CN105336251A - Auto-adaptive suspension mechanism - Google Patents
Auto-adaptive suspension mechanism Download PDFInfo
- Publication number
- CN105336251A CN105336251A CN201510900575.3A CN201510900575A CN105336251A CN 105336251 A CN105336251 A CN 105336251A CN 201510900575 A CN201510900575 A CN 201510900575A CN 105336251 A CN105336251 A CN 105336251A
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- pitching
- joint
- self
- armed lever
- laterally
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/08—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for statics or dynamics
Abstract
The invention provides an auto-adaptive suspension mechanism which comprises a connecting half seat, a laterally-tilting connecting half seat, a laterally-tilting pitching part, a pitching avoiding part and a self-rotating part. The connecting end of the self-rotating part is connected with a suspension cable; the pitching end of the pitching avoiding part and the pitching end of the laterally-tilting pitching part are connected and can coaxially rotate to form a pitching joint, and it is guaranteed that the pitching joint can do pitching motion in the vertical plane; the self-rotating connecting end of the pitching avoiding part and the self-rotating part are connected to form a rotating joint, and it is guaranteed that the pitching avoiding part can horizontally rotate around the self-rotating part; the laterally-tilting end of the laterally-tilting pitching part and the laterally-tilting half seat end of the laterally-tilting connecting half seat are connected to form a laterally-tilting joint to adapt to laterally-tilting rotating of an arm rod in the vertical plane; the connecting half seat and the connecting half seat end of the laterally-tilting connecting half seat are cooperatively used and fixedly connected to the arm rod. Multi-degree of freedom is achieved through combined use of the multiple joint mechanisms with the single degree of freedom, autoadaptation to mechanical arm rotating is achieved, space avoidance is achieved through a structure avoidance configuration adapting to motion space, and autoadaptation to the mechanical arm motion is achieved.
Description
Technical field
The invention belongs to space flight gravity compensation field, especially relate to a kind of self-adaptation suspension gear.
Background technology
Space manipulator is the branch of space industry robot for space, and in the ground development stage, need to verify its function and exercise performance, this process need provides gravity compensation to mechanical arm, to reach reproduction actual working environment, and the effect of protection self structure.In gravity compensation process, suspension gear be used to be connected with such spacecraft mechanism, to simulate the gravity environment of state in its work by applying specific balancing force above suspension gear, and then spacecraft structure is tested.
At present, suspension gear in test is generally only applicable to planar development mechanism, for the gravity simulation of three dimensions deployed configuration, be difficult to solve space interference dodge and overhung construction position and attitude adjustment, therefore, research and develop a kind of suspension gear being applicable to space mechanism arm configuration, for solving the space interference problem of such mechanism in gravity simulation process and the position and attitude adaptation of overhung construction.
Summary of the invention
In view of this, the present invention is intended to propose a kind of self-adaptation suspension gear, in low-gravity simulation process of the test with the connection of such spacecraft mechanism.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of self-adaptation suspension gear, comprises connection half, rolls connection half, rolls pitching part, part is dodged in pitching and from rotating part, the described link from rotating part is connected with suspension cable, it is the primary structure that space is dodged that part is dodged in described pitching, described pitching is dodged part and is comprised and dodge bar, described bar of dodging structurally dodges space for the motion of mechanical arm armed lever provides, described lower end of dodging bar is pitching end, upper end is spin link, described pitching end is connected with the pitching end rolling pitching part, pitching joint can be formed by coaxial rotating, ensure that luffing can be done in pitching joint in vertical plane, adapt to the vertical pitching of mechanical arm armed lever in vertical plane, described spin link is connected with the round end from rotating part and forms rotary joint, ensure that pitching is dodged part and can be horizontally rotated around from rotating part, described inclination pitching part carries out rolling the adaptive key structure of pitching in self-adaptation and vertical plane in mechanical arm armed lever vertical plane, the inclination end of described inclination pitching part with roll the inclination half being connected half hold connected form roll joint, adapt to mechanical arm armed lever in vertical plane and roll rotation, during use, roll pitching part gravitate, the axis rolling joint and pitching joint remains level, described inclination connection half carries out armed lever parallel direction in connection and vertical plane to roll self-reacting structure, and described connection half is connected half connection half with described inclination is held with the use of being fixedly connected on mechanical arm armed lever.
Further, described connection half comprises armed lever joint face and half joint face, connection half end of described inclination connection half comprises armed lever joint face and half joint face equally, described armed lever conjunction plane has the appearance profile supporting with mechanical arm armed lever profile, the armed lever joint face of described connection half and connection half the end arms bar joint face rolling connection half match and to be connected with mechanical arm armed lever, the connection half that half joint face and the inclination of described connection half are connected half holds half joint face to connect fastening, realize the connection with armed lever, adopt Split type structure, be convenient to install.
Further, described from rotating part, also reliable rope is direct-connected, utilizes the rotation self-adaptation of rope self.
Further, in use, in conjunction with the situation such as mechanical arm structure, joint composition, joint layout, physical dimension, adjustable rotating joint, the sequencing connected between pitching joint and inclination joint.
Further, this self-adaptation suspension gear can combinationally use with three-dimensional translation tracking mechanism, forms six degree of freedom following device.
Further, this self-adaptation suspension gear can use with force compensating Mechanism Combination, target location is transmitted to the suspention balancing force applied.
Relative to prior art, self-adaptation suspension gear of the present invention has following advantage: combinationally used by multiple articulation mechanism with single-degree-of-freedom and reach multiple degrees of freedom, realize the self-adaptation that mechanical arm is rotated, utilize and adapt to the structure of space and dodge configuration and come implementation space and dodge, automatically to adapt to manipulator motion, prevent space interference, suspension force can be passed to mechanical arm armed lever by mechanism simultaneously, for gravity compensation, by coordinating with three-dimensional parallel moving mechanism, can realize adapting to the full attitude of mechanical arm armed lever.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of connection half in the present invention;
Fig. 3 is the structural representation rolling connection half in the present invention;
Fig. 4 is the structural representation rolling pitching part in the present invention;
Fig. 5 is the structural representation that in the present invention, part is dodged in pitching;
Fig. 6 is the structural representation from rotating part in the present invention.
Description of reference numerals:
1-connects half, and 2-rolls connection half, and 3-rolls pitching part, part is dodged in 4-pitching, 5-from rotating part, 6-link, 7-round end, 8-dodges bar, 9-pitching end, 10-spins link, and 11-rolls the pitching end of pitching part, and 12-rolls end, 13-rolls half end, 14-connects half end, 15-armed lever joint face, 16-half joint face.
Embodiment
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
As shown in Figures 1 to 6, a kind of self-adaptation suspension gear, comprises connection half 1, rolls connection half 2, rolls pitching part 3, part 4 is dodged in pitching and from rotating part 5, the described link 6 from rotating part 5 is connected with suspension cable, it is primary structures that space is dodged that part 4 is dodged in described pitching, described pitching is dodged part 4 and is comprised and dodge bar 8, described bar 8 of dodging structurally dodges space for the motion of mechanical arm armed lever provides, described lower end of dodging bar 8 is pitching end 9, upper end is spin link 10, described pitching end 9 is connected with the pitching end 11 rolling pitching part, pitching joint can be formed by coaxial rotating, ensure that luffing can be done in pitching joint in vertical plane, adapt to the vertical pitching of mechanical arm armed lever in vertical plane, described spin link 10 is connected with the round end 7 from rotating part 5 and forms rotary joint, ensure that pitching is dodged part 4 and can be horizontally rotated around from rotating part 5, described also can without round end 7 from rotating part 5, direct-connected by rope, utilize the rotation self-adaptation of rope self, described inclination pitching part 3 carries out rolling the adaptive key structure of pitching in self-adaptation and vertical plane in mechanical arm armed lever vertical plane, the inclination end 12 of described inclination pitching part 3 with roll the inclination half being connected half 2 hold 13 connected form roll joint, adapt to mechanical arm armed lever in vertical plane and roll rotation, during use, roll pitching part 3 gravitate, the axis rolling joint and pitching joint remains level, described inclination connection half 2 carries out armed lever parallel direction in connection and vertical plane to roll self-reacting structure, described connection half 1 is connected half 2 connection half with described inclination hold 14 with the use of, described connection half 1 comprises armed lever joint face 15 and half joint face 16, the connection that described inclination connection is half 2 half end 14 comprises armed lever joint face and half joint face equally, described armed lever conjunction plane 15 has the appearance profile supporting with mechanical arm armed lever profile, the armed lever joint face 15 that described connection is half 1 and connection half the end 14 armed lever joint faces rolling connection half 2 match and to be connected with mechanical arm armed lever, the connection half that half joint face 16 that described connection is half 1 is connected half 2 with inclination holds 14 half joint faces to connect fastening, realize the connection with armed lever, Split type structure is convenient to install.
According to above ultimate principle, following accompanying drawing structural drawing is actual practical a kind of example just, in actual use procedure, in conjunction with the situation such as mechanical arm structure, joint composition, joint layout, physical dimension, rotary joint, pitching joint can be adjusted and roll the sequencing connected between joint on the basis of above-mentioned principle, bearing arrangement can be used to reduce friction and adapt to minute angle deviation.Simultaneously, the present invention rotates on adaptive basis at three joint angles, the one-dimensional translation mechanism that the active of above-below direction initiatively or in passive two-dimensional tracking and vertical plane and passive folding and unfolding suspension cable etc. are followed the tracks of can be aided with in surface level, finally to realize three and rotate and the full attitude adaptation of three translations.
The course of work of this example: dodge part 4 from rotating part 5 and pitching and connect and compose rotary joint, drive pitching to dodge part 4 to horizontally rotate around from rotating part, pitching is dodged part 4 and is connected with the pitching end 11 rolling pitching part, ensure that luffing can be done in pitching joint in vertical plane, the inclination end 12 rolling pitching part with roll the inclination half being connected half 2 and hold 13 connected, ensure that rolling joint can do roll motion in vertical plane, connect half 1 with inclination and be connected half 2 and combinationally use and be fixedly connected on mechanical arm armed lever, ensure rotary joint axis horizontal, realize the spatial rotation of automatic adaline mechanical arm armed lever, prevent space interference, suspension force can be passed to mechanical arm armed lever by mechanism simultaneously, for gravity compensation.By coordinating with three-dimensional parallel moving mechanism, can realize adapting to the full attitude of mechanical arm armed lever.This self-adaptation suspension gear also can combinationally use with three-dimensional translation tracking mechanism, forms six degree of freedom following device, also can use with force compensating Mechanism Combination, target location is transmitted to the suspention balancing force applied.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a self-adaptation suspension gear, is characterized in that: comprise connection half, roll connection half, roll pitching part, part is dodged in pitching and from rotating part, the described link from rotating part is connected with suspension cable; Described pitching is dodged part and is comprised and dodge bar, described bar of dodging structurally dodges space for the motion of mechanical arm armed lever provides, described lower end of dodging bar is pitching end, upper end is spin link, described pitching end is connected with the pitching end rolling pitching part, can form pitching joint by coaxial rotating, described spin link is connected with the round end from rotating part and forms rotary joint; The inclination end of described inclination pitching part with roll the inclination half being connected half hold connected form roll joint, described connection half is connected half connection half with described inclination is held with the use of being fixedly connected on mechanical arm armed lever.
2. a kind of self-adaptation suspension gear according to claim 1, it is characterized in that: described connection half comprises armed lever joint face and half joint face, connection half end of described inclination connection half comprises armed lever joint face and half joint face equally, described armed lever conjunction plane has the appearance profile supporting with mechanical arm armed lever profile, the armed lever joint face of described connection half and connection half the end arms bar joint face rolling connection half match and to be connected with mechanical arm armed lever, the connection half that half joint face and the inclination of described connection half are connected half holds half joint face to connect fastening.
3. a kind of self-adaptation suspension gear according to claim 1 and 2, it is characterized in that: in use, in conjunction with the situation such as mechanical arm structure, joint composition, joint layout, physical dimension, adjustable rotating joint, the sequencing connected between pitching joint and inclination joint.
4. a kind of self-adaptation suspension gear according to claim 3, is characterized in that: described from rotating part, also reliable rope is direct-connected, utilizes the rotation self-adaptation of rope self.
5. a kind of self-adaptation suspension gear according to claim 3, is characterized in that: this self-adaptation suspension gear can combinationally use with three-dimensional translation tracking mechanism, forms six degree of freedom following device.
6. a kind of self-adaptation suspension gear according to claim 3, is characterized in that: this self-adaptation suspension gear can use with force compensating Mechanism Combination, target location is transmitted to the suspention balancing force applied.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510900575.3A CN105336251A (en) | 2015-12-08 | 2015-12-08 | Auto-adaptive suspension mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510900575.3A CN105336251A (en) | 2015-12-08 | 2015-12-08 | Auto-adaptive suspension mechanism |
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| Publication Number | Publication Date |
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| CN105336251A true CN105336251A (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510900575.3A Pending CN105336251A (en) | 2015-12-08 | 2015-12-08 | Auto-adaptive suspension mechanism |
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| CN (1) | CN105336251A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108665762A (en) * | 2018-05-21 | 2018-10-16 | 哈尔滨工业大学 | A kind of lifting type constant force system |
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|---|---|---|---|---|
| CN102658874A (en) * | 2012-05-29 | 2012-09-12 | 上海无线电设备研究所 | Ground experiment gravity discharge device of spatial microwave radar servo mechanism |
| CN104057467A (en) * | 2014-06-13 | 2014-09-24 | 哈尔滨工业大学 | Air bearing type mechanical arm gravity compensation device based on annular air floating platform |
| CN104129510A (en) * | 2014-08-18 | 2014-11-05 | 天津航天机电设备研究所 | Interference-preventing micro low gravity compensation system |
| CN104175331A (en) * | 2014-08-18 | 2014-12-03 | 天津航天机电设备研究所 | Joint type manipulator low gravity compensation system |
| CN104385302A (en) * | 2014-10-15 | 2015-03-04 | 天津航天机电设备研究所 | Spatial microgravity compensation method for simulating motion of multi-rigid-body manipulator |
| CN205375926U (en) * | 2015-12-08 | 2016-07-06 | 天津航天机电设备研究所 | Mechanism is suspended in midair to self -adaptation |
-
2015
- 2015-12-08 CN CN201510900575.3A patent/CN105336251A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658874A (en) * | 2012-05-29 | 2012-09-12 | 上海无线电设备研究所 | Ground experiment gravity discharge device of spatial microwave radar servo mechanism |
| CN104057467A (en) * | 2014-06-13 | 2014-09-24 | 哈尔滨工业大学 | Air bearing type mechanical arm gravity compensation device based on annular air floating platform |
| CN104129510A (en) * | 2014-08-18 | 2014-11-05 | 天津航天机电设备研究所 | Interference-preventing micro low gravity compensation system |
| CN104175331A (en) * | 2014-08-18 | 2014-12-03 | 天津航天机电设备研究所 | Joint type manipulator low gravity compensation system |
| CN104385302A (en) * | 2014-10-15 | 2015-03-04 | 天津航天机电设备研究所 | Spatial microgravity compensation method for simulating motion of multi-rigid-body manipulator |
| CN205375926U (en) * | 2015-12-08 | 2016-07-06 | 天津航天机电设备研究所 | Mechanism is suspended in midair to self -adaptation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108665762A (en) * | 2018-05-21 | 2018-10-16 | 哈尔滨工业大学 | A kind of lifting type constant force system |
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Application publication date: 20160217 |
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