CN117921746A - Controllable time-varying rigidity flexible base - Google Patents
Controllable time-varying rigidity flexible base Download PDFInfo
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Abstract
The invention relates to the technical field of space mechanics simulation, in particular to a controllable time-varying stiffness flexible base, which comprises a flexible base input end, a rotational stiffness simulation platform and a translational stiffness simulation platform, wherein the flexible base input end is used for inputting horizontal rotation or translation, the rotational stiffness simulation platform is used for simulating the change of rotational stiffness, and the translational stiffness simulation platform is used for simulating the change of translational stiffness. The flexible base provided by the invention can simulate the rigidity change of the big arm in the movement process when the big arm and the small arm of the space station are combined on the ground and react to the small arm, thereby laying a foundation for researching the disturbance movement law generated in the combined arm under the joint movement of the big arm and the small arm of the space station.
Description
Technical Field
The invention relates to the technical field of space mechanics simulation, and particularly provides a controllable time-varying stiffness flexible base.
Background
As the chinese space station is fully built, increasingly diverse, complex space tasks need to be completed. The mechanical arm on the space station has wider roles in various operation tasks, from assisting the operation of the spaceship outside the cabin to carrying, transferring, plugging and pulling various loads and other fine operations. These tasks all require the robotic arm to meet various dynamic performance requirements.
The mechanical arm system on the space station consists of a big arm and a small arm. The two can work independently, and can also form a combined arm to further expand a working space so as to meet the working requirements of local fine operation and not only need range transfer, but also greatly improve the maneuverability of the space manipulator system. Aiming at the research on the dynamic performance of the combined arm on the ground, the large arm serving as the base can be generally equivalent to a flexible base, so that the complexity of a test system is greatly reduced.
The presently discovered flexible bases of prior designs are variable stiffness, but not time-varying stiffness. The stiffness of the base can only be adjusted in advance to meet the stiffness of the large arm under a certain configuration, and then the small arm moves under the stiffness characteristic of the base, namely the base is simulated as follows: the big arm maintains a certain configuration stationary and the system scene of the movement of the small arm, and the rigidity of the base is also changed in real time by manual control in the movement process of the small arm, namely the system scene that the small arm moves and the big arm moves at the same time cannot be simulated.
Disclosure of Invention
The invention provides the flexible base with controllable time-varying rigidity, which can simulate the simultaneous movement of the large arm and the small arm of the space station, and the large arm is used as the base of the small arm, so that the rigidity change caused by the configuration change in the movement process of the large arm and the small arm of the space station is researched, and the disturbance movement law generated in the combined arm under the joint movement of the large arm and the small arm of the space station is researched.
The invention provides a controllable time-varying stiffness flexible base, which comprises a flexible base input end, a rotational stiffness simulation platform and a translational stiffness simulation platform; the rotation rigidity simulation platform comprises a flexible base top cover plate, a rotation transmission mechanism and a rotation rigidity changing mechanism, wherein the flexible base input end and the rotation rigidity changing mechanism are respectively arranged on the upper side and the lower side of the flexible base top cover plate, the flexible base input end is connected with the rotation rigidity changing mechanism, rotation input by the flexible base input end is transmitted to the rotation rigidity changing mechanism, the rotation rigidity changing mechanism is connected with the rotation transmission mechanism and is used for adjusting the rigidity of the rotation transmission mechanism in a mode of changing the position of a supporting point, and therefore the adjustment of the rotation rigidity of the flexible base input end is achieved; the translational rigidity simulation platform comprises a platform support frame, a translational transmission mechanism and a translational rigidity-changing mechanism, wherein the translational transmission mechanism is fixedly connected with a top cover plate of the flexible base, translational input by the input end of the flexible base is transmitted to the translational transmission mechanism, and the translational rigidity-changing mechanism is fixed on the platform support frame and connected with the translational transmission mechanism and is used for adjusting the rigidity of the translational transmission mechanism in a mode of changing the rigidity of a leaf spring, so that the translational rigidity of the input end of the flexible base is adjusted.
Preferably, the rotation transmission mechanism comprises a first coupling and a flexible framework, the flexible framework comprises a framework main body, a connecting shaft is formed on the surface of the framework main body, three pairs of flexible sheets distributed at 120 degrees are formed on the side surface of the framework main body, and the connecting shaft is connected with the input end of the flexible base through the first coupling.
Preferably, the rotary rigidity-changing mechanism comprises a supporting bottom plate, three roller slide block assemblies, a retainer, a rigidity-adjusting motor, a second coupler, a small gear with a shaft and a large gear with a shaft; the support bottom plate is fixed below the top cover plate of the flexible base through a connecting plate, the retainer is fixed on the support bottom plate through a support column and is positioned below the flexible framework, three long-strip-shaped sliding holes distributed at 120 degrees are formed in the retainer, and a boss is formed on the inner wall of each long-strip-shaped sliding hole; the three roller slide block assemblies comprise a pressing block, a roller, a meshing slide block, a rack slide block and a linear guide rail, wherein the pressing block is fixed on the meshing slide block, the roller is rotationally connected with the pressing block and positioned between two opposite flexible sheets, an inclined slide groove is formed on the bottom surface of the meshing slide block, a straight slide groove which is in sliding fit with a boss is formed on the side surface of the meshing slide block, an inclined bulge which is in sliding fit with the inclined slide groove is arranged on the top surface of the rack slide block, and a straight rack is formed on the side surface of the rack slide block; the guide bearing piece of the linear guide rail is fixed on the supporting bottom plate, and the rack sliding block is fixed on the moving piece of the linear guide rail; the rigidity adjusting motor is fixed on the bottom surface of the supporting bottom plate, an output shaft of the rigidity adjusting motor is connected with the shaft-bearing pinion through the second coupler, the shaft-bearing large gear is rotationally connected with the supporting bottom plate, and the shaft-bearing large gear is respectively meshed with the straight rack and the shaft-bearing pinion; the rigidity of the rotation transmission mechanism is adjusted by driving the meshing sliding block to linearly slide along the strip-shaped sliding hole of the retainer through the rigid adjusting motor and changing the position of a supporting point where the roller contacts with the two opposite flexible sheets.
Preferably, the translation transmission mechanism comprises a translation guide rail group, a transmission shaft, a sliding assembly, a guide shaft, a guide sliding block and a support spring; the bearing guide piece of the translation guide rail group is fixed on the platform support frame, and the moving piece of the translation guide rail group is fixedly connected with the top cover plate of the flexible base; the sliding component comprises a connecting sliding block, a translational sliding block and a translational sliding rail, the translational sliding rail and the translational sliding rail group are arranged in parallel, the number of the translational sliding blocks is two and distributed on two sides of the connecting sliding block, and the two translational sliding blocks and the connecting sliding block linearly slide on the translational sliding rail; one end of the transmission shaft is fixed with the connecting slide block, the other end of the transmission shaft is fixedly connected with the top cover plate of the flexible base, one end of the guide shaft is fixedly connected with the platform support frame, the other end of the guide shaft is fixedly connected with the bottom of the translational sliding rail, the guide slide block is sleeved on the guide shaft and slides up and down along the guide shaft, the supporting spring is sleeved on the guide shaft, one end of the supporting spring is abutted to the bottom of the guide slide block, and the other end of the supporting spring is abutted to the platform support frame.
Preferably, the translational rigidity-changing mechanism comprises a rigidity-adjusting cylinder, two linkage blocks rotationally connected with the platform support frame, two pushing blocks symmetrically arranged along the guide slide block, two linear bearing groups, two leaf springs, two first connecting rods, two second connecting rods, two third connecting rods and two fourth connecting rods, wherein the two pushing blocks horizontally slide along the two linear bearing groups, one ends of the two leaf springs are respectively fixedly connected with the two pushing blocks, the other ends of the two leaf springs are respectively fixedly connected with two sides of the guide slide block, one ends of the two first connecting rods are respectively rotationally connected with two sides of one translational slide block, the other ends of the two first connecting rods are respectively rotationally connected with two sides of one end of the guide slide block, one ends of the two second connecting rods are respectively rotationally connected with two sides of the other end of the guide slide block, one ends of the two third connecting rods are respectively rotationally connected with one ends of the two pushing blocks, one ends of the two fourth connecting rods are respectively rotationally connected with two ends of one linkage block, one ends of the two fourth connecting rods are respectively rotationally connected with two ends of the two bending blocks, and the two ends of the translational rigidity-adjusting mechanism is fixedly connected with two ends of the other translational rigidity-adjusting cylinder.
Preferably, the leaf spring is formed of two spring steel sheets with a cavity therebetween.
Preferably, the input end of the flexible base comprises a triangular connecting frame and a U-shaped frame, the triangular connecting frame is positioned above the U-shaped frame, and a connecting hole is formed in the triangular connecting frame and is used for being connected with a power source; the two ends of the U-shaped frame are outwards provided with a table edge, the table edge is fixed on the top cover plate of the flexible base through screws, the U-shaped bottom of the U-shaped frame is provided with a rolling bearing, the other end of the first coupler is fixedly connected with a rotating shaft, the rotating shaft is fixedly connected with the triangular connecting frame, and the rotating shaft and the U-shaped frame are in running fit through the rolling bearing.
Preferably, the platform support frame comprises an upper platform and a lower platform, the upper platform is connected with the lower platform through a section bar support, a bearing guide piece of the translation guide rail group is fixed on the surface of the upper platform, and the guide shaft, the rigidity adjusting cylinder and the linear bearing group are fixed on the surface of the lower platform, and the linkage block is connected with the section bar in a rotating way.
Preferably, the number of the translational rigidity simulation platforms is two, namely a first translational rigidity simulation platform and a second translational rigidity simulation platform, and the translational guide rail groups and the sliding assemblies of the first translational rigidity simulation platform and the second translational rigidity simulation platform are arranged in an orthogonal mode; the translational guide rail group of the second translational rigidity simulation platform is connected between the lower platform of the first translational rigidity simulation platform and the upper platform of the second translational rigidity simulation platform.
Compared with the prior art, the flexible base provided by the invention can simulate the rigidity change of the large arm in the movement process when the large arm and the small arm of the space station are combined on the ground and react to the small arm, so that a foundation is laid for researching the disturbance movement law generated in the combined arm under the joint movement of the large arm and the small arm of the space station.
Drawings
FIG. 1 is a schematic structural view of a controllable time-varying stiffness flexible base provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flexible base input provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural view of a rotational stiffness simulation platform provided according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a flexible frame provided in accordance with an embodiment of the present invention;
Fig. 5 is a schematic structural view of a roller slider assembly according to an embodiment of the present invention;
Fig. 6 is a schematic structural view of a cage provided according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating the cooperation of a rotation transmission mechanism and a rotation stiffness varying mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the cooperation of a rotation transmission mechanism and a second view angle of a rotation stiffness varying mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic view of a platform support according to an embodiment of the present invention;
fig. 10 is a schematic diagram of the cooperation of a translational motion transmission mechanism and a translational motion rigidity-varying mechanism according to an embodiment of the present invention;
fig. 11 is a schematic diagram of the cooperation of the translational transmission mechanism and the translational rigidity-changing mechanism according to the second view angle provided by the embodiment of the invention;
Fig. 12 is a schematic structural view of a translational rigidity-varying mechanism according to an embodiment of the present invention.
Wherein reference numerals include: triangular connection frame 101, U-shaped frame 102, connection hole 103, table edge 104, flexible base top cover 201, first coupling 202, flexible frame 203, frame body 204, connection shaft 205, flexible sheet 206, support base 207, cage 208, rigid motor 209, second coupling 210, shaft pinion 211, shaft gear 212, connection plate 213, elongated slide hole 214, boss 215, press block 216, roller 217, engagement slider 218, rack slider 219, linear guide 220, diagonal slide groove 221, linear slide groove 222, diagonal projection 223, straight tooth bar 224, strut 225, translational guide rail set 301, first drive shaft 302, guide shaft 303, guide slider 304, translational support spring 305, connection slider 306, slider 307, slide rail 308, rigid cylinder 309, linkage block 310, push block 311, linear bearing set 312, leaf spring 313, first link 314, second link 315, third link 316, fourth link 317, bearing mount 318, upper platform 319, lower platform, profile 320, second drive shaft 401, upper platform 403.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
The embodiment of the invention provides a controllable time-varying rigidity flexible base which can simulate rigidity variation of a combined arm in multiple degrees of freedom when a large arm is used as a small arm base.
The following description will be given by taking three degrees of freedom as an example, and the same applies to other degrees of freedom. The three degrees of freedom are a horizontal rotation degree of freedom and two translation degrees of freedom perpendicular to the movement direction respectively, so that the controllable time-varying stiffness flexible base can simulate the change of horizontal rotation stiffness and the change of two perpendicular translation stiffnesses.
As shown in fig. 1-12, the controllable time-varying stiffness flexible base comprises a flexible base input end, a rotational stiffness simulation platform, a first translational stiffness simulation platform and a second translational stiffness simulation platform; the rotation rigidity simulation platform comprises a flexible base top cover plate 201, a rotation transmission mechanism and a rotation rigidity changing mechanism, wherein the flexible base input end and the rotation rigidity changing mechanism are respectively arranged on the upper side and the lower side of the flexible base top cover plate, the flexible base input end is connected with the rotation rigidity changing mechanism, rotation input by the flexible base input end is transmitted to the rotation rigidity changing mechanism, the rotation rigidity changing mechanism is connected with the rotation transmission mechanism and is used for adjusting the rigidity of the rotation transmission mechanism in a mode of changing the position of a supporting point, and therefore the adjustment of the rotation rigidity of the flexible base input end is achieved; the structure and the working principle of the first translational rigidity simulation platform and the second translational rigidity simulation platform are the same, and the difference is that the translational directions are orthogonal, so only the structure of the first translational rigidity simulation platform is detailed, the first translational rigidity simulation platform comprises a platform support frame, a translational transmission mechanism and a translational rigidity changing mechanism, the translational transmission mechanism is fixedly connected with a top cover plate of a flexible base, the translational rigidity inputted by the input end of the flexible base is transmitted to the translational transmission mechanism, and the translational rigidity changing mechanism is fixed on the platform support frame and connected with the translational transmission mechanism and is used for adjusting the rigidity of the translational transmission mechanism in a mode of changing the rigidity of a leaf spring, so that the translational rigidity of the input end of the flexible base is adjusted.
The input end of the flexible base comprises a triangular connecting frame 101 and a U-shaped frame 102, the triangular connecting frame 101 can rotate relative to the U-shaped frame 102, a connecting hole 103 is formed in the triangular connecting frame 101 and is used for being connected with an external power source, and the power source inputs rotation or translation to the input end of the flexible base so as to simulate rotation of the forearm in the horizontal direction and orthogonal translation of the forearm in the horizontal direction; the two ends of the U-shaped frame 102 are outwards provided with a table edge 104, the table edge 104 is fixed on the flexible base top cover plate 201 through screws, and a rolling bearing is arranged at the U-shaped bottom of the U-shaped frame 102.
The rotation transmission mechanism comprises a first coupler 202 and a flexible framework 203, the flexible framework 203 comprises a framework main body 204, a connecting shaft 205 is formed on the surface of the framework main body 204, three pairs of flexible sheets 206 distributed at 120 degrees are formed on the side surface of the framework main body 204, the connecting shaft 205 is fixedly connected with one end of the first coupler 202, the other end of the first coupler 202 is fixedly connected with a rotating shaft, the rotating shaft is fixedly connected with the triangular connecting frame 101 and is in running fit with the U-shaped frame 102 through a rolling bearing, and rotation of the input end of the flexible base is transmitted to the flexible framework 203 through the first coupler 202.
The rotation rigidity-changing mechanism comprises a supporting bottom plate 207, a retainer 208, a rigidity-adjusting motor 209, a second coupler 210, a small gear 211 with a shaft, a large gear 212 with a shaft and three roller slide block components; wherein, the supporting bottom plate 207 is fixed below the flexible base top cover plate 201 through the connecting plate 213, the retainer 208 is fixed on the supporting bottom plate 207 through the supporting post 225 and is positioned below the flexible framework 203, three long-strip-shaped sliding holes 214 distributed at 120 degrees are formed on the retainer 208, and a boss 215 is formed on the inner wall of each long-strip-shaped sliding hole 214; the three roller slide block assemblies comprise a pressing block 216, a roller 217, a meshing slide block 218, a rack slide block 219 and a linear guide rail 220, wherein the pressing block 216 is in a stepped structure, a lower table top is fixedly connected with the meshing slide block 218, an upper table top is rotationally connected with the roller 217, the roller 217 is positioned between two opposite flexible sheets 206 and is contacted with the flexible sheets 206, an inclined slide groove 221 is formed on the bottom surface of the meshing slide block 218, a straight slide groove 222 which is in sliding fit with the boss 215 is formed on the side surface of the meshing slide block 218, an inclined bulge 223 which is in sliding fit with the inclined slide groove 221 is formed on the top surface of the rack slide block 219, and a straight toothed bar 224 is formed on the side surface of the rack slide block 219; the guide piece of the linear guide rail 220 is fixed on the supporting base plate 207, the rack slider 219 is fixed on the moving piece of the linear guide rail 220, and the rack slider 219 linearly slides along the linear guide rail 220; the axial both sides of the axle pinion 211 are provided with rotating shafts, the position of the retainer 208 corresponding to the axle pinion 211 is provided with bearing holes, bearings are arranged in the bearing holes, the rigidity adjusting motor 209 is fixed on the bottom surface of the supporting bottom plate 207, the output shaft of the rigidity adjusting motor 209 is connected with the rotating shaft on one side of the axle pinion 211 through the second coupling 210, the rotating shaft on the other side of the axle pinion 211 is arranged in the bearing of the retainer 208, the rotation of the axle pinion 211 relative to the retainer 208 is realized, one side of the axle big gear 212 is provided with a short shaft, the bearing is arranged on the lower supporting plate 302, the short shaft of the axle big gear 212 is arranged in the bearing of the supporting bottom plate 207, the rotating connection of the axle big gear 212 and the supporting bottom plate 207 is realized, and the axle big gear 212 is meshed with the straight toothed bar 224 and the axle pinion 211 respectively.
The rigidity of the rotation transmission mechanism is adjusted by changing the position of the supporting point where the roller 217 contacts the two opposing flexible sheets 206 by driving the engagement slider 218 to slide linearly along the elongated slide hole 214 of the holder 208 by the rigidity adjustment motor 209.
The rotation of the input end of the flexible base is converted into the rotation of the flexible frame 203 by the rotation transmission mechanism, and the flexible sheet 206 of the flexible frame 203 contacts with the roller 217 to form a supporting point, so that the rotation of the flexible frame 203 is disturbed. By changing the position of the support point in real time, equivalently changing the rotational stiffness of the flexible frame 203, the rotational stiffness of the flexible base input is controllable and time-varying.
The mode of changing the position of the supporting point in real time is as follows: the rigidity-adjusting motor 209 drives the shaft pinion 211 to rotate, and the shaft pinion 211 drives the shaft bull gear 212 to rotate, so that the rack slider 219 slides on the linear guide rail 220. Since the engagement slider 218 cooperates with the rack slider 219 and the holder 208, respectively, the movement of the engagement slider 218 is converted into a linear movement along the elongated slide hole 214, thereby changing the position of the supporting point between the roller 217 and the flexible sheet 206.
The platform support frame comprises an upper platform 319 and a lower platform 320, and the upper platform 319 is in supporting connection with the lower platform 320 through a section bar 321.
The translation transmission mechanism comprises a translation guide rail group 301, a first transmission shaft 302, a guide shaft 303, a guide sliding block 304, a support spring 305 and a sliding component, wherein a guide bearing part of the translation guide rail group 301 is fixed on the surface of an upper platform 319, and a moving part of the translation guide rail group 301 is fixedly connected with the bottom surface of the flexible base top cover plate 201; the sliding assembly comprises a connecting sliding block 306, a translational sliding block 307 and a translational sliding rail 308, wherein the translational sliding rail 308 is fixed on an upper platform 319 and is arranged in parallel with the translational sliding rail set 301, the number of the translational sliding blocks 307 is two and is distributed on two sides of the connecting sliding block 306, the two translational sliding blocks 307 and the connecting sliding block 306 form a sliding block set, and the sliding block set linearly slides on the translational sliding rail 308; one end of the first transmission shaft 302 is fixed with the connecting sliding block 306, the other end of the first transmission shaft 302 is fixedly connected with the flexible base top cover plate 201, one end of the guide shaft 303 is fixedly connected with the lower platform 320, the other end of the guide shaft 303 is fixedly connected with the bottom of the translational sliding rail 308, the guide shaft 304 is sleeved on the guide shaft 303 through a screw, the guide shaft 303 slides up and down along the guide shaft 303, the support spring 305 is sleeved on the guide shaft 303, one end of the support spring 305 is abutted with the bottom of the guide sliding block 304, the other end of the support spring 305 is abutted with the lower platform 320, and the support spring 305 provides force opposite to the movement direction of the guide sliding block 304.
The translational rigidity-changing mechanism comprises a rigidity-adjusting cylinder 309, two linkage blocks 310 rotationally connected with a section bar 321, two pushing blocks 311 symmetrically arranged along a guide slide block 304, two linear bearing groups 312, two leaf springs 313, two first connecting rods 314, two second connecting rods 315, two third connecting rods 316 and two fourth connecting rods 317, bearing seats 318 are respectively arranged on the section bar 321 and the linkage blocks 310, bearings are arranged between the two bearing seats 318 to realize the rotation of the linkage blocks 310 relative to the section bar 321, the two pushing blocks 311 horizontally slide along the two linear bearing groups 312, one ends of the two leaf springs 313 are respectively fixedly connected with the two pushing blocks 311, the other ends of the two leaf springs 313 are respectively fixedly connected with two sides of the guide slide block 304, one ends of the two first connecting rods 314 are respectively rotationally connected with two sides of one translational slide block 307, the other ends of the two first connecting rods 314 are respectively and rotatably connected with two sides of one end of the guide slide block 304, one ends of the two second connecting rods 315 are respectively and rotatably connected with two sides of the other translational slide block 307, the other ends of the two second connecting rods 315 are respectively and rotatably connected with two sides of the other end of the guide slide block 304, one ends of the two third connecting rods 316 are respectively and rotatably connected with one end of the two pushing blocks 311, the other ends of the two third connecting rods 316 are respectively and rotatably connected with two ends of one linkage block 310, one ends of the two fourth connecting rods 317 are respectively and rotatably connected with the other ends of the two pushing blocks 311, and the output end of the rigidity adjusting cylinder 309 is fixedly connected with one pushing block 311.
The translation of the input end of the flexible base in the direction of the translation guide rail group 301 is transmitted to the sliding assembly through the flexible base top cover plate 201 and the first transmission shaft 302, so that the sliding block group moves linearly along the translation guide rail 308, and the linear motion of the sliding block group is converted into the vertical linear motion of the guide sliding block 304 through the first connecting rod 314 and the second connecting rod 315. The movement of the guide slider 304 is disturbed by the leaf spring 313 and the support spring 305. The leaf spring 313 is composed of two symmetrically stacked spring steel sheets, and a cavity is formed between the two spring steel sheets. The stiffness of the leaf spring 313 is related to the width of the cavity, the greater the bending stiffness of the leaf spring 313 and the greater the resistance to deformation. Therefore, the output rigidity of the translational rigidity-changing mechanism can be changed by changing the width of the cavity, so that the rigidity of the translational transmission mechanism is adjusted, and the translational rigidity of the input end of the flexible base is adjusted.
The rigid adjusting cylinder 309 drives the pushing block 311 to slide on the linear bearing group 312, and the pushing block 311 on the other side synchronously moves through the two linkage blocks 310, the third connecting rod 316 and the fourth connecting rod 317 on the two sides of the two linkage blocks 310, and the movement of the pushing block 311 can squeeze the leaf spring 313, so that the width of the cavity of the leaf spring 313 is changed. By varying the width of the cavity of the leaf spring 313 in real time, the stiffness of the slider group in the direction of movement is controllable and time-varying.
The principle of adjusting the rigidity of the second dynamic rigidity simulation platform is the same as that of the first translational rigidity simulation platform, so that description is omitted, the translational guide rail group 402 and the sliding component of the second dynamic rigidity simulation platform are arranged in quadrature with the translational guide rail group 301 and the sliding component of the first translational rigidity simulation platform, that is, the second dynamic rigidity simulation platform is orthogonal with the movement direction of the first translational rigidity simulation platform, the second transmission shaft 401 of the second dynamic rigidity simulation platform is fixedly connected with the lower platform 320 of the first translational rigidity simulation platform, and the translational guide rail group 402 of the second dynamic rigidity simulation platform is connected between the upper platform 403 of the second dynamic rigidity simulation platform and the lower platform 320 of the first translational rigidity simulation platform.
The translation of the input end of the flexible base in the direction of the translation guide rail group 402 is transmitted to the second transmission shaft 401 of the second dynamic stiffness simulation platform through the flexible base top cover plate 201 and the platform support frame of the first translational stiffness simulation platform, and then transmitted to the sliding component of the second dynamic stiffness simulation platform.
According to the embodiment of the invention, the motion is transmitted through the input end of the flexible base, the motion is transmitted and converted to the rigidity-changing mechanism by utilizing the mechanical structure, the rigidity of the flexible base on the motion freedom degree is adjusted in real time by changing the rigidity of the rigidity-changing mechanism in real time under the interference of the rigidity-changing mechanism, and the rigidity at the input end of the flexible base can be controlled through rigidity conversion. In this way, the stiffness of the boom is simulated as varying in real time during movement.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (9)
1. The controllable time-varying rigidity flexible base is characterized by comprising a flexible base input end, a rotational rigidity simulation platform and a translational rigidity simulation platform; wherein,
The rotation rigidity simulation platform comprises a flexible base top cover plate, a rotation transmission mechanism and a rotation rigidity changing mechanism, wherein the flexible base input end and the rotation rigidity changing mechanism are respectively arranged on the upper side and the lower side of the flexible base top cover plate, the flexible base input end is connected with the rotation rigidity changing mechanism, rotation input by the flexible base input end is transmitted to the rotation rigidity changing mechanism, the rotation rigidity changing mechanism is connected with the rotation transmission mechanism and is used for adjusting the rigidity of the rotation transmission mechanism in a mode of changing the position of a supporting point, so that the rotation rigidity of the flexible base input end is adjusted;
The translational rigidity simulation platform comprises a platform support frame, a translational transmission mechanism and a translational rigidity-changing mechanism, wherein the translational transmission mechanism is fixedly connected with the top cover plate of the flexible base, translational input by the input end of the flexible base is transmitted to the translational transmission mechanism, and the translational rigidity-changing mechanism is fixed on the platform support frame and connected with the translational transmission mechanism and is used for adjusting the rigidity of the translational transmission mechanism in a mode of changing the rigidity of a leaf spring, so that the translational rigidity of the input end of the flexible base is adjusted.
2. The flexible base of claim 1, wherein the rotation transmission mechanism comprises a first coupling and a flexible frame, the flexible frame comprises a frame body, a connecting shaft is formed on the surface of the frame body, three pairs of flexible sheets distributed at 120 degrees are formed on the side surface of the frame body, and the connecting shaft is connected with the input end of the flexible base through the first coupling.
3. The controllable, time-varying, stiffness flexible base of claim 2, wherein the rotational stiffness varying mechanism comprises a support base plate, three roller-slider assemblies, a cage, a stiffening motor, a second coupling, a shaft pinion, and a shaft bull gear; wherein,
The support bottom plate is fixed below the flexible base top cover plate through a connecting plate, the retainer is fixed on the support bottom plate through a support column and is positioned below the flexible framework, three long-strip-shaped sliding holes distributed at 120 degrees are formed in the retainer, and a boss is formed on the inner wall of each long-strip-shaped sliding hole;
The three roller slide block assemblies comprise a pressing block, a roller, a meshing slide block, a rack slide block and a linear guide rail, wherein the pressing block is fixed on the meshing slide block, the roller is rotationally connected with the pressing block and positioned between two opposite flexible sheets, an inclined slide groove is formed on the bottom surface of the meshing slide block, a straight slide groove which is in sliding fit with the boss is formed on the side surface of the meshing slide block, an inclined bulge which is in sliding fit with the inclined slide groove is arranged on the top surface of the rack slide block, and a straight rack is formed on the side surface of the rack slide block; the guide bearing piece of the linear guide rail is fixed on the supporting bottom plate, and the rack sliding block is fixed on the moving piece of the linear guide rail;
the rigidity adjusting motor is fixed on the bottom surface of the supporting bottom plate, an output shaft of the rigidity adjusting motor is connected with the shaft-bearing pinion through the second coupler, the shaft-bearing large gear is rotationally connected with the supporting bottom plate, and the shaft-bearing large gear is respectively meshed with the straight rack and the shaft-bearing pinion;
the rigidity adjusting motor drives the meshing sliding block to linearly slide along the long strip-shaped sliding hole of the retainer, so that the position of a supporting point where the roller contacts with two opposite flexible sheets is changed, and the rigidity of the rotation transmission mechanism is adjusted.
4. The controllable, time-varying, stiffness flexible base of claim 1 wherein the translational transfer mechanism comprises a translational guide set, a drive shaft, a slide assembly, a guide shaft, a guide slide, and a support spring; the bearing guide piece of the translation guide rail group is fixed on the platform support frame, and the moving piece of the translation guide rail group is fixedly connected with the flexible base top cover plate; the sliding assembly comprises a connecting sliding block, a translational sliding block and a translational sliding rail, the translational sliding rail is arranged in parallel with the translational sliding rail group, the number of the translational sliding blocks is two and is distributed on two sides of the connecting sliding block, and the two translational sliding blocks and the connecting sliding block linearly slide on the translational sliding rail; one end of the transmission shaft is fixed with the connecting sliding block, the other end of the transmission shaft is fixedly connected with the top cover plate of the flexible base, one end of the guide shaft is fixedly connected with the platform support frame, the other end of the guide shaft is fixedly connected with the bottom of the translation sliding rail, the guide sliding block is sleeved on the guide shaft and slides up and down along the guide shaft, the supporting spring is sleeved on the guide shaft, one end of the supporting spring is abutted to the bottom of the guide sliding block, and the other end of the supporting spring is abutted to the platform support frame.
5. The flexible base with controllable time-varying rigidity according to claim 4, wherein the translational rigidity-varying mechanism comprises a rigidity-adjusting cylinder, two linkage blocks rotationally connected with the platform support frame, and two pushing blocks, two linear bearing groups, two leaf springs, two first connecting rods, two second connecting rods, two third connecting rods and two fourth connecting rods symmetrically arranged along the guide slide block, the two pushing blocks horizontally slide along the two linear bearing groups, one ends of the two leaf springs are fixedly connected with the two pushing blocks respectively, the other ends of the two leaf springs are fixedly connected with two sides of the guide slide block respectively, one ends of the two first connecting rods are rotationally connected with two sides of one translational slide block respectively, one ends of the two first connecting rods are rotationally connected with two sides of one end of the guide slide block respectively, one ends of the two second connecting rods are rotationally connected with two sides of the other end of the guide slide block respectively, one ends of the two third connecting rods are rotationally connected with one ends of the two pushing blocks respectively, one ends of the two first connecting rods are rotationally connected with two ends of the two bending blocks respectively, one ends of the two first connecting rods are rotationally connected with two ends of the two translation rigidity-adjusting blocks respectively, and the other ends of the four translation rigidity-adjusting blocks are rotationally connected with two ends of the other end-adjusting cylinder respectively.
6. The flexible base of claim 5, wherein the leaf spring is comprised of two spring steel sheets with a cavity therebetween.
7. The flexible base with controllable time-varying rigidity according to claim 2, wherein the input end of the flexible base comprises a triangular connecting frame and a U-shaped frame, the triangular connecting frame is positioned above the U-shaped frame, and a connecting hole is formed in the triangular connecting frame and is used for being connected with a power source; the U-shaped frame comprises a flexible base top cover plate, a U-shaped frame body, a first coupler and a second coupler, wherein a table edge is outwards formed at two ends of the U-shaped frame body, the table edge is fixed on the flexible base top cover plate through screws, a rolling bearing is installed at the bottom of the U-shaped frame body, a rotating shaft is fixedly connected with the other end of the first coupler, the rotating shaft is fixedly connected with the triangular connecting frame body, and the rotating shaft is in running fit with the U-shaped frame body through the rolling bearing.
8. The flexible base with controllable time-varying rigidity according to claim 4, wherein the platform support comprises an upper platform and a lower platform, the upper platform is connected with the lower platform through a section bar support, a bearing guide of the translational guide rail group is fixed on the surface of the upper platform, the guide shaft, the rigidity adjusting cylinder and the linear bearing group are fixed on the surface of the lower platform, and the linkage block is connected with the section bar in a rotating manner.
9. The controllable time-varying stiffness flexible base according to claim 8, wherein the number of the translational stiffness simulation platforms is two, namely a first translational stiffness simulation platform and a second translational stiffness simulation platform, and the first translational stiffness simulation platform is orthogonally arranged with a translational guide rail group and a sliding component of the second translational stiffness simulation platform; and the translational guide rail group of the second translational rigidity simulation platform is connected between the lower platform of the first translational rigidity simulation platform and the upper platform of the second translational rigidity simulation platform.
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