CN112917180A - Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method - Google Patents
Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method Download PDFInfo
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- CN112917180A CN112917180A CN202110095003.8A CN202110095003A CN112917180A CN 112917180 A CN112917180 A CN 112917180A CN 202110095003 A CN202110095003 A CN 202110095003A CN 112917180 A CN112917180 A CN 112917180A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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Abstract
The invention provides a full-electric high-precision six-degree-of-freedom platform realized by a reverse solution method, which relates to the technical field of electric actuation and the technical field of electric control, and comprises the following structures: upper mounting plate, electricity actuate mechanism, lower platform, the upper mounting plate uses the hook hinge with cylinder fish ear to be connected, and lower platform uses the hook hinge with motor cover bottom fish ear to be connected, electricity actuates the mechanism and includes: the motor and the cylinder are arranged linearly, power is transmitted to the screw pair through the coupler, the screw pair performs linear motion, and the push rod drives the upper platform to perform posture change in a telescopic mode. The electric control system consists of a driver, a motion controller, a power supply conversion module, an operation box, a measurement feedback device and a limit switch. The invention has the beneficial effects that: the method greatly improves the convenience and high-precision performance of use, and has the advantages of lower cost, stronger dynamic response capability, higher reliability, better safety and stronger environmental adaptability.
Description
Technical Field
The invention provides a full-electric high-precision six-degree-of-freedom platform realized by a reverse solution method, and relates to the technical field of electric actuation and the technical field of electric control.
Background
With the rapid development of science and technology, the high-precision six-degree-of-freedom platform is widely applied to the fields of aviation, aerospace and the like, such as various high-precision space camera main mirrors, secondary mirror space unfolding, space assembly control platforms, rapid photon alignment systems, micro-production, laser material processing and the like, and can be even used for docking space spacecrafts and fuel filling docking of aerial fuel dispensers. In recent years, with the increasing demand for high-precision six-degree-of-freedom platforms, the existing six-degree-of-freedom platforms can not meet the demand in terms of precision, quantity, function and performance, and therefore the high-precision six-degree-of-freedom platforms are urgently needed to meet the demand.
The six-degree-of-freedom platform in the current market is complex and various, and can be divided into a hydraulic six-degree-of-freedom platform, an electric six-degree-of-freedom platform and the like generally according to the structural form of the six-degree-of-freedom platform, the hydraulic six-degree-of-freedom platform is compact in structure, stable in work, capable of having a self-locking effect and capable of carrying out a large load test, but low in safety and precision, slow in lifting speed, limited in lifting height, easy to leak oil, short in service life and incapable of being adapted to various severe environments, and the problems are solved to.
Disclosure of Invention
Aiming at the problems, the invention provides a pure full-electric high-precision six-freedom-degree platform in the true sense, an electric control system is configured, the structure is simpler, the posture of the platform is compensated by adopting an inverse solution algorithm, the precision of the six-freedom-degree platform is improved, and meanwhile, the six-freedom-degree stable platform is smaller in volume, lower in noise, higher in reliability, better in safety and stronger in environmental adaptability.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the full-electric high-precision six-degree-of-freedom platform realized by the inverse solution method is characterized in that: including upper mounting plate, lower platform, electricity actuating mechanism and electrical system, upper mounting plate and lower platform with the electricity actuates the cylinder fish ear of mechanism and passes through the hooke hinge and connect, the upper mounting plate lower extreme is equipped with the hooke hinge, the hooke hinge with the cylinder fish ear uses bolted connection, the platform upper surface is equipped with the electric cabinet down, the upper mounting plate can install load, and the middle part is installed the electricity actuates the structure, the electricity actuates the mechanism and includes: motor, cylinder subassembly, wherein the cylinder subassembly includes: screw pair, push rod, cylinder and bearing frame etc. subassembly, electrical system includes: the device comprises a driver, a motion controller, a power supply conversion module, a measurement feedback device and an operation box.
The lower side of the upper platform is provided with a hook hinge, and the electric actuating mechanism is connected to the upper platform through a cylinder barrel and a fish ear bolt. The upper side of the lower platform is provided with a Hooke's hinge, and the electric actuating mechanism is connected to the lower platform through a fish-ear bolt.
The electric actuating mechanism operating principle is that the motor is arranged through the cylinder barrel component in a straight line, a coupler is arranged between the motor and the screw rod pair, the power output by the motor is transmitted to the screw rod pair, the screw rod pair is supported and rotated through the bearing seat component, the screw rod nut drives the push rod to perform linear motion under the constraint of the guide key, and the push rod drives the load to perform the motion of six postures: the method comprises rolling, pitching, yawing, traversing, longitudinal shifting and heaving, and real-time compensation is carried out through a reverse solution method in the motion process, so that higher precision is ensured.
Key grooves are symmetrically arranged on the inner wall of the cylinder barrel, the push rod is axially limited, and mechanical interfaces for electrical limitation are arranged at the limit positions of the two ends of the cylinder barrel.
The screw pair adopts a ball screw which is a mechanism for converting rotary motion into linear motion, rolling elements between the nut and the screw are balls, and the ball screw has the advantage of providing ultrahigh precision.
The power supply of the electric control system adopts a direct current input interface, so that the full-electric high-precision six-freedom-degree platform is more suitable for being matched with other various devices, and has better anti-interference capability in the operation process.
And the motion controller used by the control loop simultaneously controls six drivers to drive the motors to act, and has an electric limit signal to carry out limit position protection through the motion controller.
The environment temperature of the motor driver is suitable for being 10 ℃ below zero to 65 ℃ above zero, the speed and position control of the full-electric high-precision six-degree-of-freedom platform can be realized by the aid of the built-in speed ring and the built-in position ring, the safety protection of the full-electric high-precision six-degree-of-freedom platform can be realized by the aid of limiting protection of internal maximum current, an alarm signal is led out by the motor driver, and the motor driver is externally connected with an alarm indicator lamp.
The invention has the beneficial effects that: the invention provides a full-electric high-precision six-freedom-degree platform realized by a reverse solution method, provides a full-electric high-precision six-freedom-degree platform in the true sense, is configured with an electric control system capable of working independently, is simpler in structure and more guaranteed in safety, greatly improves the use convenience and high precision requirement, and has the characteristics of lower cost, stronger dynamic response capability, higher reliability, better safety and stronger environmental adaptability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of an electric actuator according to the present invention;
FIG. 3 is a schematic diagram of an electrical control system of the present invention;
[ description of reference ]
1. An upper platform; 2. an electrically actuated mechanism; 3. hooke's joint; 4. a lower platform; 5. an electric cabinet; 21. a cylinder barrel assembly; 211. a guide key; 212. a reading head; 22. a motor; 221. power aviation plug of the motor; 222. aerial plug of a motor encoder; 23. an electrical limit switch assembly; 24. a push rod; 241. a cylinder barrel fish ear; 242. a lead screw support base assembly; 243. a lead screw pair; 244. a screw pair nut; 245. a grating scale assembly; 25. a motor housing; 251. the motor is covered by fish; 26. a coupling; 61. a motion controller; 62. a driver; 63. a power conversion module; 64. and (5) operating the box.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, as shown in fig. 1, the full-electric high-precision six-degree-of-freedom platform implemented by a reverse solution method includes an upper platform 1, a lower platform 4, an electric actuating mechanism 2, and an electric control system, where the upper platform 1 and the lower platform 4 are connected to a cylinder fish ear 241 of the electric actuating mechanism 2 through a hooke hinge 3, the lower end of the upper platform 1 is provided with the hooke hinge 3, the hooke hinge 3 is connected to the cylinder fish ear 241 through a bolt, an electric control box 5 is disposed beside the lower platform 4, the upper platform 1 may be loaded, the electric actuating mechanism 2 is mounted in the middle of the upper platform 1, and the electric actuating mechanism 2 includes: motor dustcoat 25, push rod 24, electric limit switch subassembly 23, motor 22, cylinder subassembly 21, wherein cylinder subassembly 21 includes: guide key 211, reading head 212, wherein push rod 24 includes: the cylinder fish ear 241, lead screw supporting seat subassembly 242, lead screw pair 243, lead screw pair nut 244, grating chi subassembly 245, electrical system includes: driver 62, motion controller 61, power conversion module 63, operation box 64 and measurement feedback device 65.
Further, platform connection sets up hooke hinge 3 about the full-electric high accuracy six degrees of freedom platform that realizes through the inverse solution method, and electricity actuates mechanism 2 and passes through cylinder fish ear 241 bolted connection, and bolted connection is adopted to the support frame upper end, can realize swift dismouting.
Further, the electric actuating mechanism 2 checks the strength and the service life of each component, selects components which can meet the use requirements, simultaneously carries out standardized design and lightweight design on each component, selects standard aluminum alloy sections as a cylinder barrel, greatly reduces the cost, finally reduces the price of the whole full-electric high-precision six-freedom-degree platform realized by a reverse electrolysis method while improving the performance, and provides the full-electric high-precision six-freedom-degree platform which is low in cost, safe and reliable.
Further, the full-electric high-precision six-degree-of-freedom platform realized by the inverse solution method can realize high-precision operation of the six-degree-of-freedom platform by preferably selecting the ball screw.
Further, the key grooves are formed in two sides of the inner wall of the cylinder barrel assembly 21 for radial limiting, and the electrical limit switch assemblies 23 are arranged at the limit positions of the upper end and the lower end of the cylinder barrel assembly to ensure safe use of the full-electrochemical six-degree-of-freedom stable platform.
Further, the electric control system comprises a driver 62, a motion controller 61, a power conversion module 63 and an operation box 64, wherein the power supply is provided with a direct current input interface and is supplied to the motor 22 and the driver 62, and high-voltage direct current is converted into low-voltage direct current by the power conversion module and is supplied to the motion controller 61, so that pure electric work is really realized, and the electric control system is suitable for outdoor work.
Further, control circuit uses operation box 64 start button to start full-electric high accuracy six degree of freedom platforms, can automatic attitude change, and interlocking between the button avoids misoperation to damage equipment, and control system is simple high-efficient.
Furthermore, the control system selects wide-temperature type electric elements, control circuit components are installed and fixed in the electric cabinet 5, and an electric connector is adopted for external cable connection, so that the control system is suitable for various complex environments such as high and low temperatures, sand and dust, rain, wading, high altitude and the like.
Further, the electronic control system controls the posture change of the full-electric high-precision six-degree-of-freedom platform through a button on the operation box 64, and an emergency stop button is additionally arranged to realize emergency power-off in emergency. And limit switches are arranged at the upper limit position and the lower limit position of the cylinder barrel component 21 of the electric actuating mechanism 2 for stroke safety protection, limit signals are connected into the motion controller 61 in series, and when the electric actuating mechanism extends forwards to reach the upper limit position, the electric actuating mechanism continues to operate without action and only allows reverse operation.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms upper platform, lower platform, electric actuating mechanism, electric control system, motor, power conversion module, measurement feedback device, lead screw pair, etc. are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention and they are to be interpreted as any additional limitation which is not in accordance with the spirit of the present invention.
Claims (9)
1. The full-electric high-precision six-degree-of-freedom platform realized by the inverse solution method is characterized in that: including upper mounting plate, lower platform, electricity actuating mechanism and electrical system, upper mounting plate and lower platform with the electricity actuates the cylinder fish ear of mechanism and passes through the hooke hinge and connect, the upper mounting plate lower extreme is equipped with the hooke hinge, the hooke hinge with use bolted connection after the cylinder fish ear is pegged graft, the other electric cabinet that is equipped with of lower platform, the upper mounting plate can install load, and the middle part is installed the electricity actuates the structure, the electricity actuates the mechanism and includes: motor, cylinder subassembly, wherein the cylinder subassembly includes: screw pair, push rod, cylinder and bearing group, electrical system includes: the device comprises a driver, a motion controller, a power supply conversion module, a measurement feedback device and an operation box.
2. The upper platform of claim 1, wherein: the lower side of the upper platform is provided with a hook hinge, and the electric actuating mechanism is connected to the upper platform through a cylinder barrel and a fish ear bolt.
3. The lower platform as claimed in claim 1, wherein a hook hinge is provided on the upper side of the lower platform, and the electric actuator is connected to the lower platform by a fish-ear bolt.
4. The electrically actuated mechanism of claim 1, wherein: the motor and the cylinder barrel assembly are arranged in a straight line, the coupler is arranged between the motor and the screw rod pair, power output by the motor is transmitted to the screw rod pair, the screw rod pair is supported and rotated through the bearing seat assembly, the screw rod nut drives the push rod to move linearly under the restraint of the guide key, so that the push rod drives the load to ascend and descend, and the cylinder barrel assembly can still work normally under high and low temperature conditions due to the adoption of low-temperature grease.
5. The cylinder barrel of claim 1, wherein the inner wall of the cylinder barrel is symmetrically provided with key slots for axial limiting of the push rod, and the limit positions at the two ends are provided with electric limit positions.
6. The screw pair of claim 1, wherein a ball screw is used.
7. The electrical control system of claim 1, wherein the power supply is a dc input interface for supplying power to the driver, and the internal power conversion module converts the high voltage dc power to a low voltage dc power for the motion controller.
8. The electric control system according to claim 1, wherein an inverse solution method uses the measurement feedback device to transmit the attitude information of the upper platform to the controller for attitude compensation, a control loop uses the motion controller to simultaneously control six drivers to drive the motors to act, and an electric limit signal is provided for limiting position protection through the motion controller.
9. The motor driver as claimed in claim 1, wherein the ambient temperature of the driver is suitable for a temperature range from-10 ℃ below zero to-65 ℃, the built-in position ring can control the speed and position of the full-electric high-precision six-degree-of-freedom platform, the safety protection of the full-electric high-precision six-degree-of-freedom platform can be realized through the limit protection of the internal maximum current, and the motor driver leads out an alarm signal and is externally connected with an alarm indicator lamp.
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| CN202110095003.8A CN112917180A (en) | 2021-01-25 | 2021-01-25 | Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method |
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| CN202110095003.8A CN112917180A (en) | 2021-01-25 | 2021-01-25 | Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114439070A (en) * | 2022-02-15 | 2022-05-06 | 西安方元明鑫精密机电制造有限公司 | Programmable controller-based power matching control system for electric cylinder of excavator |
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