CN113741219B - Mechanical arm semi-physical simulation device oriented to gravity and microgravity environments - Google Patents
Mechanical arm semi-physical simulation device oriented to gravity and microgravity environments Download PDFInfo
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- CN113741219B CN113741219B CN202111211427.2A CN202111211427A CN113741219B CN 113741219 B CN113741219 B CN 113741219B CN 202111211427 A CN202111211427 A CN 202111211427A CN 113741219 B CN113741219 B CN 113741219B
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- 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 gesture simulation part, a load torque simulation part, a radial force loading simulation part and a joint arranged at the other end of the load torque simulation part, wherein the vibration isolation table is arranged at the bottom; the device utilizes the joint gesture simulation component to simulate the gesture 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, and utilizes the load torque simulation component to simulate the load torque change rule of the joint. The invention takes the joints which are difficult to establish an accurate mathematical model as physical objects, and can be used for joint transmission system test, joint model identification, mechanical arm dynamics fine modeling, mechanical arm dynamics difference analysis in different environments and the like by carrying out load simulation loading on the joints in service environment, thereby having important significance for realizing mechanical arm accurate dynamics control.
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 joints are used as core components of the mechanical arm, and the kinematics, dynamics and control performance of the mechanical arm are directly determined. The joint is usually composed of a motor, a speed reducer, an encoder, a brake and other structures, the structure of a transmission system formed by the motor, the speed reducer, the encoder, the brake and other structures is extremely complex, and the flexible gear in the harmonic gear speed reducer deforms when being subjected to load change, so that model parameters have uncertainty, and therefore, an accurate joint dynamics model is difficult to build through a theoretical method.
In addition, because the space manipulator has different dynamics under two environments of gravity and microgravity, if a suspension method, an air floatation method and a water floatation method are adopted to carry out full physical experiment research, a large amount of funds, manpower, places and the like are required to be input. 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, the mechanical arm semi-physical simulation device is developed, the mechanical arm semi-physical simulation system is built, the differential analysis is carried out on the joint driving force by simulating the change rule of the mechanical arm in gravity and microgravity load, and relevant control research is developed, so that the mechanical arm semi-physical simulation device has important significance in improving the motion performance of the mechanical arm whole machine in a service environment.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the mechanical arm semi-physical simulation device oriented to the gravity and microgravity environment, so that the problem that a large or ultra-large mechanical arm is difficult to develop an experiment is effectively solved, and meanwhile, the mechanical arm structure optimization, mechanical arm dynamics characteristic analysis, control element model selection, scheme verification and other works are facilitated to develop.
In order to solve the technical problems, the invention adopts the following technical scheme:
the mechanical arm semi-physical simulation device for the gravity and microgravity environments 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, the joint posture simulation component is used for realizing joint load torque loading, the radial force loading simulation component is used for realizing joint radial force loading, and the joint is 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 seat body arranged on the upper side of the vibration isolation table, a hollow turntable for simulating the posture change rule of the joint of the mechanical arm arranged on the upper side of the seat body under the service working condition, and a turntable motor arranged on the rear side of the hollow turntable; the table top of the hollow turntable is provided with a turntable connecting plate, and the upper side of the turntable 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 rotating speed sensor and sensor mounting plates, wherein the load motor, the speed reducer, the support and the cushion block are sequentially mounted on the mounting plates, the torque rotating speed sensor is arranged on the upper side of the cushion block, and the sensor mounting plates are respectively mounted on the front side and the rear side of the torque 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 rotation speed sensor through an I-shaped coupler key;
the right upper side of the mounting plate is provided with a joint mounting seat, and the joint is mounted on the right side of the joint mounting seat; the end face of the output shaft of the joint is provided with a connecting shaft, the middle shaft section of the connecting shaft is provided with a loading block through a bearing, the threaded position of the front end shaft section of the connecting shaft is provided with a nut, and the front end shaft of the connecting shaft is connected with the output shaft of the torque rotation speed sensor through a II-type coupler key.
The technical scheme of the invention is further improved as follows: the radial force loading simulation component comprises two groups of mutually perpendicular pressure loading assemblies which are arranged on the upper plate surface of the mounting plate in different directions;
the pressure loading assembly is parallel to the upper plate surface of the mounting plate and perpendicular to the upper plate surface of the mounting plate, one set of pressure loading assembly is respectively arranged in two directions, the two sets of pressure loading assemblies are connected with the loading block through the floating joint, the pressure loading assembly parallel to the upper plate surface of the mounting plate is mounted on the upper side of the mounting plate through the assembly connecting plate, and the pressure loading assembly perpendicular to the upper plate surface of the mounting plate is mounted on the lower side of the mounting plate through the assembly 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 electric cylinder mounting plate is mounted on the upper left side of the component mounting plate, the servo electric cylinder is mounted on the left side of the electric cylinder mounting plate, one end of the electric cylinder connector is mounted at the front end of a push rod of the servo electric cylinder, the other end of the electric cylinder connector is connected with the spring mounting block through the connector pressing block, the sliding block is mounted on the upper side of the component mounting plate through the guide rail, the spring mounting block is mounted on the upper side of the sliding block, and the guide sleeve is respectively arranged at through holes on two sides of the pressure sensor mounting block and is fixed through jackscrews.
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 installation block corresponding to the pressure sensor installation block respectively, one end of the guide rod is installed in the counter bore of the spring installation block, the other end of the guide rod is installed in the guide sleeve, a gasket and a screw are installed at the end part of the guide rod, the spring penetrates into the guide rod and is placed in the counter bore of the spring installation block corresponding to the pressure sensor installation block, one end of the pressure sensor is installed on the right side of the pressure sensor installation block, and the other end of the pressure sensor is connected with the floating joint.
By adopting the technical scheme, the invention has the following technical progress:
1. according to the invention, the joint gesture simulation component is utilized to simulate the gesture change rule of the mechanical arm under the service working condition, the radial force loading simulation component is utilized to simulate the radial force change rule of the joint, the load torque simulation component is utilized to simulate the load torque change rule of the joint, the joint which is difficult to establish an accurate mathematical model is taken as a physical object, and the joint is subjected to load simulation loading under the service environment, so that the mechanical arm gesture simulation device can be used for joint transmission system test, joint model identification, mechanical arm dynamics refined modeling, mechanical arm dynamics difference analysis of different environments and the like, and has important significance for realizing mechanical arm accurate dynamics control.
2. According to the invention, the joints difficult to establish an accurate mathematical model are used as physical objects, the parts easy to model are subjected to equivalent simulation based on a similarity principle, the problem that a large or ultra-large mechanical arm is difficult to develop an experiment is effectively solved through the economic and convenient technical scheme, and meanwhile, the operation of mechanical arm structure optimization, mechanical arm dynamics characteristic analysis, control element model selection, scheme verification and the like is facilitated.
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 view of the structure of the 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 schematic view of a partial cross-sectional A-A of the pressure loading assembly of the present invention;
wherein 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, 8, a cushion block, 9, a torque rotation speed sensor, 10, a sensor mounting plate, 11, a loading block, 12, a pressure loading component, 13, a component connecting plate, 14, a component connecting seat, 15, a mounting plate, 16, a rotary table connecting plate, 17, an I-type coupler, 18, an II-type coupler, 19 and 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, a component mounting plate, 12-9, a joint pressing block, 12-10, a sliding block, 12-11, a guide rail, 12-12, a spring, 12-13, a guide rod, 12-14 and a guide sleeve.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and examples:
in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "one side", "other side", "left", "right", etc. are directions or positional relationships based on the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not mean that the device or element must have a specific direction, be configured and operate in a specific direction.
1-2, a specific structure of an embodiment of a mechanical arm semi-physical simulation device facing to gravity and microgravity environment is provided. 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 rotation speed sensor 9, a sensor mounting plate 10, a loading block 11, a pressure loading component 12, a component connecting plate 13, a component connecting seat 14, a mounting plate 15, a rotary table connecting plate 16, an I-type coupler 17, an II-type coupler 18, a nut 19, a connecting shaft 20, a joint mounting seat 21 and a joint 22; the vibration isolation device is characterized in that the seat body 2 is arranged on the upper side of the vibration isolation table 1, the hollow turntable 3 is arranged on the upper side of the seat body 2, the turntable motor 4 is arranged on the rear side of the hollow turntable 3, the turntable connecting plate 16 is arranged on the table top of the hollow turntable 3, the mounting plate 15 is arranged on the upper side of the turntable 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 rotation speed sensor 9 is arranged on the upper side of the cushion block 8, the sensor mounting plate 10 is respectively arranged on the front side and the rear side of the torque rotation speed sensor 9, the output shaft of the speed reducer 6 is connected with the input shaft of the torque rotation speed sensor 9 through key connection, the joint mounting seat 21 is arranged on the upper right side of the mounting plate 15, the joint 22 is arranged on the right side of the joint mounting seat 21, the connecting shaft 20 is arranged on the end face of the joint output shaft 22, the joint output shaft is connected with the front end of the load shaft 20 through the bearing section 20, and the front end of the load shaft is connected with the front end of the torque rotation speed sensor 20 through the key section.
The pressure loading assemblies 12 are respectively arranged in two directions parallel to the upper plate surface of the mounting plate 15 and perpendicular to the upper plate surface of the mounting plate 15, the two sets of pressure loading assemblies 12 are connected with the loading block 11 through floating connectors 12-7, the pressure loading assemblies 12 parallel to the upper plate surface of the mounting plate 15 are arranged on the upper side of the mounting plate 15 through the assembly connecting plates 13, and the pressure loading assemblies 12 perpendicular to the upper plate surface of the mounting plate 15 are arranged on the lower side of the mounting plate 15 through the assembly connecting seats 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 pressing 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 upper left 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 connector 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 connector 12-3 is connected with the spring mounting block 12-4 through the connector pressing block 12-9, the sliding 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 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 are fixed through jackscrews.
The guide rod 12-13 is 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 the 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, a gasket and a screw are arranged at the end, the spring 12-12 penetrates the guide rod 12-13 and is arranged in the 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, and the other end of the pressure sensor 12-6 is connected with the floating joint 12-7.
The using method comprises the following steps:
the joint gesture simulation component consists of a seat body 2, a hollow rotary table 3 and a rotary table motor 4, and realizes joint gesture adjustment by performing position feedback control on the rotary table motor 4; under the gravity environment, the semi-physical simulation is consistent with the joint gesture movement law in the full-physical model machine; if the microgravity environment is to be simulated, the rotation axis of the joint is required to be always adjusted to be consistent with the gravity direction; 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 realizes the load torque loading of the joint 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 components which are mutually perpendicular, and the joint radial force loading is realized by performing pressure feedback control on the pressure sensor 12-6.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (3)
1. The utility model provides a mechanical arm semi-physical simulation device towards 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;
the joint posture simulation component consists of a seat body (2) arranged on the upper side of the vibration isolation table (1), a hollow turntable (3) for simulating the posture change rule of a joint (22) of a mechanical arm arranged on the upper side of the seat body (2) under the service working condition, and a turntable motor (4) arranged on the rear side of the hollow turntable (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);
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); an output shaft of the speed reducer (6) is connected with an input shaft of the torque rotation speed sensor (9) through an I-shaped coupler (17) in a key way;
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 threaded position of a front end shaft section of the connecting shaft (20) is provided with a nut (19), and the front end shaft of the connecting shaft (20) is connected with an output shaft of a torque rotation speed sensor (9) through a II-type coupler (18) in a key way;
the radial force loading simulation component comprises two groups of mutually perpendicular pressure loading assemblies (12) which are arranged on the upper plate surface of the mounting plate (15) in different directions;
the pressure loading assembly (12) is parallel to the upper plate surface of the mounting plate (15) and perpendicular to the upper plate surface of the mounting plate (15), one set of pressure loading assemblies (12) are respectively arranged in two directions, the two sets of pressure loading assemblies (12) are connected with the loading block (11) through floating connectors (12-7), the pressure loading assemblies (12) parallel to the upper plate surface of the mounting plate (15) are mounted on the upper side of the mounting plate (15) through assembly connecting plates (13), and the pressure loading assemblies (12) perpendicular to the upper plate surface of the mounting plate (15) are mounted on the lower side of the mounting plate (15) through assembly connecting seats (14).
2. The mechanical arm semi-physical simulation device facing gravity and microgravity environment according to claim 1, wherein the mechanical arm semi-physical simulation device is characterized in that: 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 upper left 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 pressing block (12-9), the sliding 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 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 are fixed through jackscrews.
3. The mechanical arm semi-physical simulation device facing gravity and microgravity environment according to claim 2, wherein the mechanical arm semi-physical simulation device is characterized in that: the guide rod (12-13) is arranged at the left and right counter bore positions of the spring mounting block (12-4) and the pressure sensor mounting block (12-5), one end of the guide rod (12-13) is arranged in the 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), the spring (12-12) penetrates the guide rod (12-13) and is arranged in the counter bore of the spring mounting block (12-4) and 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), and the other end of the pressure sensor (12-6) is connected with the floating joint (12-7).
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| CN110032816A (en) * | 2019-04-19 | 2019-07-19 | 中科新松有限公司 | Mechanical arm torque evaluation method and estimating system |
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| CA2491101A1 (en) * | 2003-12-30 | 2005-06-30 | Canadian Space Agency | Zero-g emulating testbed for spacecraft control system |
| CN102778886B (en) * | 2012-03-20 | 2014-05-28 | 北京空间飞行器总体设计部 | Planar simulation and verification platform for four-degree-of-freedom robot arm control system |
| CN206598286U (en) * | 2017-03-22 | 2017-10-31 | 陕西科技大学 | A kind of motion of robot four-degree-of-freedom mechanical arm |
| CN107991899A (en) * | 2017-11-27 | 2018-05-04 | 贵州大学 | A kind of compression mod taking mechanical hand joint simulation method |
| CN110426147B (en) * | 2019-08-14 | 2020-10-09 | 燕山大学 | Device and method for measuring friction torque of deep groove ball bearing under gravity or microgravity |
| CN112407345A (en) * | 2020-11-05 | 2021-02-26 | 天津航天机电设备研究所 | Space manipulator suspends microgravity analogue means in midair |
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| CN110032816A (en) * | 2019-04-19 | 2019-07-19 | 中科新松有限公司 | Mechanical arm torque evaluation method and estimating system |
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