Microgravity simulation simulation dynamic anchor point seat rope driven parallel robot

Abstract

The application discloses a microgravity simulation simulation dynamic anchor point seat rope-driven parallel robot, relates to the field of rope-driven parallel robots, and comprises an outer frame, at least two layers of track modules are arranged in the outer frame, a plurality of dynamic anchor point seats are slidably connected on the track modules, at least four groups of dynamic anchor point seats are arranged on the track modules in the same layer, and the plurality of dynamic anchor point seats are connected with long-arm spread mechanical arms through ropes. Through the structure arranged in the application, the dynamic anchor point seat rope-driven parallel robot has super-redundant degrees of freedom and sufficient working space, can be applied to ground microgravity simulation simulation of the long-arm spread mechanical arm, a plurality of dynamic anchor point seats are installed on the track, the dynamic anchor point seats are connected with upper lifting points of the mechanical arms through the ropes, and each section of the rope can be used to drive the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the field of rope-driven parallel robots, in particular to a microgravity simulation dynamic anchor seat rope-driven parallel robot. Background Art

[0002] Traditional rope-driven parallel robot devices basically use fixed anchor points to connect the rope to the terminal moving platform. The activity space of the rope is relatively limited, so it has poor adaptability when facing a workspace with obstacles.

[0003] A relatively new study proposed a dynamic anchor point rope-driven parallel robot, which uses a lead screw to give the anchor point the freedom of movement in one direction, which improves the situation to a certain extent. However, it still cannot meet the needs of higher obstacle avoidance and coordination requirements. Therefore, the mechanism is required to have more degrees of freedom, which can enable the moving space of the cable and the terminal dynamic platform to avoid obstacles while maintaining the overall force balance and stability, thereby achieving a good force-enclosed workspace and force-accessible workspace.

[0004] Therefore, those skilled in the art urgently need to study a new type of super-redundant driven dynamic anchor seat rope-driven parallel robot. Summary of the Invention

[0005] The purpose of the present invention is to solve the defects in the prior art and to propose a microgravity simulation dynamic anchor point seat rope driven parallel robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A microgravity simulation dynamic anchor seat rope-driven parallel robot comprises an outer frame, at least two layers of track modules are arranged inside the outer frame, a plurality of dynamic anchor seats are slidably connected to the track modules, and at least four groups of dynamic anchor seats are arranged on the track modules on the same layer. The multiple dynamic anchor seats are all connected to a long-reach robotic arm through ropes.

[0008] Furthermore, the outer frame is a spatial rectangular structure with a crossbeam provided inside, and the crossbeam is used to install the track module.

[0009] Furthermore, the track module is two-layered, and each layer of the track module includes two sets of annular guide rails and two sets of gear rings and racks. The dynamic anchor point seat can be slidably arranged at both ends of the annular guide rail group and meshed with the gear rings and racks through gears.

[0010] Further, the dynamic anchor base comprises a driving module, a winch winding module and a rope outlet vertical movement module, the driving module is adapted to be installed on the track module and is used for controlling the position of the dynamic anchor base on the track module, the winch winding module is used for controlling the extension and contraction of the rope, and the rope outlet vertical movement module is arranged on the winch winding module and is used for controlling the up and down movement of the winch winding module.

[0011] Further, the driving module comprises a bottom plate, two groups of guide seats for cooperating with the track module are arranged on the bottom plate, a gear mounting seat is arranged on one side of the guide seat, the gear mounting seat is arranged on the bottom plate through a tension spring, a gear is rotationally connected to the gear mounting seat, and the gear is used for meshing with the gear ring and rack on the track module.

[0012] Further, the winch winding module is arranged on the bottom plate through the rope outlet vertical movement module, the winch winding module comprises a roller and a lead screw, the lead screw is arranged on one side of the roller and rotates synchronously with the roller, and a threaded groove on the lead screw is matched with the rope.

[0013] Further, the track module comprises a linear guide rail and a circular arc guide rail, the linear guide rail and the circular arc guide rail are connected through a connecting block and form a round rectangular track, a straight rack is arranged on the periphery of the linear guide rail, a circular arc gear ring is arranged on the periphery of the circular arc guide rail, and the straight rack and the circular arc gear ring are enclosed to form a gear ring and rack.

[0014] Beneficial effects

[0015] Compared with the prior art, the beneficial effects of the dynamic anchor base rope-driven parallel robot lie in that the dynamic anchor base rope-driven parallel robot has super-redundant degrees of freedom and sufficient working space, can be applied to ground microgravity simulation of a long-arm mechanical arm, a plurality of dynamic anchor bases are installed on the track, the mechanical arm is connected with the dynamic anchor bases through ropes, and each section of the rope can be used to drive the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application, and do not constitute a limitation on the application.

[0017] Figure 1 It is a whole structure of the dynamic anchor base rope-driven parallel robot;

[0018] Figure 2 It is a schematic view of an aluminum profile frame structure;

[0019] Figure 3 It is a part structure of a guide rail and a gear ring and rack;

[0020] Figure 4 It is an aluminum connecting block structure at different positions;

[0021] Figure 5 Gear meshing structure for dynamic anchor point seat;

[0022] Figure 6 Overall structure for track part;

[0023] Figure 7 Microgravity simulation simulation is carried out for rope driving mechanical arm.

[0024] In the figure: 101 dynamic anchor point seat; 102 outer frame; 103 ring-shaped guide rail group; 104 ring-shaped gear rack; 105 rope; 201 connecting block; 204 small support; 301 linear guide rail; 302 straight rack; 303 circular arc guide rail; 304 circular arc gear; 401 gear; 402 bottom plate; 403 vertical guide rail; 404 tension spring; 405 guide plate. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments.

[0026] In the description of the application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0027] Reference Figure 1 - Figure 7 A microgravity simulation dynamic anchor point seat rope-driven parallel robot, comprising an outer frame 102, at least two layers of track modules are arranged in the outer frame 102, each layer of track module comprises two groups of ring-shaped gear racks 104, the two groups of ring-shaped gear racks are arranged in parallel, a plurality of dynamic anchor point seats 1 are slidably connected on the track module, at least four groups of dynamic anchor point seats are arranged on the track module of the same layer, and the plurality of dynamic anchor point seats are connected with the long-arm spread mechanical arm through the ropes 105.

[0028] Specifically, the outer frame is a space rectangular structure, the frame adopts 6 columns to design four layers, and a plurality of inclined pipes are added on the side surface; the outer dimension is 3903mm*3360mm*3000mm, and the theoretical movement space is 3500mm*2746mm*2510mm. The outer frame is built by 80*80 European standard aluminum profiles; the space end load capacity is greater than 20kg, and the control accuracy is better than 5mm.

[0029] The rope 105 is wound on the drum winch of the dynamic anchor point seat, is sent from the dynamic anchor point seat, and the other end of the rope 105 is connected to a component such as a mechanical arm that needs to be simulated in microgravity simulation. The driving of the rope 105 is realized through the servo motor on the dynamic anchor point seat.

[0030] In other preferred embodiments, the outer frame is a space rectangular structure, and a crossbeam is arranged inside the space rectangular structure, and the crossbeam is used for mounting the track module. The overall layout is a double-layer structure, each layer includes 4 dynamic anchor point seats, 2 sets of annular guide rail groups and 2 sets of gear ring and rack gears, 1 set of guide rail and 1 set of gear ring and rack gears form 1 set of track module, and the dynamic anchor point seat is located between the two sets of track modules. Each anchor point seat can move independently.

[0031] In other preferred embodiments, the track module is two layers, each layer of the track module includes two sets of annular guide rail groups and two sets of gear ring and rack gears, and the dynamic anchor point seat is slidably arranged at the two ends of the annular guide rail group and is engaged with the gear ring and rack gear through a gear.

[0032] In other preferred embodiments, the dynamic anchor point seat includes a driving module, a winch winding rope module and a rope vertical movement module. The driving module is adapted to be mounted on the track module and is used for controlling the position of the dynamic anchor point seat on the track module. The winch winding rope module is used for controlling the extension and contraction of the rope 105. The rope vertical movement module is arranged on the winch winding rope module and is used for controlling the up and down movement of the winch winding rope module.

[0033] Preferably, three servo motors are arranged on each dynamic anchor point seat. The driving module and the winch winding rope module are selected from AM8112-wFyz motors and are matched with AG2250-+PLE40-M02-20 reduction boxes. The rope vertical movement module is selected from AM8112-wFyz motors without a reduction box. A tension sensor is selected from JZHL-300N matched with a BSQ-3 amplifier. A device for measuring the length of the rope is selected from a photovoltaic encoder. CAN bus is used for signal transmission between the eight dynamic anchor point seats.

[0034] Specifically, the driving module includes a bottom plate 402, two sets of guide seats for cooperating with the track module are arranged on the bottom plate 402, a gear mounting seat is arranged on one side of the guide seat, the gear mounting seat is arranged on the bottom plate through a tension spring 404, a gear 401 is rotatably connected to the gear mounting seat, and the gear is used for meshing with the gear ring and rack gear on the track module. The driving module of the dynamic anchor point seat adopts a single motor double driving wheel design. The guide mechanism includes two sets of guide seats and a bottom plate. The guide seat is combined by two v-groove bearings and a guide plate 405. The v-groove bearing is clamped on the track, and the guide plate 405 is connected to the bottom plate bearing through a shaft in the middle to form a rotating pair. The centers of the two v-groove bearings are 160 mm apart. The driving mechanism is located in the middle of the anchor point seat. The motor and the gear mounting plate can slide relative to the bottom plate, and the two are connected through a vertical guide rail 403. This design realizes the circular curve motion and linear motion of the dynamic anchor point seat.

[0035] The driving module of the movable anchor base is located in the middle of the movable anchor base. When the gear meshes with the rack and the gear ring respectively, the relative position of the driving gear and the center of the anchor base will change, which will cause the gear and the gear ring rack to be unable to tightly mesh and gaps to appear. Therefore, the motor and the gear mounting plate can be relatively slid with respect to the base plate, the two are connected by vertical guide rails 403, and a tension spring 404 is used to provide tension, so that the gear has a force to press the gear ring and the rack, and therefore the position of the driving gear can be changed to adapt to the corresponding position, and the tight contact between the gear and the track can be ensured at all times to enable the movable anchor base to complete the over-bending action on the guide rail and enable the movable anchor base to complete reciprocating motion on the entire guide rail.

[0036] Specifically, the winch winding module is arranged on the base plate through the rope outlet vertical movement module. The winch winding module includes a roller and a lead screw. The lead screw is arranged on one side of the roller and rotates synchronously with the roller. The thread groove on the lead screw is matched with the rope 105. The winch is designed in the shape of a roller. The lead screw structure is used to continuously change the entry point of the rope 105 winding around the roller. The helical line spacing is 2 mm. The motor is used to drive the roller winch and the lead screw by dividing the input into two parts through synchronous belt transmission. The lead screw spacing is 2 mm. Therefore, the transmission ratio of the synchronous belt transmission is 1:1. A tension sensor is installed in the middle of the rope 105 path to measure the tension of the rope.

[0037] Specifically, the rope outlet vertical movement module selects a finished linear motion module to realize vertical movement. A simple rope winding line is designed at the sliding block end to change the direction of the rope 105. A square groove steel guide wheel is installed in the middle of the line. The guide wheel is connected to the optical encoder through a shaft coupling. According to the diameter and rotation angle of the guide wheel, the length of the rope 105 extension and contraction is determined with high accuracy.

[0038] In other preferred embodiments, the track module includes a linear guide rail 301 and a circular arc guide rail 303. The linear guide rail 301 and the circular arc guide rail 303 are connected by a connecting block 201 and form a round rectangular track. The linear guide rail 301 is provided with a straight rack 302 on the periphery, and the circular arc guide rail 303 is provided with a circular arc gear ring 304 on the periphery. The straight rack 302 and the circular arc gear ring 304 form a gear ring rack. The frame adopts a round rectangular track, which can improve the space utilization rate under the condition of fixed floor area. The track part is divided into two parts: guide rail and gear ring. The shapes of the two are both round rectangular, and the guide rail is inside the gear ring. The guide rail is composed of 14 segments of linear guide rails 301 with a length of 754 mm and 4 circular arc guide rails 303 with a diameter of 600 mm and an angle of 90°. The gear ring part is composed of 14 segments of racks with a length of 754 mm and a module of 2, and 4 circular arc outer gear rings with a diameter of 600 mm and a 90° division circle. The segments are connected by aluminum connecting blocks, and are supported by small support members 204.

[0039] The working mode of the simulation dynamic anchor point seat rope driving parallel robot of the present application is as follows: when the dynamic anchor point seat works, the anchor point seat driving module is responsible for adjusting the position of the dynamic anchor point seat on the track, moving to the specified horizontal position according to the calculation data, the rope outlet vertical movement module is responsible for adjusting the position in the vertical direction, which is used for obstacle avoidance and force adjustment, and the winch rope winding module is responsible for changing the rope length according to the position coordinates of the rope outlet and the end object attitude, 8 dynamic anchor point seats work cooperatively to adjust the end object attitude and position; the end of the rope 105 lifts the long arm spread mechanical arm in the working space, the tension sensor in the robot structure obtains the tension of the 8 ropes 105 under the force balance of each spatial position point, combines the algorithm and controls the movement of the dynamic anchor point seat and adjusts the length of the rope 105 to change the tension of the rope 105, changes the stress state of the end mechanical arm, and thus realizes the microgravity simulation simulation.

[0040] Taking the UR5 mechanical arm as an example, first, 3 lifting points are set on the UR5 mechanical arm, and then 20 dynamic anchor point seats are configured on the robot platform: 8 dynamic anchor point seats correspond to the end of the mechanical arm, 8 dynamic anchor point seats correspond to the middle of the mechanical arm, and 4 dynamic anchor point seats correspond to the root of the mechanical arm. The winch in each dynamic anchor point seat winds out the rope 105, and the end of the rope 105 is connected to the corresponding lifting point, and the servo motor on the dynamic anchor point seat is used to drive the lifting of the long arm spread mechanical arm. At this time, the tension sensor in the dynamic anchor point seat can obtain the tension of the multi-rope under the force balance of the spatial position point, and according to the operation requirements of the mechanical arm, the dynamic anchor point seat can be controlled to move and adjust the length of the rope 105 to change the tension of the rope 105, so as to change the stress state of the end mechanical arm, so as to realize the movement of the mechanical arm according to the expected position and attitude.

[0041] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A microgravity simulation simulation dynamic anchor point seat rope driven parallel robot, characterized in that, Including outer frame, at least two layers of track modules are arranged in the outer frame, a plurality of dynamic anchor point bases are slidably connected on the track modules, at least four groups of dynamic anchor point bases are arranged on the track modules in the same layer, and the plurality of dynamic anchor point bases are connected with long-arm spread mechanical arms through ropes; The track module is two layers, each layer of track module includes two groups of annular guide rail groups and two groups of gear ring and rack, the dynamic anchor point base is slidably arranged between the two groups of annular guide rail groups and is engaged with the gear ring and rack through a gear, The dynamic anchor point base includes a driving module, a winch winding rope module and a rope vertical movement module, the driving module is adaptively installed on the track module and is used for controlling the position of the dynamic anchor point base on the track module, the winch winding rope module is used for controlling the extension and contraction of the rope, and the winch winding rope module is arranged on the rope vertical movement module and is used for controlling the up-down movement of the winch winding rope module.

2. The microgravity simulation emulation dynamic anchor point seat rope driven parallel robot according to claim 1, characterized in that, The outer frame is a space rectangular structure, and a cross beam is arranged inside the outer frame, the cross beam is used for mounting the track module.

3. The microgravity simulation emulation dynamic anchor point seat rope driven parallel robot according to claim 1, characterized in that, The driving module includes a bottom plate, two groups of guide bases for cooperating with the track module are arranged on the bottom plate, a gear mounting seat is arranged on one side of the guide base, the gear mounting seat is arranged on the bottom plate through a tension spring, a gear is rotatably connected on the gear mounting seat, and the gear is used for engaging with the gear ring and rack on the track module.

4. The microgravity simulation and emulation dynamic anchor point seat cable-driven parallel robot according to claim 3, wherein, The winch winding rope module is arranged on the bottom plate through the rope vertical movement module, the winch winding rope module includes a roller and a lead screw, the lead screw is arranged on one side of the roller and rotates synchronously with the roller, and a thread groove on the lead screw is matched with the rope.

5. The microgravity simulation emulation dynamic anchor point seatrope driven parallel robot according to claim 1, wherein, The track module includes a linear guide rail and a circular arc guide rail, the linear guide rail and the circular arc guide rail are connected through a connecting block and form a round rectangular track, a straight rack is arranged on the periphery of the linear guide rail, a circular arc gear ring is arranged on the periphery of the circular arc guide rail, and the straight rack and the circular arc gear ring are enclosed to form a gear ring and rack.

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