CN104044155B - Gravity offset device - Google Patents
Gravity offset device Download PDFInfo
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- CN104044155B CN104044155B CN201410271349.9A CN201410271349A CN104044155B CN 104044155 B CN104044155 B CN 104044155B CN 201410271349 A CN201410271349 A CN 201410271349A CN 104044155 B CN104044155 B CN 104044155B
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- 230000005484 gravity Effects 0.000 title claims abstract description 28
- 238000007667 floating Methods 0.000 claims abstract description 12
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000005486 microgravity Effects 0.000 description 1
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Abstract
本发明提供了一种重力抵消装置，包括气浮平台(1)、机架(2)、弹簧(3)、滑轮(4)、绳(5)、平行四连杆(6)和提吊连杆(7)，机架(2)的一端与气浮平台(1)固定连接，弹簧(3)的第一端与气浮平台(1)固定连接，弹簧(3)的第二端通过滑轮(4)与绳(5)的第一端固定连接，平行四连杆(6)的第一端与机架(2)转动连接，平行四连杆(6)的第二端与提吊连杆(7)的第一端转动连接，绳(5)的第二端与机架(2)活动连接后再与平行四连杆(6)和提吊连杆(7)的连接点固定连接。本发明通过调节机架、平行四连杆以及弹簧刚度，能够通过提吊连杆对机械臂质心施加一个和机械臂重力相等方向相反的提吊力，且该提吊力不随机械臂俯仰转角的变化而变化，具有结构简单巧妙、造价低、安全可靠、操作方便等优点。
The invention provides a gravity offset device, which comprises an air floating platform (1), a frame (2), a spring (3), a pulley (4), a rope (5), a parallel four link (6) and a lifting link Rod (7), one end of the frame (2) is fixedly connected with the air-floating platform (1), the first end of the spring (3) is fixedly connected with the air-floating platform (1), and the second end of the spring (3) passes through the pulley (4) is fixedly connected with the first end of rope (5), the first end of parallel four connecting rod (6) is connected with frame (2) in rotation, the second end of parallel four connecting rod (6) is connected with lifting The first end of the rod (7) is rotatably connected, and the second end of the rope (5) is movably connected with the frame (2) and then fixedly connected with the connecting point of the parallel four connecting rod (6) and the lifting connecting rod (7) . The present invention can apply a lifting force equal to the gravity of the mechanical arm and opposite to the gravity of the mechanical arm through the lifting connecting rod by adjusting the frame, the parallel four connecting rods and the spring stiffness, and the lifting force does not change with the pitching angle of the mechanical arm. It changes with changes, and has the advantages of simple and ingenious structure, low cost, safety and reliability, and convenient operation.
Description
技术领域technical field
本发明涉及一种重力抵消装置，属于模拟空间飞行技术领域。The invention relates to a gravity offset device, which belongs to the technical field of simulated space flight.
背景技术Background technique
随着机器人技术的不断发展和机器人应用领域的扩展，逐渐出现了能够用于空间领域的机械臂，但由于空间机械臂只适用于微重力的空间环境，因而在地面受重力影响很难进行活动，这就需要有一种安全可靠、工作稳定的重力抵消装置将空间用机械臂支撑起来，以克服重力或重力矩对机器臂关节的影响，使得较小输出力矩的机械臂关节也能驱动较大重力的机械臂。With the continuous development of robot technology and the expansion of robot application fields, robotic arms that can be used in the space field have gradually appeared. However, since the space robotic arm is only suitable for the space environment of microgravity, it is difficult to move on the ground under the influence of gravity. , which requires a safe, reliable, and stable gravity offset device to support the space with the manipulator to overcome the influence of gravity or gravity on the joints of the manipulator, so that the joints of the manipulator with a small output torque can also drive large Gravity's robotic arm.
目前，现有的重力抵消装置一般由气浮平台、吊丝机构或主动机构实现，但普遍存在运动范围较小、自由度较少以及安全性较差等缺点。At present, the existing gravity offset devices are generally implemented by air floating platforms, hanging wire mechanisms or active mechanisms, but they generally have disadvantages such as small range of motion, less degrees of freedom, and poor safety.
发明内容Contents of the invention
本发明提供了一种重力抵消装置，用于解决现有的重力抵消装置存在的运动范围较小、自由度较少及安全性较差的问题。为此，本发明提出了如下的技术方案：The invention provides a gravity offset device, which is used to solve the problems of the existing gravity offset device with small range of motion, few degrees of freedom and poor safety. For this reason, the present invention proposes following technical scheme:
一种重力抵消装置，包括气浮平台、机架、弹簧、滑轮、绳、平行四连杆和提吊连杆，机架的一端与气浮平台固定连接，弹簧的第一端与气浮平台固定连接，弹簧的第二端通过滑轮与绳的第一端固定连接，平行四连杆的第一端与机架转动连接，平行四连杆的第二端与提吊连杆的第一端转动连接，绳的第二端与机架活动连接后再与平行四连杆和提吊连杆的连接点固定连接。A gravity offset device, comprising an air-floating platform, a frame, a spring, a pulley, a rope, a parallel four-bar and a lifting link, one end of the frame is fixedly connected to the air-floating platform, and the first end of the spring is connected to the air-floating platform Fixed connection, the second end of the spring is fixedly connected to the first end of the rope through a pulley, the first end of the parallel four-link is connected to the frame in rotation, the second end of the parallel four-link is connected to the first end of the lifting link The connection is rotated, and the second end of the rope is movably connected with the frame and then fixedly connected with the connecting point of the parallel four connecting rod and the lifting connecting rod.
本发明提供的重力抵消装置，将所述装置连接在机械臂质心上后，通过调节机架、平行四连杆几何构型以及弹簧刚度，能够通过提吊连杆对机械臂质心施加一个和机械臂重力相等方向相反的提吊力，而且该提吊力不随机械臂俯仰转角的变化而变化，具有结构简单巧妙、造价低、安全可靠、操作方便等优点。The gravity offset device provided by the present invention, after the device is connected to the center of mass of the manipulator, by adjusting the frame, the geometric configuration of the parallelogram and the spring stiffness, can exert a mechanical force on the center of mass of the manipulator through the lifting link. Arm gravity is equal to the lifting force in opposite directions, and the lifting force does not change with the change of the pitch angle of the mechanical arm. It has the advantages of simple and ingenious structure, low cost, safe and reliable, and convenient operation.
附图说明Description of drawings
图1是本发明的具体实施方式提供的重力抵消装置的结构示意图；Fig. 1 is a schematic structural view of a gravity offset device provided by a specific embodiment of the present invention;
图2是本发明的具体实施方式提供的重力抵消装置与机械臂连接的结构示意图。Fig. 2 is a schematic structural diagram of the connection between the gravity offset device and the mechanical arm provided by the specific embodiment of the present invention.
具体实施方式detailed description
下面将结合本实用新型实施例，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本实用新型保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
本发明的具体实施方式提供了一种重力抵消装置，如图1和图2所示，包括气浮平台1、机架2、弹簧3、滑轮4、绳5、平行四连杆6和提吊连杆7，机架2的一端与气浮平台1固定连接，弹簧3的第一端与气浮平台1固定连接，弹簧3的第二端通过滑轮4与绳5的第一端固定连接，平行四连杆6的第一端与机架2转动连接，平行四连杆6的第二端与提吊连杆7的第一端转动连接，绳5的第二端与机架2活动连接后再与平行四连杆6和提吊连杆7的连接点固定连接。The specific embodiment of the present invention provides a gravity offset device, as shown in Figure 1 and Figure 2, comprising an air bearing platform 1, a frame 2, a spring 3, a pulley 4, a rope 5, a parallelogram 6 and a lifting Connecting rod 7, one end of frame 2 is fixedly connected with air-floating platform 1, the first end of spring 3 is fixedly connected with air-floating platform 1, the second end of spring 3 is fixedly connected with the first end of rope 5 through pulley 4, The first end of the parallel four connecting rod 6 is rotatably connected with the frame 2, the second end of the parallel four connecting rod 6 is rotatably connected with the first end of the lifting connecting rod 7, and the second end of the rope 5 is movably connected with the frame 2 Then it is fixedly connected with the connecting point of the parallel four connecting rod 6 and the lifting connecting rod 7.
具体的，机架2设置在气浮平台1上，在机架2上设置有第一俯仰关节9和第二俯仰关节10，第一俯仰关节9设置在第二俯仰关节10的正上方，平行四连杆6通过第一俯仰关节9与机架2转动连接，机械臂8通过第二俯仰关节10与机架2转动连接。提吊连杆7通过接口与机械臂8的质心连接。提吊连杆7、平行四连杆6、机架2和机械臂8构成一个平行四连杆部件，使得绳5的张紧力不直接作用在机械臂8上，作用在机械臂8上的外力只有提吊连杆7竖直方向的力；弹簧3的第一端固定在机架2上，第二端与绳5的第一端连接，绳5的第二端穿过滑轮4与平行四连杆6连接。如图1所示的，通过设计几何尺寸α、b以及弹簧刚度，利用正弦三角函数，可以得到当k＝mg/b时，机械臂8在任意角度受到的提吊力均与重力等大反向，并且在机械臂8的俯仰关节处没有额外分力。Specifically, the frame 2 is arranged on the air bearing platform 1, and the first pitch joint 9 and the second pitch joint 10 are arranged on the frame 2, and the first pitch joint 9 is arranged directly above the second pitch joint 10, parallel to The four-link 6 is rotationally connected to the frame 2 through the first pitch joint 9 , and the mechanical arm 8 is rotationally connected to the frame 2 through the second pitch joint 10 . Lifting connecting rod 7 is connected with the center of mass of mechanical arm 8 through interface. Lifting connecting rod 7, parallel four connecting rod 6, frame 2 and mechanical arm 8 constitute a parallel four connecting rod part, so that the tension force of rope 5 does not directly act on the mechanical arm 8, but acts on the mechanical arm 8 The external force is only the force in the vertical direction of the lifting connecting rod 7; the first end of the spring 3 is fixed on the frame 2, the second end is connected with the first end of the rope 5, and the second end of the rope 5 passes through the pulley 4 and is parallel to the Four-link 6 connection. As shown in Figure 1, by designing the geometric dimensions α, b and spring stiffness, using the sine trigonometric function, it can be obtained that when k=mg/b, the lifting force received by the mechanical arm 8 at any angle is equal to the gravity. direction, and there is no additional force component at the pitch joint of the manipulator 8.
本具体实施方式提供的重力抵消装置具有以下有益效果：一、本发明采用弹簧、轴承、连杆等零部件，使得使用过程中减少了由于控制不当或电气系统故障引起的安全性隐患，可以保护高价值的空间机械臂。二、由于现有技术中对地面重力抵消装置中竖直方向的重力抵消较为困难，而本发明仅采用连杆、弹簧就可以实现机械臂的重力抵消，系统摩擦阻尼仅有轴承转动摩擦阻力，因此活动范围大，重力抵消效果好。三、本发明具有造价低、使用安全、可靠的优点，该装置不仅可用作专门的空间机械臂地面支撑领域，同时还可将其推广到工农业生产的其它机器人领域。The gravity offset device provided by this specific embodiment has the following beneficial effects: 1. The present invention uses springs, bearings, connecting rods and other components, which reduces the potential safety hazards caused by improper control or electrical system failure during use, and can protect High value space manipulator. 2. Since it is difficult to offset the gravity in the vertical direction in the ground gravity offset device in the prior art, the present invention can realize the gravity offset of the mechanical arm only by using the connecting rod and the spring, and the frictional damping of the system is only the rotational frictional resistance of the bearing. Therefore, the range of activities is large, and the gravity offset effect is good. 3. The present invention has the advantages of low cost, safe and reliable use. The device can not only be used as a special space manipulator ground support field, but also can be extended to other robot fields of industrial and agricultural production.
以上所述，仅为本发明较佳的具体实施方式，这些具体实施方式都是基于本发明整体构思下的不同实现方式，而且本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above are only preferred specific implementations of the present invention. These specific implementations are all based on different implementations under the overall concept of the present invention, and the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field Within the technical scope disclosed in the present invention, any changes or substitutions that can be easily conceived by a skilled person shall fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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| CN201410271349.9A CN104044155B (en) | 2014-06-18 | 2014-06-18 | Gravity offset device |
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| CN201410271349.9A CN104044155B (en) | 2014-06-18 | 2014-06-18 | Gravity offset device |
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| CN104626101B (en) * | 2014-12-12 | 2016-06-22 | 哈尔滨工业大学 | Robot three-dimensional space gravity compensating chain device and method |
| CN105151331A (en) * | 2015-08-06 | 2015-12-16 | 杨海林 | Zero gravity simulation system and using method thereof |
| CN105640739B (en) * | 2016-03-21 | 2017-08-25 | 哈尔滨工业大学 | A kind of upper limb healing ectoskeleton balanced based on space gravity |
| CN108309696B (en) * | 2018-03-19 | 2024-03-26 | 中航创世机器人(西安)有限公司 | Four-bar spring type dynamic suspension system of rehabilitation robot |
| CN108992080B (en) * | 2018-05-31 | 2022-05-10 | 东软医疗系统股份有限公司 | Gravity balance mechanism |
| CN110203426A (en) * | 2019-05-21 | 2019-09-06 | 上海航天设备制造总厂有限公司 | Gravitational equilibrium lifting apparatus in a kind of perpendicular |
| CN112445268B (en) * | 2020-10-30 | 2022-08-05 | 江西昌河航空工业有限公司 | Rocker arm gravity balance mechanism |
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| JP2927815B2 (en) * | 1989-04-25 | 1999-07-28 | 宇宙開発事業団 | Gravity compensator |
| JPH03289533A (en) * | 1990-04-05 | 1991-12-19 | Mitsubishi Electric Corp | Simulated testing method for unfolding testing apparatus |
| US8353199B1 (en) * | 2009-04-17 | 2013-01-15 | Arrowhead Center, Inc. | Multi-degree-of-freedom test stand for unmanned air vehicles |
| CN103144104A (en) * | 2013-03-04 | 2013-06-12 | 北京邮电大学 | 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method |
| CN103466109B (en) * | 2013-09-05 | 2016-12-07 | 哈尔滨工业大学 | A kind of space microgravity environment ground simulation experiment device |
| CN103482089B (en) * | 2013-10-09 | 2015-04-08 | 北京航空航天大学 | Unrestricted suspension type initiative gravity compensation system |
| CN103662109B (en) * | 2013-11-20 | 2016-08-17 | 上海宇航系统工程研究所 | A kind of simulation microgravity on lunar surface device |
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