CN105675285A - Spatial intelligence flexible manipulator tester - Google Patents
Spatial intelligence flexible manipulator tester Download PDFInfo
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- CN105675285A CN105675285A CN201610169410.8A CN201610169410A CN105675285A CN 105675285 A CN105675285 A CN 105675285A CN 201610169410 A CN201610169410 A CN 201610169410A CN 105675285 A CN105675285 A CN 105675285A
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- armed lever
- tumbler
- mechanical arm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The invention relates to a spatial intelligence flexible manipulator tester, comprising a support, a base and at least one manipulator assembly. The base is rotatablely arranged on the support; the manipulator assembly comprises a flexible joint and an armed lever, wherein the flexible joint comprises a fixed part, a rotating part, a motor and a balance pillar, and the front end of the armed lever is rotatably connected to the fixed part through the rotating part, wherein the flexible joint of one manipulator assembly is in fixed connection with the base through a fixed part, and the flexible joints of other manipulator assemblies are in fixed connection with the rear end of the armed lever of a prior manipulator assembly through fixed parts. The output shaft of the motor is in connection with the rotating part through a flexible leaf spring; the bottom end of the balance pillar is fixedly arranged on the fixed part; a balance inhaul cable is arranged between the balance pillar and the armed lever. The spatial intelligence flexible manipulator tester is provided with the support and the balance inhaul cable, thereby stimulating a micro gravity condition so as to perform space structure dynamics performance experimental study on a flexible manipulator, and has the characteristics of simple structure and low cost.
Description
Technical field
The present invention relates to a kind of mechanical arm assay device, particularly relate to a kind of space intelligent flexible mechanical arm assay device.
Background technology
Along with the development of science and technology, numerous high most advanced and sophisticated flexible mechanical arms are increasingly being applied to the fields such as space flight, aviation, machinery. In the birth and evolution of space station, space shuttle, robot for space etc., increasing space manipulator is applied to docking and the maintenance of space mechanism, plays more and more important role in space develops. On a large scale, lightweight, complication and high accuracy are just becoming its direction and are developing. Systems in Certain Developed Countries, as Canadian, German, Russian etc., grasp manufacture and the application technology of Flexible Space Mechanical Arms, in space shuttle remote operating mechanical arm system (ShuttleRemotemanipulatorsystem), space station remote operating mechanical arm system (SpaceStationRemoteManipulatorSystem) and Europe mechanical arm (EuropeanRoboticArm), obtain successful Application. Nearest 30 years, the economy of China developed rapidly, and national defense industry have also been obtained quick raising, and the demand in space station technology and survey of deep space development increases day by day, and the performance requirement of space manipulator, reliability and security requirement are stepped up. But, by the restriction gone abroad in high-end technology field and block, China's development in space manipulator needs to rely on autonomous innovation completely. For satisfied high accuracy, light-weighted developing direction, the flexible degree of space manipulator strengthens gradually, and the harm that low frequency violent oscillatory motion produces in robotic arm manipulation process highlights all the more, and vibration suppression has become as the important directions of hiperspace mechanical arm development.
Space structure needs to experience multiple stage from design, research and development to practical application, and whole process is lasted length, had high input. Particularly in the ground experiment stage, it is necessary to the kinetic characteristic under virtual space microgravity environment, the test method eliminating gravity having at present includes air supporting test platform, suspension pilot system, water floating type pilot system etc. These test methods need to set up substantial amounts of auxiliary equipment, have high input and not easily realize, it is impossible to complete in general laboratory.
Because above-mentioned defect, the design people, actively in addition research and innovation, to founding the space intelligent flexible mechanical arm assay device of a kind of new structure so that it is have more the value in industry.
Summary of the invention
For solving above-mentioned technical problem, it is an object of the invention to provide a kind of space intelligent flexible mechanical arm assay device, this space intelligent flexible mechanical arm assay device simple in construction, with low cost and can stimulated microgravity thus realizing the experimental study platform that Flexible Space Mechanical Arms partial power scholarship and moral conduct is.
The space intelligent flexible mechanical arm assay device of the present invention, including support, basis and at least one robot assemblies, described basis is rotatably arranged on support, described robot assemblies includes flexible joint and armed lever, described flexible joint includes fixture, tumbler, motor and equlizing support, the front end of described armed lever is rotatably connected on fixture by tumbler, and the flexible joint of one of them robot assemblies is fixedly connected on basis by the fixture of this group robot assemblies, the flexible joint of other robot assemblies is fixedly connected on the armed lever rear end of previous robot assemblies by the fixture of this group robot assemblies, described motor is fixedly installed on fixture, and the output shaft of motor is connected with tumbler by flexible pellet reed, the bottom of described equlizing support is fixedly installed on fixture, balance drag-line it is provided with between equlizing support and armed lever, one end of described balance drag-line is fixedly connected on equlizing support, the other end of balance drag-line is fixedly connected on armed lever.
By such scheme, the present invention at least has the advantage that the space intelligent flexible mechanical arm assay device of the present invention includes support and basis, and it can part mechanical state in space environmental simulation and the characteristics of motion. Its medium-height trestle plays the effect of support on the one hand, on the other hand for retraining the translation on basis, its purpose is to make basis obtain support force and equilibrant, thus eliminating the gravity impact on pilot system. Additionally, balance column and balance drag-line can eliminate the moment of flexure that flexible joint is produced by armed lever, the stressing conditions in space environmental simulation. Wherein, flexible pellet reed plays connection, supporting and provides the function of flexibility. During specific works, operator arrange acceleration transducer at armed lever end, acceleration sends data to upper-level control system by sensor, upper-level control system produces feedback control signal after the data that acceleration transducer is sent are analyzed, and this feedback control signal is delivered to driver, and realized the feedback control to motor by driver, thus realizing the inhibition test of armed lever twisting vibration around the shaft.
Further, the space intelligent flexible mechanical arm assay device of the present invention, described fixture includes body and the protuberance being fixedly installed on outer body face, the side relative with protuberance of described body offers storage tank, rotation axle it is provided with in described storage tank, described rotation axle is connected with body by bearing, described motor is fixedly installed on the lower surface of body, and the output shaft of motor is fixedly connected with the rotating shaft, one end of described tumbler is overlapped on the rotating shaft, described flexible pellet reed is arranged between rotation axle and tumbler, and one end of flexible pellet reed is fixedly connected with the rotating shaft, the other end of flexible pellet reed is fixing with tumbler to be connected.
Time specifically used, the protuberance of fixture is for being connected with the rear end of basic or previous armed lever, and flexible pellet reed plays connection, supporting and provides the function of flexibility.
Further, the space intelligent flexible mechanical arm assay device of the present invention, the number of described robot assemblies is two groups, and the armed lever of one of them robot assemblies is rigidity armed lever, and the armed lever of another robot assemblies is flexible armed lever.
Further, the space intelligent flexible mechanical arm assay device of the present invention, one end of described rigidity armed lever is fixing with tumbler to be connected, and the other end of rigidity armed lever is fixedly connected on the fixture of later robot assemblies.
Further, the space intelligent flexible mechanical arm assay device of the present invention, it is provided with vibrating controller between described flexible armed lever and tumbler, one end of described vibrating controller is fixing with the tumbler of previous robot assemblies to be connected, the other end of vibrating controller is connected with flexible armed lever, and the end of flexible armed lever is provided with acceleration transducer.
The setting of vibrating controller, for suppressing the elastic vibration caused in flexible armed lever motor process.
Further, the space intelligent flexible mechanical arm assay device of the present invention, described support includes base and the column being fixedly installed on base, and described basis is rotatably arranged in the top of column by bearing.
Further, the space intelligent flexible mechanical arm assay device of the present invention, described column is provided with the first encoder, described first encoder is for detecting the angle of basis rotation.
Further, the space intelligent flexible mechanical arm assay device of the present invention, the top of described equlizing support is provided with equalizer bearing, and one end of described balance drag-line is connected on equlizing support by equalizer bearing.
Further, the space intelligent flexible mechanical arm assay device of the present invention, the output shaft of described motor is connected to the second encoder, the angle that described second encoder rotates for the output shaft detecting motor.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, and can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Accompanying drawing explanation
Fig. 1 is the structural representation of space intelligent flexible mechanical arm assay device of the present invention;
Fig. 2 is the sectional view of flexible joint.
In figure, 1-flexibility armed lever; 2-rigidity armed lever; 3-flexible joint; 4-motor; 5-vibration damper; 6-equlizing support; 7-balances drag-line; 8-equalizer bearing; 9-basis; 10-support; 11-fixture; 12-tumbler; 13-rotating shaft; 14-bearing; 15-flexible pellet reed; 16-base; 17-column.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail. Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.
Referring to Fig. 1 to Fig. 2, a kind of space intelligent flexible mechanical arm assay device of a preferred embodiment of the present invention, including flexible armed lever 1, rigidity armed lever 2, flexible joint 3, vibrating controller 5, bascule, basis 9 and support 10. Wherein, rigidity armed lever and flexible armed lever constitute robot assemblies with flexible joint respectively, flexible joint 3 includes fixture 11, tumbler 12, rotates axle 13, bearing 14 and flexible pellet reed 15, and bascule includes equlizing support 6, balance drag-line 7 and equalizer bearing 8.
Flexible armed lever 1 is connected with flexible joint 3 by vibrating controller 5, flexible joint 3 is connected with rigidity armed lever 2 by fixture 11, the rigidity armed lever other end is connected with basis 9 by another joint 3, support 10 includes base 16 and the column 17 being arranged on base, basis 9 is installed in rotation on support by bearing, base is placed in ground and maintains static, and basis 9 can be freely rotatable around column.
The fixture 11 of flexible joint 3 is connected by bearing 14 and rotation axle 13 with tumbler 12, bearing 14 outer ring is fixedly mounted on fixture 11, tumbler 12 is arranged on rotation axle 13 by flexible pellet reed 15, rotate axle to be connected with the output shaft of motor, so that tumbler 12 is driven by motor 4.Equlizing support 6 is arranged on joint fixing part 11, and equlizing support 6 installs equalizer bearing 8 by apical position, and balance drag-line 7 one end connects equalizer bearing 8, and the other end connects rigidity armed lever 2 or vibrating controller 5 or flexible armed lever.
In the present embodiment, the while that vibration being rotated rapidly by joint 3 or jerk can cause the elastic vibration of flexible armed lever 1, the moving axis 13 that rotates of the tumbler 12 in flexible joint 3 does twisting vibration. Vibrating controller 5 is used for realizing the suppression to flexible armed lever 1 elastic vibration, is arranged on the motor on joint and is then responsible for the suppression of the twisting vibration to tumbler 12. Wherein, motor 4 realizes the function of two aspects, and one is realize the driving to joint 3 so that it is produce to rotate, and thus drives rigidity armed lever or the motion of flexible armed lever; Two be suppress the tumbler 12 brought by flexible joint in system motion process around shaft vibration.
Motor 4 involved in embodiment and vibrating controller 5 are controlled by the special driving power supply of motor driver and piezoelectric ceramics respectively, and the input signal of driver and driving power supply is provided by controller is unified. The computer realization of card and motion control card adopted by controller by being equipped with number, number is adopted card and motion control card and is arranged on computer motherboard by PCI slot, and adopt the control program worked out by C Plus Plus, realize number and adopt card and motion control card power function calls, thus reaching the purpose of signal collecting and controlling signal output.
Flexible armed lever 1 end is provided with acceleration transducer, it is used for measuring the vibration signal of flexible armed lever 1, data output is adopted card to number by wire by acceleration transducer, computer runs specific controller and obtains control signal, adopt card again through number control signal to be exported to the driving power supply of vibrating controller 5, thus realizing the elastic vibration of flexible armed lever 1 is suppressed. The turn signal that joint 3 produces is acquired by encoder, encoder is separately mounted in the rotating shaft of motor 4, code device signal is transferred to computer through motion control card, undertaken processing and obtain control output signal by controller, again by motion control card through outfan output to the driver of motor 4, it is achieved to the motion of tumbler 12 in joint 3 and Torsional Vibration Control.
Additionally, flexible armed lever and rigidity armed lever can arbitrarily be arranged in pairs or groups according to actual needs, it is possible to connect multiple flexible armed lever or rigidity armed lever.
Below it is only the preferred embodiment of the present invention; it is not limited to the present invention; should be understood that; for those skilled in the art; under the premise without departing from the technology of the present invention principle; can also making some improvement and modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (9)
1. a space intelligent flexible mechanical arm assay device, it is characterized in that: include support, basis and at least one robot assemblies, described basis is rotatably arranged on support, described robot assemblies includes flexible joint and armed lever, described flexible joint includes fixture, tumbler, motor and equlizing support, the front end of described armed lever is rotatably connected on fixture by tumbler, and the flexible joint of one of them robot assemblies is fixedly connected on basis by the fixture of this group robot assemblies, the flexible joint of other robot assemblies is fixedly connected on the armed lever rear end of previous robot assemblies by the fixture of this group robot assemblies, described motor is fixedly installed on fixture, and the output shaft of motor is connected with tumbler by flexible pellet reed, the bottom of described equlizing support is fixedly installed on fixture, balance drag-line it is provided with between equlizing support and armed lever, one end of described balance drag-line is fixedly connected on equlizing support, the other end of balance drag-line is fixedly connected on armed lever.
2. space intelligent flexible mechanical arm assay device according to claim 1, it is characterized in that: described fixture includes body and the protuberance being fixedly installed on outer body face, the side relative with protuberance of described body offers storage tank, rotation axle it is provided with in described storage tank, described rotation axle is connected with body by bearing, described motor is fixedly installed on the lower surface of body, and the output shaft of motor is fixedly connected with the rotating shaft, one end of described tumbler is overlapped on the rotating shaft, described flexible pellet reed is arranged between rotation axle and tumbler, and one end of flexible pellet reed is fixedly connected with the rotating shaft, the other end of flexible pellet reed is fixing with tumbler to be connected.
3. space intelligent flexible mechanical arm assay device according to claim 1, it is characterized in that: the number of described robot assemblies is two groups, and the armed lever of one of them robot assemblies is rigidity armed lever, the armed lever of another robot assemblies is flexible armed lever.
4. space intelligent flexible mechanical arm assay device according to claim 3, it is characterised in that: one end of described rigidity armed lever is fixing with tumbler to be connected, and the other end of rigidity armed lever is fixedly connected on the fixture of later robot assemblies.
5. space intelligent flexible mechanical arm assay device according to claim 4, it is characterized in that: between described flexible armed lever and tumbler, be provided with vibrating controller, one end of described vibrating controller is fixing with the tumbler of previous robot assemblies to be connected, the other end of vibrating controller is connected with flexible armed lever, and the end of flexible armed lever is provided with acceleration transducer.
6. space intelligent flexible mechanical arm assay device according to claim 1, it is characterised in that: described support includes base and the column being fixedly installed on base, and described basis is rotatably arranged in the top of column by bearing.
7. space intelligent flexible mechanical arm assay device according to claim 6, it is characterised in that: being provided with the first encoder on described column, described first encoder is for detecting the angle of basis rotation.
8. space intelligent flexible mechanical arm assay device according to claim 1, it is characterised in that: the top of described equlizing support is provided with equalizer bearing, and one end of described balance drag-line is connected on equlizing support by equalizer bearing.
9. space intelligent flexible mechanical arm assay device according to claim 1, it is characterised in that: the output shaft of described motor is connected to the second encoder, the angle that described second encoder rotates for the output shaft detecting motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610169410.8A CN105675285B (en) | 2016-03-23 | 2016-03-23 | A kind of space intelligent flexible mechanical arm experimental rig |
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| CN201610169410.8A CN105675285B (en) | 2016-03-23 | 2016-03-23 | A kind of space intelligent flexible mechanical arm experimental rig |
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Cited By (7)
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| CN106527177A (en) * | 2016-10-26 | 2017-03-22 | 北京控制工程研究所 | Multi-functional and one-stop type remote control design, the simulation system and method thereof |
| CN106571097A (en) * | 2016-11-02 | 2017-04-19 | 哈尔滨工业大学 | Clearance space-contained manipulator simulation device |
| CN108910092A (en) * | 2018-06-28 | 2018-11-30 | 哈尔滨工业大学 | A kind of spatial flexible arm compression relieving mechanism of opposite opened |
| CN111645104A (en) * | 2020-06-15 | 2020-09-11 | 贵州大学 | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
| CN114590422A (en) * | 2022-05-09 | 2022-06-07 | 天津航天机电设备研究所 | Three-rocker testing device for space mechanism compound motion microgravity unfolding |
| CN115476382A (en) * | 2022-10-17 | 2022-12-16 | 中国地质大学（武汉） | Winding-proof flexible joint Pendaubot device |
| CN116834065A (en) * | 2023-07-20 | 2023-10-03 | 中国地质大学（武汉） | Rigid-flexible coupling type mechanical arm with two plane connecting rods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106527177A (en) * | 2016-10-26 | 2017-03-22 | 北京控制工程研究所 | Multi-functional and one-stop type remote control design, the simulation system and method thereof |
| CN106571097A (en) * | 2016-11-02 | 2017-04-19 | 哈尔滨工业大学 | Clearance space-contained manipulator simulation device |
| CN106571097B (en) * | 2016-11-02 | 2019-03-08 | 哈尔滨工业大学 | A kind of simulator of mechanical arm containing clearance space |
| CN108910092A (en) * | 2018-06-28 | 2018-11-30 | 哈尔滨工业大学 | A kind of spatial flexible arm compression relieving mechanism of opposite opened |
| CN108910092B (en) * | 2018-06-28 | 2021-07-13 | 哈尔滨工业大学 | Split type space flexible arm pressing and releasing mechanism |
| CN111645104A (en) * | 2020-06-15 | 2020-09-11 | 贵州大学 | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
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| CN114590422B (en) * | 2022-05-09 | 2022-07-29 | 天津航天机电设备研究所 | Three-rocker testing device for space mechanism compound motion microgravity unfolding |
| CN115476382A (en) * | 2022-10-17 | 2022-12-16 | 中国地质大学（武汉） | Winding-proof flexible joint Pendaubot device |
| CN115476382B (en) * | 2022-10-17 | 2024-04-16 | 中国地质大学（武汉） | Winding-proof flexible joint Pendubot device |
| CN116834065A (en) * | 2023-07-20 | 2023-10-03 | 中国地质大学（武汉） | Rigid-flexible coupling type mechanical arm with two plane connecting rods |
| CN116834065B (en) * | 2023-07-20 | 2024-02-13 | 中国地质大学（武汉） | Rigid-flexible coupling type mechanical arm with two plane connecting rods |
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