CN118239013A - Variable moment type translational rigidity simulation platform - Google Patents
Variable moment type translational rigidity simulation platform Download PDFInfo
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- CN118239013A CN118239013A CN202410343283.3A CN202410343283A CN118239013A CN 118239013 A CN118239013 A CN 118239013A CN 202410343283 A CN202410343283 A CN 202410343283A CN 118239013 A CN118239013 A CN 118239013A
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Abstract
The invention relates to the technical field of space mechanics simulation, in particular to a variable-torque translational stiffness simulation platform, which comprises a translational input end, an input end cover plate, a translational stiffness mechanism, a platform bottom plate, a guide rail group and a sliding assembly, wherein the translational input end cover plate is arranged on the platform bottom plate; the translational rigidity-changing mechanism, the guide rail group, the sliding assembly and the translational rigidity-changing mechanism are all arranged on the platform bottom plate, the translational rigidity-changing mechanisms are respectively positioned at two ends of the sliding assembly and are in close contact with the sliding assembly, the self rigidity is adjusted by controlling the change of the moment of the translational rigidity-changing mechanism through a motor, and the translational rigidity of the translational rigidity-changing mechanism acts on the input end cover plate to realize the adjustment of the translational rigidity 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, in particular to a variable-moment type translational stiffness simulation platform.
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 aims to solve the problems, and provides a variable-moment translational stiffness simulation platform which can simulate the simultaneous movement of a large arm and a small arm of a space station, wherein the large arm is used as a base of the small arm, and the stiffness change of a single translational degree of freedom caused by the configuration change in the movement process of the large arm is utilized, so that the disturbance movement law generated in a combined arm under the common movement of the large arm and the small arm of the space station is researched.
The invention provides a variable-torque type translational rigidity simulation platform, which comprises a translational input end, an input end cover plate, a translational rigidity mechanism, a platform bottom plate, a guide rail group and a sliding assembly, wherein the translational rigidity mechanism is arranged on the platform bottom plate; the number of the translational rigidity-changing mechanisms is not less than two, the guide rail groups, the sliding assemblies and the translational rigidity-changing mechanisms are all arranged on the platform bottom plate, and the number of the sliding assemblies is consistent with the number of the translational rigidity-changing mechanisms; each group of translation rigidity-changing mechanisms comprises two translation rigidity-changing mechanisms which are respectively positioned at two ends of the sliding component and are in close contact with the sliding component, so that the translation rigidity of the input end cover plate is adjusted in real time by the two translation rigidity-changing mechanisms through the sliding component; the two guide rail groups are parallel to the sliding component and fixed at two ends of the platform bottom plate, and the input end cover plate moves on the guide rail groups through the heightening frame.
Further, the translational rigidity-changing mechanism comprises an arc track, a track rotation center column, an inscription sliding block, a guiding connecting arm, a guiding connecting rod, a pressure spring, a motor, a rigidity-adjusting rotation center column, a bevel gear set and a linear bearing; wherein,
The track rotation center column is fixed on the platform bottom plate; one end of the arc track is tightly contacted with the sliding component, and the other end of the arc track is fixedly connected with the track rotation center column, so that the sliding component extrudes the arc track, and the arc track rotates around the track rotation center column;
The motor drives the output end of the rigid regulating rotation center column to rotate through the bevel gear group;
The fixed end of the guide connecting arm is fixedly connected with the output end of the rigid adjusting rotation center column, and the movable end of the guide connecting arm is provided with a mounting piece for mounting the guide connecting rod;
one end of the linear bearing is fixed on the guide connecting arm, and the other end of the linear bearing is connected with the guide connecting rod, so that the guide connecting rod can be subjected to telescopic adjustment along the linear bearing;
the installation side of the internal connecting sliding block is arranged on the guide connecting rod; the movable side of the inscription slide block is matched with the inner wall of the circular arc track, so that the inscription slide block drives the guide connecting rod to move along the inner wall of the circular arc track;
One end of the pressure spring is fixed on the fixed end of the guide connecting arm, and the other end of the pressure spring is connected with the guide connecting rod, so that the motor can control the rigid-adjusting rotation center column in real time to complete moment adjustment of the pressure spring, and meanwhile, the motor is matched with the compression spring in a telescopic way, so that the translational rigidity of the translational input end is controlled in real time through the sliding component.
Further, the sliding assembly comprises a connecting sliding block and a translational sliding rail, the translational sliding rail is fixed on the platform bottom plate, the transmission shaft is fixed on the connecting sliding block, a roller is sleeved on the transmission shaft, one end of the arc rail is in close contact with the roller, and when the transmission shaft drives the connecting sliding block to translate on the translational sliding rail, the roller rolls and extrudes the arc rail, so that the arc rail rotates around the rail revolution center column.
Further, the guide rail group comprises a translation guide rail and a translation sliding block, and the translation guide rail is parallel to the translation sliding rail and is fixed at two ends of the platform bottom plate; the input end cover plate is arranged on the translation sliding block through the heightening frame, so that the translation sliding block is matched with the translation guide rail to drive the input end cover plate to translate.
Compared with the prior art, the invention has the following beneficial effects:
The variable-moment translational stiffness simulation platform provided by the invention can simulate the stiffness 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. The variable-moment translational stiffness simulation platform provided by the invention can change the direction of the pretightening force and laminate the layers one by one, so that the translational stiffness adjustment with multiple degrees of freedom is realized.
Drawings
FIG. 1 is an external overall structure diagram of a variable moment type translational stiffness simulation platform provided according to an embodiment of the invention;
FIG. 2 is an internal structural diagram of a variable moment translational stiffness simulation platform provided according to an embodiment of the present invention;
FIG. 3 is an overall block diagram of a translational stiffness varying mechanism provided in accordance with an embodiment of the present invention;
FIG. 4 is a top view block diagram of a translational stiffness varying mechanism provided in accordance with an embodiment of the present invention;
Fig. 5 is a schematic diagram of a translational stiffness varying mechanism provided in accordance with an embodiment of the present invention.
Reference numerals: the device comprises a translation input end 1, an input end cover plate 2, a sliding component 3, a guide rail group 4, a translation rigidity-changing mechanism 5, an arc track 5-1, a track rotation center column 5-2, an inscription sliding block 5-3, a guide connecting arm 5-4, a guide connecting rod 5-5, a pressure spring 5-6, a motor 5-7, a rigidity-adjusting rotation center column 5-8, a bevel gear set 5-9, a linear bearing 5-10, a platform bottom plate 6 and a transmission shaft 7.
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.
The variable-moment translational stiffness simulation platform provided by the invention changes the moment of the translational stiffness mechanism in real time, so that the translational stiffness of the translational input end is controlled in real time through the input end cover plate.
Fig. 1 and 2 show the external and internal overall structures of a variable moment translational stiffness simulation platform provided according to an embodiment of the invention, respectively.
As shown in fig. 1 and fig. 2, the variable moment type translational stiffness simulation platform provided by the embodiment of the invention comprises a translational input end 1, an input end cover plate 2, a sliding assembly 3, two guide rail groups 4, a translational stiffness mechanism 5 and a platform bottom plate 6. In the embodiment of the invention, the number of the translational rigidity-changing mechanisms 5 is two.
The guide rail group 4, the sliding component 3 and the translational rigidity-changing mechanisms 5 are all arranged on the platform bottom plate 6, and the two translational rigidity-changing mechanisms 5 are respectively positioned at two ends of the sliding component 3 and are in contact with the sliding component 3, so that the translational rigidity of the input end cover plate 2 is adjusted in real time by the two translational rigidity-changing mechanisms 5 through the sliding component 3 and the transmission shaft 7 on the sliding component 3. Two guide rail sets 4 are parallel to the slide assembly 3 and fixed at both ends of the platform floor 6, and the input end cover plate 2 is moved on the guide rail sets 4 by the height increasing frame.
The sliding component 3 comprises a connecting slide block and a translational slide rail, the translational slide rail is fixed on a platform bottom plate 6, a transmission shaft 7 is fixed on the connecting slide block, and a roller wheel closely contacted with the translational rigidity-changing mechanism 5 is sleeved on the transmission shaft 7, when the transmission shaft 7 drives the connecting slide block to translate on the translational slide rail, the roller wheel on the connecting slide block rolls, extrudes and translates the rigidity-changing mechanism 5 to rotate.
The guide rail group 4 comprises a translation guide rail and a translation sliding block, and the translation guide rail is parallel to the translation sliding rail and is fixed at two ends of the platform bottom plate 6. The input end cover plate 2 is arranged on the translation sliding block through the heightening frame, so that the translation sliding block is matched with the translation guide rail to drive the input end cover plate 2 to translate.
Fig. 3 and 4 show an overall structure and a top view structure of a translational rigidity-varying mechanism provided according to an embodiment of the present invention, respectively.
As shown in fig. 3 and 4, the translational rigidity-changing mechanism 5 comprises an arc track 5-1, a track rotation center column 5-2, an inscription sliding block 5-3, a guiding connecting arm 5-4, a guiding connecting rod 5-5, a pressure spring 5-6, a motor 5-7, a rigidity-adjusting rotation center column 5-8, a bevel gear set 5-9 and a linear bearing 5-10.
Wherein, the track gyration center post 5-2 is fixed on platform bottom plate 6, and the gyro wheel that the one end of circular arc track 5-1 and transmission shaft 7 cover were established in close contact, and the other end of circular arc track 5-1 and track gyration center post 5-2 fixed connection. When the transmission shaft 7 and the rollers thereof translate along the translation sliding rail, the rollers squeeze the arc track 5-1, so that the arc track 5-1 rotates by the track rotation center column 5-2.
The rigidity-adjusting rotary center column 5-8 and the motor 5-7 are arranged on the platform bottom plate 6, the bevel gear set 5-9 is arranged on the rigidity-adjusting rotary center column 5-8, the output end of the motor 5-7 is fixedly connected with a driving bevel gear in the bevel gear set 5-9, and the driving bevel gear is matched with a driven bevel gear in the bevel gear set 5-9, so that the motor 5-7 drives the output end of the rigidity-adjusting rotary center column 5-8 to rotate through the bevel gear set 5-9.
The fixed end of the guiding connecting arm 5-4 is fixedly connected with the output end of the rigid adjusting rotation center column 5-8, and the movable end of the guiding connecting arm 5-4 is provided with a mounting piece for mounting the guiding connecting rod 5-5. The guide rod of the linear bearing 5-10 is fixed on the guide connecting arm 5-4, and the bearing of the linear bearing 5-10 is connected with the guide connecting rod 5-5, so that the guide connecting rod 5-5 moves along the direction of the linear bearing 5-10.
The installation side of the inscription slider 5-3 is arranged on the guide connecting rod 5-5, and the movable side of the inscription slider 5-3 is matched with the inner wall of the circular arc track 5-1, so that the inscription slider 5-3 drives the guide connecting rod 5-5 to move along the inner wall of the circular arc track 5-1. One end of the pressure spring 5-6 is fixed on the fixed end of the guiding connecting arm 5-4, and the other end of the pressure spring 5-6 is connected with the guiding connecting rod 5-5.
Fig. 5 shows a schematic diagram of a translational stiffness varying mechanism provided in accordance with an embodiment of the present invention.
As shown in fig. 5, the sliding assembly 3 always maintains contact with the circular arc rail 5-1 as it moves along the guide rail. The sliding assembly 3 is subjected to a resistance force F. F simultaneously counteracts the circular arc track 5-1 to enable the circular arc track 5-1 to rotate around the track rotation center column 5-2, and the moment is l. In this process, the resistance force F is transmitted to the compression spring 5-6 through the inscribed slider 5-3 and the guide link 5-5. The compression springs 5-6 are extruded to generate elastic force F 1, and the moment is l 1. Balancing the moment:
F·l＝F1·l1；
Wherein the resistance force F is a function of the output rigidity of the translational rigidity-changing mechanism 5 and the displacement delta thereof, and the elastic force F 1 is a function of the rigidity and the displacement delta of the compression springs 5-6. Therefore, the rigidity of the compression spring 5-6 is constant, and the output rigidity of the translational rigidity-changing mechanism 5 can be changed by changing l 1.
The numerical control of the elastic moment l 1 is realized by driving a pair of bevel gear sets 5-9 by means of a motor 5-7, and driving an inscribed slide block 5-3, a guide connecting rod 5-5, a pressure spring 5-6 and a linear bearing 5-10 to rotate around a rigid rotation center column 5-8. By changing the elastic moment l 1 in real time, the rigidity of the translational rigidity-changing mechanism 5 in the movement direction is controllable and time-varying.
The variable moment type translational stiffness simulation platform provided by the embodiment of the invention can realize translational stiffness adjustment of multiple degrees of freedom in a stacked mode. The platform bottom plate 6 of the upper variable moment type translational rigidity simulation platform is stacked on the translational sliding blocks of the lower variable moment type translational rigidity simulation platform through an heightening frame, and the platform bottom plate 6 of the upper variable moment type translational rigidity simulation platform is connected with the translational sliding blocks of the lower variable moment type translational rigidity simulation platform through a transmission shaft 7, so that the lower variable moment type translational rigidity simulation platform controls the translational rigidity of the upper variable moment type translational rigidity simulation platform in different movement directions.
The placement direction of each variable moment type translational stiffness simulation platform is the direction of the corresponding guide rail group 4, and the placement directions of all the variable moment type translational stiffness simulation platforms are different.
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 variable-moment translational rigidity simulation platform comprises a translational input end and an input end cover plate, and is characterized by further comprising a translational rigidity-changing mechanism, a platform bottom plate, a guide rail group and a sliding assembly; the number of the translation rigidity-changing mechanisms is not less than two, the guide rail groups, the sliding assemblies and the translation rigidity-changing mechanisms are all arranged on the platform bottom plate, and the number of the sliding assemblies is consistent with the number of the translation rigidity-changing mechanisms; each group of translation rigidity-changing mechanisms comprises two translation rigidity-changing mechanisms which are respectively positioned at two ends of the sliding component and are in close contact with the sliding component, so that the translation rigidity of the input end cover plate is adjusted in real time by the two translation rigidity-changing mechanisms through the sliding component; the two guide rail groups are parallel to the sliding assembly and fixed at two ends of the platform bottom plate, and the input end cover plate moves on the guide rail groups through the heightening frame.
2. The variable moment type translational stiffness simulation platform according to claim 1, wherein the translational stiffness variation mechanism comprises a circular arc track, a track rotation center column, an inscribed sliding block, a guide connecting arm, a guide connecting rod, a pressure spring, a motor, a rigidity adjusting rotation center column, a bevel gear set and a linear bearing; wherein,
The track rotation center column is fixed on the platform bottom plate; one end of the arc track is tightly contacted with the sliding component, and the other end of the arc track is fixedly connected with the track rotation center column, so that the sliding component extrudes the arc track, and the arc track rotates around the track rotation center column;
The rigidity-adjusting rotation center column and the motor are arranged on the platform bottom plate, the bevel gear set is arranged on the rigidity-adjusting rotation center column, the output end of the motor is fixedly connected with a driving bevel gear in the bevel gear set, and the driving bevel gear is matched with a driven bevel gear in the bevel gear set, so that the motor drives the output end of the rigidity-adjusting rotation center column to rotate through the bevel gear set;
The fixed end of the guide connecting arm is fixedly connected with the output end of the rigidity-adjusting rotary center column, and the movable end of the guide connecting arm is provided with a mounting piece for mounting the guide connecting rod;
One end of the linear bearing is fixed on the guide connecting arm, and the other end of the linear bearing is connected with the guide connecting rod, so that the guide connecting rod can be subjected to telescopic adjustment along the linear bearing;
The installation side of the internal connecting sliding block is arranged on the guide connecting rod; the movable side of the inscription slide block is matched with the inner wall of the circular arc track, so that the inscription slide block drives the guide connecting rod to move along the inner wall of the circular arc track;
One end of the pressure spring is fixed on the fixed end of the guide connecting arm, the other end of the pressure spring is connected with the guide connecting rod, so that the motor can control the rigid adjusting rotation center column to complete moment adjustment of the pressure spring in real time, and meanwhile, the motor is in telescopic fit with the pressure spring, so that the translational rigidity of the translational input end can be controlled in real time through the sliding component.
3. The variable moment type translational rigidity simulation platform according to claim 1, wherein the sliding assembly comprises a connecting sliding block and a translational sliding rail, the translational sliding rail is fixed on the platform bottom plate, the transmission shaft is fixed on the connecting sliding block, a roller is sleeved on the transmission shaft, one end of the circular arc rail is in close contact with the roller, and when the transmission shaft drives the connecting sliding block to translate on the translational sliding rail, the roller rolls and extrudes the circular arc rail, so that the circular arc rail rotates around the rail revolution center column.
4. The variable moment translational stiffness simulation platform of claim 1, wherein the guide rail set comprises a translational guide rail and a translational slider, the translational guide rail being fixed at two ends of the platform base plate parallel to the translational guide rail; the input end cover plate is arranged on the translation sliding block through the heightening frame, so that the translation sliding block is matched with the translation guide rail to drive the input end cover plate to translate.
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| Publication Number | Publication Date |
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| CN118239013A true CN118239013A (en) | 2024-06-25 |
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