CN111421530B - Micro-gravity experimental platform for rope-driven flexible mechanical arm - Google Patents
Micro-gravity experimental platform for rope-driven flexible mechanical arm Download PDFInfo
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- CN111421530B CN111421530B CN202010228740.6A CN202010228740A CN111421530B CN 111421530 B CN111421530 B CN 111421530B CN 202010228740 A CN202010228740 A CN 202010228740A CN 111421530 B CN111421530 B CN 111421530B
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- rope
- arm
- mechanical arm
- arm rod
- flexible mechanical
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- 230000005486 microgravity Effects 0.000 title claims abstract description 34
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a microgravity experiment platform for a rope-driven flexible mechanical arm, which comprises: the box body is internally provided with a containing groove; the mechanical arm comprises a driving device, a rope and a first arm rod, the first arm rod is arranged in the accommodating groove, and the rope can drive the first arm rod to move under the action of the driving device; the air bag is fixed on the first arm rod and can be inflated or deflated; a tension sensor capable of detecting tension of the rope. The invention can enable the flexible mechanical arm to operate in a gravity environment similar to space.
Description
Technical Field
The invention relates to the field of robots, in particular to a microgravity experiment platform of a rope-driven flexible mechanical arm.
Background
At present, with the continuous exploration of human beings on the space, space operation tasks are more and more, due to the particularity of the space environment, human beings cannot complete a lot of tasks with dangerousness, the flexible mechanical arm has the capacity of adapting to the severe operation environment of the space, and the flexible mechanical arm is adopted to assist or replace astronauts to complete some space operations, so that the flexible mechanical arm has practical significance in the aspects of economy and safety, however, the gravity environment in the space is completely different from the gravity environment on the earth, so that how to enable the flexible mechanical arm on the earth to operate in the gravity environment similar to the space is very important for the research and design of the flexible mechanical arm.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a micro-gravity experimental platform for a rope-driven flexible mechanical arm, which can enable the flexible mechanical arm to operate in a gravity environment similar to space.
In a first aspect, an embodiment of the present invention provides a microgravity experiment platform for a rope-driven flexible mechanical arm, including: the box body is provided with a containing groove; the mechanical arm comprises a driving device, a rope and a first arm rod, the first arm rod is arranged in the accommodating groove, and the rope can drive the first arm rod to move under the action of the driving device; the air bag is fixed on the first arm rod and can be inflated or deflated; a tension sensor capable of detecting tension of the rope.
The microgravity experiment platform of the rope-driven flexible mechanical arm provided by the embodiment of the invention at least has the following beneficial effects: through setting up the gasbag, the gasbag is fixed on first armed lever, first armed lever is arranged in the storage tank, after pouring into liquid such as water in the storage tank, through aerifing the gasbag, the buoyancy of gasbag can offset the gravity of first armed lever, meanwhile, be provided with force sensor, force sensor can detect the pulling force of rope, the rope drives the motion of first armed lever, therefore, through the pulling force that detects the rope, whether the gravity that can indirectly detect first armed lever is balanced to the target value, cooperation through gasbag and force sensor, can make the arm work in a simulated gravity environment.
According to the microgravity experiment platform for the rope-driven flexible mechanical arm, provided by the invention, the first arm rod is provided with the mounting hole, and the air bag is placed in the mounting hole.
According to the microgravity experiment platform with the rope-driven flexible mechanical arm, disclosed by the invention, the air bag is communicated with the air valve connecting ball, or the air bag is communicated with the air compressor.
According to the microgravity experiment platform of the rope-driven flexible mechanical arm, the mechanical arm further comprises a root arm rod, one end of the root arm rod is fixed on the box body, and the other end of the root arm rod is connected with the first arm rod.
According to the microgravity experiment platform for the rope-driven flexible mechanical arm, provided by the invention, the mechanical arm further comprises a second arm rod, one end of the second arm rod is connected with the first arm rod through a first universal joint, and the other end of the second arm rod is connected with the root arm rod through a second universal joint.
According to the microgravity experiment platform of the rope-driven flexible mechanical arm, the airbag is also fixed on the second arm rod.
According to the microgravity experiment platform for the rope-driven flexible mechanical arm, according to other embodiments of the invention, the rope comprises a first rope, a second rope and a third rope, a wiring disc is arranged on the first arm rod, one end of the first rope, one end of the second rope and one end of the third rope are fixedly connected with the wiring disc, the driving device can wind or release the first rope, the driving device can wind or release the second rope, and the driving device can wind or release the third rope.
According to the microgravity experiment platform of the rope-driven flexible mechanical arm, the rope further comprises a fourth rope, one end of the fourth rope is fixedly connected with the first arm rod, one end of the first rope, one end of the second rope, one end of the third rope and one end of the fourth rope are evenly distributed on the wiring disc in the circumferential direction, and the driving device can wind or release the fourth rope.
According to the microgravity experiment platform for the rope-driven flexible mechanical arm, according to other embodiments of the invention, the driving device comprises a first motor and a first winch, the first winch is fixed on a rotating shaft of the first motor, one end of a first rope is fixed on the first winch, and the first winch can wind or release the first rope under the driving of the first motor.
According to the microgravity experiment platform of the rope-driven flexible mechanical arm, disclosed by the invention, the driving device further comprises a first pulley and a second pulley, and one end of the first rope is fixed on the wiring disc after sequentially passing around the first pulley and the second pulley.
Drawings
Fig. 1 is an isometric view of a microgravity experiment platform of a rope-driven flexible mechanical arm of a first embodiment;
FIG. 2 is an exploded view of the microgravity experimental platform of the rope-driven flexible mechanical arm in FIG. 1;
FIG. 3 is a schematic diagram of a first pulley block in the microgravity experiment platform of the rope-driven flexible mechanical arm in FIG. 1;
fig. 4 is an axonometric view of a microgravity experiment platform of a rope-driven flexible mechanical arm of the second embodiment.
Detailed Description
The idea of the invention and the resulting technical effects will be clearly and completely described below in connection with the embodiments, so that the objects, features and effects of the invention can be fully understood. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive efforts are within the protection scope of the present invention based on the embodiments of the present invention.
In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it may be directly disposed, fixed, or connected to the other feature or may be indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. References to "first" and "second" are to be understood as distinguishing technical features and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Referring to fig. 1 to 3, fig. 1 is an isometric view of a microgravity experiment platform of a rope-driven flexible manipulator of a first embodiment, fig. 2 is an exploded view of the microgravity experiment platform of the rope-driven flexible manipulator of fig. 1, and fig. 3 is a schematic view of a first pulley block in the microgravity experiment platform of the rope-driven flexible manipulator of fig. 1. The microgravity experimental platform of flexible arm is driven to rope of this embodiment includes box 100, supporting component 200, arm 300, gasbag subassembly 400 and tension sensor 500, wherein, arm 300 includes drive arrangement, rope 340, root armed lever 350, first universal joint 360, first armed lever 370 and armed lever shell 380, gasbag subassembly 400 includes pneumatic valve even ball 410, trachea 420 and gasbag 430, be formed with storage tank 110 in the box 100, storage tank 110 is arranged in to first armed lever 370, gasbag 430 is fixed on first armed lever 370, under drive arrangement's effect, rope 340 can drive first armed lever 370 motion, tension sensor 500 can detect the pulling force of rope 340.
Specifically, the support assembly 200 includes a first mounting plate 210, two support rods 220 and a second mounting plate 230, the two support rods 220 are provided with two support rods 220, the two support rods 220 are arranged side by side, two ends of a single support rod 220 are fixed on the box body 100 through angle connectors (bent metal plates with mounting holes) and screws in a locking manner, the two support rods 220 span above the accommodating groove 100, the first mounting plate 210 is fixed on the support rods 220 in a locking manner, the angle connectors and screws can be selected in a fixing manner, the first mounting plate 210 is located on one side of the support rods 220 away from the box body 100, the second mounting plate 230 is located below the first mounting plate 210, and the upper end of the second mounting plate 230 is fixed on the first mounting plate 210 through angle connectors and screws in a locking manner.
The driving device includes a winch 310, a pulley block 320 and a motor 330, the motor 330 includes a first motor 331, a second motor, a third motor and a fourth motor, the winch 310 includes a first winch 311, a second winch, a third winch and a fourth winch, the rope 340 includes a first rope 341, a second rope, a third rope and a fourth rope, and the first motor 331, the first winch 311 and the first rope 341 are taken as examples to illustrate how the first rope 341 drives the first arm 370 to move.
The first motor 331 is locked and fixed on the first mounting plate 210, the first motor 331 is located below the first mounting plate 210, after a rotating shaft of the first motor 331 passes through the first mounting plate 210 (a through hole is formed in the first mounting plate 210 and is in clearance fit with the rotating shaft of the first motor 331), the rotating shaft is exposed from above the first mounting plate 210, the first capstan 311 is fixed on the rotating shaft of the first motor 331 (the fixing can be realized through the matching of a key and a key slot), one end of the first rope 341 is fixed on the first capstan 311, and the other end of the first rope 341 is fixed on the wiring disc 371 of the first arm 370, so when the first motor 331 drives the first capstan 311 to rotate, the first rope 341 is wound on the first capstan 311, and thus the first arm 370 is driven to move, or the first rope 341 is released from the first capstan 311, and thus the movement of the first arm 370 is matched.
Meanwhile, the second motor may also drive the first arm 370 to move through the second capstan and the second rope, and the third motor, the third capstan and the third rope, and the fourth motor, the fourth capstan and the fourth rope are all the same.
In this embodiment, to realize the direction change of the rope 340, a pulley block 320 is provided, and the pulley block 320 includes a first pulley block 321, a second pulley block 322, a third pulley block, a fourth pulley block, a fifth pulley block, a sixth pulley block, a seventh pulley block, and an eighth pulley block, wherein the first pulley block 321 and the second pulley block 322 are used to realize the direction change of the first rope 341.
Specifically, the first pulley block 321 includes a first pulley seat 323 and a first pulley 324, the first pulley seat 323 is rotatably disposed on the upper surface of the first mounting plate 210 (the first pulley seat 323 is provided with a through hole through which a screw passes and is locked to the first mounting plate 210, thereby rotatably connecting the first pulley seat 323 and the first mounting plate 210), the first pulley 324 is rotatably connected to the first pulley seat 323 (by a shaft-hole clearance fit), similarly, the second pulley block 322 includes a second pulley seat rotatably disposed on the rear side of the second mounting plate 230, and a second pulley still rotatably connected to the second pulley seat, thus, the first rope 341 is led out from the first capstan 311, passed around the first pulley 324, passed through the first mounting plate 210, passed around the second pulley, passed through the second mounting plate 230, and finally fixed to the first arm 370.
Similarly, the third pulley block and the fourth pulley block can guide the second rope, the fifth pulley block and the sixth pulley block can guide the third rope, and the seventh pulley block and the eighth pulley block can guide the fourth rope.
In this embodiment, the rear end of the root arm 350 is locked and fixed to the second mounting plate 230, the front end of the root arm 350 is connected to the first arm 370 via the first universal joint 360, thus, the first arm 370 has two degrees of freedom of rotation about the vertical axis and rotation about the left-right axis, one end of the first rope 341, one end of the second rope, one end of the third rope, and one end of the fourth rope are circumferentially uniformly distributed on the wiring disc 371, the first rope 341 is distributed at the right end of the wiring disc 371, the second rope is distributed at the left end of the wiring disc 371, the third rope is distributed at the upper end of the wiring disc 371, the fourth rope is distributed at the lower end of the wiring disc 371, by winding up the first rope 341 or the second rope, the first arm 370 can be rotated about a vertical axis, and the first arm 370 can be rotated about a horizontal axis by winding up the third rope or the fourth rope.
The first arm rod 370 is provided with a mounting hole 372, the air bag 430 is arranged in the mounting hole 372, the air bag 430 is communicated with the air valve connecting ball 410 through the air pipe 420, the air bag 430 can be inflated by pressing the air valve connecting ball 410, after the water and other liquid is injected into the accommodating groove 110, the buoyancy borne by the air bag 430 can be adjusted by adjusting the air quantity in the air bag 430, the tension sensor 500 is bound on the first rope 341, the second rope, the third rope and the fourth rope, and the first rope 341 is taken as an example, the tension sensor 500 is positioned between the first pulley block 321 and the second pulley block 322, the first pulley block 321 and the second pulley block 322 define a movement space for the tension sensor 500, and collision is prevented.
By providing the tension sensor 500, the tensions of the first rope 341, the second rope, the third rope, and the fourth rope can be detected, the balance between the buoyancy applied to the airbag 430 and the weight of the first arm 370 can be detected by detecting the tensions of the third rope and the fourth rope, and the weight of the first arm 370 can be balanced to a predetermined value by adjusting the amount of air in the airbag 430, thereby simulating the stress of the first arm 370 in the space environment.
In another embodiment, the first arm 370 may be controlled by three cables, the ends of the three cables are evenly distributed on the wiring disc 371, and the first arm 370 may still have two degrees of freedom of rotation about the vertical axis and the left-right axis.
The arm rod sleeve 380 is sleeved on the first arm rod 370 and then locked and fixed on the first arm rod 370, and the arm rod sleeve 380 is used for protecting the first arm rod 370 and the shielding rope 340.
Referring to fig. 2 and 4, fig. 4 is an axonometric view of a microgravity experimental platform of a rope-driven flexible mechanical arm of a second embodiment, which is an improvement of the first embodiment, in order to facilitate the operation, a plurality of second arm levers 620 are provided, a rear end of a first arm lever 370 is connected with a front end of the second arm lever 620 through a first universal joint 360, adjacent second arm levers 620 are connected through a second universal joint 610, a second arm lever 620 closest to a root arm lever 350 is also connected with the root arm lever 350 through a second universal joint 610, and two degrees of freedom of the second arm levers 620 are also set to rotate around an axis in the up-and-down direction and an axis in the left-and-right direction, so that the whole microgravity experimental platform of the rope-driven flexible mechanical arm is more flexible. In addition, in order to balance the gravity of each second universal joint 610, one air bag 430 is provided in each second universal joint 610, and a plurality of air bags 430 are connected in series to the air pipe 420.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (8)
1. The utility model provides a microgravity experiment platform of flexible arm is driven to rope which characterized in that includes:
the box body is provided with a containing groove;
the mechanical arm comprises a driving device, a rope and a first arm rod, and the first arm rod is arranged in the accommodating groove; under the action of the driving device, the rope can drive the first arm rod to move; the rope comprises a first rope, a second rope and a third rope, a wiring disc is arranged on the first arm rod, one end of the first rope, one end of the second rope and one end of the third rope are fixedly connected with the wiring disc, the first rope can be wound or released by the driving device, the second rope can be wound or released by the driving device, and the third rope can be wound or released by the driving device; the driving device further comprises a first pulley and a second pulley, and one end of the first rope is fixed on the wiring disc after sequentially passing around the first pulley and the second pulley;
the air bag is fixed on the first arm rod and can be inflated or deflated;
a tension sensor bound to each of the first rope, the second rope and the third rope, wherein the tension sensor bound to the first rope is positioned between the first pulley and the second pulley; each of the tension sensors can detect tension of the first rope, the second rope, and the third rope, respectively, and detect a balance between buoyancy applied to the airbag and gravity of the first arm.
2. The microgravity experiment platform of the rope-driven flexible mechanical arm of claim 1, wherein a mounting hole is formed in the first arm rod, and the airbag is placed in the mounting hole.
3. The microgravity experiment platform of the rope-driven flexible mechanical arm of claim 1, wherein the air bag is communicated with an air valve connecting ball, or the air bag is communicated with an air compressor.
4. The microgravity experiment platform of the rope-driven flexible mechanical arm as claimed in claim 1, wherein the mechanical arm further comprises a root arm rod, one end of the root arm rod is fixed on the box body, and the other end of the root arm rod is connected with the first arm rod.
5. The microgravity experiment platform of the rope-driven flexible mechanical arm of claim 4, wherein the mechanical arm further comprises a second arm rod, one end of the second arm rod is connected with the first arm rod through a first universal joint, and the other end of the second arm rod is connected with the root arm rod through a second universal joint.
6. The microgravity experiment platform of the rope-driven flexible mechanical arm as claimed in claim 5, wherein the airbag is also fixed on the second arm rod.
7. The microgravity experiment platform of the rope-driven flexible mechanical arm of claim 1, wherein the rope further comprises a fourth rope, one end of the fourth rope is fixedly connected with the first arm, one end of the first rope, one end of the second rope, one end of the third rope and one end of the fourth rope are circumferentially and uniformly distributed on the wiring disc, and the driving device can wind or release the fourth rope.
8. The microgravity experiment platform of the rope-driven flexible mechanical arm as claimed in claim 1, wherein the driving device comprises a first motor and a first winch, the first winch is fixed on a rotating shaft of the first motor, one end of the first rope is fixed on the first winch, and the first winch can wind or release the first rope under the driving of the first motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010228740.6A CN111421530B (en) | 2020-03-27 | 2020-03-27 | Micro-gravity experimental platform for rope-driven flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010228740.6A CN111421530B (en) | 2020-03-27 | 2020-03-27 | Micro-gravity experimental platform for rope-driven flexible mechanical arm |
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| CN111421530A CN111421530A (en) | 2020-07-17 |
| CN111421530B true CN111421530B (en) | 2022-07-22 |
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| CN114918975B (en) * | 2022-05-18 | 2023-05-23 | 哈尔滨工业大学（深圳） | High-precision experiment platform based on rope-driven continuous robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2670705B1 (en) * | 1990-12-21 | 1993-04-09 | Bertin & Cie | METHOD AND CONTROL OF A FLEXIBLE MOTORIZED MECHANICAL SYSTEM WITH VARIABLE CONFIGURATION, SUCH AS A ROBOT ARM FOR EXAMPLE. |
| CN2813450Y (en) * | 2005-07-15 | 2006-09-06 | 上海宇航系统工程研究所 | Air-float platform |
| 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 |
| 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 |
| CN103728057A (en) * | 2014-01-09 | 2014-04-16 | 重庆大学 | Ultrahigh-accuracy force sensor |
| CN104235450B (en) * | 2014-08-22 | 2016-08-24 | 海门市油威力液压工业有限责任公司 | Pressure closed loop controls digital integration direct-acting type proportional overflow valve |
| CN104859746B (en) * | 2015-05-26 | 2017-10-03 | 南京航空航天大学 | Experimental system and ground experiment method of the gecko-emulated robot under microgravity environment |
| CN106493723B (en) * | 2016-12-08 | 2018-09-04 | 燕山大学 | Air articulated type flexible mechanical arm based on rope driving |
| CN107445062A (en) * | 2017-06-22 | 2017-12-08 | 南京航空航天大学 | Pneumatic balance crane and method with behavior pattern automatic identification function |
| CN109955286A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Rope drives flexible robot's experiment porch |
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