CN206161299U - High accuracy space manipulator joint performance parameter marks platform - Google Patents
High accuracy space manipulator joint performance parameter marks platform Download PDFInfo
- Publication number
- CN206161299U CN206161299U CN201621139604.5U CN201621139604U CN206161299U CN 206161299 U CN206161299 U CN 206161299U CN 201621139604 U CN201621139604 U CN 201621139604U CN 206161299 U CN206161299 U CN 206161299U
- Authority
- CN
- China
- Prior art keywords
- joint
- worm
- gear
- torque sensor
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Gear Transmission (AREA)
Abstract
The utility model provides a high accuracy space manipulator joint performance parameter marks platform, manipulator joint's output links firmly the output shaft through the flange, photoelectric encoder (1), torque sensor (2), turbine worm load mechanism (3), magnetic powder brake (4) realize along manipulator joint's axial installation fixedly through supporting frock (6), photoelectric encoder (1) inner circle and flange or output shaft, the outer lane links firmly on supporting the frock, photoelectric encoder (1) is used for measuring manipulator joint's turned angle, double -diaphragm shaft coupling (5) are connected the output shaft with torque sensor (2) for the moment of torsion that measurement probe regularly applyed, provide when changing the torsional moment load when needs are manual, be connected through the clutch worm gear load mechanism (3) with torque sensor, when needs provide the torsional moment of invariant, be connected magnetic powder brake (4) with torque sensor.
Description
Technical field
This utility model is related to a kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform, in particulars relate to one kind
For the joint calibrating platform of the performance parameters such as space manipulator joint orientation precision, torsional rigidity, damping measurement.
Background technology
Require for space mechanism shoulder joint precision index, build high accuracy joint test experiments platform, mechanical arm is closed
The performances such as section speed, moment of torsion, positioning precision, output return difference, gear ratio, torsional rigidity and joint damping carry out experiment test, and
Standardization joint testing performance index flow process, is that joint of mechanical arm structure design, joint control parameter optimization, joint power are imitative
True mode and joint hardware-in-the-loop environment are built and are provided with force data support.
Space mechanism shoulder joint calibrating platform can be that space mechanism shoulder joint and the test of whole arm precision property provide effectively survey
Amount means, during joint of mechanical arm and whole arm Dynamics Simulation Model are set up, there is provided effectively basic data is supported, and is pass
Section controller Optimization about control parameter and mechanical arm system error compensation provide effective foundation, are that manipulator motion controller design is carried
For effective foundation, a kind of perfect multiple degrees of freedom space intelligent mechanism design, emulation, checking specification are explored.
In space manipulator Dynamic Modeling and tip vibration suppress research, based on flexible joint damping parameter, how firm
The Rigid-flexible Coupled Kinetics space manipulator model that body dynamics theory and Finite Element Method are set up is generally used, because
This, damping isoparametric accurate test in joint has important meaning to improving mechanical arm integral performance parameter and vibration suppression research
Justice.
The content of the invention
Technology solve problem of the present utility model is：Overcome the deficiencies in the prior art, there is provided a kind of high-precision spatial machinery
Shoulder joint damps calibrating platform.
Technical solution of the present utility model is：A kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform,
Including photoelectric encoder, torque sensor, worm and gear load maintainer, magnetic powder brake, double diaphragm couplings and support work
Dress；By the connected output shaft of flange, photoelectric encoder, torque sensor, turbine and worm add carrier aircraft to the outfan of joint of mechanical arm
Structure, magnetic powder brake realize the axially mounted fixation along joint of mechanical arm, photoelectric encoder inner ring and flange by supporting tool
Or output shaft connects, outer ring is connected on supporting tool, and photoelectric encoder is used to measure the rotational angle of joint of mechanical arm；It is double
Diaphragm coupling is attached output shaft with torque sensor, the moment of torsion applied during for measuring and demarcate；When needing to carry manually
For changing during torsional moment load loading, worm and gear load maintainer is connected by clutch with torque sensor；Work as needs
When constant torsional moment is provided, magnetic powder brake is connected with torque sensor.
When needing to provide manually change torsional moment load loading, pacify between clutch and worm and gear load maintainer
Shock mount, the output of worm gear passes through spring loads on the clutch.
Described worm and gear load maintainer includes worm gear, worm screw；Worm screw vertical direction is fixed on supporting tool, worm gear
Axially axially coincident with joint of mechanical arm, worm gear is 90 ° with the crossed axis angle of worm screw；Installation operation handle on worm screw, by operation
Handle drives worm gear wheel by worm screw.
Contact angle of friction of the expansion angle of pitch of worm screw less than worm and gear.
This utility model advantage compared with prior art is：
(1) a kind of demarcation test platform that can be used for joint damping characteristic test is devised, can be to machinery by platform
Shoulder joint carries out varying load and constant load loading, and realizes the high-acruracy survey of joint moment of torsion and rotating speed.
(2) joint damping characteristic is measured using power method, in the case of the zero load uniform rotation of joint, joint motor
Completely by joint Damping work, this utility model is turned the energy that input energy is input into by the motor in joint completely by stablizing motor
The method of speed and calculating power attenuation realizes the measurement to joint Dynamic Damp Characteristics.
(3) a set of worm and gear spring-feel mechanism steadily loaded for moment of torsion is devised so that shutdown moment of torsion is steady
Loading, eliminates the vibration and mutation in the moment of torsion loading procedure of joint.
Description of the drawings
Fig. 1 is this utility model platform schematic diagram；
Fig. 2 is this utility model spring loads schematic diagram；
Fig. 3 is this utility model worm and gear load maintainer schematic diagram.
Specific embodiment
This programme is described in further details below in conjunction with the accompanying drawings.As shown in figure 1, a kind of high-precision spatial mechanical arm is closed
Section damping calibrating platform, including photoelectric encoder 1, torque sensor 2, worm and gear load maintainer 3, magnetic powder brake 4, double films
Piece shaft coupling 5 and supporting tool 6；
The outfan of joint of mechanical arm is by the connected output shaft of flange, photoelectric encoder 1, torque sensor 2, turbine and worm
Load maintainer 3, magnetic powder brake 4 realize the axially mounted fixation along joint of mechanical arm, photoelectric encoder 1 by supporting tool 6
Inner ring is connected with flange or output shaft, and outer ring is connected on supporting tool, and photoelectric encoder 1 is used to measure joint of mechanical arm
Rotational angle；Double diaphragm couplings 5 are attached output shaft with torque sensor 2, the moment of torsion applied during for measuring and demarcate；
When needing to provide manually change torsional moment load loading, by worm and gear load maintainer 3 by clutch 8 and torque sensing
Device connects；When needing to provide constant torsional moment, magnetic powder brake 4 is connected with torque sensor.
When needing to provide manually change torsional moment load loading, in order that adding either manually or by the airborne mechanism of worm and gear
The torque output of load is steady, as shown in Fig. 2 install spring 7 between clutch and worm and gear load maintainer 3, worm gear it is defeated
Go out and loaded on the clutch by spring 7.
As shown in figure 3, worm and gear load maintainer 3 includes worm gear 31, worm screw 32；The vertical direction of worm screw 32 is fixed on support
In frock 6, worm gear 31 is axially axially coincident with joint of mechanical arm, and worm gear is 90 ° with the crossed axis angle of worm screw；Behaviour is installed on worm screw 32
Make handle, drive worm gear 31 to rotate by worm screw 32 by operation handle.In in order to ensure varying duty loading procedure, torsional moment
The determination torsional moment value in a certain measurement range can be stablized, the expansion angle of pitch of worm screw 32 is made less than the contact of worm and gear
Angle of friction.
By photoelectric code disk can to joint orientation precision, joint velocity, the accurate calibration of joint damping characteristic and measurement,
The measurement of joint reverse torque can be realized by torque sensor.
When measurement is demarcated in joint, photoelectric code disk is installed using calibrating platform joint outfan, to measure its output corner, profit
Torque is applied to joint with worm and gear.Torque value M is measured using torque sensor, is being turned using high accuracy code-disc measurement joint
Corner A under square effect, then joint of mechanical arm rotational stiffness is M/A.
Joint of mechanical arm has rotary transformer, can accurately measure the input corner of joint motor；It is flat using demarcating
Platform photoelectric code disk accurately measures the output corner in joint.Control machinery shoulder joint motor a to direction rotates, and reaches stable
After rotation status, it is believed that joint output return difference is compacted in a lateral edges of joint of mechanical arm driving-chain.Then joint is allowed
Motor is inverted immediately, and because joint of mechanical arm exports the presence of return difference, mechanical arm joint motor band movable joint cannot be exported immediately
End, joint output rotation will occur one section of stagnation.This section stagnate reflected be exactly joint of mechanical arm output return difference.Work as pass
When another lateral edges are compacted, the outfan in joint can be driven again section output return difference by the rotation of joint motor.
The measurement to articulation actual angle and nominal rotational angle contrast, Ke Yiji by calibrating platform photoelectric code disk
Calculate joint transmission ratio：
The output return difference in joint is calculated as follows：
D=φ/μ r
Wherein, d is that joint exports return difference, and φ is that joint exports the angle that rotation dead time period intrinsic articulation motor is rotated, μ r
For joint transmission ratio.
The method of this demarcation joint output return difference is very accurate for the joint of big speed ratio.Reason has two：One
It is because that the joint motor corner that big speed ratio causes to fill up needed for output return difference is larger, measurement error will reduce therewith；Two
It is because that big speed ratio causes joint outfan to rotate slowly, fully inhibits the inertia of joint outfan for return difference mark
Fixed impact.The gear ratio in joint to be calibrated has exceeded 3000, belongs to the very big joint of gear ratio.Equally, calibration process is needed
Being repeated several times is carried out, and can just obtain genuine and believable result.Can be demarcated using 3 σ principles.
The content not described in detail in this specification belongs to the known technology of professional and technical personnel in the field.
Claims (4)
1. a kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform, it is characterised in that：Including photoelectric encoder (1),
Torque sensor (2), worm and gear load maintainer (3), magnetic powder brake (4), double diaphragm couplings (5) and supporting tool
(6)；
The outfan of joint of mechanical arm is by the connected output shaft of flange, photoelectric encoder (1), torque sensor (2), turbine and worm
Load maintainer (3), magnetic powder brake (4) realize the axially mounted fixation along joint of mechanical arm by supporting tool (6), and photoelectricity is compiled
Code device (1) inner ring is connected with flange or output shaft, and outer ring is connected on supporting tool, and photoelectric encoder (1) is for measuring machine
The rotational angle of tool shoulder joint；Double diaphragm couplings (5) are attached output shaft with torque sensor (2), for measuring mark
The moment of torsion that timing applies；When needing to provide manually change torsional moment load loading, worm and gear load maintainer (3) is passed through
Clutch is connected with torque sensor；When needing to provide constant torsional moment, by magnetic powder brake (4) and torque sensor
Connection.
2. a kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform according to claim 1, it is characterised in that：
When needing to provide manually change torsional moment load loading, bullet is installed between clutch and worm and gear load maintainer (3)
Spring (7), the output of worm gear is loaded on the clutch by spring (7).
3. a kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform according to claim 1 and 2, its feature exists
In：Described worm and gear load maintainer (3) includes worm gear (31), worm screw (32)；Worm screw (32) vertical direction is fixed on support
In frock (6), worm gear (31) is axially axially coincident with joint of mechanical arm, and worm gear is 90 ° with the crossed axis angle of worm screw；On worm screw (32)
Installation operation handle, drives worm gear (31) to rotate by operation handle by worm screw (32).
4. a kind of high-precision spatial joint of mechanical arm performance parameter calibrating platform according to claim 3, it is characterised in that：
Contact angle of friction of the expansion angle of pitch of worm screw (32) less than worm and gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621139604.5U CN206161299U (en) | 2016-10-19 | 2016-10-19 | High accuracy space manipulator joint performance parameter marks platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621139604.5U CN206161299U (en) | 2016-10-19 | 2016-10-19 | High accuracy space manipulator joint performance parameter marks platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206161299U true CN206161299U (en) | 2017-05-10 |
Family
ID=58655325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621139604.5U Active CN206161299U (en) | 2016-10-19 | 2016-10-19 | High accuracy space manipulator joint performance parameter marks platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206161299U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
| CN109489974A (en) * | 2018-11-08 | 2019-03-19 | 北京精密机电控制设备研究所 | A kind of flexible torque loading mechanism of multi-mode switching |
| CN111649938A (en) * | 2020-07-09 | 2020-09-11 | 四川航天烽火伺服控制技术有限公司 | Loading mechanism for RV reducer test bed |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
-
2016
- 2016-10-19 CN CN201621139604.5U patent/CN206161299U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
| CN108709683B (en) * | 2018-05-25 | 2020-06-16 | 哈尔滨工业大学 | Flexible torque sensor dynamic test platform for modular joints |
| CN109489974A (en) * | 2018-11-08 | 2019-03-19 | 北京精密机电控制设备研究所 | A kind of flexible torque loading mechanism of multi-mode switching |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN112917511B (en) * | 2019-12-06 | 2022-08-02 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN111649938A (en) * | 2020-07-09 | 2020-09-11 | 四川航天烽火伺服控制技术有限公司 | Loading mechanism for RV reducer test bed |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206161299U (en) | High accuracy space manipulator joint performance parameter marks platform | |
| CN107203184B (en) | The dynamic control method of straight line steering engine Electric Loading System | |
| CN102636357B (en) | Test bed for steering system of electro-hydraulic servo automobile | |
| CN108709683B (en) | Flexible torque sensor dynamic test platform for modular joints | |
| CN110307860A (en) | A kind of differential type Hall multi-turn position absolute position transducer and its detection method | |
| CN103968983A (en) | Output torque accurate measurement system and torque measurement method thereof | |
| RU165648U1 (en) | TEST FOR TURBO-SCREW ENGINES TEST | |
| CN207908178U (en) | A kind of helicopter steering engine test system | |
| CN104359658A (en) | Load test board with sail stress simulation function | |
| CN108106840A (en) | A kind of Novel industrial robot RV speed reducer method for testing performances | |
| CN202255757U (en) | Torque calibrating device for passive electric loading system | |
| CN109269808A (en) | A kind of diesel engine speed regulator semi-physical simulation test platform | |
| CN203561541U (en) | Torque testing device in thermal vacuum environment | |
| CN208833510U (en) | A kind of diesel engine speed regulator semi-physical simulation test platform | |
| CN112504527A (en) | Small-sized stable platform friction torque testing method based on force balance | |
| CN103487316B (en) | Armature-moment-testing device under a kind of hot vacuum environment | |
| CN203455366U (en) | Sensor and signal tooth testing device | |
| CN203561340U (en) | A high-precision angle testing device in a thermal vacuum environment | |
| CN209570343U (en) | A kind of precision speed reduction device high-precision comprehensive performance measurement structure | |
| CN113625543B (en) | PID control simulation analysis method and system for high-speed hydraulic dynamometer and storage medium | |
| CN208968820U (en) | A kind of detection system of fan valve executor | |
| CN108562425A (en) | Gear hobbing machine knife frame test platform and its test method | |
| CN203561468U (en) | High-precision torque test component under thermal vacuum environment | |
| CN203365138U (en) | Turntable-bearing assembly and friction torque measurement machine | |
| CN101788354B (en) | Hot vacuum environment test moment value correction method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |