CN105675285B - A kind of space intelligent flexible mechanical arm experimental rig - Google Patents

Abstract

The invention relates to a space intelligent flexible manipulator test device, comprising a bracket, a base and at least two manipulator assemblies, the base is rotatably arranged on the support, the manipulator assembly includes a flexible joint and an arm rod, and the flexible joint includes a fixing piece, The rotating part, the motor and the balance pillar, the front end of the arm rod is rotatably connected to the fixed part through the rotating part, the flexible joint of one mechanical arm assembly is fixedly connected to the foundation through the fixing part, and the flexible joints of the other mechanical arm components are connected through the fixing part It is fixedly connected to the rear end of the arm of the previous mechanical arm assembly. The output shaft of the motor is connected to the rotating part through a flexible spring. The bottom end of the balance pillar is fixed on the fixed part. search. The space intelligent flexible manipulator test device of the present invention can simulate the microgravity environment through the setting of the bracket and the balance cable, so as to conduct the test research on the dynamic performance of the space structure of the flexible manipulator, and has a simple structure and low cost.

Description

A space intelligent flexible manipulator test device

technical field

The invention relates to a test device for a manipulator, in particular to a test device for a space intelligent flexible manipulator.

Background technique

With the continuous development of science and technology, many high-end flexible manipulators are increasingly used in aerospace, aviation, machinery and other fields. During the birth and development of space stations, space shuttles, space robots, etc., more and more space manipulators have been applied to the docking and maintenance of space agencies, playing an increasingly important role in the development of space. Large-scale, lightweight, complex and high-precision are becoming its direction. Some developed countries, such as Canada, Germany, Russia, etc., have mastered the manufacturing and application technology of flexible space manipulators. And the European Robotic Arm (European Robotic Arm) has been successfully applied. In the past 30 years, my country's economy has developed rapidly, and the national defense industry has also been rapidly improved. The demand for space station technology and the development of deep space exploration is increasing, and the performance requirements, reliability and safety requirements for space manipulators are gradually increasing. . However, due to foreign restrictions and blockades in the high-end technology field, the development of my country's space manipulator completely depends on independent innovation. In order to meet the development direction of high precision and light weight, the flexibility of the space manipulator is gradually enhanced, and the harm caused by low-frequency and large-scale vibration during the operation of the manipulator is becoming more and more prominent. Vibration suppression has become an important direction for the development of high-performance space manipulators.

The spatial structure needs to go through multiple stages from design, research and development to practical application, and the whole process takes a long time and requires a lot of investment. Especially in the ground test stage, it is necessary to simulate the movement characteristics in the microgravity environment of space. Currently, there are test methods for eliminating gravity, including air flotation test platforms, suspension test systems, and water flotation test systems. These test methods require the establishment of a large number of auxiliary facilities, which are expensive and difficult to implement, and cannot be completed in general laboratories.

In view of the above-mentioned defects, the designer is actively researching and innovating, in order to create a new structure of space intelligent flexible manipulator test device, so that it has more industrial value.

Contents of the invention

In order to solve the above-mentioned technical problems, the object of the present invention is to provide a space intelligent flexible manipulator test device, the space intelligent flexible manipulator test device has a simple structure, low cost and can simulate a microgravity environment so as to realize the partial dynamics of the flexible space manipulator Behavioral experimental research platform.

The space intelligent flexible manipulator test device of the present invention comprises a support, a foundation and at least one manipulator assembly, the base is rotatably arranged on the support, the manipulator assembly includes a flexible joint and an arm bar, and the flexible joint includes The fixed part, the rotating part, the motor and the balance pillar, the front end of the arm rod is rotatably connected to the fixed part through the rotating part, and the flexible joint of one of the mechanical arm components is fixedly connected to the fixed part through the fixed part of this group of mechanical arm components. Basically, the flexible joints of other mechanical arm assemblies are fixedly connected to the rear end of the arm rod of the previous mechanical arm assembly through the fixing piece of this set of mechanical arm assembly, the motor is fixedly arranged on the fixing piece, and the output shaft of the motor passes through the The spring piece is connected with the rotating part, the bottom end of the balance pillar is fixedly arranged on the fixture, a balance cable is arranged between the balance pillar and the arm, one end of the balance cable is fixedly connected to the balance pillar, and the balance pull The other end of the cable is fixedly connected to the arm.

With the above solution, the present invention has at least the following advantages: the space intelligent flexible manipulator test device of the present invention includes a bracket and a foundation, which can simulate part of the mechanical state and motion law in the space environment. Among them, the bracket plays the role of support on the one hand, and on the other hand, it is used to restrain the translation of the foundation. The purpose is to make the foundation obtain supporting force and balance force, thereby eliminating the influence of gravity on the test system. In addition, the balance column and the balance cable can eliminate the bending moment generated by the arm bar on the flexible joint, simulating the stress situation in the space environment. Wherein, the flexible spring sheet plays the functions of connecting, supporting and providing flexibility. During the specific work, the operator installs an acceleration sensor at the end of the boom, and the acceleration transmits the data to the upper control system according to the sensor. The upper control system generates a feedback control signal after analyzing the data transmitted by the acceleration sensor, and sends this feedback control signal It is sent to the driver, and the driver realizes the feedback control of the motor, so as to realize the suppression test of the torsional vibration of the arm around the rotation axis.

Further, in the space intelligent flexible manipulator test device of the present invention, the fixing member includes a body and a protrusion fixedly arranged on the outer surface of the body, and a receiving groove is opened on the side of the body opposite to the protrusion, so that The accommodating groove is provided with a rotating shaft, the rotating shaft is connected to the main body through a bearing, the motor is fixedly arranged on the lower surface of the main body, and the output shaft of the motor is fixedly connected to the rotating shaft, and one end of the rotating member is sleeved On the rotating shaft, the flexible spring sheet is arranged between the rotating shaft and the rotating member, and one end of the flexible spring sheet is fixedly connected to the rotating shaft, and the other end of the flexible spring sheet is fixedly connected to the rotating member.

In specific use, the protruding part of the fixing part is used to connect with the foundation or the rear end of the previous arm, and the flexible spring sheet plays the functions of connecting, supporting and providing flexibility.

Further, in the space intelligent flexible manipulator test device of the present invention, the number of the manipulator assemblies is two groups, and the arm of one of the manipulator assemblies is a rigid arm, and the arm of the other manipulator assembly is a flexible arm pole.

Further, in the space intelligent flexible manipulator test device of the present invention, one end of the rigid arm is fixedly connected to the rotating part, and the other end of the rigid arm is fixedly connected to the fixed part of the latter manipulator assembly.

Further, in the space intelligent flexible manipulator test device of the present invention, a vibration controller is arranged between the flexible arm and the rotating part, and one end of the vibration controller is fixedly connected with the rotating part of the previous manipulator assembly, and the vibration The other end of the controller is connected with the flexible arm, and the end of the flexible arm is provided with an acceleration sensor.

Vibration controller settings to suppress elastic vibrations induced during flexible arm movement.

Further, in the space intelligent flexible manipulator testing device of the present invention, the support includes a base and a column fixed on the base, and the base is rotatably arranged on the top of the column through a bearing.

Further, in the space intelligent flexible manipulator testing device of the present invention, the column is provided with a first encoder, and the first encoder is used to detect the rotation angle of the base.

Further, in the space intelligent flexible manipulator test device of the present invention, a balance bearing is provided at the top of the balance pillar, and one end of the balance cable is connected to the balance pillar through the balance bearing.

Further, in the space intelligent flexible manipulator testing device of the present invention, a second encoder is connected to the output shaft of the motor, and the second encoder is used to detect the rotation angle of the output shaft of the motor.

The above description is only an overview of the technical solutions of the present invention. In order to understand the technical means of the present invention more clearly and implement them according to the contents of the description, the preferred embodiments of the present invention and accompanying drawings are described in detail below.

Description of drawings

Fig. 1 is the structural representation of the space intelligent flexible manipulator test device of the present invention;

Figure 2 is a cross-sectional view of the flexible joint.

In the figure, 1-flexible arm; 2-rigid arm; 3-flexible joint; 4-motor; 5-vibration suppressor; 6-balance pillar; 7-balance cable; 8-balance bearing; 9-foundation; 10-bracket; 11-fixed part; 12-rotating part; 13-rotating shaft; 14-bearing; 15-flexible spring piece; 16-base; 17-column.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

Referring to Fig. 1 to Fig. 2, a space intelligent flexible manipulator test device according to a preferred embodiment of the present invention includes a flexible arm 1, a rigid arm 2, a flexible joint 3, a vibration controller 5, a balance device, and a foundation 9 and stand 10. Wherein, the rigid arm and the flexible arm constitute the mechanical arm assembly with the flexible joint respectively. The flexible joint 3 includes a fixed part 11, a rotating part 12, a rotating shaft 13, a bearing 14 and a flexible spring piece 15. The balance device includes a balance pillar 6, a balance Stay cable 7 and balance bearing 8.

The flexible arm 1 is connected to the flexible joint 3 through the vibration controller 5, the flexible joint 3 is connected to the rigid arm 2 through the fixture 11, the other end of the rigid arm is connected to the foundation 9 through another joint 3, and the support 10 includes a base 16 and Be arranged on the column 17 on the base, the foundation 9 is rotatably installed on the support by the bearing, the base is fixed on the ground, and the foundation 9 can freely rotate around the column.

The fixed part 11 of the flexible joint 3 is connected with the rotating part 12 through the bearing 14 and the rotating shaft 13, the outer ring of the bearing 14 is fixedly installed on the fixing part 11, the rotating part 12 is installed on the rotating shaft 13 through the flexible spring piece 15, and the rotating shaft and The output shaft of the motor is connected so that the rotating member 12 is driven by the motor 4 . The balance pillar 6 is installed on the joint fixture 11, the balance pillar 6 is installed with a balance bearing 8 near the top position, one end of the balance cable 7 is connected to the balance bearing 8, and the other end is connected to the rigid arm 2 or the vibration controller 5 or the flexible arm.

In this embodiment, the rapid rotation or emergency stop of the joint 3 will cause the elastic vibration of the flexible arm 1 while the rotating member 12 in the flexible joint 3 performs torsional vibration around the rotation axis 13 . The vibration controller 5 is used to suppress the elastic vibration of the flexible arm 1 , and the motor installed on the joint is responsible for suppressing the torsional vibration of the rotating member 12 . Among them, the motor 4 realizes two functions. One is to drive the joint 3 to make it rotate, thereby driving the movement of the rigid arm or the flexible arm; The rotating member 12 vibrates around the axis.

The motor 4 and the vibration controller 5 involved in the embodiment are respectively controlled by a motor driver and a dedicated driving power supply for piezoelectric ceramics, and the input signals of the driver and the driving power supply are uniformly provided by the controller. The controller is realized by a computer equipped with a data acquisition card and a motion control card. The data acquisition card and the motion control card are installed on the computer motherboard through the PCI slot, and the control program compiled by C++ language is used to realize the digital acquisition card and the motion control card. Function function call, so as to achieve the purpose of signal acquisition and control signal output.

An acceleration sensor is installed at the end of the flexible arm 1 to measure the vibration signal of the flexible arm 1. The acceleration sensor outputs the data to the data acquisition card through the wire, and the computer runs a specific controller to obtain the control signal, and then transmits the control signal through the data acquisition card. The drive power is output to the vibration controller 5, so as to suppress the elastic vibration of the flexible arm 1. The rotation signal generated by the joint 3 is collected by the encoder, and the encoder is respectively installed on the rotating shaft of the motor 4. The encoder signal is transmitted to the computer through the motion control card, and the controller processes and obtains the control output signal, and then the motion control card It is output to the driver of the motor 4 through the output end to realize the control of the motion and torsional vibration of the rotating member 12 in the joint 3 .

In addition, the flexible arm and the rigid arm can be freely matched according to actual needs, and multiple flexible arms or rigid arms can be connected.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can be made without departing from the technical principles of the present invention. , these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims (9)

1. A kind of 1. space intelligent flexible mechanical arm experimental rig, it is characterised in that：Including support, basis and at least two mechanical arms Component, the basis are rotatably arranged on support, and the robot assemblies include flexible joint and armed lever, the flexible pass Section includes fixture, tumbler, motor and equlizing support, and the front end of the armed lever is rotatably connected to fixation by tumbler On part, and the flexible joint of one of robot assemblies is fixedly connected on basis by the fixture of this group of robot assemblies On, the flexible joint of other robot assemblies is fixedly connected on previous mechanical arm group by the fixture of this group of robot assemblies The armed lever rear end of part, the motor are fixedly installed on fixture, and the output shaft of motor passes through flexible pellet reed and rotation Part is connected, and the bottom of the equlizing support is fixedly installed on fixture, and balance drag-line is provided between equlizing support and armed lever, One end of the balance drag-line is fixedly connected on equlizing support, and the other end for balancing drag-line is fixedly connected on armed lever.
2. 2. space intelligent flexible mechanical arm experimental rig according to claim 1, it is characterised in that：The fixture includes Body and the protuberance being fixedly installed on outer body face, the side relative with protuberance of the body offer accommodating Groove, rotary shaft is provided with the storage tank, the rotary shaft is connected by bearing with body, and the motor is fixedly installed on this On the lower surface of body, and the output shaft of motor is fixedly connected with the rotating shaft, and one end of the tumbler covers on the rotating shaft, institute Flexible pellet reed is stated to be arranged between rotary shaft and tumbler, and one end of flexible pellet reed is fixedly connected with the rotating shaft, it is soft The other end of property spring leaf is fixedly connected with tumbler.
3. 3. space intelligent flexible mechanical arm experimental rig according to claim 1, it is characterised in that：The robot assemblies Number be two groups, and the armed lever of one of robot assemblies is rigid armed lever, and the armed lever of another robot assemblies is Flexible armed lever.
4. 4. space intelligent flexible mechanical arm experimental rig according to claim 3, it is characterised in that：The rigid armed lever One end is fixedly connected with tumbler, and the other end of rigid armed lever is fixedly connected on the fixture of the latter robot assemblies.
5. 5. space intelligent flexible mechanical arm experimental rig according to claim 4, it is characterised in that：The flexible armed lever with Vibrating controller is provided between tumbler, one end of the vibrating controller and the tumbler of previous robot assemblies are fixed Connection, the other end of vibrating controller are connected with flexible armed lever, and the end of flexible armed lever is provided with acceleration transducer.
6. 6. space intelligent flexible mechanical arm experimental rig according to claim 1, it is characterised in that：The support includes bottom Seat and the column being fixedly installed on base, the basis is rotatably arranged in the top of column by bearing.
7. 7. space intelligent flexible mechanical arm experimental rig according to claim 6, it is characterised in that：Set on the column There is the first encoder, first encoder is used for the angle for detecting basis rotation.
8. 8. space intelligent flexible mechanical arm experimental rig according to claim 1, it is characterised in that：The equlizing support Top is provided with equalizer bearing, and one end of the balance drag-line is connected on equlizing support by equalizer bearing.
9. 9. space intelligent flexible mechanical arm experimental rig according to claim 1, it is characterised in that：The output of the motor Second encoder is connected with axle, the second encoder is used for the angle for the output shaft rotation for detecting motor.