CN118190309A - Translational stiffness simulation platform based on springs - Google Patents
Translational stiffness simulation platform based on springs Download PDFInfo
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- CN118190309A CN118190309A CN202410343271.0A CN202410343271A CN118190309A CN 118190309 A CN118190309 A CN 118190309A CN 202410343271 A CN202410343271 A CN 202410343271A CN 118190309 A CN118190309 A CN 118190309A
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- 238000004088 simulation Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims 1
- 125000006850 spacer group Chemical group 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 27
- 230000008859 change Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention relates to the technical field of space mechanics simulation, in particular to a translational stiffness simulation platform based on a spring, which comprises a translational input end, a platform support frame, a translational transmission mechanism and a translational stiffness variation mechanism, wherein the translational input end is fixed on the platform support frame, the platform support frame is respectively connected with the translational transmission mechanism and the translational stiffness variation mechanism, the translational motion input by the translational input end is transmitted to the platform support frame, the platform support frame translates under the action of the translational transmission mechanism, and the translational stiffness variation mechanism adjusts the self stiffness by changing the effective number of turns of the spring and acts on the platform support frame to realize the adjustment of the translational stiffness of the translational input end. The simulation platform provided by the invention can simulate the rigidity change of a single translational degree of freedom of the large arm in the motion process when the large arm and the small arm of the space station are combined on the ground, and counteracts the small arm, thereby laying a foundation for researching the disturbance motion law in the combined arm under the joint motion of the large 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 translational stiffness simulation platform based on springs.
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 translational stiffness of the presently designed flexible base is variable stiffness, but not variable stiffness that varies in real time. The translational rigidity of the base can be adjusted in advance, which accords with a certain configuration of the large arm, and then the small arm moves under the rigidity characteristic of the base, namely, the simulation is that: the big arm maintains a system scene that a certain configuration is fixed and the small arm moves, and the translational rigidity of the flexible 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.
Therefore, there is a need for a translational stiffness simulation platform capable of simulating real-time changes in translational stiffness.
Disclosure of Invention
The invention provides a translational stiffness simulation platform based on springs, which can simulate the simultaneous movement of the large arm and the small arm of a space station, and the large arm is used as a base of the small arm, so that the stiffness change of a single translational degree of freedom 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 rule generated in the combined arm under the common movement of the large arm and the small arm of the space station is researched.
The invention provides a spring-based translational stiffness simulation platform, which comprises a platform support frame, a translational input end, a translational transmission mechanism and a translational stiffness-changing mechanism; the translation transmission mechanism comprises a bottom plate and a guide rail group, the guide rail group comprises a slide rail and a slide block, the slide rail is fixed on the bottom plate, the slide block linearly slides on the slide rail, a translation input end is fixedly connected with the top surface of the platform support frame, and the bottom surface of the platform support frame is fixedly connected with the slide block; the translational rigidity-changing mechanism comprises a top cone seat and two rigidity-changing adjusting units, the two rigidity-changing adjusting units are respectively jacked to two sides of the top cone seat through top cones, and the top cone seat is fixedly arranged on the side face of the platform support frame; the two rigidity-changing adjusting units comprise a driving motor, a first coupling, ball splines, a rotating shaft, springs, a pedestal, clamping pieces, bearings, shaft sleeves and end covers, wherein the driving motor is fixed on a bottom plate; the pedestal comprises a T-shaped base and a sleeve, the T-shaped base is mounted on the bottom plate and fixedly connected with the sleeve, the sleeve is sleeved on the outer side of the spring, the clamping piece is fixedly connected with the sleeve and clamped into the spring, the output shaft of the driving motor is controlled to rotate, the output shaft is sequentially transmitted to the spring through a first coupling, a ball spline, a rotating shaft and a shaft sleeve, the spring is abutted against the clamping piece to rotate along the radial direction, the effective number of turns is changed, and the rigidity of the translational motion transmission mechanism is adjusted.
Preferably, the clamping piece is a limit bolt, an adjusting hole for adjusting the position of the limit bolt is formed in the sleeve, the head of the limit bolt is clamped at the outer side of the adjusting hole, and a screw rod of the limit bolt passes through the adjusting hole downwards and then is clamped into the spring.
Preferably, the clamping piece comprises a clamping cone and a clamping cone block which are of an integrated structure or a split structure, the clamping cone block is fixed on the sleeve through a fastening bolt, waist-shaped holes for the fastening bolt to adjust positions are respectively formed in the clamping cone block and the sleeve, the sleeve is further provided with an avoidance hole, and the clamping cone downwards penetrates through the avoidance hole and then is clamped into the spring.
Preferably, the T-shaped base is fixedly mounted on the bottom plate through a cushion block.
Preferably, the translational input end is a triangle connecting frame, and a connecting hole is formed on the triangle connecting frame and used for being connected with a power source.
Preferably, the platform support frame comprises an upper platform, a lower platform and a section bar frame, wherein the section bar frame is connected between the upper platform and the lower platform and is formed by connecting four section bars end to end, and the tip cone seat is fixed on the section bar frame.
Preferably, the drive motor is fixedly mounted on the base plate by a motor bracket.
Compared with the prior art, the simulation platform provided by the invention can simulate the rigidity change of a single translational degree of freedom of the large arm in the motion 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 motion law in the combined arm under the joint motion of the large arm and the small arm of the space station.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a spring-based translational stiffness simulation platform provided in accordance with an embodiment of the present invention;
Fig. 2 is a schematic diagram of the overall structure of a variable stiffness adjustment unit provided according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional structure of a variable stiffness adjustment unit according to an embodiment of the present invention.
Wherein reference numerals include: the upper platform 101, the lower platform 102, the profile frame 103, the triangular connecting frame 201, the connecting hole 202, the bottom plate 301, the sliding rail 302, the sliding block 303, the tip cone seat 401, the tip cone 402, the driving motor 403, the first coupling 404, the ball spline 405, the rotating shaft 406, the spring 407, the pedestal 408, the T-shaped base 409, the sleeve 410, the clamping piece 411, the clamping cone 412, the clamping cone block 413, the fastening bolt 414, the bearing 415, the shaft sleeve 416, the end cover 417, the motor bracket 418 and the cushion block 419.
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 translational stiffness simulation platform based on a spring, which can simulate the stiffness change of a combined arm in one translational degree of freedom when a large arm is used as a forearm base.
As shown in fig. 1-3, the translational stiffness simulation platform based on the spring comprises a platform support frame, a translational input end, a translational transmission mechanism and a translational stiffness varying mechanism, wherein the translational input end is fixed on the platform support frame, the platform support frame is respectively connected with the translational transmission mechanism and the translational stiffness varying mechanism, the translational transmission mechanism is connected with the platform support frame, the translational motion input by the translational input end is transmitted to the platform support frame, the platform support frame translates in a single degree of freedom under the action of the translational transmission mechanism, and the translational stiffness varying mechanism adjusts the self stiffness by changing the effective number of turns of the spring and acts on the platform support frame so as to change the translational stiffness of the single degree of freedom of the translational input end and realize the adjustment of the translational stiffness of the translational input end.
The platform support frame comprises an upper platform 101, a lower platform 102 and a section bar frame 103, wherein the section bar frame 103 is supported between the upper platform 101 and the lower platform 102, and the section bar frame 103 is formed by connecting four section bars end to end.
The translational input end is a triangle connecting frame 201, and a connecting hole 202 is formed in the triangle connecting frame 201 and is used for being connected with an external power source, and translational motion is input to the translational input end by the power source so as to simulate single horizontal translational motion of the forearm.
The translation transmission mechanism comprises a bottom plate 301 and a guide rail group, the guide rail group comprises a slide rail 302 and a slide block 303, the slide rail 302 is fixed on the bottom plate 301, the slide block 303 linearly slides on the slide rail 302, the triangular connecting frame 201 is fixed on the surface of the upper platform 101, the bottom surface of the lower platform 102 is fixedly connected with the slide block 303, and when the triangular connecting frame 201 inputs translation, the platform supporting frame linearly moves along the slide rail 302.
The translational rigidity-variable mechanism comprises a top cone seat 401 and two rigidity-variable adjusting units with the same structure, wherein top cone holes are respectively processed on two opposite surfaces of the top cone seat 401 and are used for installing a top cone 402, the two rigidity-variable adjusting units are respectively abutted to the two top cones 402, the top cone seat 401 is fixed on a profile frame 103, the profile frame 103 is subjected to acting forces in two directions, namely, the translational movement of the profile frame 103 is interfered by the two rigidity-variable adjusting units. The translational rigidity of the translational input end is controllable and time-varying by changing the output rigidity of the variable rigidity adjusting unit in real time.
The variable stiffness adjusting unit comprises a driving motor 403, a first coupling 404, ball splines 405, a rotating shaft 406, a spring 407, a pedestal 408, a clamping piece 411, a bearing 415, a shaft sleeve 416 and an end cover 417, wherein the driving motor 403 is fixed on a bottom plate 301 through a motor bracket 418, an output shaft of the driving motor 403 is connected with a spline shaft of the ball splines 405 through the first coupling 404, a flange of the ball splines 405 is connected with the rotating shaft 406, the shaft sleeve 416 is sleeved at the end part of the rotating shaft 406, the spring 407 and the bearing 415 are respectively sleeved at two ends of the shaft sleeve 416, the end cover 417 is sleeved on the shaft sleeve 416 and is positioned at the outer side of the spring 407 and the bearing 415, the end cover 417 is abutted against a tip cone 402, an inner ring of the bearing 415 is contacted with the shaft sleeve 416, and an outer ring of the bearing 415 is contacted with the end cover 417; the pedestal 408 comprises a T-shaped pedestal 409 and a sleeve 410 which are integrally or separately arranged, the T-shaped pedestal 409 is fixedly arranged on the bottom plate 301 through a cushion block 419 to realize the supporting and fixing of the sleeve 410, the cushion block 419 plays a role of raising the pedestal 408, and the sleeve 410 is sleeved on the outer side of the spring 407; the clamping piece 411 comprises a clamping cone 412 and a clamping cone block 413 which are of an integral structure or a split structure, the clamping cone block 413 is fixed on the outer side of the sleeve 410 through a fastening bolt 414, and the clamping cone 412 passes through the sleeve 410 and is clamped into the spring 407; the output shaft of the driving motor 403 is controlled to rotate, the output shaft is sequentially transmitted to the spring 407 through the first coupler 404, the ball spline 405, the rotating shaft 406 and the shaft sleeve 416, and the spring 407 is abutted against the clamping cone 412 to rotate along the radial direction, so that the effective number of turns of the spring 407 is changed, and the time-varying rigidity output of the end cover 417 to the top cone seat 401 is realized.
In order to adjust the position of the clamping cone 412, waist-shaped holes for adjusting the position of the fastening bolt 414 are respectively formed in the clamping cone block 413 and the sleeve 410, and an avoidance hole is formed in the sleeve 410, and the clamping cone 412 passes through the avoidance hole downwards and then is clamped into the spring 407.
Alternatively, the clamping member 411 may also be a limit bolt, in which an adjusting hole is formed in the sleeve 410, the head of the limit bolt is clamped at the outer side of the adjusting hole, and the screw of the limit bolt passes through the adjusting hole downwards and then is clamped into the spring 407, and is locked on the sleeve 410 by a nut.
According to the embodiment of the invention, the translational motion is transmitted through the translational motion input end, the translational motion is transmitted to the translational motion rigidity-changing mechanism through the platform support frame and the translational motion transmission mechanism, and the rigidity of the translational motion input end on the translational motion freedom degree is adjusted in real time by changing the rigidity of the translational motion rigidity-changing mechanism in real time under the interference of the translational motion rigidity-changing mechanism. In this way, the translational stiffness, which varies in real time during the movement of the boom, is simulated.
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 (7)
1. The translational stiffness simulation platform based on the springs is characterized by comprising a platform support frame, a translational input end, a translational transmission mechanism and a translational stiffness variation mechanism; wherein,
The translation transmission mechanism comprises a bottom plate and a guide rail group, the guide rail group comprises a slide rail and a slide block, the slide rail is fixed on the bottom plate, the slide block linearly slides on the slide rail, the translation input end is fixedly connected with the top surface of the platform support frame, and the bottom surface of the platform support frame is fixedly connected with the slide block;
The translation rigidity-changing mechanism comprises a top cone seat and two rigidity-changing adjusting units, the two rigidity-changing adjusting units are respectively jacked to two sides of the top cone seat through top cones, and the top cone seat is fixedly arranged on the side face of the platform support frame; the two rigidity-changing adjusting units comprise a driving motor, a first coupling, ball splines, a rotating shaft, springs, a pedestal, clamping pieces, bearings, shaft sleeves and end covers, wherein the driving motor is fixed on the bottom plate, an output shaft of the driving motor is connected with a spline shaft of the ball splines through the first coupling, a flange of the ball splines is connected with the rotating shaft, the shaft sleeves are sleeved at the end parts of the rotating shaft, the springs and the bearings are respectively sleeved at the two ends of the shaft sleeves, the end covers are sleeved at the outer sides of the springs and the bearings, and top cone holes matched with the top cones are respectively formed on the end covers and the top cone seats; the pedestal comprises a T-shaped base and a sleeve, the T-shaped base is mounted on the bottom plate and is fixedly connected with the sleeve, the sleeve is sleeved on the outer side of the spring, the clamping piece is fixedly connected with the sleeve and is clamped into the spring, the rotation of an output shaft of the driving motor is controlled, the rotation of the output shaft of the driving motor is sequentially transmitted to the spring through a first coupler, a ball spline, a rotating shaft and a shaft sleeve, the spring is abutted to the clamping piece to rotate along the radial direction, the effective number of turns is changed, and the rigidity of the translational transmission mechanism is adjusted.
2. The translational stiffness simulation platform based on the spring according to claim 1, wherein the clamping piece is a limit bolt, an adjusting hole for adjusting the position of the limit bolt is formed in the sleeve, the head of the limit bolt is clamped at the outer side of the adjusting hole, and a screw rod of the limit bolt passes through the adjusting hole downwards and is clamped into the spring.
3. The translational stiffness simulation platform based on a spring according to claim 1, wherein the clamping piece comprises a clamping cone and a clamping cone block which are of an integral structure or a split structure, the clamping cone block is fixed on the sleeve through a fastening bolt, waist-shaped holes for the fastening bolt to adjust positions are respectively formed in the clamping cone block and the sleeve, avoidance holes are further formed in the sleeve, and the clamping cone is clamped into the spring after downwards penetrating through the avoidance holes.
4. The spring-based translational stiffness simulation platform of claim 1, wherein the T-shaped base is fixedly mounted on the base plate by a spacer.
5. The spring-based translational stiffness simulation platform of claim 1, wherein the translational input end is a triangular connecting frame, and a connecting hole is formed in the triangular connecting frame and is used for being connected with a power source.
6. The spring-based translational stiffness simulation platform of claim 5, wherein the platform support comprises an upper platform, a lower platform and a profile frame, the profile frame is connected between the upper platform and the lower platform, the profile frame is formed by connecting four profiles end to end, and the tip cone seat is fixed on the profile frame.
7. The spring-based translational stiffness simulation platform of claim 1, wherein the drive motor is fixedly mounted to the base plate by a motor mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410343271.0A CN118190309A (en) | 2024-03-25 | 2024-03-25 | Translational stiffness simulation platform based on springs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410343271.0A CN118190309A (en) | 2024-03-25 | 2024-03-25 | Translational stiffness simulation platform based on springs |
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| Publication Number | Publication Date |
|---|---|
| CN118190309A true CN118190309A (en) | 2024-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410343271.0A Pending CN118190309A (en) | 2024-03-25 | 2024-03-25 | Translational stiffness simulation platform based on springs |
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| Country | Link |
|---|---|
| CN (1) | CN118190309A (en) |
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- 2024-03-25 CN CN202410343271.0A patent/CN118190309A/en active Pending
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