizes the transverse shifting in y direction with this.
Based on the survey of deep space simulation system of mixed-coupled five-freedom, serial machine structure not only can be utilized simple, 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, the advantages such as precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.Differential mechanism principle is used to realize two rotary freedoms, compact conformation; Another rotary freedom is realized based on bottom stepper motor; Based on the binary mobile platform of series connection, stable movement, safe and reliable; Rational decomposition degree of freedom, Ji Shi mechanism realizes the motion of five degree of freedom, makes again motion control simplify; Achieve space multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.Use stepper motor can carry out pilot angle displacement by gating pulse number, thus reach the object of accurately location; Speed and the acceleration of electric machine rotation can be controlled simultaneously by gating pulse frequency, thus reach the object of speed governing, control rotation direction by the power-up sequence controlling each phase winding of motor.
The invention also discloses this method of work based on the survey of deep space analog training device of mixed-coupled five-freedom, comprising:
When bottom stepper motor works independently, drive the little straight-tooth in bottom to rotate, by gear drive, the large straight-tooth in bottom rotates, and achieves the rotary motion in the simple z direction of loading platform;
When right part stepper motor and the equidirectional same rotational speed of left part stepper motor, and bottom stepper motor does not work, now, and the rotary motion in the y direction that loading platform is simple;
When right part stepper motor and left part stepper motor are in the other direction with rotational speed, and bottom stepper motor does not work, now, and the rotary motion in the x direction that loading platform is simple;
When regulating X to displacement adjustment device, loading platform just achieves transverse shifting in the x-direction;
When regulating Y-direction displacement adjustment device, loading platform just achieves transverse shifting in the y-direction.
Original state is exactly that stepper motor does not work, state during unpowered output; After system electrification initialization, inquiry button state, determines to perform which pattern.
When right part stepper motor and left part stepper motor receive the equidirectional same rotational speed of pulse signal, namely two stepper motor common mode inputs, and bottom stepper motor does not work, power passes to the little straight-tooth in top, the large straight-tooth external toothing of the little straight-tooth in top and top, power passes to the large straight-tooth in top by gear drive; Because the large straight-tooth in top is threaded by the large straight-tooth in axle head pad, spring shim and screw rod and top with right axle shaft and left half axle, power just passes to right axle shaft and left half axle, when making right axle shaft and the equidirectional same rotational speed of left half axle, transfer platform, central axis around right axle shaft and left half axle rotates by differential cross pin, the central axis of selected right axle shaft and left half axle is y direction, and namely now loading platform achieves the rotary motion in simple y direction.
When bottom stepper motor works independently, the little straight-tooth in bottom is driven to rotate, pass through gear drive, the large straight-tooth in bottom rotates, power passes to swivel base through turning axle and ring flange again, and make swivel base start to rotate, the central axis of selected turning axle is z direction, the all components be connected except flat board rotate around z direction with lower platform except turning axle sleeve to pass the power drive of coming, and namely now loading platform achieves the rotary motion campaign in simple z direction.
When right part stepper motor and left part stepper motor receive pulse signal in the other direction with rotational speed, namely two stepper motor difference-mode inputs, and bottom stepper motor does not work, power passes to the little straight-tooth in top, the large straight-tooth external toothing of the little straight-tooth in top and top, power passes to the large straight-tooth in top by gear drive; Because the large straight-tooth in top is threaded by the large straight-tooth in axle head pad, spring shim and screw rod and top with right axle shaft and left half axle, power just passes to right axle shaft and left half axle, when making right axle shaft and left half axle in the other direction with rotational speed, transfer platform revolving shaft transfixion, differential mechanism auger tooth and semiaxis sleeve will rotate around himself axis, when this axis rotates to all vertical with z with y direction, i.e. x direction, namely now loading platform achieves the rotary motion in simple x direction.
When right part stepper motor and left part stepper motor rotate with any rotating speed any direction, and bottom stepper motor does not work, the rotating speed of what right part stepper motor and left part stepper motor exported is any direction, namely can be one group of common mode speed and one group of differential mode speed by resolution of velocity, now common mode speed makes loading platform rotate around y-axis, and differential mode speed makes loading platform rotate around himself axis, when this axis rotates to all vertical with z with y direction, namely during x direction, loading platform rotates around x-axis, namely now loading platform achieves the motion simultaneously rotated around x-axis and y-axis.
When right part stepper motor and left part stepper motor rotate with any rotating speed any direction, and bottom stepper motor, when X also works to displacement adjustment device and Y-direction displacement adjustment device simultaneously, loading platform just achieves and to rotate and along the moving of five degree of freedom of x-axis and y-axis movement around x-axis, y-axis and z-axis.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described with implementing legend.
Fig. 1 is the front elevation of analog training device of the present invention;
Fig. 2 is the oblique view of analog training device of the present invention;
Fig. 3 is the schematic diagram of lower platform of the present invention;
Fig. 4 is the kinematic sketch of upper mounting plate of the present invention;
Fig. 5 is the kinematic sketch of 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 small bevel gear, 3-differential mechanism auger tooth, 4-transfer platform revolving shaft, 5-small bevel gear 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 is to displacement adjustment device, 41-Y, to displacement adjustment device, 42-differential cross pin, 43-right part drive unit, 44-left part drive unit, 45-bottom drive unit, 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 be a kind of adopt hybrid mechanism to combine carry out the equipment of simulating for the particular surroundings run in space flight, Fig. 1 and Fig. 2 respectively illustrates front elevation and the oblique view of analog training device of the present invention, analog training device comprises upper mounting plate 46 and lower platform 47 two parts, and upper and lower two platforms are formed by bolt-connection.Upper mounting plate 46 is for realizing the parallel moving mechanism of transfer platform 36 3 rotary freedoms (rotate around x-axis, rotate around y-axis, rotate around z-axis), 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 serial kinematic mechanism of transfer platform 36 two one-movement-freedom-degrees (x moves in direction, y direction move), and it comprises X to displacement adjustment device 40 and Y-direction displacement adjustment device 41, see Fig. 3.
The present invention is by adopting the motion of five degree of freedom in the mode implementation space that combines with degree of freedom mechanism in parallel of series connection degree of freedom mechanism, states such as can realizing the motion of five degree of freedom in normal gravity field, simulate for lateral is overweight, lateral overload, side direction are weightless, longitudinal direction is overweight, longitudinal direction is weightless.According to the load characteristic of system, kinetic characteristic and control accuracy requirement, select five stepper motors as the driving element of system, makes system realize mixed-coupled five-freedom motion by the combination of single motor or many motors.According to the complexity of system motion, and require to send multichannel different frequency and mutually non-interfering pulsating wave, selecting MC9S12XS128 as the core processor of controller, controlling motor by arranging its PWM.Described transfer platform 36 is positioned at the top of whole device, be connected with differential cross pin 42 by transfer platform revolving shaft 4, 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, thus realizes the rotation (rotate around x-axis, rotate around y-axis, rotate around z-axis) of the three degree of freedom of transfer platform 36; X can realize two one-movement-freedom-degrees (x moves in direction, y direction move) of transfer platform 36 to displacement adjustment device and Y-direction displacement adjustment device.Power reaches transfer platform revolving shaft 4 again to transfer platform 36 by differential cross pin 42.Spacefarer holds transfer platform 36 and just can be used for carrying out survey of deep space simulation.Differential cross pin 42 is made up of two differential mechanism small bevel gear 2, two differential mechanism auger teeth 3, bevel pinion stationary shaft 5 and differential mechanism shells 1.Two differential mechanism small bevel gear 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, and differential mechanism small bevel gear 2 and differential mechanism auger tooth 3 are alternately arranged.Two differential mechanism auger tooth 3 left ends are connected with right axle shaft 9 respectively by left half axle 39 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 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 in top 13, 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 in 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.Semiaxis sleeve 8, in the outermost of right axle shaft 9, is fixed by runing rest 10.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 in top 13 and top little straight-tooth 17 external toothing, the little straight-tooth 17 in top is connected with the output axle key of right part stepper motor 19.Right part stepper motor 19 is fixed on motor support base I18, and both entirety is fixed in frame by motor support base II20 again.The power of right part passes 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 small bevel gear 2, then passes to transfer platform 36.The structure of described left part drive unit 44 is identical with right part drive unit 43, symmetrical about transfer platform revolving shaft 4.Described bottom drive unit 45 comprises swivel base 21, bottom motors bearing 22, the little straight-tooth in bottom 23, the large straight-tooth 24 in bottom, turning axle sleeve 25, lower platform connection flat board 26, rotating shaft bearing 27, shaft block ring 28, turning axle 29, axle sleeve I30, hole back-up ring 31, axle sleeve II32, 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 by pin with split pin hole 34 and split pin 35 with turning axle 29.The large straight-tooth 24 in bottom and bottom little straight-tooth 23 external toothing.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 see Fig. 3) be serial kinematic mechanism, comprise X to displacement adjustment device 40 and Y-direction displacement adjustment device 41.X is positioned at the below of Y-direction displacement adjustment device 41 to displacement adjustment device 40, and both central axis are mutually vertical, move separate, do not interfere, can control separately.X, to displacement adjustment device 40, by the stepper motor on its top of Pulse Width Control, drives its base plate to move on guide rail, realizes the transverse shifting in x direction with this.Y-direction displacement adjustment device 41, by the stepper motor on its top of Pulse Width Control, drives its base plate to move on guide rail, realizes the transverse shifting in y direction with this.Lower platform 47 is that structure is simple based on the advantage of the binary mobile platform of series connection, and cost is low, and control simple, range of movement is large, and stable movement is safe and reliable etc.
Survey of deep space simulation system based on mixed-coupled five-freedom is passed through reasonably to decompose degree of freedom, and Ji Shi mechanism realizes the motion of five degree of freedom, makes again motion control simplify; Achieve space multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
Fig. 4 is the kinematic sketch of upper mounting plate 46 of the present invention, and it just schematically illustrates the workflow of the survey of deep space simulation system based on mixed-coupled five-freedom of the present invention, and concrete method of work is as follows:
(1) original state is exactly that stepper motor does not work, state during unpowered output.After system electrification initialization, inquiry button state, determines to perform which pattern.
(2) when bottom stepper motor 37 receive pulse signal work independently time, the little straight-tooth 23 in bottom is driven to rotate, pass through 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, swivel base 21 is made to start to rotate, drive all components except turning axle sleeve 25 to be connected dull and stereotyped 26 with lower platform except entirety to be rotated around the axle 3 indicated in Fig. 4 simultaneously, we select axle 3 direction and vertical direction is z direction, and namely loading platform 36 achieves the rotary motion in 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 modes input (as Suo Shi Fig. 5 (a)), and bottom stepper motor 37 does not work, power passes to the little straight-tooth 17 in top, the little straight-tooth in top 17 and top large straight-tooth 13 external toothing, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth 13 in top and semiaxis (right axle shaft 9 and left half axle 39) are by axle head pad 14, spring shim 15, be threaded with the large straight-tooth 13 in screw rod 16 and top, power just passes to right axle shaft 9 and left half axle 39, when making right axle shaft 9 and left half axle 39 equidirectional same rotational speed (input of motor common mode), transfer platform 36, central axis (axle 2 namely indicated in Fig. 4) around right axle shaft 9 and left half axle 39 rotates by differential cross pin 42, the central axis that we select right axle shaft 9 and left half axle 39 is y direction, namely now loading platform 36 achieves the rotary motion in 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 Suo Shi Fig. 5 (b)), and bottom stepper motor 37 does not work, power passes to the little straight-tooth 17 in top, the little straight-tooth in top 17 and top large straight-tooth 13 external toothing, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth 13 in top and semiaxis (right axle shaft 9 and left half axle 39) are by axle head pad 14, spring shim 15, be threaded with the large straight-tooth 13 in screw rod 16 and top, power just passes to right axle shaft 9 and left half axle 39, make right axle shaft 9 and left half axle 39 in the other direction with (motor difference-mode input) during rotational speed, transfer platform revolving shaft 4 transfixion, differential mechanism auger tooth 3 and semiaxis sleeve 8 will rotate around himself axis, when this axis rotates to all vertical with z with y direction (i.e. x direction), namely now loading platform 36 achieves the rotary motion in simple x direction.
(5) when right part stepper motor 19 and left part stepper motor 38 receive (as Suo Shi Fig. 5 (c)) when pulse signal rotates with any rotating speed any direction, and bottom stepper motor 37 does not work, power passes to the little straight-tooth 17 in top, the little straight-tooth in top 17 and top large straight-tooth 13 external toothing, power passes to the large straight-tooth 13 in top by gear drive.Because the large straight-tooth in top 13 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.What export due to right part stepper motor 19 and left part stepper motor 38 is the rotating speed of any direction, namely resolution of velocity can be one group of common mode speed and one group of differential mode speed by we, now common mode speed makes loading platform 36 rotate around y-axis, and differential mode speed makes loading platform 36 rotate around himself axis (axle 1 namely indicated in Fig. 4), when this axis rotates to all vertical with z with y direction (i.e. x direction), loading platform 36 rotates around x-axis.Namely now loading platform 36 achieves the motion simultaneously rotated around x-axis and y-axis.
(6) when right part stepper motor 19 and left part stepper motor 38 receive (as Suo Shi Fig. 5 (c)) when pulse signal rotates with any rotating speed any direction, and when bottom stepper motor 37 also works, loading platform 36 just achieves the motion rotated around x-axis, y-axis and z-axis simultaneously simultaneously.
(7) when the X of left and right adjusting lower platform 47 is to displacement adjustment device 40, loading platform 36 just achieves transverse shifting in the x-direction, by distance measuring sensor controlled motion amount, prevents base from bumping against.
(8) when front and back regulate the Y-direction displacement adjustment device 41 of lower platform 47, loading platform 36 just achieves transverse shifting in the y-direction, by distance measuring sensor controlled motion amount, prevents base from bumping against.
(9) when right part stepper motor 19 and left part stepper motor 38 receive (as Suo Shi Fig. 5 (c)) when pulse signal rotates with any rotating speed any direction, and bottom stepper motor 37, when X also works to displacement adjustment device 40 and Y-direction displacement adjustment device 41 simultaneously, loading platform 36 just achieves and to rotate and along the moving of five degree of freedom of x-axis and y-axis movement around x-axis, y-axis and z-axis.
Fig. 6 is control system process flow diagram of the present invention, controls to rotate and along the moving of five degree of freedom of x-axis and y-axis movement around x-axis, y-axis and z-axis by this control system.After this device brings into operation, external interrupt and timer interruption initialization, by inquiry button state, which pattern judgement is.Timer interruption allows, and controller sends pulse, controls corresponding drive motor and carries out work, and by numeral method, the size and Orientation of detection speed, feeds back to system again, realizes above-described method of work with this.
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 structure simple, 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.Differential mechanism principle is used to realize two rotary freedoms, compact conformation; Another rotary freedom is realized based on bottom stepper motor; Based on the binary mobile platform of series connection, stable movement, safe and reliable; Rational decomposition degree of freedom, Ji Shi mechanism realizes the motion of five degree of freedom, makes again motion control simplify; Achieve space multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.
(1) the present invention be a kind of adopt hybrid mechanism to combine carry out the equipment of simulating for the particular surroundings run in space flight, it comprises upper mounting plate 46 and lower platform 47 two parts, and upper and lower two platforms are formed by bolt-connection.Upper mounting plate 46 is the parallel moving mechanism that transfer platform 36 realizes three rotary freedoms (rotate around x-axis, rotate around y-axis, rotate around z-axis), 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 the serial kinematic mechanism that transfer platform 36 realizes two one-movement-freedom-degrees (x moves in direction, y direction move), and it comprises X to displacement adjustment device 40 and Y-direction displacement adjustment device 41.Serial machine structure so not only can be utilized simple, 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, and load-bearing capacity is strong, and the advantages such as precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.
(2) differential cross pin 42 is made up of two differential mechanism small bevel gear 2, two differential mechanism auger teeth 3, bevel pinion stationary shaft 5 and differential mechanism shells 1.Two differential mechanism small bevel gear 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, and differential mechanism small bevel gear 2 and differential mechanism auger tooth 3 are alternately arranged.Two differential mechanism auger tooth 3 left ends are connected with right axle shaft 9 respectively by left half axle 39 with right-hand member, are then threaded connection on the large straight-tooth 13 in top.The left and right sides is symmetrical structure, and structure is identical.Differential mechanism principle is used 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.Pilot angle displacement can be carried out by gating pulse number, thus reach the object of accurately location; Speed and the acceleration of electric machine rotation can be controlled simultaneously by gating pulse frequency, thus reach the object of speed governing, control rotation direction by the power-up sequence controlling each phase winding of motor.So whole system is not when adopting closed-loop control, Bit andits control precision 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 more and more extensive, relative dynamics problem tool grows a lot potentiality.From control angle, be intended to the dynamics problem of the aspect of performance studying parallel robot and hybrid mechanism, solve the feedback of control system, stablize and the problem of the aspect such as coupling becomes research and development trend.
The present invention be a kind of adopt hybrid mechanism to combine carry out the equipment of simulating for the particular surroundings run in space flight, states such as can realizing the motion of five degree of freedom in normal gravity field, simulate for lateral is overweight, lateral overload, side direction are weightless, longitudinal direction is overweight, longitudinal direction is weightless.Starting point is the propelling along with " goddess in the moon's series " Lunar Probe Project, with simply, stable, low cost, manageable feature makes spacefarer's survey of deep space analog training device, can in conjunction with visual system flying condition and actual manned spacecraft motion state in ground simulation space, for spacefarer provides kinaesthesis, vision, the various sensation such as the sense of hearing and overweight load, analog training device can make pilot before really entering space, accept scientific and reasonable simulated training, it is made to adapt to fly away from the particular surroundings of terrestrial time in advance, improve the safety guarantee in true space environment and operating efficiency.Its using value and market outlook are embodied in the following aspects: the choice of pilot, spacefarer and training; The experience apparatus of dynamic cinema, chair motions and film plot synchronously make spectators on the spot in person; Recreations and athletic facilities, had both made people experience space sport, had been conducive to fitness-for-all again; Drive simulating.
The present invention not only can utilize serial machine structure simple, 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, and load-bearing capacity is strong, and the advantages such as precision is high, and end piece inertia is little, make mechanism possess advantage more comprehensively.Differential mechanism principle is used to realize two rotary freedoms, compact conformation; Another rotary freedom is realized based on bottom stepper motor; Based on the binary mobile platform of series connection, stable movement, safe and reliable; Rational decomposition degree of freedom, Ji Shi mechanism realizes the motion of five degree of freedom, makes again motion control simplify; Achieve space multi-functional, multi-pose comprehensive, make training more rationally, comprehensively.Use stepper motor can carry out pilot angle displacement by gating pulse number, thus reach the object of accurately location; Speed and the acceleration of electric machine rotation can be controlled simultaneously by gating pulse frequency, thus reach the object of speed governing, control rotation direction by the power-up sequence controlling each phase winding of motor.
Claims (10)
1. the survey of deep space analog training device based on mixed-coupled five-freedom, it is characterized in that, comprise upper mounting plate (46) and lower platform (47), the motion of five degree of freedom in the mode implementation space combined with degree of freedom mechanism in parallel by adopting series connection degree of freedom mechanism, the motion of five degree of freedom can be realized in normal gravity field, simulate for lateral is overweight, lateral overload, side direction are weightless, longitudinal overweight, longitudinal state of weightlessness;
Wherein, 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) comprises X to displacement adjustment device (40) and Y-direction displacement adjustment device (41);
Transfer platform (36) is connected with differential cross pin (42) by transfer platform revolving shaft (4);
Differential cross pin (42) is made up of two differential mechanism small bevel gear (2), two differential mechanism auger teeth (3), bevel pinion stationary shaft (5) and differential mechanism shells (1); Two differential mechanism small bevel gear (2) are distributed in the upper and lower of differential cross pin (42), two differential mechanism auger teeth (3) are distributed in left part and the right part of differential cross pin (42), and differential mechanism small bevel gear (2) and differential mechanism auger tooth (3) are alternately arranged; Two differential mechanism auger tooth (3) left ends are connected with right axle shaft (9) respectively by left half axle (39) with right-hand member, are then threaded connection on the large straight-tooth in top (13).
2. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as claimed in claim 1, 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) in 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) outermost in right axle shaft (9), fixes semiaxis sleeve (8); 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 top little straight-tooth (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), and both entirety is fixed in frame by motor support base II (20) again; The power of right part passes to the little straight-tooth in top (17) by right part stepper motor (19), pass to the large straight-tooth in top (13) again, pass to right axle shaft (9) again, pass to the differential mechanism auger tooth (3) in differential cross pin (42) again, pass to differential mechanism small bevel gear (2) again, then pass to transfer platform (36); The structure of left part drive unit (44) is identical with right part drive unit (43), symmetrical about transfer platform revolving shaft (4).
3. a kind of survey of deep space analog training device based on mixed-coupled five-freedom as claimed in claim 2, wherein,
Bottom drive unit (45) comprises swivel base (21), bottom motors bearing (22), the little straight-tooth in bottom (23), the large straight-tooth (24) in bottom, turning axle sleeve (25), lower platform connects dull and stereotyped (26), rotating shaft bearing (27), shaft block ring (28), turning axle (29), axle sleeve I (30), hole is with back-up ring (31), axle sleeve II (32), 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 by pin with split pin hole (34) and split pin (35) with turning axle (29), the large straight-tooth (24) in bottom and bottom little straight-tooth (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).
4., as claimed in claim 3 based on a method of work for the survey of deep space analog training device of mixed-coupled five-freedom, comprising:
When bottom stepper motor (37) works independently, the little straight-tooth in bottom (23) is driven to rotate, by gear drive, the large straight-tooth in bottom (24) is rotated, and achieves the rotary motion in the simple z direction of loading platform (36);
When right part stepper motor (19) and left part stepper motor (38) equidirectional same rotational speed, and bottom stepper motor (37) does not work, now, and the rotary motion in the y direction that loading platform (36) is simple;
When right part stepper motor (19) and left part stepper motor (38) are in the other direction with rotational speed, and bottom stepper motor (37) does not work, now, and the rotary motion in the x direction that loading platform (36) is simple;
When regulating X to displacement adjustment device (40), loading platform (36) just achieves transverse shifting in the x-direction;
When regulating Y-direction displacement adjustment device (41), loading platform (36) just achieves transverse shifting in the y-direction.
5. method of work as claimed in claim 4, wherein,
Original state is exactly that stepper motor does not work, state during unpowered output; After system electrification initialization, inquiry button state, determines to perform which pattern.
6. the method for work as described in claim 4 or 5, wherein,
When right part stepper motor (19) and left part stepper motor (38) receive the equidirectional same rotational speed of pulse signal, namely two stepper motor common mode inputs, and bottom stepper motor (37) does not work, power passes to the little straight-tooth in top (17), the little straight-tooth in top (17) and top large straight-tooth (13) external toothing, power passes to the large straight-tooth in top (13) by gear drive, because the large straight-tooth in top (13) and right axle shaft (9) and left half axle (39) are by axle head pad (14), spring shim (15), be threaded with the large straight-tooth in top (13) with screw rod (16), power just passes to right axle shaft (9) and left half axle (39), when making right axle shaft (9) and left half axle (39) equidirectional same rotational speed, transfer platform (36), differential cross pin (42) will rotate around the central axis of right axle shaft (9) and left half axle (39), the central axis of selected right axle shaft (9) and left half axle (39) is y direction, namely now loading platform (36) achieves the rotary motion in simple y direction.
7. the method for work as described in claim 4 or 5, wherein,
When bottom stepper motor (37) works independently, the little straight-tooth in bottom (23) is driven to rotate, pass through 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, swivel base (21) is made to start to rotate, the central axis of selected turning axle (29) is z direction, the all components be connected except dull and stereotyped (26) rotate around z direction with lower platform except turning axle sleeve (25) to pass the power drive of coming, namely now loading platform (36) achieves the rotary motion in simple z direction.
8. the method for work as described in claim 4 or 5, wherein,
When right part stepper motor (19) and left part stepper motor (38) receive pulse signal in the other direction with rotational speed, namely two stepper motor difference-mode inputs, and bottom stepper motor (37) does not work, power passes to the little straight-tooth in top (17), the little straight-tooth in top (17) and top large straight-tooth (13) external toothing, power passes to the large straight-tooth in top (13) by gear drive, because the large straight-tooth in top (13) and right axle shaft (9) and left half axle (39) are by axle head pad (14), spring shim (15), be threaded with the large straight-tooth in top (13) with screw rod (16), power just passes to right axle shaft (9) and left half axle (39), when making right axle shaft (9) and left half axle (39) in the other direction with rotational speed, transfer platform revolving shaft (4) transfixion, differential mechanism auger tooth (3) and semiaxis sleeve (8) will rotate around himself axis, when this axis rotates to all vertical with z with y direction, i.e. x direction, namely now loading platform (36) achieves the rotary motion in simple x direction.
9. the method for work as described in claim 4 or 5, wherein,
When right part stepper motor (19) and left part stepper motor (38) rotate with any rotating speed any direction, and bottom stepper motor (37) does not work, the rotating speed of what right part stepper motor (19) and left part stepper motor (38) exported is any direction, namely can be one group of common mode speed and one group of differential mode speed by resolution of velocity, now common mode speed makes loading platform (36) rotate around y-axis, and differential mode speed makes loading platform (36) rotate around himself axis, when this axis rotates to all vertical with z with y direction, namely during x direction, loading platform (36) rotates around x-axis, namely now loading platform (36) achieves the motion simultaneously rotated around x-axis and y-axis.
10. the method for work as described in claim 4 or 5, wherein,
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 also works to displacement adjustment device (40) and Y-direction displacement adjustment device (41) simultaneously, loading platform (36) just achieves and to rotate and along the moving of five degree of freedom of x-axis and y-axis movement around x-axis, y-axis and z-axis.
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| CN2716943Y (en) * | 2004-09-01 | 2005-08-10 | 中国科学院沈阳自动化研究所 | Novel six freedom degree gravitational equilibrium mechanism |
| CN101286281A (en) * | 2008-06-03 | 2008-10-15 | 清华大学 | Rigid-elastic liquid coupled spacecraft physical simulation experiment system |
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