CN114812933A - Grab plate structure, centering method and steering control system - Google Patents
Grab plate structure, centering method and steering control system Download PDFInfo
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- CN114812933A CN114812933A CN202210707692.8A CN202210707692A CN114812933A CN 114812933 A CN114812933 A CN 114812933A CN 202210707692 A CN202210707692 A CN 202210707692A CN 114812933 A CN114812933 A CN 114812933A
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M1/02—Details of balancing machines or devices
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Abstract
The invention discloses a grabbing disc structure, a centering method and a steering control system, and relates to the field of static or dynamic balance testing of machines or structural parts. The grabbing disc structure comprises a fixed disc and a plurality of flexible grabbing claw structures connected with the fixed disc; each flexible holding claw structure comprises a strip-shaped structure, and a fine adjustment bolt penetrating through the strip-shaped structure; a steel wire rope fixing and position adjusting device penetrates through the thread of the fine adjustment bolt, and the steel wire rope fixing and position adjusting device is adjusted up and down along the thread; the steel wire rope fixing and position adjusting device fixes two ends of the steel wire rope, the steel wire rope forms a U-shaped structure, and the bottom end of the U-shaped structure is sleeved on the locking device of the strip-shaped structure by bypassing the annular object. The invention provides a novel grabbing plate structure which realizes flexible connection with an annular object, provides accurate amplitude and direction adjustment through a centering method, and solves the problem of low efficiency caused by repeated adjustment of human hands recognized by human eyes.
Description
Technical Field
The embodiment of the invention relates to a static or dynamic balance testing technology of a machine or a structural component, in particular to a grab disk structure, a centering method and a steering control system.
Background
The grabbing disc structure is used for grabbing the annular object to achieve a steering function, for example, the grabbing disc structure grabs the annular valve, and the valve is driven to be opened or closed under the control of the motor.
The prior art gripping disk structure generally includes a disk and a holder rigidly connected to the disk, which tightly grips the annular object in order to avoid sliding friction during rotation.
During engineering use, the assembly position of the center of the grab disk and the center of the annular object mostly has certain eccentric error due to initial assembly under complete rigid connection. During rotation in the presence of this error, the vibrations from the eccentric rotation gradually create a positive feedback process that causes greater vibrations, reproducing greater eccentricity. The large eccentric error can cause the motor to be blocked and damaged, or the motor torque is too large to force the disc structure and the connecting structure to be damaged, and the like.
The invention is provided in view of the above.
Disclosure of Invention
The embodiment of the invention provides a grabbing plate structure, a centering method and a system, aiming at providing a novel grabbing plate structure for realizing flexible connection with an annular object, providing accurate amplitude and direction adjustment for the centering method and solving the problem of low efficiency caused by repeated adjustment of human eyes for identifying human hands.
In a first aspect, an embodiment of the present invention provides a catch tray structure, including:
the flexible gripper comprises a fixed disc and a plurality of flexible gripper structures connected with the fixed disc;
each flexible holding claw structure comprises a strip-shaped structure, and a fine adjustment bolt penetrating through the strip-shaped structure;
a steel wire rope fixing and position adjusting device penetrates through the thread of the fine adjustment bolt, and the steel wire rope fixing and position adjusting device is adjusted up and down along the thread;
the steel wire rope fixing and position adjusting device is used for fixing two ends of a steel wire rope, the steel wire rope forms a U-shaped structure, and the bottom end of the U-shaped structure is sleeved on the locking device of the strip-shaped structure by bypassing an annular object;
the first end part of the strip-shaped structure is telescopically connected with the fixed disc, the bent part penetrates through the fine adjustment bolt, and the second end part is fixedly connected with a locking device;
the first end part is a strip-shaped slidable metal ruler, a strip-shaped through hole is formed in the first end part, a groove matched with the first end part is formed in the fixed disc, and a round hole is formed in the groove; the first end slides within the groove.
In a second aspect, the embodiment of the present invention further provides a centering method for a gripping disk structure, which is applied to a steering control system, wherein a flexible gripping claw structure of the gripping disk structure grips an annular object, and the fixed disk is connected to an external motor;
the centering method of the catch disk structure is executed by an upper computer, and the method comprises the following steps:
controlling the external motor to drive the grab disk structure to rotate, and calculating the direction and distance deviation value from the rotation center of the grab disk structure to the rotation center of the annular object at any moment;
projecting the direction and distance deviation values to the direction of each flexible gripper structure to obtain the length adjustment amplitude of each flexible gripper structure;
and calculating the up-and-down adjustment amount of the steel wire rope fixing and position adjusting device along the thread and the sliding amount of the flexible gripper structure in the groove of the fixed disc according to the length adjusting amplitude, and providing the flexible gripper structure for debugging personnel to carry out centering debugging.
In a third aspect, an embodiment of the present invention further provides a steering control system, including a motor, a control box, an upper computer and a catch tray structure;
the motor is detachably connected with the tray grabbing structure, the motor is connected with the control box through a signal line, and the control box is connected with the upper computer through optical fibers.
The embodiment of the invention provides a novel grabbing plate structure, which adopts a flexible gripper structure, an annular steel wire rope is sleeved on a locking device of a strip-shaped structure, the steel wire rope has certain flexibility, and under the condition of ensuring that the grabbing plate structure and an annular object do not generate sliding friction, a small amount of allowance is provided in the rotating process through the flexible characteristic of the steel wire rope, the eccentric error is reduced, and the rotating center of the grabbing plate structure and the rotating center of the annular object are ensured to be superposed as much as possible. In addition, the two ends of the steel wire rope are fixed through the steel wire rope fixing and position adjusting device and are adjusted up and down along the threads, so that the tightness degree of the steel wire rope and the annular object can be changed, and the movable grab plate structure is convenient to move to realize centering with the annular object.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a top view of a catch tray configuration provided by an embodiment of the present invention;
FIG. 2 is a bottom view of a catch tray configuration provided by an embodiment of the present invention;
FIG. 3 is a perspective view of a catch tray configuration provided by an embodiment of the present invention;
FIG. 4 is a perspective view of another alternative catch tray configuration provided by embodiments of the present invention;
FIG. 5 is a schematic structural diagram of a steering control system provided in an embodiment of the present invention;
FIG. 6 is a flowchart of a centering method for a grasping disk structure according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of the offset values of the eccentricity directions and distances provided by an embodiment of the present invention;
in the figure, 1, fixing the disc; 11. a circular hole; 12. positioning holes; 13. positioning pins; 14. fastening a bolt; 2. a flexible gripper structure; 21. a strip structure; 22. fine-tuning the bolt; 23. a wire rope fixing and position adjusting device; 231. a first through hole; 232. a second through hole; 24. a wire rope; 25. a locking device; 26. a first end portion; 261. a strip-shaped through hole; 27. a second end portion; 28. a bending section; 281. a third through hole; 3. a motor; 4. a control box; 5. an upper computer; 6. a ring-shaped object.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
An embodiment of the present invention provides a catch tray structure, a top view of which is shown in fig. 1, a bottom view of which is shown in fig. 2, and a perspective view of which is shown in fig. 3. Suitable for gripping the ring-shaped object 6 (e.g. a valve) to control the rotation of the ring-shaped object 6. The structure of the catch tray is described in detail below.
The grasping disk structure shown in fig. 1-3 comprises a fixed disk 1 and a plurality of flexible grasping claw structures 2 connected with the fixed disk 1.
The present embodiment does not limit the shape of the fixed disk 1, and may be triangular, hexagonal, or circular. A plurality of flexible gripper structures 2 are uniformly distributed along the periphery of the fixed disk 1, for example, 3 flexible gripper structures 2 are uniformly distributed at a central angle of 120 degrees; as shown in fig. 1 to 3, the 6 flexible gripper structures 2 are uniformly distributed at a central angle of 60 degrees.
Each of the flexible gripper structures 2 comprises a strip-like structure 21, and a trimmer bolt 22 penetrating through the strip-like structure 21. The strip-like structure 21 comprises a first end 26, a bend 28 and a second end 27. Referring to fig. 4, a third through hole 281 is provided near the bent portion 28, and the fine adjustment bolt 22 is threaded from the upper side of the bent portion 28 to the lower side through the third through hole 281, and is fixed to the lower side of the second end portion by a nut.
A wire rope fixing and position adjusting device 23 is inserted through the thread of the fine adjustment bolt 22, and the wire rope fixing and position adjusting device 23 is adjusted up and down along the thread of the fine adjustment bolt. The steel wire rope fixing and position adjusting device 23 fixes two ends of the steel wire rope 24, the steel wire rope 24 forms a U-shaped structure, and the bottom end of the U-shaped structure is sleeved on the locking device 25 of the strip-shaped structure 21 by bypassing the annular object 6; the wire rope 24 and the strip-like structure 21 cooperate to secure the annular object 6.
The embodiment of the invention provides a novel grabbing plate structure, which adopts a flexible gripper structure, wherein an annular steel wire rope 24 is sleeved on a locking device 25 of a strip-shaped structure 21, the steel wire rope has certain flexibility, and under the condition of ensuring that the grabbing plate structure and an annular object 6 do not generate sliding friction, a small amount of allowance is provided in the rotating process through the flexibility characteristic of the steel wire rope, the eccentric error is reduced, and the rotating center of the grabbing plate structure and the rotating center of the annular object 6 are ensured to be superposed as much as possible. In addition, the two ends of the steel wire rope 24 are fixed through the steel wire rope fixing and position adjusting device 23 and adjusted up and down along the threads, so that the tightness degree of the steel wire rope and the annular object 6 can be changed, and the movable grabbing disc structure is convenient to move to realize centering with the annular object 6.
Fig. 4 is a perspective view of another structure of the grab tray according to the embodiment of the present invention, in which the cable fixing and position adjusting device 23 is a hollow cylindrical structure. The cylindrical structure includes two bottom surfaces and a curved surface. A first through hole 231 and two second through holes 232 are opened on the curved surface. The two second through holes 232 are distributed at two ends of the first through hole 231, and the first through hole 231 and the two second through holes 232 are perpendicular to each other.
The fine adjustment bolt 22 vertically passes through the first through hole 231, the first through hole 231 is internally threaded, and the first through hole 231 is connected to the threads of the fine adjustment bolt 22. The two second through holes 232 are respectively fixed at two ends of the steel wire rope 24, specifically, two ends of the steel wire rope 24 respectively penetrate through the two second through holes 232 and are locked at the tail end of the rope to form a U-shaped noose structure. The outer part of the steel wire rope is wrapped by soft rubber, so that the friction force between the locking device 25 and the gripped annular object 6 is improved, the flexible holding claw structure 2 and the gripped annular object 6 are pulled tightly under the action of friction force, and no relative displacement occurs; and the gripped annular object 6 is prevented from being cut by the steel wire rope to damage the surface in the mounting/dismounting process through the wrapped soft rubber.
By rotating the fine adjustment bolt 22, the steel wire rope fixing and position adjusting device 23 is adjusted up and down on the thread of the fine adjustment bolt 22, and the two second through holes 232 are also adjusted up and down, so that the steel wire rope 24 is driven to be adjusted up and down. When the steel wire rope 24 is sleeved on the locking device 25 of the strip-shaped structure 21, the tightness degree of the steel wire rope 24 and the annular object 6 can be changed, so that the grabbing disc structure can be moved conveniently to realize centering with the annular object 6; meanwhile, the steel wire rope 24 can fasten and pull the annular object 6, and finally the purpose of tightly connecting the grab disk structure with the annular object 6 is achieved.
With continued reference to fig. 2, the first end portion 26 of the strip-shaped structure 21 is telescopically connected to the fixed disk 1, that is, the first end portion 26 can be retracted and extended from the fixed disk 1, so as to drive the corresponding flexible gripper structure 2 to move back and forth, thereby changing the rotation center of the gripper structure, and facilitating centering with the rotation center of the annular object 6; on the other hand, the adjustment is made to a suitable radius for gripping the ring-shaped object 6 of a different radius.
Preferably, the first end portion 26 is a strip-shaped slidable metal ruler, a strip-shaped through hole 261 is formed in the first end portion, a groove matched with the first end portion 26 is formed in the fixed disc 1, and a circular hole 11 is formed in the groove; optionally, the strip-shaped slidable metal ruler is a high-strength metal linear ruler marked with a precision of 0.01 m, the plurality of strip-shaped slidable metal rulers are embedded in the groove and are distributed on one side of the fixed disc in a centrosymmetric manner, and included angles of every two adjacent strip-shaped slidable metal rulers are equal. At a radially outer end is a second end 27. The strip-shaped slidable metal ruler slides in the groove, and the fastening bolt 14 penetrates through the strip-shaped through hole 261 and the round hole 11 after each sliding, so that the flexible holding claw structure 2 is telescopically connected with the fixed disc 1.
The second end 27 is fixedly connected with a locking device 25. Wherein the number of the locking devices 25 is at least one, and the locking devices are distributed along the length direction of the strip-shaped structure. Preferably, the locking device 25 is in the shape of a hook, and the steel wire rope 24 is annularly sleeved on the inner side of the hook. The locking device 25 is a locking anti-disengaging structure, and when the locking anti-disengaging structure is in a locking state, the flexible holding claw structure 2 and the grasped annular object 6 do not generate relative displacement.
Referring to fig. 3, the fixed disk 1 is provided with a positioning hole 12 and a positioning pin 13; the fixed disk 1 is detachably connected with the external motor 3 through the positioning hole 12 and the positioning pin 13. Optionally, the external motor is a servo motor, and has a structure matched with the positioning hole 12 and the positioning pin 13, so as to be connected with the fixed disk 1 through the mutual embedding structure of the positioning hole 12 and the positioning pin 13. Optionally, the positioning hole 12 is a circular flange and is located at the physical center of the fixed disk 1; the positioning pins 13 have the same diameter and are uniformly distributed around the positioning hole 12 in a central symmetry manner.
Example two
Fig. 5 is a schematic structural diagram of a steering control system provided in an embodiment of the present invention, and includes a motor 3, a control box 4, an upper computer 5, and a disk grasping structure provided in any one of the embodiments. The motor 3 and the grabbing disc structure are detachably connected and are specifically connected through the mutually embedded structures of the positioning holes 12 and the positioning pins 13. The motor 3 is connected with the control box 4 through a signal line, and the control box 4 is connected with the upper computer 5 through an optical fiber.
The upper computer 5 is used for executing a centering method of the disc grabbing structure; the method is realized by providing the amount of up-and-down adjustment of the steel wire rope fixing and position adjusting device 23 along the threads and the sliding amount of the flexible holding claw structure 2 in the groove of the fixed disc 1. This will be explained in detail in example three.
The upper computer 5 is provided with a configuration interface, and the configuration interface comprises a model import interface and is used for importing a user-defined motor control model.
In one embodiment, after completing the centering of the gripping disk structure with the rotation center of the ring-shaped object 6, the initial position required by the ring-shaped object 6 is manually adjusted, and the current position is set as the initial position by software. After the initial position setting is completed, a motor control model (including a torque curve template) which is imported by a user in a user-defined mode is selected, the motor is selected through software to rotate in the torque mode through the selected torque curve template, and torque and position data at each moment are collected in the rotating process of the motor 3. And stopping the current action through software after the rotation time of the motor 3 meets the test requirement, exporting the test data, and automatically finishing filtering and smoothing the sampled torque data by the software when exporting the test data. And finally, selecting data to be compared through software to perform data comparison and outputting a final output file of the test according to a comparison result.
Optionally, the model import interface may receive a motion control model designed by MATLAB, a data processing model, and the like, where the motor 3 is enabled to implement a relevant requirement scenario according to a custom algorithm.
Optionally, the control box 4 is composed of a minimum control system, a power conversion module, an ethernet communication module, a digital to analog conversion module, an analog to digital conversion module, a differential signal to single-ended signal conversion module, a single-ended signal to differential signal conversion module, an IO output module, a serial communication module, and an electromagnetic compatibility protection module.
Optionally, the amount of up-and-down adjustment of the wire rope fixing and position adjusting device 23 along the thread and the sliding amount of the flexible gripper structure 2 in the groove of the fixed disk 1 are displayed on the configuration interface.
The steering control system provided by the embodiment realizes concentric rotation through a flexible structure and a centering method; moreover, the model import interface is arranged to allow the motor control model to operate according to the user-defined motor control model.
EXAMPLE III
Fig. 6 is a flowchart of a centering method of a disk-grabbing structure according to an embodiment of the present invention, and the disk-grabbing structure is described in the first embodiment, which is not described herein again. The flexible gripper structure 2 of the gripper disk structure grips the annular object 6, and the fixed disk 1 is connected with the external motor 3. The centering method is performed by software in the upper computer 5. Referring to fig. 6, the method provided by the present embodiment includes the following operations:
s610, controlling an external motor 3 to drive the grab disk structure to rotate, and calculating the direction and distance deviation value from the rotation center of the grab disk structure to the rotation center of the annular object 6 at any moment.
The present embodiment adjusts for eccentricity at a time. The moment may be any moment before the disc catching structure stops.
The present embodiment adjusts the rotation center of the gripping disk structure to be aligned with the rotation center of the ring-shaped object 6 as a reference. FIG. 7 is a schematic illustration of eccentricity direction and distance deviation values provided by an embodiment of the present invention. When the eccentricity occurs, the deviation value of the distance from the rotation center of the gripping disk structure to the rotation center of the ring-shaped object 6 is as shown in fig. 7.
The method for determining the direction and distance deviation value is not limited in this embodiment, and may be obtained by testing with a visual inspection device, or by using a conversion relationship among a linear velocity, an angular velocity, and a radius. The method specifically comprises the following steps:
in the first step, the linear velocity V1 of the first point and the linear velocity V2 of the second point of the edge of the annular object are detected at the time k during the rotation, and the motor rotation angular velocity ω, the total motor rotation angle θ 1 from the rotation start time to the current stop time m, is detected at the time k.
The first point and the second point are points at different positions of the edge of the ring-shaped object, preferably at the connection of the ring-shaped object and the flexible grip structure 2. The linear velocities V1 and V2 may be measured directly by the associated sensors or may be obtained from the angular velocities and radii of rotation of the first and second points multiplied together, or may be obtained by sensors or image processing methods. Both ω and θ 1 can be read from the motor.
And secondly, as the edge of the annular object does not generate sliding friction and does not move relatively, the linear speeds of the edge of the annular object and the edge of the annular object at the same point are the same, and the linear speed V1 of the first point and the linear speed V2 of the second point are divided by the rotation angular speed omega of the motor respectively to obtain the rotation radius R1 of the edge of the annular object at the first point and the rotation radius R2 of the edge of the annular object at the second point.
Thirdly, determining the position of the rotation center of the disc grabbing structure according to the R1 and the R2; determining a vector from a center of rotation of the puck structure to a center of rotation of a ring-shaped object;
for convenience of description, a static coordinate system is established for the ring-shaped object at the rotation start time. The horizontal axis is the X axis and the vertical axis is the Y axis, and the position and angle of the flexible gripper structure 2 in the static coordinate system are known quantities. Under the static coordinate system, drawing a first circle by taking a first point as a circle center and taking R1 as a radius, drawing a second circle by taking a second point as a circle center and taking R2 as a radius, wherein when the intersection point of the first circle and the second circle is 1, the point is the position of the rotation center of the disk grabbing structure; if the number of the intersection points is 2, the point close to the rotating shaft of the motor is selected as the position of the rotating center of the grabbing disk structure, and the rotating center of the grabbing disk structure is the center of the rotating shaft.
The vector obtained in this step is after the motor rotates, and needs to be returned to the rotation starting time.
Fourthly, calculating a rotation angle theta 2 of the motor relative to the starting moment at the current stopping moment according to the total rotation angle theta 1 of the motor, wherein the rotation angle theta 2 is smaller than the cycle angle; and (3) retracting the vector theta 2 in the reverse rotation direction by taking the rotation center of the annular object as the circle center to obtain a new vector which is used as the deviation value of the direction and the distance from the rotation center of the grabbing disc structure to the rotation center of the annular object.
And subtracting the n times of the circumferential angle from the theta 1 to obtain theta 2 smaller than the circumferential angle, for example, if the total rotation angle of the motor is 361 degrees, calculating to obtain the rotation angle 1 degree of the motor relative to the starting time at the current stopping time. And thirdly, calculating to obtain a vector with a rotation angle of 1 degree, and backing for 1 degree in the reverse rotation direction by taking the rotation center of the annular object as the center of a circle to obtain a new vector in a static coordinate system. Since the flexible gripper structures 2 are defined in a static coordinate system, the vector needs to be retracted into the static coordinate system to resolve the length adjustment amplitude of each flexible gripper structure 2.
Then, the system provides the amount of the steel wire rope fixing and position adjusting device 23 adjusted up and down along the screw thread and the sliding amount of the flexible gripper structure 2 in the groove of the fixed disk 1, a debugging person adjusts according to the prompted numerical value, successive iteration can enable the eccentric value to be lower than 0.1mm, and the eccentric value below the eccentric value can offset the rigid eccentric rotation which possibly occurs under rigid connection through the tiny elastic allowance of the gripper because the gripper has a flexible part.
And S620, projecting the direction and distance deviation values to the direction of each flexible gripper structure 2 to obtain the length adjustment amplitude of each flexible gripper structure 2.
The flexible gripper structures 2 are required to be mutually matched to realize the integral movement of the gripping disk structure. And projecting the vector from the rotation center of the grabbing disc structure to the rotation center of the annular object 6 to each flexible gripper structure 2 through a geometric projection algorithm to obtain the length adjustment amplitude of each flexible gripper structure 2. The adjusting direction of each flexible gripper structure 2 is the radial direction of the fixed disc 1. When the steel wire rope fixing and position adjusting device 23 is adjusted upwards along the threads, the steel wire rope 24 is tightened to drive the flexible gripper structure 2 to be adjusted in a radially outward direction; when the wire rope fixing and position adjusting device 23 is adjusted downwards along the thread, the wire rope 24 is loosened, so that the other flexible gripper structures 2 can be adjusted; and after the other flexible gripper structures 2 are adjusted, the steel wire rope is tightened.
S630, calculating the up-and-down adjustment amount of the steel wire rope fixing and position adjusting device 23 along the thread and the sliding amount of the flexible gripper structure 2 in the groove of the fixed disc 1 according to the length adjustment amplitude, and providing the adjustment result for debugging personnel to carry out centering adjustment.
In practical applications, the wire rope 24 has limited adjustment capability, and a strip-shaped slidable metal ruler of the flexible gripper structure 2 is required to slide in a groove of the fixed disc 1 to be matched and adjusted.
The set value is the maximum adjusting amplitude of the steel wire rope 24 to the grab disk structure. If the length adjustment amplitude is larger than the set value, firstly, the sliding amount of the flexible gripper structure 2 in the groove of the fixed disc 1 is calculated until the new length adjustment amplitude reaches the set value. In practical engineering, the new length adjustment amplitude is only between 0 and a set value.
Then, the number of rotations of the wire rope fixing and position adjusting device 23 is calculated based on the set value and the adjustment amount of one screw thread. The strip-shaped slidable metal ruler of the flexible gripper structure 2A is slid outwards in the radial direction, and the number of rotation turns of the fine tuning bolt 22 of the flexible gripper structure 2A is displayed on a configuration interface of an upper computer.
And if the length adjusting amplitude is smaller than or equal to the set value, calculating the number of rotation turns of the steel wire rope fixing and position adjusting device 23 according to the length adjusting amplitude and the adjustment quantity of one turn of threads.
A vector from the rotation center of the disk grasping structure to the rotation center of the ring-shaped object 6 is rightward L (rightward is positive), and the vector L is divided into L1+ L2, and optionally, L1 is a set value. Respectively projecting L1 and L2 onto the n flexible gripper structures 2 to obtain the amount of the n flexible gripper structures 2 regulated by the wire rope fixing and position regulating device 23: length value L11~ length value L1n to and the amount of sliding in the recess of fixed disk 1: the length value L21-L2 n. Converting the length value L11-length value L1n into the number of rotation turns of the fine adjustment bolt 22 according to the adjustment amount of one turn of threads, and obtaining: the number of turns M11-M1 n.
Assuming that there are 6 flexible gripper structures 2, for convenience of description and distinction, they are respectively named as a flexible gripper structure 2A, a flexible gripper structure 2B, a flexible gripper structure 2C, a flexible gripper structure 2D, a flexible gripper structure 2E, and a flexible gripper structure 2F. With continued reference to FIG. 7, the vector L is projected onto the flexible grip pawl structure 2A to yield a length value L21. And (3) loosening the steel wire ropes on all the flexible gripper structures 2, tightening the steel wire ropes on the flexible gripper structures 2A to enable the flexible gripper structures 2A to move to the right by a length value L21, and then tightening the steel wire ropes of other flexible gripper structures 2 except the flexible gripper structures 2A to enable the steel wire ropes to be tightly connected with the annular object 6.
Through measurement, the steel wire rope fixing and position adjusting device 23 rotates for one circle along the threads, R is adjusted, and the number of turns is obtained by dividing the length value L11-the length value L1n by R. And displaying the rotating number of turns of the fine tuning bolt 22 of the flexible gripper structure 2A on a configuration interface of the upper computer.
In the embodiment, coarse adjustment is realized through the strip-shaped slidable metal ruler, fine adjustment is realized through the fine adjustment bolt 22, a small amount of displacement of the steel wire rope 24 is realized, a small amount of redundancy margin between the steel wire rope 24 and the annular object 6 is used for achieving flexible connection, well compensating for a centering displacement error below a division value of the strip-shaped slidable metal ruler, and the steel wire rope 24 and the annular object are matched with each other to realize centering, so that the method is suitable for the condition of large eccentricity and is also beneficial to improving the centering precision.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A catch tray structure, comprising:
the flexible gripper comprises a fixed disc (1) and a plurality of flexible gripper structures (2) connected with the fixed disc (1);
each flexible gripper structure (2) comprises a strip-shaped structure (21) and a fine adjustment bolt (22) penetrating through the strip-shaped structure (21);
a steel wire rope fixing and position adjusting device (23) penetrates through the thread of the fine adjustment bolt (22), and the steel wire rope fixing and position adjusting device (23) is adjusted up and down along the thread on the fine adjustment bolt (22);
the steel wire rope fixing and position adjusting device (23) is used for fixing two ends of a steel wire rope (24), the steel wire rope (24) forms a U-shaped structure, and the bottom end of the U-shaped structure is sleeved on the locking device (25) of the strip-shaped structure (21) by bypassing an annular object;
the first end part (26) of the strip-shaped structure (21) is in telescopic connection with the fixed disc (1), the bent part (28) penetrates through the fine adjustment bolt (22), and the second end part (27) is fixedly connected with a locking device (25);
the first end part (26) is a strip-shaped slidable metal ruler, a strip-shaped through hole (261) is formed in the first end part, a groove matched with the first end part (26) is formed in the fixed disc (1), and a round hole (11) is formed in the groove; the first end (26) slides within the groove.
2. A catch tray structure according to claim 1, characterized in that the number of said locking means (25) is at least one, distributed along the length of said strip-like structure; the locking device (25) is in a hook shape, and the steel wire rope (24) is sleeved on the inner side of the hook in a ring shape;
the plurality of flexible gripper structures (2) are uniformly distributed along the periphery of the fixed disc (1).
3. A catch tray structure according to claim 1, characterized in that fastening bolts are passed through the elongated through holes (261) and the round holes (11) to connect the flexible grip pawl structure (2) with the fixed tray (1).
4. The catch tray structure according to claim 1, wherein the wire rope fixing and position adjusting device (23) is a hollow cylindrical structure, a first through hole (231) and two second through holes (232) are formed in a curved surface, the two second through holes (232) are distributed at two ends of the first through hole (231), and the first through hole (231) and the two second through holes (232) are perpendicular to each other;
the fine adjustment bolt (22) vertically penetrates through the first through hole (231); two ends of the steel wire rope (24) are respectively fixed by the two second through holes (232).
5. Gripper disc structure according to claim 1,
the fixed disc (1) is provided with a positioning hole (12) and a positioning pin (13);
the fixed disc (1) is detachably connected with the external motor (3) through the positioning hole (12) and the positioning pin (13).
6. A steering control system, characterized by comprising a motor (3), a control box (4), an upper computer (5) and a gripping disk structure according to any one of claims 1-5;
the motor (3) is detachably connected with the grabbing disc structure, the motor (3) is connected with the control box (4) through a signal line, and the control box (4) is connected with the upper computer (5) through optical fibers.
7. The steering control system according to claim 6, wherein the upper computer (5) is configured to perform a centering method of the catch disk structure;
the upper computer (5) is provided with a configuration interface, and the configuration interface comprises a model import interface and is used for importing a user-defined motor control model.
8. A centering method of a grab disk structure is characterized in that the centering method is applied to the steering control system of claim 6 or 7, a flexible gripper structure (2) of the grab disk structure grips a ring-shaped object, and a fixed disk (1) is connected with an external motor (3);
the centering method of the grasping disk structure is executed by an upper computer (5), and the centering method comprises the following steps:
controlling the external motor (3) to drive the grab disk structure to rotate, and calculating the direction and distance deviation value from the rotation center of the grab disk structure to the rotation center of the annular object at any moment;
projecting the direction and distance deviation values to the direction of each flexible gripper structure (2) to obtain the length adjustment amplitude of each flexible gripper structure (2);
and calculating the up-and-down adjustment amount of the steel wire rope fixing and position adjusting device (23) along the thread and the sliding amount of the flexible gripper structure (2) in the groove of the fixed disc (1) according to the length adjusting amplitude, and providing the adjustment personnel for centering adjustment.
9. The method of claim 8, wherein calculating the deviation of the direction and distance from the center of rotation of the gripping disk structure to the center of rotation of the ring-shaped object at any one time comprises:
detecting a linear velocity V1 of a first point and a linear velocity V2 of a second point of the edge of the annular object at a time k in the rotating process, a motor rotating angular velocity omega at the time k, and a motor rotating total angle theta 1 from the rotating starting time to a current stopping time m;
the linear velocity of the edge of the annular object and the linear velocity of the grabbing disc structure at the same point are the same, the linear velocity V1 of the first point and the linear velocity V2 of the second point are divided by the rotation angular velocity omega of the motor respectively, and the rotation radius R1 of the grabbing disc structure at the first point and the rotation radius R2 of the grabbing disc structure at the second point are obtained;
determining the position of the rotation center of the disc catching structure according to the rotation radius R1 of the first point and the rotation radius R2 of the second point; determining a vector from a center of rotation of the puck structure to a center of rotation of a ring-shaped object;
calculating a rotation angle theta 2 of the motor relative to the starting moment at the current stopping moment according to the total rotation angle theta 1 of the motor, wherein the rotation angle theta 2 is smaller than the circumferential angle;
and returning the rotation angle theta 2 in the reverse rotation direction by taking the rotation center of the annular object as the center of a circle by taking the vector from the rotation center of the grabbing plate structure to the rotation center of the annular object, so as to obtain a new vector which is used as the deviation value of the direction and the distance from the rotation center of the grabbing plate structure to the rotation center of the annular object.
10. Method according to claim 8 or 9, wherein said calculating the amount of adjustment of the wire rope fixing and position adjustment means (23) up and down along said thread and the amount of sliding of said flexible grip jaw structure (2) in the recess of the stationary disc (1) from said length adjustment amplitude comprises:
if the length adjusting amplitude is larger than the set value, calculating the sliding amount of the flexible gripper structure (2) in the groove of the fixed disc (1) until the new length adjusting amplitude reaches the set value; calculating the number of rotation turns of the steel wire rope fixing and position adjusting device (23) according to the set value and the adjustment quantity of one turn of threads;
and if the length adjusting amplitude is smaller than or equal to the set value, calculating the rotation number of the steel wire rope fixing and position adjusting device (23) according to the length adjusting amplitude and the adjusting amount of one circle of threads.
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| CN202210707692.8A CN114812933B (en) | 2022-06-22 | 2022-06-22 | Grab plate structure, centering method and steering control system |
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| CN202210707692.8A CN114812933B (en) | 2022-06-22 | 2022-06-22 | Grab plate structure, centering method and steering control system |
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| CN102192815A (en) * | 2011-04-11 | 2011-09-21 | 安徽维嘉星火动平衡制造有限公司 | Clamping jaw device for shaft of dynamic balancing machine |
| CN103091040A (en) * | 2013-01-18 | 2013-05-08 | 电子科技大学 | Auxiliary device for measuring rotational inertia |
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| JP2002071503A (en) * | 2000-09-04 | 2002-03-08 | Hitachi Ltd | Umbalance correction mechanism and its method, disk device and information apparatus |
| CN101251362A (en) * | 2008-03-10 | 2008-08-27 | 赵晓晔 | Device for monitoring valve opening |
| CN102192815A (en) * | 2011-04-11 | 2011-09-21 | 安徽维嘉星火动平衡制造有限公司 | Clamping jaw device for shaft of dynamic balancing machine |
| CN103091040A (en) * | 2013-01-18 | 2013-05-08 | 电子科技大学 | Auxiliary device for measuring rotational inertia |
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