CN206161299U - High accuracy space manipulator joint performance parameter marks platform - Google Patents

Abstract

A high-precision space manipulator joint performance parameter calibration platform, the output end of the manipulator joint is fixedly connected to the output shaft through the flange, a photoelectric encoder (1), a torque sensor (2), a worm gear loading mechanism (3), and a magnetic powder brake (4) The axial installation and fixation along the joint of the manipulator is realized through the supporting tooling (6). The inner ring of the photoelectric encoder (1) is connected to the flange or the output shaft, and the outer ring is fixedly connected to the supporting tooling. The photoelectric encoder (1) ) is used to measure the rotation angle of the mechanical arm joint; the double-diaphragm coupling (5) connects the output shaft with the torque sensor (2) to measure the torque applied during calibration; when it is necessary to manually provide a change in torsional moment load loading When the worm gear loading mechanism (3) is connected to the torque sensor through the clutch; when a constant torque needs to be provided, the magnetic powder brake (4) is connected to the torque sensor.

Description

A high-precision space manipulator joint performance parameter calibration platform

technical field

The utility model relates to a high-precision space manipulator joint performance parameter calibration platform, in particular to a joint calibration platform for measuring performance parameters such as space manipulator joint positioning accuracy, torsional stiffness, and damping.

Background technique

According to the requirements of space manipulator joint precision index, build a high-precision joint test experiment platform, conduct experimental tests on the performance of manipulator joint speed, torque, positioning accuracy, output hysteresis, transmission ratio, torsional stiffness and joint damping, and standardize joint performance The index test process provides strong data support for the design of the joint structure of the manipulator, the optimization of joint control parameters, the joint dynamics simulation model, and the establishment of the joint hardware-in-the-loop simulation environment.

The space manipulator joint calibration platform can provide effective measurement means for space manipulator joint and whole arm precision performance testing. Parameter optimization and error compensation of the manipulator system provide an effective basis for the design of the manipulator motion controller, and explore a comprehensive multi-degree-of-freedom space intelligent mechanism design, simulation, and verification specification.

In the research of space manipulator dynamics modeling and terminal vibration suppression, the rigid-flexible coupling multi-body dynamic space manipulator model based on flexible joint damping parameters, multi-rigid body dynamics theory and finite element method is widely used. Therefore, the joint Accurate testing of parameters such as damping is of great significance for improving the overall performance parameters of the manipulator and researching vibration suppression.

Contents of the invention

The technical solution of the utility model is to overcome the deficiencies of the prior art and provide a high-precision space manipulator joint damping calibration platform.

The technical solution of the utility model is: a high-precision space manipulator joint performance parameter calibration platform, including a photoelectric encoder, a torque sensor, a worm gear loading mechanism, a magnetic powder brake, a double-diaphragm coupling and a supporting tool; the manipulator The output end of the joint is fixed to the output shaft through the flange, and the photoelectric encoder, torque sensor, worm gear loading mechanism, and magnetic powder brake are installed and fixed along the axial direction of the manipulator joint through the support tooling. The inner ring of the photoelectric encoder is connected to the flange or the output Shaft connection, the outer ring is fixedly connected to the support tooling, and the photoelectric encoder is used to measure the rotation angle of the mechanical arm joint; the double-diaphragm coupling connects the output shaft with the torque sensor to measure the torque applied during calibration; when required When the load is manually provided with varying torsional torque, the worm gear loading mechanism is connected to the torque sensor through the clutch; when a constant torsional torque needs to be provided, the magnetic powder brake is connected to the torque sensor.

When it is necessary to manually provide changing torsional moment load loading, a spring is installed between the clutch and the worm gear loading mechanism, and the output of the worm gear is loaded on the clutch through the spring.

The worm gear and worm loading mechanism includes a worm wheel and a worm; the worm is fixed on the support tool in the vertical direction, the axial direction of the worm wheel coincides with the axial direction of the joint of the mechanical arm, and the angle of intersection between the worm wheel and the worm is 90°; an operating handle is installed on the worm, and through The operating handle is driven by the worm to rotate the worm gear.

The unfolded pitch angle of the worm is smaller than the contact friction angle of the worm gear.

Compared with the prior art, the utility model has the following advantages:

(1) A calibration test platform that can be used for testing joint damping characteristics is designed. Through the platform, variable and constant loads can be applied to the joints of the manipulator, and high-precision measurement of joint torque and rotational speed can be realized.

(2) Use the power method to measure the joint damping characteristics. Under the condition of no-load and uniform rotation of the joint, the input energy of the joint motor is completely dissipated by the joint damping. The utility model stabilizes the motor speed and calculates The method of power loss realizes the measurement of dynamic damping characteristics of joints.

(3) A set of worm gear and worm spring loading mechanism for smooth torque loading is designed, which makes the shutdown torque load smoothly and eliminates the vibration and sudden change in the process of joint torque loading.

Description of drawings

Fig. 1 is the utility model platform schematic diagram;

Fig. 2 is a schematic diagram of spring loading of the utility model;

Fig. 3 is a schematic diagram of the worm gear loading mechanism of the present invention.

detailed description

The scheme will be described in further detail below in conjunction with the accompanying drawings. As shown in Figure 1, a high-precision space manipulator joint damping calibration platform includes a photoelectric encoder 1, a torque sensor 2, a worm gear loading mechanism 3, a magnetic powder brake 4, a double-diaphragm coupling 5 and a supporting tool 6;

The output end of the manipulator joint is fixed to the output shaft through the flange. The photoelectric encoder 1, the torque sensor 2, the worm gear loading mechanism 3, and the magnetic powder brake 4 are installed and fixed along the axial direction of the manipulator joint through the support tool 6. The photoelectric encoder 1. The inner ring is connected to the flange or the output shaft, and the outer ring is fixedly connected to the support tooling. The photoelectric encoder 1 is used to measure the rotation angle of the mechanical arm joint; the double-diaphragm coupling 5 connects the output shaft to the torque sensor 2 , used to measure the torque applied during calibration; when it is necessary to manually provide a variable torsional moment load, connect the worm gear loading mechanism 3 to the torque sensor through the clutch 8; when it is necessary to provide a constant torsional moment, connect the magnetic powder brake 4 to the torque sensor Sensor connection.

When it is necessary to manually provide changing torsional moment load loading, in order to make the torque output manually loaded through the worm gear onboard mechanism, as shown in Figure 2, a spring 7 is installed between the clutch and the worm gear loading mechanism 3, and the output of the worm gear passes through Spring 7 is loaded on the clutch.

As shown in Figure 3, the worm and gear loading mechanism 3 includes a worm wheel 31 and a worm 32; the worm 32 is vertically fixed on the support tooling 6, the axial direction of the worm wheel 31 coincides with the axial direction of the mechanical arm joint, and the angle of intersection between the worm wheel and the worm is 90° °; An operating handle is installed on the worm screw 32, and the worm wheel 31 is driven by the operating handle to rotate by the worm screw 32. In order to ensure that the torsional moment can be stabilized within a certain measurement range during the loading process of changing loads, the unfolded pitch angle of the worm 32 is smaller than the contact friction angle of the worm gear.

Accurate calibration and measurement of joint positioning accuracy, joint speed, and joint damping characteristics can be achieved through the photoelectric code disc, and the measurement of joint reversal torque can be realized through the torque sensor.

During joint calibration measurement, a photoelectric code disc is installed at the joint output end of the calibration platform to measure the output rotation angle, and the worm gear is used to apply torque to the joint. The torque value M is measured by the torque sensor, and the rotation angle A of the joint under the action of the torque is measured by a high-precision code disc, then the rotational stiffness of the joint of the manipulator is M/A.

The joint of the manipulator has a rotary transformer, which can accurately measure the input rotation angle of the joint motor; the calibration platform photoelectric code disc is used to accurately measure the output rotation angle of the joint. Control the joint motor of the manipulator to rotate in one direction, and after reaching a stable rotation state, it can be considered that the output hysteresis of the joint is compressed on one side edge of the joint transmission chain of the manipulator. Then let the joint motor reverse immediately. Due to the output hysteresis of the manipulator joint, the joint motor of the manipulator cannot immediately drive the joint output end, and the joint output rotation will stagnate for a while. This period of stagnation reflects the output hysteresis of the manipulator joints. When the output hysteresis of the joint is compressed on the other edge, the output end of the joint will be driven by the rotation of the joint motor again.

The joint transmission ratio can be calculated by comparing the measurement of the actual angle of joint rotation with the nominal rotation angle by calibrating the photoelectric code disc of the platform:

Calculate the output hysteresis of the joints as follows:

d=φ/μr

Among them, d is the joint output hysteresis, φ is the rotation angle of the joint motor during the stagnation period of the joint output rotation, and μr is the joint transmission ratio.

This method of calibrating joint output hysteresis is very accurate for joints with large transmission ratios. There are two reasons: first, because of the large transmission ratio, the rotation angle of the joint motor required to fill the output hysteresis is relatively large, and the measurement error will be reduced accordingly; The influence of the inertia of the joint output on the hysteresis calibration. The transmission ratio of the joint to be calibrated exceeds 3000, which belongs to the joint with a very large transmission ratio. Likewise, the calibration process needs to be repeated many times in order to obtain authentic and credible results. The 3σ principle can be used for calibration.

The contents not described in detail in this specification belong to the well-known technologies of those skilled in the art.

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.