Cable-driven tensile stiffness simulation platform

Abstract

This invention relates to the field of space mechanics simulation technology, and more particularly to a rope-driven traction-type torsional stiffness simulation platform, comprising a rotation input end, an input end cover plate, a support base, a motion conversion mechanism, and a rotational stiffness variable mechanism. The motion conversion mechanism is connected to the rotation input end via a coupling, and is used to convert the rotation of the rotation input end into translational motion that spreads outwards. The rotational stiffness variable mechanism adjusts the rotational stiffness of the motion conversion mechanism and the rotation input end by changing the preload on the motion conversion mechanism. The simulation platform provided by this invention can simulate the real-time change of the rotational stiffness of the upper arm during the movement of the combined upper and lower arms of a space station on the ground, and react on the lower arm, thereby laying the foundation for studying the disturbance motion law occurring within the combined arm under the joint movement of the upper and lower arms of the space station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space mechanical simulation, and in particular to a pulling type torsional stiffness simulation platform based on a rope drive. BACKGROUND

[0002] With the overall completion of the Chinese space station, more diversified and complex space missions need to be completed. The role of the manipulator on the space station in various operational tasks is increasingly widespread, from assisting astronauts in extravehicular operations to handling, transferring, and plugging various loads. These tasks require the manipulator to meet various dynamic performance requirements.

[0003] The manipulator system on the space station consists of a large arm and a small arm. Both can work independently or can form a combined arm to further expand the workspace to cope with some work requirements that not only require range transfer but also require local fine operation, greatly improving the mobility of the space manipulator system. To conduct dynamic performance research on the combined arm on the ground, the large arm as the base can be equivalent to a flexible base, greatly reducing the complexity of the test system.

[0004] The rotational stiffness of the flexible base designed at present is variable stiffness, but not real-time variable stiffness. The rotational stiffness of the base can only be adjusted in advance to match the rotational stiffness of the large arm in a certain configuration, and then the small arm moves under this set of base stiffness characteristics, i.e. the system scenario simulated is that the large arm remains fixed in a certain configuration while the small arm moves. It is not possible to achieve real-time changes in the rotational stiffness of the flexible base controlled by humans during the movement of the small arm, i.e. it is not possible to simulate the system scenario in which the large arm also moves while the small arm moves.

[0005] Therefore, there is an urgent need for a rotational stiffness simulation platform that can simulate real-time changes in rotational stiffness. SUMMARY

[0006] To solve the above problems, the present application provides a pulling type torsional stiffness simulation platform based on a rope drive, which can simulate the simultaneous movement of the large and small arms of the space station. The large arm acts as the base of the small arm, and the change in rotational stiffness caused by the change in configuration during the movement of the large arm, so as to study the disturbance motion law occurring in the combined arm under the simultaneous movement of the large and small arms of the space station.

[0007] The pulling type torsional stiffness simulation platform based on a rope drive provided by the present application comprises a rotational input end, an input end cover plate, a support bottom plate, a motion conversion mechanism, and a rotational variable stiffness mechanism. The motion conversion mechanism is connected to the rotational input end through a shaft coupling and is used to convert the rotation of the rotational input end into a translational motion that spreads to the four directions. The rotational variable stiffness mechanism controls the motion conversion mechanism coaxially. By controlling the pre-tightening force of the rotational variable stiffness mechanism on the motion conversion mechanism in real time, the motion stiffness of the motion conversion mechanism is controlled.

[0008] Furthermore, the motion conversion mechanism includes a rotating support frame, a traction turntable, a connecting rod, a translational slide rail, and a connecting slider that matches the translational slide rail; wherein, the rotating support frame includes a rotating support platform, a rotating support arm, and at least two rotating support frame bases, and the rotating support platform and the rotating support arm are an integral structure; the number of rotating support arms is the same as the number of rotating support frame bases, one end of the rotating support arm is evenly distributed around the circumference of the rotating support platform, and the other end of the rotating support arm is mounted on the rotating support frame base, so that the rotating support frame base supports the rotating support platform through the rotating support arm;

[0009] The number of translational slide rails is the same as that of the rotating support arms, and they are installed on the rotating support arms. The rotational input end is coaxially connected to the traction turntable through a coupling, and the connecting slider is connected to the traction turntable through a connecting rod, so that the rotation of the rotational input end is converted into the translation of the connecting slider on the translational slide rail through the traction turntable and the connecting rod.

[0010] Furthermore, the rotational variable stiffness mechanism includes a rotational guide wheel, a rotational take-up wheel, a pulley, a tensioning wheel, and a rotational stiffness-adjusting motor; among which,

[0011] The number of pulleys and tension pulleys is the same as the number of rotating support frame bases. The pulleys are fitted on the rotating support frame bases and are lower than the rotating support arms, so that the belt fitted on and connected to the pulleys is lower than the rotating support arms. The tension pulleys are at the same height as the pulleys and are evenly distributed along the circumference of the rotating support platform, so that the tension pulleys press the belt against the rotating support platform.

[0012] The rotary adjustable motor is fixed on the support base plate, and the output end of the rotary adjustable motor is connected to the worm through a coupling. The worm meshes with the worm wheel installed on the pulley, so that the rotary adjustable motor controls the rotation of the pulley through the cooperation of the worm and the worm wheel, and then controls the rotation of other pulleys through the belt.

[0013] The number of rotating take-up wheels is the same as the number of pulleys, and they are coaxially mounted on the base of the rotating support frame, so that the pulleys drive the rotating take-up wheels to rotate synchronously; the number of rotating guide wheels is the same as the number of rotating take-up wheels, and they are mounted on the rotating support arm close to the rotating take-up wheels.

[0014] A spring steel wire rope is fixed on the connecting slider and connected to the rotating rope take-up wheel on the adjacent rotating support frame base. The rotating stiffness adjustment motor adjusts the preload of the spring steel wire rope through the pulley and the rotating rope take-up wheel, thereby adjusting the rotational stiffness of the rotating input end.

[0015] Furthermore, one end of the spring steel wire rope is fixed to the connecting slider, and the other end of the spring steel wire rope passes around the rotating guide wheel and is fixed to the rotating winding wheel on the adjacent rotating support frame base.

[0016] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0017] This invention provides a rope-driven traction-type torsional stiffness simulation platform that can simulate the change in rotational stiffness of the upper arm during the movement of the space station's upper and lower arms when they are combined on the ground, and react on the lower arm, thus laying the foundation for studying the disturbance motion law that occurs in the combined arm when the upper and lower arms of the space station move together. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of a rope-driven traction torsional stiffness simulation platform provided according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the combined structure of the rotation input end, motion conversion mechanism and rotational variable stiffness mechanism provided in an embodiment of the present invention;

[0020] Figure 3 This is a top view of the combined structure of the motion conversion mechanism and the rotational variable stiffness mechanism provided in an embodiment of the present invention;

[0021] Figure 4 This is a side view of the combined structure of the basic motion conversion mechanism and the rotational variable stiffness mechanism provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of a rope-driven traction torsional stiffness simulation platform provided according to an embodiment of the present invention.

[0023] Reference numerals in the attached drawings: 1. Rotary input end; 2. Input end cover plate; 3. Motion conversion mechanism; 3-1. Rotary support frame; 3-1-1. Rotary support platform; 3-1-2. Rotary support arm; 3-1-3. Rotary support frame base; 3-2. Traction turntable; 3-3. Connecting rod; 3-4. Translational slide rail; 3-5. Connecting slider; 4. Rotary stiffness-changing mechanism; 4. Rotary guide wheel; 4-2. Rotary rope winding wheel; 4-3. Belt pulley; 4-4. Tensioning wheel; 4-5. Rotary stiffness-adjusting motor; 4-6. Belt; 5. Support base plate; 6. Spring steel wire rope. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0025] The present invention provides a rope-driven traction-type torsional stiffness simulation platform. The motion conversion mechanism converts the rotation of the rotation input end into translational motion that spreads outwards. At the same time, it controls the preload of the rotational stiffness mechanism on the motion conversion mechanism in the translational direction in real time, thereby controlling the rotational stiffness of the rotation input end.

[0026] Figure 1 The overall structure of the rope-driven traction torsional stiffness simulation platform provided in this embodiment of the invention is shown. Figure 2 The combined structure of the rotation input end, motion conversion mechanism and rotational stiffness mechanism provided in the embodiment of the present invention is shown.

[0027] like Figures 1-2 As shown, the rope-driven torsional stiffness simulation platform provided in this embodiment of the invention includes a rotation input end 1, an input end cover plate 2, a motion conversion mechanism 3, a rotational variable stiffness mechanism 4, and a support base plate 5.

[0028] The rotary input end 1 is mounted on the top surface of the input end cover plate 2 via a support platform. The motion conversion mechanism 3 is connected to the rotary input end 1 via a coupling. The motion conversion mechanism 3 is coaxially mounted on the rotary stiffness variable mechanism 4, which is mounted on the support base plate 5. The support base plate 5 is connected to the bottom surface of the input end cover plate 2 via a connecting frame.

[0029] The motion conversion mechanism 3 includes a rotating support frame 3-1, a traction turntable 3-2, a connecting rod 3-3 and a translational slide rail 3-4, and a connecting slider 3-5 that matches the translational slide rail 3-4.

[0030] The rotating support frame 3-1 includes a rotating support platform 3-1-1, a rotating support arm 3-1-2, and at least two rotating support frame bases 3-1-3, and the rotating support platform 3-1-1 and the rotating support arm 3-1-2 are an integral structure.

[0031] Figure 3 and Figure 4 The top view and side view of the combination of the motion conversion mechanism and the rotational stiffness variable mechanism provided according to embodiments of the present invention are shown respectively.

[0032] like Figures 1-4 As shown, the number of rotating support arms 3-1-2 is the same as that of the rotating support frame base 3-1-3. One end of the rotating support arms 3-1-2 is evenly distributed around the circumference of the rotating support platform 3-1-1, and the other end of the rotating support arms 3-1-2 is installed on the rotating support frame base 3-1-3, so that the rotating support frame base 3-1-3 supports the rotating support platform 3-1-1 through the rotating support arms 3-1-2. The number of translational slide rails 3-4 is the same as that of the rotating support arms 3-1-2, and they are installed on the rotating support arms 3-1-2.

[0033] In a specific embodiment of the present invention, there are three rotating support arms 3-1-2, and the included angle between any two rotating support arms 3-1-2 is 120°.

[0034] The rotation input end 1 is coaxially connected to the traction turntable 3-2 via a coupling. The connecting slider 3-5 is connected to the traction turntable 3-2 via a connecting rod 3-3, so that the rotation of the rotation input end 1 is converted into the translation of the connecting slider 3-5 on the translational slide rail 3-4 via the traction turntable 3-2 and the connecting rod 3-3.

[0035] The rotating stiffness-changing mechanism 4 includes a rotating guide wheel 4-1, a rotating rope take-up wheel 4-2, a belt pulley 4-3, a tensioning wheel 4-4, and a rotating stiffness-adjusting motor 4-5.

[0036] The number of pulleys 4-3 and tensioning pulleys 4-4 is the same as the number of bases of the rotating support frame 3-1. The pulleys 4-3 are fitted on the bases of the rotating support frame 3-1-3 and are lower than the rotating support arm 3-1-2, so that the belt 4-6 fitted on and connected to the pulleys 4-3 is lower than the rotating support arm 3-1-2. The tensioning pulleys 4-4 are at the same height as the pulleys 4-3 and are evenly distributed around the circumference of the rotating support platform 3-1-1, so that the tensioning pulleys 4-4 press the belt 4-6 towards the rotating support platform 3-1-1.

[0037] The rotary adjustable motor 4-5 is fixed on the support base plate 5, and the output end of the rotary adjustable motor 4-5 is connected to the worm gear through a coupling. The worm gear meshes with the worm wheel installed on any one of the pulleys 4-3, so that the rotary adjustable motor 4-5 controls the rotation of the pulley 4-3 through the cooperation of the worm gear and the worm wheel, and then controls the rotation of other pulleys 4-3 through the belt 4-6.

[0038] The number of rotating take-up wheels 4-2 is the same as the number of pulleys 4-3, and they are coaxially mounted on the rotating support frame base 3-1-3, so that the pulleys 4-3 drive the rotating take-up wheels 4-2 to rotate synchronously; the number of rotating guide wheels 4-1 is the same as the number of rotating take-up wheels 4-2, and they are mounted on the rotating support arm 3-1-2 close to the rotating take-up wheels 4-2.

[0039] A spring steel wire rope 6 is installed on the connecting slider 3-5 and connected to the rotating rope take-up wheel 4-2 on the adjacent rotating support frame base 3-1-3. Specifically, one end of the spring steel wire rope 6 is fixed to the connecting slider 3-5, and the other end of the spring steel wire rope 6 passes around the rotating guide wheel 4-1 and is fixed to the rotating rope take-up wheel 4-2 on the adjacent rotating support frame base 3-1-3.

[0040] Figure 5 The principle of a rope-driven traction torsional stiffness simulation platform provided according to an embodiment of the present invention is illustrated.

[0041] like Figures 2-5As shown, when the rotary input end 1 drives the traction turntable 3-2 to rotate via the coupling, the rotation of the traction turntable 3-2 is converted into the linear motion of the connecting slider 3-5 along the translational slide rail 3-4 via the connecting rod 3-3. When the rotary stiffness adjusting motor 4-5 starts, it drives the worm gear and worm to rotate via the coupling, causing the pulley 4-3 to be driven, which in turn causes the various rotating rope take-up wheels 4-2 to move in tandem. The rotating rope take-up wheels 4-2 tighten the spring steel wire rope 6, thereby changing the preload of each spring steel wire rope 6, thus changing the rotational stiffness of the traction turntable 3-2, making the rotational stiffness of the rotary input end 1 controllable and time-varying.

[0042] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0043] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A rope-driven traction-type torsional stiffness simulation platform, comprising a rotation input end, an input end cover plate, and a support base plate, characterized in that, It also includes a motion conversion mechanism and a rotational stiffness-changing mechanism; the motion conversion mechanism is connected to the rotation input end via a coupling, and is used to convert the rotation of the rotation input end into a translational motion that spreads in all directions; the rotational stiffness-changing mechanism coaxially controls the motion conversion mechanism, and controls the motion stiffness of the motion conversion mechanism by controlling the preload of the rotational stiffness-changing mechanism on the motion conversion mechanism in real time; The motion conversion mechanism includes a rotating support frame, a traction turntable, a connecting rod, a translational slide rail, and a connecting slider that matches the translational slide rail; wherein, The rotating support frame includes a rotating support platform, rotating support arms, and at least two rotating support frame bases, wherein the rotating support platform and the rotating support arms are an integral structure; the number of rotating support arms is the same as the number of rotating support frame bases, one end of each rotating support arm is evenly distributed around the circumference of the rotating support platform, and the other end of each rotating support arm is mounted on the rotating support frame base, so that the rotating support frame base supports the rotating support platform through the rotating support arms; The number of translational slide rails is the same as the number of rotating support arms, and they are installed on the rotating support arms; the rotation input end is coaxially connected to the traction turntable through a coupling, and the connecting slider is connected to the traction turntable through the connecting rod, so that the rotation of the rotation input end is converted into the translation of the connecting slider on the translational slide rail through the traction turntable and the connecting rod; The rotational variable stiffness mechanism includes a rotational guide wheel, a rotational take-up wheel, a pulley, a tensioning wheel, and a rotational stiffness-adjusting motor; wherein, The number of pulleys and tensioning pulleys is the same as the number of rotating support frame bases. The pulleys are fitted on the rotating support frame bases and are lower than the rotating support arms, so that the belt fitted on and connected to the pulleys is lower than the rotating support arms. The tensioning pulleys are at the same height as the pulleys and are evenly distributed along the circumference of the rotating support platform, so that the tensioning pulleys press the belt towards the rotating support platform. The rotary adjustable motor is fixed on the support base plate, and the output end of the rotary adjustable motor is connected to the worm gear through a coupling. The worm gear meshes with the worm wheel installed on the pulley, so that the rotary adjustable motor controls the rotation of the pulley through the cooperation of the worm gear and the worm wheel, and then controls the rotation of other pulleys through the belt. The number of rotating take-up wheels is the same as the number of belt pulleys, and they are coaxially mounted on the rotating support frame base with the belt pulleys, so that the belt pulleys drive the rotating take-up wheels to rotate synchronously; the number of rotating guide wheels is the same as the number of rotating take-up wheels, and they are mounted on the rotating support arm close to the rotating take-up wheels. A spring steel wire rope is fixed on the connecting slider and connected to the rotating winding wheel on the adjacent rotating support frame base. The rotating stiffness adjustment motor adjusts the preload of the spring steel wire rope through the pulley and the rotating winding wheel, thereby adjusting the rotational stiffness of the rotating input end.

2. The rope-driven tension-type torsional stiffness simulation platform according to claim 1, characterized in that, One end of the spring steel wire rope is fixed to the connecting slider, and the other end of the spring steel wire rope passes around the rotating guide wheel and is fixed to the rotating winding wheel on the adjacent rotating support frame base.

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