CN118190310A - Traction type torsional rigidity simulation platform based on rope drive - Google Patents
Traction type torsional rigidity simulation platform based on rope drive Download PDFInfo
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- CN118190310A CN118190310A CN202410343275.9A CN202410343275A CN118190310A CN 118190310 A CN118190310 A CN 118190310A CN 202410343275 A CN202410343275 A CN 202410343275A CN 118190310 A CN118190310 A CN 118190310A
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Abstract
The invention relates to the technical field of space mechanics simulation, in particular to a traction type torsional rigidity simulation platform based on rope driving, which comprises a rotation input end, an input end cover plate, a support bottom, a motion conversion mechanism and a rotation rigidity changing mechanism; the motion conversion mechanism is connected with the rotation input end through a coupler and is used for converting the rotation of the rotation input end into translation diffused to the periphery; the rotation rigidity-changing mechanism changes the pretightening force of the motion conversion mechanism, so that the rotation rigidity of the motion conversion mechanism and the rotation input end is adjusted. The simulation platform provided by the invention can simulate the real-time change of the rotation rigidity 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 generated 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, in particular to a traction type torsional rigidity simulation platform based on rope driving.
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 rotational stiffness of the flexible base of the present designs is variable but not variable in real time. The base can only be adjusted in advance to conform to the rotation rigidity of the large arm under a certain configuration, 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 rotation 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 can not be simulated.
Therefore, there is a need for a rotational stiffness simulation platform that can simulate real-time changes in rotational stiffness.
Disclosure of Invention
The invention aims to solve the problems, and provides a traction type torsional rigidity simulation platform based on rope drive, which can simulate the simultaneous movement of the large arm and the small arm of a space station, wherein the large arm is used as a base of the small arm, and the rotation rigidity change caused by the configuration change in the movement process of the large arm is changed, so that the disturbance movement law generated in the combined arm under the common movement of the large arm and the small arm of the space station is studied.
The invention provides a traction type torsional rigidity simulation platform based on rope drive, which comprises a rotation input end, an input end cover plate, a support bottom plate, a motion conversion mechanism and a rotation rigidity changing mechanism; the motion conversion mechanism is connected with the rotation input end through a coupler and is used for converting the rotation of the rotation input end into translation diffused to the periphery; the rotation rigidity-changing mechanism coaxially controls the motion conversion mechanism, and the pretightening force of the rotation rigidity-changing mechanism on the motion conversion mechanism is controlled in real time, so that the motion rigidity of the motion conversion mechanism is controlled.
Further, the motion conversion mechanism comprises a rotary support frame, a traction turntable, a connecting rod and a translational sliding rail, and a connecting sliding block matched with the translational sliding rail; the rotary support frame comprises a rotary support table, a rotary support arm and at least two rotary support frame bases, and the rotary support table and the rotary support arm are of an integrated structure; the number of the rotary support arms is consistent with that of the rotary support frame base, one ends of the rotary support arms are uniformly arranged on the circumference of the rotary support table, and the other ends of the rotary support arms are arranged on the rotary support frame base, so that the rotary support frame base can jack up the rotary support table through the rotary support arms;
The translation sliding rails are consistent with the rotation supporting arms in number and are arranged on the rotation supporting arms; the rotary input end is coaxially connected with the traction turntable through a coupler, and the connecting sliding block is connected with the traction turntable through a connecting rod, so that the rotation of the rotary input end is converted into the translation of the connecting sliding block on the translation sliding rail through the traction turntable through the connecting rod.
Further, the rotary rigidity-changing mechanism comprises a rotary guide wheel, a rotary rope collecting wheel, a belt pulley, a tensioning wheel and a rotary rigidity-adjusting motor; wherein,
The number of the belt pulleys and the tensioning wheels is consistent with that of the rotating support frame bases, the belt pulleys are sleeved on the rotating support frame bases and lower than the rotating support arms, and the belt sleeved on and connected with the belt pulleys is lower than the rotating support arms; the tensioning wheels are consistent in height with the belt pulleys and are uniformly distributed along the circumferential direction of the rotary supporting table, so that the belt is pressed by the tensioning wheels towards the rotary supporting table;
The rotating rigidity-adjusting motor is fixed on the supporting bottom plate, the output end of the rotating rigidity-adjusting motor is connected with the worm through the coupler, the worm is meshed with the worm wheel arranged on the belt pulley, the rotating rigidity-adjusting motor controls the rotation of the belt pulley through the cooperation of the worm and the worm wheel, and further controls the rotation of other belt pulleys through the belt;
The number of the rotating rope collecting wheels is consistent with that of the belt pulleys, and the rotating rope collecting wheels and the belt pulleys are coaxially arranged on a base of the rotating support frame, so that the belt pulleys drive the rotating rope collecting wheels to synchronously rotate; the number of the rotating guide wheels is consistent with that of the rotating rope collecting wheels, and the rotating guide wheels are installed on the rotating support arm close to the rotating rope collecting wheels;
The connecting slide block is fixedly provided with a spring steel wire rope connected with a rotating rope collecting wheel on the base of the adjacent rotating support frame, and the rotating rigidity adjusting motor adjusts the pretightening force of the spring steel wire rope through the belt pulley and the rotating rope collecting wheel so as to adjust the rotating rigidity of the rotating input end.
Further, one end of the spring wire rope is fixed on the connecting sliding block, and the other end of the spring wire rope bypasses the rotating guide wheel to be fixed on the rotating rope collecting wheel on the base of the adjacent rotating support frame.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a traction type torsional rigidity simulation platform based on rope drive, which can simulate the change of rotational rigidity of a big arm in the movement process when the big arm and the small arm of a space station are combined on the ground and react to the small arm, thereby laying a foundation for researching the disturbance movement law in the combined arm under the joint movement of the big arm and the small arm of the space station.
Drawings
FIG. 1 is a schematic structural diagram of a rope drive-based pull-type torsional stiffness simulation platform provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a combined structure of a rotational input, a motion conversion mechanism, and a rotational stiffness varying mechanism provided by an embodiment of the present invention;
FIG. 3 is a top view of a combined structure of a motion translating mechanism and a rotational stiffness varying mechanism provided in accordance with an embodiment of the present invention;
FIG. 4 is a side view of a combined structure of a base motion conversion mechanism and a rotational stiffness varying mechanism provided in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of a rope drive-based pull-type torsional stiffness simulation platform provided according to an embodiment of the present invention.
Reference numerals: the device comprises a rotary input end 1, an input end cover plate 2, a motion conversion mechanism 3, a rotary support frame 3-1, a rotary support table 3-1-1, a rotary support arm 3-1-2, a rotary support frame base 3-1-3, a traction rotary table 3-2, a connecting rod 3-3, a translational sliding rail 3-4, a connecting sliding block 3-5, a rotary rigidity-changing mechanism 4, a rotary guide wheel 4-1, a rotary rope collecting wheel 4-2, a belt pulley 4-3, a tensioning wheel 4-4, a rotary rigidity-adjusting motor 4-5, a belt 4-6, a support bottom plate 5 and a spring steel wire rope 6.
Detailed Description
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.
According to the traction type torsional rigidity simulation platform based on the rope drive, the motion conversion mechanism finishes the conversion of rotation of the rotation input end into the translation which is diffused to the periphery, and simultaneously controls the pretightening force of the rotation rigidity conversion mechanism in the translation direction through the real-time control of the rotation rigidity conversion mechanism, so that the rotation rigidity of the rotation input end is controlled.
Fig. 1 shows an overall structure of a traction type torsional rigidity simulation platform based on rope driving provided by the embodiment of the invention, and fig. 2 shows a combined structure of a rotation input end, a motion conversion mechanism and a rotation rigidity changing mechanism provided by the embodiment of the invention.
As shown in fig. 1 to 2, the traction type torsional rigidity simulation platform based on rope driving provided by the embodiment of the invention comprises a rotation input end 1, an input end cover plate 2, a motion conversion mechanism 3, a rotation rigidity changing mechanism 4 and a support bottom plate 5.
The rotary input end 1 is mounted on the top surface of the input end cover plate 2 through a supporting table, and the motion conversion mechanism 3 is connected with the rotary input end 1 through a coupler; the motion conversion mechanism 3 is coaxially arranged on the rotation rigidity-changing mechanism 4, and the rotation rigidity-changing mechanism 4 is arranged on the supporting bottom plate 5. The supporting bottom plate 5 is connected with the bottom surface of the input end cover plate 2 through a connecting frame.
The motion conversion mechanism 3 comprises a rotary support frame 3-1, a traction turntable 3-2, a connecting rod 3-3 and a translational sliding rail 3-4, and a connecting sliding block 3-5 matched with the translational sliding rail 3-4.
The rotary support frame 3-1 comprises a rotary support table 3-1-1, a rotary support arm 3-1-2 and at least two rotary support frame bases 3-1-3, and the rotary support table 3-1-1 and the rotary support arm 3-1-2 are of an integrated structure.
Fig. 3 and 4 show a top view structure and a side view structure, respectively, of a combination of a motion conversion mechanism and a rotational stiffness varying mechanism provided according to an embodiment of the present invention.
As shown in fig. 1 to 4, the number of the rotary support arms 3-1-2 is identical to that of the rotary support frame bases 3-1-3, one ends of the rotary support arms 3-1-2 are uniformly arranged on the circumference of the rotary support table 3-1-1, and the other ends of the rotary support arms 3-1-2 are mounted on the rotary support frame bases 3-1-3, so that the rotary support frame bases 3-1-3 erect the rotary support table 3-1-1 through the rotary support arms 3-1-2. The number of the translation sliding rails 3-4 is the same as that of the rotation supporting arms 3-1-2, and the translation sliding rails are arranged on the rotation supporting arms 3-1-2.
In the embodiment of the present invention, the number of the rotary support arms 3-1-2 is 3, and the included angle between each two rotary support arms 3-1-2 is 120 °.
The rotary input end 1 is coaxially connected with the traction turntable 3-2 through a coupler, and the connecting slide block 3-5 is connected with the traction turntable 3-2 through a connecting rod 3-3, so that the rotation of the rotary input end 1 is converted into the translation of the connecting slide block 3-5 on the translation sliding rail 3-4 through the traction turntable 3-2 through the connecting rod 3-3.
The rotary rigidity-changing mechanism 4 comprises a rotary guide wheel 4-1, a rotary rope collecting wheel 4-2, a belt pulley 4-3, a tensioning wheel 4-4 and a rotary rigidity-adjusting motor 4-5.
The number of the belt pulleys 4-3 and the tensioning wheels 4-4 is consistent with that of the bases of the rotary support frames 3-1, the belt pulleys 4-3 are sleeved on the bases 3-1-3 of the rotary support frames and lower than the rotary support arms 3-1-2, and the belt 4-6 sleeved on and connected with the belt pulleys 4-3 is lower than the rotary support arms 3-1-2; the tensioning wheels 4-4 are in the same height with the belt pulleys 4-3 and are uniformly distributed along the circumferential direction of the rotary supporting table 3-1-1, so that the tensioning wheels 4-4 press the belt 4-6 towards the direction of the rotary supporting table 3-1-1.
The rotation rigidity-adjusting motor 4-5 is fixed on the supporting bottom plate 5, the output end of the rotation rigidity-adjusting motor 4-5 is connected with a worm through a coupler, the worm is meshed with a worm wheel arranged on any belt pulley 4-3, the rotation rigidity-adjusting motor 4-5 controls the rotation of the belt pulley 4-3 through the cooperation of the worm and the worm wheel, and further the rotation of other belt pulleys 4-3 is controlled through a belt 4-6.
The number of the rotating rope collecting wheels 4-2 is consistent with that of the belt pulleys 4-3, and the rotating rope collecting wheels are coaxially arranged on the rotating support frame base 3-1-3 with the belt pulleys 4-3, so that the belt pulleys 4-3 drive the rotating rope collecting wheels 4-2 to synchronously rotate; the number of the rotary guide wheels 4-1 is consistent with that of the rotary rope collecting wheels 4-2, and the rotary rope collecting wheels 4-2 are arranged on the rotary supporting arm 3-1-2 near the rotary rope collecting wheels.
The connecting slide block 3-5 is provided with a spring steel wire rope 6 connected with the rotating rope collecting wheel 4-2 on the adjacent rotating support frame base 3-1-3, and the specific installation mode is that one end of the spring steel wire rope 6 is fixed on the connecting slide block 3-5, and the other end of the spring steel wire rope 6 bypasses the rotating guide wheel 4-1 and is fixed on the rotating rope collecting wheel 4-2 on the adjacent rotating support frame base 3-1-3.
Fig. 5 illustrates the principle of a rope-drive-based pull-type torsional rigidity simulation platform provided according to an embodiment of the present invention.
As shown in fig. 2 to 5, when the rotation input end 1 drives the traction turntable 3-2 to rotate through the coupling, the rotation of the traction turntable 3-2 is converted into the linear motion of the connecting slide block 3-5 along the translation slide rail 3-4 through the connecting rod 3-3. When the rotation rigidity adjusting motor 4-5 is started, the rotation rigidity adjusting motor 4-5 drives the worm wheel and the worm to rotate through the coupler, so that the belt pulley 4-3 is driven, the rotation rope collecting wheels 4-2 are further caused to be linked, the rotation rope collecting wheels 4-2 tighten the spring steel wire ropes 6, the pretightening force of the spring steel wire ropes 6 is further changed, and therefore the rotation rigidity of the traction turntable 3-2 is changed, and the rotation rigidity of the rotation input end 1 is controllable and time-varying.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (4)
1. The traction type torsional rigidity simulation platform based on the rope drive comprises a rotation input end, an input end cover plate and a support bottom plate, and is characterized by further comprising a motion conversion mechanism and a rotation rigidity changing mechanism; the motion conversion mechanism is connected with the rotation input end through a coupler and is used for converting rotation of the rotation input end into translation diffused to the periphery; the rotation rigidity-changing mechanism coaxially controls the motion conversion mechanism, and the motion rigidity of the motion conversion mechanism is controlled by controlling the pretightening force of the rotation rigidity-changing mechanism on the motion conversion mechanism in real time.
2. The rope-driven traction type torsional rigidity simulation platform according to claim 1, wherein the motion conversion mechanism comprises a rotary support frame, a traction turntable, a connecting rod and a translational sliding rail, and a connecting sliding block matched with the translational sliding rail; wherein,
The rotary support frame comprises a rotary support table, a rotary support arm and at least two rotary support frame bases, and the rotary support table and the rotary support arm are of an integrated structure; the number of the rotary support arms is consistent with that of the rotary support frame bases, one ends of the rotary support arms are uniformly arranged on the circumference of the rotary support table, and the other ends of the rotary support arms are arranged on the rotary support frame bases, so that the rotary support frame bases lift the rotary support table through the rotary support arms;
The translation sliding rails are consistent with the rotation supporting arms in number and are arranged on the rotation supporting arms; the rotary input end is coaxially connected with the traction turntable through a coupler, and the connecting sliding block is connected with the traction turntable through a connecting rod, so that the rotation of the rotary input end is converted into the translation of the connecting sliding block on the translation sliding rail through the traction turntable through the connecting rod.
3. The rope-drive-based traction type torsional rigidity simulation platform according to claim 2, wherein the rotary rigidity-changing mechanism comprises a rotary guide wheel, a rotary rope collecting wheel, a belt pulley, a tensioning wheel and a rotary rigidity-adjusting motor; wherein,
The number of the belt pulleys and the tension pulleys is consistent with that of the rotating support frame bases, the belt pulleys are sleeved on the rotating support frame bases and lower than the rotating support arms, and the belt sleeved on and connected with the belt pulleys is lower than the rotating support arms; the tensioning wheels are consistent in height with the belt pulleys and are uniformly distributed along the circumferential direction of the rotating supporting table, so that the belt is tightly pressed by the tensioning wheels towards the rotating supporting table;
The rotating rigidity-adjusting motor is fixed on the supporting bottom plate, the output end of the rotating rigidity-adjusting motor is connected with a worm through a coupler, the worm is meshed with a worm wheel arranged on the belt pulley, the rotating rigidity-adjusting motor controls the rotation of the belt pulley through the cooperation of the worm and the worm wheel, and further controls the rotation of other belt pulleys through the belt;
The number of the rotating rope collecting wheels is consistent with that of the belt pulleys, and the rotating rope collecting wheels and the belt pulleys are coaxially arranged on the base of the rotating support frame, so that the belt pulleys drive the rotating rope collecting wheels to synchronously rotate; the number of the rotating guide wheels is consistent with that of the rotating rope winding wheels, and the rotating guide wheels are installed on the rotating support arm close to the rotating rope winding wheels;
The connecting slide block is fixedly provided with a spring steel wire rope connected with a rotating rope collecting wheel on an adjacent rotating support frame base, and the rotating rigidity adjusting motor adjusts the pretightening force of the spring steel wire rope through the belt pulley and the rotating rope collecting wheel so as to adjust the rotating rigidity of the rotating input end.
4. A rope drive based traction type torsional rigidity simulation platform according to claim 3, wherein one end of the spring wire rope is fixed on the connecting sliding block, and the other end of the spring wire rope bypasses the rotating guide wheel and is fixed on a rotating rope collecting wheel on an adjacent rotating support frame base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410343275.9A CN118190310A (en) | 2024-03-25 | 2024-03-25 | Traction type torsional rigidity simulation platform based on rope drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410343275.9A CN118190310A (en) | 2024-03-25 | 2024-03-25 | Traction type torsional rigidity simulation platform based on rope drive |
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| CN118190310A true CN118190310A (en) | 2024-06-14 |
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| CN202410343275.9A Pending CN118190310A (en) | 2024-03-25 | 2024-03-25 | Traction type torsional rigidity simulation platform based on rope drive |
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