CN113741219A - Mechanical arm semi-physical simulation device oriented to gravity and microgravity environment - Google Patents
Mechanical arm semi-physical simulation device oriented to gravity and microgravity environment Download PDFInfo
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- CN113741219A CN113741219A CN202111211427.2A CN202111211427A CN113741219A CN 113741219 A CN113741219 A CN 113741219A CN 202111211427 A CN202111211427 A CN 202111211427A CN 113741219 A CN113741219 A CN 113741219A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The invention discloses a mechanical arm semi-physical simulation device facing gravity and microgravity environments, which belongs to the technical field of semi-physical simulation and comprises a vibration isolation table, a joint posture simulation component, a load torque simulation component, a radial force loading simulation component and a joint, wherein the vibration isolation table is arranged at the bottom of the mechanical arm semi-physical simulation device; the device utilizes a joint attitude simulation component to simulate the attitude change rule of the joint of the mechanical arm under the service working condition, utilizes a radial force loading simulation component to simulate the radial force change rule of the joint, and utilizes a load torque simulation component to simulate the load torque change rule of the joint. The invention takes the joints which are difficult to establish accurate mathematical models as physical objects, and can be used for aspects of joint transmission system testing, joint model identification, mechanical arm dynamics refined modeling, mechanical arm dynamics difference analysis in different environments and the like by carrying out load simulation loading on the joints in service environments, thereby having important significance for realizing the accurate dynamics control of the mechanical arms.
Description
Technical Field
The invention relates to the technical field of semi-physical simulation, in particular to a mechanical arm semi-physical simulation device facing to gravity and microgravity environments.
Background
The joint is used as a core component of the mechanical arm and directly determines the kinematics, dynamics and control performance of the mechanical arm. Usually, the joint is composed of a motor, a reducer, an encoder, a brake and the like, the structure of a transmission system formed by the joint is abnormal and complex, and a flexible gear in a harmonic gear reducer deforms when subjected to load change, so that model parameters have uncertainty, and therefore, an accurate joint dynamic model is difficult to establish through a theoretical method.
In addition, because the dynamics of the space manipulator are different under the two environments of gravity and microgravity, if a suspension method, an air floatation method and a water floatation method are adopted for carrying out full physical experimental research, a large amount of capital, manpower, fields and the like are required to be invested. With the development of scientific technology, the semi-physical simulation technology becomes a powerful means for system development work, and has the advantages of improving the system development quality, shortening the development period and saving the development cost. Therefore, a mechanical arm semi-physical simulation device is developed, a mechanical arm semi-physical simulation system is built, difference analysis is carried out on joint driving force through simulation of the change rule of the mechanical arm in gravity and microgravity load, related control research is carried out, and the mechanical arm semi-physical simulation device has important significance for improving the motion performance of the whole mechanical arm in a service environment.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a semi-physical simulation device of the mechanical arm facing to the gravity and microgravity environment, which effectively solves the problem that a large or ultra-large mechanical arm is difficult to carry out experiments and is simultaneously beneficial to carrying out the work of mechanical arm structure optimization, mechanical arm dynamic characteristic analysis, control element selection, scheme verification and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a mechanical arm semi-physical simulation device facing gravity and microgravity environments comprises a vibration isolation table arranged at the bottom, a joint posture simulation component for realizing joint posture adjustment, a load torque simulation component for realizing joint load torque loading, a radial force loading simulation component for realizing joint radial force loading and a joint arranged at the other end of the load torque simulation component.
The technical scheme of the invention is further improved as follows: the joint posture simulation component consists of a base body arranged on the upper side of the vibration isolation table, a hollow rotary table for simulating the posture change rule of the joint of the mechanical arm arranged on the upper side of the base body under the service working condition and a rotary table motor arranged on the rear side of the hollow rotary table; the table top of the hollow rotary table is provided with a rotary table connecting plate, and the upper side of the rotary table connecting plate is provided with a mounting plate.
The technical scheme of the invention is further improved as follows: the load torque simulation component consists of a load motor, a speed reducer, a support, a cushion block, a torque and rotating speed sensor arranged on the upper side of the cushion block and sensor mounting plates respectively arranged on the torque and rotating speed sensor and the front side and the rear side of the cushion block; the output shaft of the speed reducer is connected with the input shaft of the torque and speed sensor through an I-shaped coupling key;
a joint mounting seat is arranged on the right upper side of the mounting plate, and the joint is mounted on the right side of the joint mounting seat; the end face of an output shaft of the joint is provided with a connecting shaft, a middle shaft section of the connecting shaft is provided with a loading block through a bearing, a nut is arranged at a thread position of a front end shaft section of the connecting shaft, and a front end shaft of the connecting shaft is connected with an output shaft of the torque and rotation speed sensor through a II-type coupling key.
The technical scheme of the invention is further improved as follows: the radial force loading simulation component comprises two groups of pressure loading assemblies which are arranged on the upper plate surface of the mounting plate in different directions and are vertical to each other;
the pressure loading subassembly is in a parallel with face and perpendicular to on the mounting panel two positions of face respectively arrange one set on the mounting panel, and two sets of pressure loading subassemblies through floating the joint with the loading piece links to each other, be on a parallel with the pressure loading subassembly of face passes through the subassembly connecting plate and installs the upside at the mounting panel on the mounting panel, the perpendicular to the pressure loading subassembly of face passes through on the mounting panel the downside at the mounting panel is installed to the subassembly connecting seat.
The technical scheme of the invention is further improved as follows: the pressure loading assembly comprises a servo electric cylinder, an electric cylinder mounting plate, an electric cylinder joint, a spring mounting block, a pressure sensor, a floating joint, an assembly mounting plate, a joint pressing block, a sliding block, a guide rail, a spring, a guide rod and a guide sleeve; the utility model discloses a servo electronic jar, including servo electronic jar, electric cylinder mounting panel, servo electronic jar, spring mounting block, guide rail, electric cylinder mounting panel, servo electronic jar, electric cylinder mounting panel, servo electronic jar connects, electric cylinder mounting panel, servo electronic cylinder mounting panel, electric cylinder, and electric cylinder, electric.
The technical scheme of the invention is further improved as follows: the guide rod is arranged at the left counter bore position and the right counter bore position of the spring mounting block corresponding to the pressure sensor mounting block, one end of the guide rod is arranged in the counter bore of the spring mounting block, the other end of the guide rod is arranged in the guide sleeve, a gasket and a screw are arranged at the end part of the guide rod, the spring penetrates through the guide rod and is arranged in the counter bore of the spring mounting block corresponding to the pressure sensor mounting block, one end of the pressure sensor is arranged at the right side of the pressure sensor mounting block, and the other end of the pressure sensor is connected with the floating joint.
Due to the adoption of the technical scheme, the invention has the technical progress that:
1. the invention utilizes the joint posture simulation component to simulate the posture change rule of the joint of the mechanical arm under the service working condition, utilizes the radial force loading simulation component to simulate the radial force change rule of the joint, utilizes the load torque simulation component to simulate the load torque change rule of the joint, takes the joint which is difficult to establish an accurate mathematical model as a physical object, can be used for the aspects of joint transmission system test, joint model identification, mechanical arm dynamics refined modeling, mechanical arm dynamics difference analysis under different environments and the like by carrying out load simulation loading on the joint which is difficult to establish the accurate mathematical model under the service environment, and has important significance for realizing the accurate dynamics control of the mechanical arm.
2. The invention takes the joints which are difficult to establish accurate mathematical models as physical objects, and performs equivalent simulation on the parts which are easy to establish models based on the similarity principle, thereby effectively solving the problem that large or ultra-large mechanical arms are difficult to perform experiments through the economic and convenient technical scheme, and being beneficial to performing the work in the aspects of mechanical arm structure optimization, mechanical arm dynamic characteristic analysis, control element selection, scheme verification and the like.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic structural view of a pressure loading assembly of the present invention;
FIG. 4 is a schematic top view of the pressure loading assembly of the present invention;
FIG. 5 is a partial cross-sectional view A-A of the pressure loading assembly of the present invention;
the vibration isolation device comprises a vibration isolation table 1, a vibration isolation table 2, a seat body 3, a hollow rotary table 4, a rotary table motor 5, a load motor 6, a speed reducer 7, a support seat 8, a cushion block 9, a torque and speed sensor 10, a sensor mounting plate 11, a loading block 12, a pressure loading assembly 13, an assembly connecting plate 14, an assembly connecting seat 15, a mounting plate 16, a rotary table connecting plate 17, a type I coupling 18, a type II coupling 19, a nut 20, a connecting shaft 21, a joint mounting seat 22, a joint 12-1, a servo electric cylinder 12-2, an electric cylinder mounting plate 12-3, an electric cylinder joint 12-4, a spring mounting block 12-5, a pressure sensor mounting block 12-6, a pressure sensor 12-7, a floating joint 12-8, an assembly mounting plate 12-9, a pressure sensor mounting block 12-9, 12-10 parts of joint pressing block, 12-11 parts of sliding block, 12-12 parts of guide rail, 12-13 parts of spring, 12-14 parts of guide rod and guide sleeve.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples:
it should be noted that in the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, and do not mean that a device or an element must have a specific orientation, be configured and operated in a specific orientation.
As shown in fig. 1-2, a detailed structure of an embodiment of the robot arm semi-physical simulation apparatus facing gravity and microgravity environments is shown. The device comprises a vibration isolation table 1, a base body 2, a hollow rotary table 3, a rotary table motor 4, a load motor 5, a speed reducer 6, a support 7, a cushion block 8, a torque and rotating speed sensor 9, a sensor mounting plate 10, a loading block 11, a pressure loading assembly 12, an assembly connecting plate 13, an assembly connecting seat 14, a mounting plate 15, a rotary table connecting plate 16, an I-shaped coupling 17, an II-shaped coupling 18, a nut 19, a connecting shaft 20, a joint mounting seat 21 and a joint 22; the base body 2 is arranged on the upper side of the vibration isolation platform 1, the hollow rotary table 3 is arranged on the upper side of the base body 2, the rotary table motor 4 is arranged on the rear side of the hollow rotary table 3, the rotary table connecting plate 16 is arranged on the table top of the hollow rotary table 3, the mounting plate 15 is arranged on the upper side of the rotary table connecting plate 16, the support 7 is arranged on the upper left side of the mounting plate 15, the speed reducer 6 is arranged on the left side of the support 7, the load motor 5 is arranged on the left side of the speed reducer 6, the cushion block 8 is arranged on the upper side of the mounting plate 15 and is arranged on the right side of the support 7, the torque and speed sensor 9 is arranged on the upper side of the cushion block 8, the sensor mounting plates 10 are respectively arranged on the front side and the rear side of the torque and speed sensor 9, the I-shaped coupler 17 connects the output shaft of the speed reducer 6 with the input shaft of the torque and speed sensor 9 through key connection, joint mount pad 21 is installed in the upper right side of mounting panel 15, joint 22 is installed joint mount pad 21 right side, connecting axle 20 is installed on the output shaft terminal surface of joint 22, loading piece 11 is installed through the bearing the middle shaft section of connecting axle 20, nut 19 is installed the screw thread position of the front end shaft section of connecting axle 20, II type shaft coupling 18 links together through the key-type connection the front end shaft of connecting axle 20 and torque speed sensor 9's output shaft.
The pressure loading assembly 12 is in a parallel with the upper plate surface of the mounting plate 15 and perpendicular to the upper plate surface of the mounting plate 15, two positions of the upper plate surface of the mounting plate 15 are respectively provided with one set of pressure loading assembly 12, the two sets of pressure loading assemblies 12 are connected with the loading block 11 through floating joints 12-7, the pressure loading assembly 12 in the upper plate surface of the mounting plate 15 is in a parallel with the pressure loading assembly 12 in the upper plate surface of the mounting plate 15 and is installed on the upper side of the mounting plate 15 through the assembly connecting plate 13, and the pressure loading assembly 12 in the upper plate surface of the mounting plate 15 is perpendicular to the pressure loading assembly 12 and is installed on the lower side of the mounting plate 15 through the assembly connecting seat 14.
As shown in fig. 3-5, in the present embodiment, the pressure loading assembly 12 includes a servo electric cylinder 12-1, an electric cylinder mounting plate 12-2, an electric cylinder joint 12-3, a spring mounting block 12-4, a pressure sensor mounting block 12-5, a pressure sensor 12-6, a floating joint 12-7, an assembly mounting plate 12-8, a joint press block 12-9, a slider 12-10, a guide rail 12-11, a spring 12-12, a guide rod 12-13, and a guide sleeve 12-14; the electric cylinder mounting plate 12-2 is mounted on the left upper side of the component mounting plate 12-8, the servo electric cylinder 12-1 is mounted on the left side of the electric cylinder mounting plate 12-2, one end of the electric cylinder joint 12-3 is mounted at the front end of a push rod of the servo electric cylinder 12-1, the other end of the electric cylinder joint 12-3 is connected with the spring mounting block 12-4 through the joint press block 12-9, the slide block 12-10 is mounted on the upper side of the component mounting plate 12-8 through the guide rail 12-11, the spring mounting block 12-4 is mounted on the upper side of the slide block 12-10, and the guide sleeves 12-14 are respectively arranged at through holes on two sides of the pressure sensor mounting block 12-5 and are fixed by adopting jackscrews.
The guide rods 12-13 are respectively arranged at the left and right counter bores of the spring mounting block 12-4 corresponding to the pressure sensor mounting block 12-5, one end of each guide rod 12-13 is mounted in the counter bore of the spring mounting block 12-4, the other end of each guide rod 12-13 is mounted in the guide sleeve 12-14, a gasket and a screw are mounted at the end part of each guide rod, the springs 12-12 penetrate through the guide rods 12-13 and are placed in the counter bores of the spring mounting block 12-4 corresponding to the pressure sensor mounting block 12-5, one end of each pressure sensor 12-6 is mounted on the right side of the pressure sensor mounting block 12-5, and the other end of each pressure sensor 12-6 is connected with the floating joint 12-7.
The using method comprises the following steps:
the joint posture simulation component consists of a base body 2, a hollow rotary table 3 and a rotary table motor 4, and the joint posture is adjusted by performing position feedback control on the rotary table motor 4; in a gravity environment, the posture motion rule of the joint in the semi-physical simulation and the full physical prototype is kept consistent; if a microgravity environment is to be simulated, the rotation axis of the joint needs to be adjusted to be consistent with the gravity direction all the time; the load torque simulation component consists of a load motor 5, a speed reducer 6, a support 7, a cushion block 8, a torque rotating speed sensor 9 and a sensor mounting plate 10, and the joint load torque loading is realized by performing torque feedback control on the torque rotating speed sensor 9; the radial force loading simulation component consists of two groups of pressure loading assemblies which are vertically arranged, and the joint radial force loading is realized by performing pressure feedback control on the pressure sensors 12-6.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. The utility model provides a towards semi-physical simulation device of arm of gravity and microgravity environment which characterized in that: the vibration isolation device comprises a vibration isolation table (1) arranged at the bottom, a joint posture simulation component for realizing joint posture adjustment, a load torque simulation component for realizing joint load torque loading, a radial force loading simulation component for realizing joint radial force loading and a joint (22) arranged at the other end of the load torque simulation component.
2. The gravity and microgravity environment oriented robotic arm semi-physical simulation device of claim 1, wherein: the joint posture simulation component consists of a base body (2) arranged on the upper side of the vibration isolation table (1), a hollow rotary table (3) which is arranged on the upper side of the base body (2) and simulates the posture change rule of a joint (22) under the service working condition, and a rotary table motor (4) arranged on the rear side of the hollow rotary table (3); a turntable connecting plate (16) is arranged on the table top of the hollow turntable (3), and a mounting plate (15) is arranged on the upper side of the turntable connecting plate (16).
3. The gravity and microgravity environment oriented manipulator semi-physical simulation device of claim 2, wherein: the load torque simulation component consists of a load motor (5), a speed reducer (6), a support (7), a cushion block (8), a torque rotating speed sensor (9) arranged on the upper side of the cushion block (8) and sensor mounting plates (10) respectively arranged on the front side and the rear side of the torque rotating speed sensor (9) and the cushion block (8), wherein the load motor (5), the speed reducer (6), the support (7), the cushion block (8) are sequentially arranged on the mounting plates (15); the output shaft of the speed reducer (6) is in keyed connection with the input shaft of the torque and speed sensor (9) through an I-shaped coupler (17);
a joint mounting seat (21) is arranged on the upper right side of the mounting plate (15), and the joint (22) is mounted on the right side of the joint mounting seat (21); the end face of an output shaft of the joint (22) is provided with a connecting shaft (20), a middle shaft section of the connecting shaft (20) is provided with a loading block (11) through a bearing, a nut (19) is arranged at a thread position of a front end shaft section of the connecting shaft (20), and a front end shaft of the connecting shaft (20) is in keyed connection with the output shaft of the torque and rotation speed sensor (9) through a II-type coupler (18).
4. The gravity and microgravity environment oriented robotic arm semi-physical simulation device of claim 1, wherein: the radial force loading simulation component comprises two groups of pressure loading assemblies (12) which are arranged on the upper plate surface of the mounting plate (15) in different directions and are vertical to each other;
pressure loading subassembly (12) is in a parallel with face and perpendicular to on mounting panel (15) two positions of face respectively arrange one set on mounting panel (15), and two sets of pressure loading subassemblies (12) through floating joint (12-7) with loading block (11) link to each other, are in a parallel with the upside at mounting panel (15) is installed through subassembly connecting plate (13) in pressure loading subassembly (12) of face on mounting panel (15), perpendicular to pressure loading subassembly (12) of face pass through on mounting panel (15) the downside at mounting panel (15) is installed to subassembly connecting seat (14).
5. The gravity and microgravity environment oriented robotic arm semi-physical simulation device of claim 4, wherein: the pressure loading assembly (12) comprises a servo electric cylinder (12-1), an electric cylinder mounting plate (12-2), an electric cylinder joint (12-3), a spring mounting block (12-4), a pressure sensor mounting block (12-5), a pressure sensor (12-6), a floating joint (12-7), an assembly mounting plate (12-8), a joint pressing block (12-9), a sliding block (12-10), a guide rail (12-11), a spring (12-12), a guide rod (12-13) and a guide sleeve (12-14); the electric cylinder mounting plate (12-2) is mounted on the left upper side of the assembly mounting plate (12-8), the servo electric cylinder (12-1) is mounted on the left side of the electric cylinder mounting plate (12-2), one end of the electric cylinder joint (12-3) is mounted at the front end of a push rod of the servo electric cylinder (12-1), the other end of the electric cylinder joint (12-3) is connected with the spring mounting block (12-4) through the joint pressing block (12-9), the sliding block (12-10) is mounted on the upper side of the assembly mounting plate (12-8) through the guide rail (12-11), the spring mounting block (12-4) is mounted on the upper side of the sliding block (12-10), and the guide sleeves (12-14) are respectively arranged at through holes on two sides of the pressure sensor mounting block (12-5), and fixing by adopting jackscrews.
6. The gravity and microgravity environment oriented robotic arm semi-physical simulation device of claim 5, wherein: the guide rods (12-13) are respectively arranged at the left and right counter bores of the spring mounting block (12-4) corresponding to the pressure sensor mounting block (12-5), one end of the guide rod (12-13) is arranged in a counter bore of the spring mounting block (12-4), the other end of the guide rod (12-13) is arranged in the guide sleeve (12-14), and a washer and a screw are installed at the end part, the spring (12-12) penetrates the guide rod (12-13), and is arranged in a counter bore of the spring mounting block (12-4) corresponding to the pressure sensor mounting block (12-5), one end of the pressure sensor (12-6) is arranged on the right side of the pressure sensor mounting block (12-5), the other end of the pressure sensor (12-6) is connected with the floating joint (12-7).
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| CN202111211427.2A CN113741219B (en) | 2021-10-18 | 2021-10-18 | Mechanical arm semi-physical simulation device oriented to gravity and microgravity environments |
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| CN202111211427.2A CN113741219B (en) | 2021-10-18 | 2021-10-18 | Mechanical arm semi-physical simulation device oriented to gravity and microgravity environments |
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| CN113741219A true CN113741219A (en) | 2021-12-03 |
| CN113741219B CN113741219B (en) | 2023-04-28 |
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