CN113741219B - Mechanical arm semi-physical simulation device oriented to gravity and microgravity environments - Google Patents

Abstract

The invention discloses a semi-physical simulation device for a mechanical arm facing gravity and microgravity environments, which belongs to the technical field of semi-physical simulation, and includes a vibration isolation table arranged at the bottom, a joint posture simulation part, a load torque simulation part, and a radial force loading The simulation part and the joint set at the other end of the load torque simulation part; the device uses the joint attitude simulation part to simulate the attitude change law of the joint of the manipulator under service conditions, and uses the radial force to load the simulation part to simulate the radial force change of the joint Law, use the load torque simulation component to simulate the change law of the load torque on the joint. In the present invention, joints that are difficult to establish accurate mathematical models are used as physical objects, and by simulating the loads received in the service environment, it can be used for joint transmission system testing, joint model identification, fine modeling of mechanical arm dynamics, and different environmental mechanical properties. The analysis of arm dynamics difference is of great significance to realize the precise dynamic control of the manipulator.

Description

A hardware-in-the-loop simulation device of a manipulator for gravity and microgravity environments

technical field

The invention relates to the technical field of semi-physical simulation, in particular to a semi-physical simulation device for a manipulator facing gravity and microgravity environments.

Background technique

As the core component of the robotic arm, the joint directly determines the kinematics, dynamics and control performance of the robotic arm. Usually joints are composed of motors, reducers, encoders, brakes, etc. The structure of the transmission system is extremely complex, and the flex spline in the harmonic gear reducer is deformed when the load changes, resulting in uncertainty in the model parameters. Therefore, it is difficult to establish an accurate joint dynamics model through theoretical methods.

In addition, due to the difference in the dynamics of the space manipulator in the two environments of gravity and microgravity, if the suspension method, air flotation method, and water flotation method are used to conduct full-physical experimental research, it is bound to invest a lot of money, manpower, and venues. wait. With the development of science and technology, the hardware-in-the-loop simulation technology has become a powerful means of system development, which has the advantages of improving the quality of system development, shortening the development cycle and saving development costs. Therefore, it is necessary to develop a semi-physical simulation device for the manipulator, build a semi-physical simulation system for the manipulator, analyze the difference in the driving force of the joints by simulating the load variation of the manipulator in gravity and microgravity, and carry out related control research. The kinematic performance of the lower manipulator is of great significance.

Contents of the invention

The technical problem to be solved by the present invention is to provide a semi-physical simulation device for manipulators facing gravity and microgravity environments, which effectively solves the problem that large or super-large manipulators are difficult to carry out experiments, and at the same time helps to carry out structural optimization of manipulators, mechanical Boom dynamic characteristics analysis, control component selection and program verification and other aspects of the work.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A hardware-in-the-loop simulation device for a manipulator oriented to gravity and microgravity environments, including a vibration isolation table set at the bottom, a joint posture simulation component for joint posture adjustment, a load torque simulation component for joint load torque loading, and a joint radial Force-loaded radial force loads the simulated part and joints set at the other end of the load-torque simulated part.

The further improvement of the technical solution of the present invention lies in that: the joint attitude simulation component is composed of a base installed on the upper side of the vibration isolation table, a hollow turntable installed on the upper side of the base to simulate the joint attitude change law of the mechanical arm under service conditions, and The turntable motor is installed on the back side of the hollow turntable; the turntable connecting plate is installed on the table of the hollow turntable, and the mounting plate is arranged on the upper side of the turntable connecting plate.

The further improvement of the technical solution of the present invention lies in that: the load torque simulation component is composed of a load motor, a reducer, a support, a pad, a torque speed sensor arranged on the upper side of the pad, and a torque speed sensor respectively installed on the mounting plate. The speed sensor is composed of the sensor mounting plates on the front and rear sides of the block; the output shaft of the reducer and the input shaft of the torque speed sensor are keyed together through an I-type coupling;

A joint mounting seat is arranged on the upper right side of the mounting plate, and the joint is installed on the right side of the joint mounting seat; a connecting shaft is installed on the end face of the output shaft of the joint, and a loading block is installed on the intermediate shaft section of the connecting shaft through a bearing. The thread position of the front end shaft section of the shaft is fitted with a nut, and the front end shaft of the connecting shaft and the output shaft of the torque speed sensor are keyed together through a type II coupling.

The further improvement of the technical solution of the present invention lies in that: the radial force loading simulation component includes two groups of pressure loading components perpendicular to each other arranged on the surface of the mounting plate in different orientations;

One set of the pressure loading assembly is arranged in two orientations parallel to the surface of the mounting plate and perpendicular to the surface of the mounting plate, and two sets of pressure loading assemblies are connected to the loading block through floating joints, The pressure loading assembly parallel to the surface of the installation plate is installed on the upper side of the installation plate through the assembly connecting plate, and the pressure loading assembly perpendicular to the surface of the installation plate is installed on the lower side of the installation plate through the assembly connection seat side.

The further improvement of the technical solution of the present invention is that: the pressure loading assembly includes a servo electric cylinder, an electric cylinder mounting plate, an electric cylinder joint, a spring mounting block, a pressure sensor mounting block, a pressure sensor, a floating joint, a component mounting plate, and a joint pressing block , sliders, guide rails, springs, guide rods, and guide sleeves; the electric cylinder mounting plate is installed on the upper left side of the component mounting plate, the servo electric cylinder is installed on the left side of the electric cylinder mounting plate, and one end of the electric cylinder joint Installed on the front end of the push rod of the servo electric cylinder, the other end of the electric cylinder joint is connected with the spring installation block through the joint pressing block, and the slider is installed on the component installation through the guide rail On the upper side of the plate, the spring mounting block is installed on the upper side of the slider, and the guide sleeves are arranged at the through holes on both sides of the pressure sensor mounting block, and are fixed with jackscrews.

The further improvement of the technical solution of the present invention is that: the guide rods are respectively arranged at the left and right counterbore positions corresponding to the spring mounting block and the pressure sensor mounting block, and one end of the guide rod is installed on the spring mounting block. In the counterbore of the block, the other end of the guide rod is installed in the guide sleeve, and a washer and a screw are installed at the end, the spring penetrates the guide rod, and is placed on the spring installation 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 to the floating joint.

Owing to having adopted above-mentioned technical scheme, the technical progress that the present invention obtains is:

1. The present invention utilizes the joint posture simulation part to simulate the posture change law of the joint of the manipulator under service conditions, uses the radial force loading simulation part to simulate the radial force change law of the joint, and uses the load torque simulation part to simulate the load received by the joint Torque change law, taking the joints that are difficult to establish accurate mathematical models as physical objects, and by simulating the loads in the service environment, it can be used for joint transmission system testing, joint model identification, fine modeling of mechanical arm dynamics, different The analysis of the dynamics difference of the manipulator in the environment is of great significance to realize the precise dynamic control of the manipulator.

2. The present invention regards joints that are difficult to establish an accurate mathematical model as physical objects, and performs equivalent simulation on the parts that are easy to model based on the principle of similarity. This economical and convenient technical solution effectively solves the problem that large or super-large mechanical arms are difficult to Carry out experimental problems, and at the same time help to carry out work on the optimization of the structure of the manipulator, the analysis of the dynamic characteristics of the manipulator, the selection of control components and the verification of the scheme.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a top view structural representation of the present invention;

Fig. 3 is the structural representation of pressure loading assembly in the present invention;

Fig. 4 is a top view structural schematic view of the pressure loading assembly in the present invention;

Fig. 5 is a schematic diagram of a partial sectional structure of A-A of the pressure loading assembly in the present invention;

Among them, 1. Vibration isolation table, 2. Base body, 3. Hollow turntable, 4. Turntable motor, 5. Load motor, 6. Reducer, 7. Support, 8. Spacer, 9. Torque speed sensor, 10 , sensor mounting plate, 11, loading block, 12, pressure loading component, 13, component connecting plate, 14, component connecting seat, 15, mounting plate, 16, turntable connecting plate, 17, type I coupling, 18, II Type coupling, 19, nut, 20, connecting shaft, 21, joint mounting seat, 22, joint, 12-1, servo electric cylinder, 12-2, electric cylinder mounting plate, 12-3, electric cylinder joint, 12 -4, spring mounting block, 12-5, pressure sensor mounting block, 12-6, pressure sensor, 12-7, floating joint, 12-8, component mounting plate, 12-9, joint pressing block, 12-10, Slide block, 12-11, guide rail, 12-12, spring, 12-13, guide rod, 12-14, guide sleeve.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

It should be noted that, in the description of the present invention, it should be noted that the orientation or position indicated by the terms "upper", "lower", "side", "other side", "left", "right" etc. The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplification of the description, and does not mean that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

As shown in Figs. 1-2, the specific structure of an embodiment of a hardware-in-the-loop simulation device for a manipulator oriented to gravity and microgravity environments proposed by the present invention is given. The device includes a vibration isolation table 1, a seat body 2, a hollow turntable 3, a turntable motor 4, a load motor 5, a reducer 6, a support 7, a spacer 8, a torque speed sensor 9, a sensor mounting plate 10, and a loading block 11 , Pressure loading component 12, component connecting plate 13, component connecting seat 14, mounting plate 15, turntable connecting plate 16, type I coupling 17, type II coupling 18, nut 19, connecting shaft 20, joint mounting seat 21 , joint 22; the seat body 2 is installed on the upper side of the vibration isolation table 1, the hollow turntable 3 is installed on the upper side of the seat body 2, the turntable motor 4 is installed on the rear side of the hollow turntable 3, and the turntable connecting plate 16 is installed On the table surface of the hollow turntable 3, the installation plate 15 is installed on the upper side of the turntable connecting plate 16, the support 7 is installed on the upper left side of the installation plate 15, and the reducer 6 is installed on the left side of the support 7. The load motor 5 is installed on the left side of the reducer 6, the pad 8 is installed on the upper side of the mounting plate 15, and arranged on the right side of the support 7, the torque speed sensor 9 is arranged on the upper side of the pad 8, and the sensor The mounting plate 10 is installed on the front and rear sides of the torque speed sensor 9 and the pad 8 respectively, and the I-type coupling 17 connects the output shaft of the reducer 6 and the torque speed sensor 9 through a key connection. The input shafts are connected together, the joint mounting seat 21 is installed on the upper right side of the mounting plate 15, the joint 22 is installed on the right side of the joint mounting seat 21, and the connecting shaft 20 is installed on the output shaft end surface of the joint 22, The loading block 11 is installed on the intermediate shaft section of the connecting shaft 20 through a bearing, the nut 19 is installed on the threaded position of the front end shaft section of the connecting shaft 20, and the Type II coupling 18 is connected by a key connection. The front end shaft of the connecting shaft 20 is connected with the output shaft of the torque speed sensor 9 .

The pressure loading assembly 12 is arranged in two directions parallel to the upper surface of the installation plate 15 and perpendicular to the upper surface of the installation plate 15, and two sets of pressure loading assemblies 12 are connected to each other through the floating joint 12-7. The loading block 11 is connected, and the pressure loading assembly 12 parallel to the upper surface of the mounting plate 15 is installed on the upper side of the mounting plate 15 through the assembly connecting plate 13, and the pressure loading assembly perpendicular to the upper surface of the mounting plate 15 The component 12 is installed on the lower side of the mounting plate 15 through the component connecting seat 14 .

As shown in Figures 3-5, in this 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, pressure sensor 12-6, floating joint 12-7, component mounting plate 12-8, joint pressing block 12-9, slide block 12-10, guide rail 12-11, spring 12-12, guide Rod 12-13, guide sleeve 12-14; the electric cylinder mounting plate 12-2 is installed on the upper left side of the component mounting plate 12-8, and the servo electric cylinder 12-1 is installed on the left side of the electric cylinder mounting plate 12-2 , one end of the electric cylinder joint 12-3 is installed on the front end of the push rod of the servo electric cylinder 12-1, and the other end of the electric cylinder joint 12-3 is connected to the spring by the joint pressing block 12-9 The installation blocks 12-4 are connected together, the slider 12-10 is installed on the upper side of the component installation plate 12-8 through the guide rail 12-11, and the spring installation block 12-4 is installed on the slider 12-10 on the upper side, one guide sleeve 12-14 is arranged at the through holes on both sides of the pressure sensor mounting block 12-5, and is fixed with a top screw.

The guide rods 12-13 are respectively arranged at the left and right counterbore positions corresponding to the spring mounting block 12-4 and the pressure sensor mounting block 12-5, and one end of the guide rod 12-13 is installed In the counterbore of the spring mounting block 12-4, the other end of the guide rod 12-13 is installed in the guide sleeve 12-14, and a washer and a screw are installed at the end, and the spring 12-13 is installed in the guide sleeve 12-14. 12 penetrates the guide rod 12-13, and is placed in the corresponding counterbore of the spring installation block 12-4 and the pressure sensor installation block 12-5, and one end of the pressure sensor 12-6 is installed on the pressure On the right side of the sensor installation block 12-5, the other end of the pressure sensor 12-6 is connected with the floating joint 12-7.

Instructions:

The joint posture simulation part is composed of the seat body 2, the hollow turntable 3 and the turntable motor 4. Through the position feedback control of the turntable motor 4, the joint posture adjustment is realized; in the gravity environment, the movement law of the joint posture in the semi-physical simulation and the full physical prototype Keep consistent; if you want to simulate the microgravity environment, you need to adjust the joint rotation axis to be consistent with the direction of gravity; the load torque simulation components are composed of load motor 5, reducer 6, support 7, pad 8, torque speed sensor 9 and The sensor mounting plate 10 is composed of a torque feedback control on the torque speed sensor 9 to realize joint load torque loading; the radial force loading simulation part is composed of two sets of pressure loading components installed vertically to each other, and the pressure sensor 12-6 is used for pressure loading. Feedback control realizes joint radial force loading.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. All such modifications and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (3)

1. A mechanical arm hardware-in-the-loop simulation device facing gravity and microgravity environment, it is characterized in that: comprise the vibration isolation table (1) that is arranged on the bottom, realize the joint posture simulation part of joint posture adjustment, realize the joint load torque loading A load torque simulation component, 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 part is composed of a seat body (2) installed on the upper side of the vibration isolation table (1), and a simulated mechanical arm installed on the upper side of the seat body (2). The hollow turntable (3) is composed of a turntable motor (4) installed on the rear side of the hollow turntable (3); the turntable connecting plate (16) is installed on the table of the hollow turntable (3), and on the top of the turntable connecting plate (16) The side is provided with a mounting plate (15); The load torque simulation component is composed of a load motor (5), a reducer (6), a support (7), a spacer (8) and a spacer arranged on the upper side of the spacer (8) which are sequentially installed on the mounting plate (15). The torque speed sensor (9) and the sensor mounting plate (10) installed on the front and rear sides of the torque speed sensor (9) and pad (8) respectively; the output shaft of the speed reducer (6) and the torque speed sensor ( 9) the input shaft is keyed together through an I-type coupling (17); Joint mounting seat (21) is set on the upper right side of mounting plate (15), and described joint (22) is installed on the right side of joint mounting seat (21); Connecting shaft ( 20), install the loading block (11) through the bearing on the intermediate shaft section of the connecting shaft (20), install the nut (19) at the threaded position of the front end shaft section of the connecting shaft (20), and the front end shaft of the connecting shaft (20) and The output shaft of the torque speed sensor (9) is keyed together through a Type II shaft coupling (18); The radial force loading simulation component includes two groups of pressure loading assemblies (12) perpendicular to each other arranged on the upper surface of the mounting plate (15) in different orientations; The pressure loading assembly (12) is arranged in two directions parallel to the upper surface of the mounting plate (15) and perpendicular to the upper surface of the mounting plate (15), and two sets of pressure loading assemblies ( 12) Connect with the loading block (11) through the floating joint (12-7), and the pressure loading assembly (12) parallel to the upper surface of the mounting plate (15) is installed on the mounting plate through the component connecting plate (13) On the upper side of (15), the pressure loading assembly (12) perpendicular to the upper surface of the mounting plate (15) is installed on the lower side of the mounting plate (15) through the assembly connecting seat (14). 2. A kind of mechanical arm hardware-in-the-loop simulation device facing gravity and microgravity environment according to claim 1, characterized in that: the pressure loading assembly (12) includes a servo electric cylinder (12-1), an electric cylinder installation Plate (12-2), electric cylinder connector (12-3), spring mounting block (12-4), pressure sensor mounting block (12-5), pressure sensor (12-6), floating joint (12-7) , component mounting plate (12-8), joint clamp (12-9), slider (12-10), guide rail (12-11), spring (12-12), guide rod (12-13), and 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), and the servo electric cylinder (12-1) is mounted on the electric cylinder mounting plate (12 -2) On the left side, one end of the electric cylinder joint (12-3) is installed on the front end of the push rod of the servo electric cylinder (12-1), and the other end of the electric cylinder joint (12-3) passes through the The joint pressing block (12-9) is connected with the spring mounting block (12-4), and the sliding block (12-10) is installed on the component mounting plate ( 12-8) on the upper side, the spring mounting block (12-4) is installed on the upper side of the slider (12-10), and the guide sleeve (12-14) is mounted on the pressure sensor mounting block (12- 5) Arrange one at the through holes on both sides, and fix it with jacking wires. 3. a kind of mechanical arm hardware-in-the-loop simulation device facing gravity and microgravity environment according to claim 2, is characterized in that: described guide rod (12-13) is connected between described spring mounting block (12-4) and The pressure sensor mounting block (12-5) corresponds to two counterbore positions on the left and right, and one end of the guide rod (12-13) is installed in the counterbore of the spring mounting block (12-4) , the other end of the guide rod (12-13) is installed in the guide sleeve (12-14), the spring (12-12) penetrates the guide rod (12-13), and is placed in the In the counterbore corresponding to the spring mounting block (12-4) and the pressure sensor mounting block (12-5), one end of the pressure sensor (12-6) is installed on the right side of the pressure sensor mounting block (12-5). The other end of the pressure sensor (12-6) is connected to the floating joint (12-7).

Images