Translational stiffness simulation platform based on rope drive

Abstract

The present application relates to the technical field of space mechanics simulation, and particularly relates to a kind of translational stiffness simulation platform based on rope drive, including translational input end, input end cover plate, translational variable stiffness mechanism, platform bottom plate, guide rail group and stiffness adjusting guide rail, and stiffness adjusting slider matched with stiffness adjusting guide rail;Wherein, stiffness adjusting slider is connected with translational variable stiffness mechanism by spring steel wire rope, two guide rail groups are parallel to stiffness adjusting guide rail and are fixed at the both ends of platform bottom plate to drive input end cover plate to move horizontally, the pre-tightening force that stiffness adjusting slider receives is adjusted by motor control spring steel wire rope, stiffness adjusting slider is adjusted, and is acted on input end cover plate, the translational stiffness of translational input end is adjusted.The simulation platform provided by the present application can simulate the stiffness change of large arm in the process of movement when space station large arm combination on the ground, and acts on small arm, so as to lay the foundation for studying the disturbance motion law of combined arm under the common movement of space station large arm.

Description

A translational stiffness simulation platform based on rope driving TECHNICAL FIELD

[0001] The present application relates to the technical field of space mechanics simulation, and in particular to a translational stiffness simulation platform based on rope driving. BACKGROUND

[0002] With the 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 operation 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 of 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 translational stiffness of the flexible base designed at present is variable stiffness, but not real-time variable stiffness. The base stiffness can only be adjusted in advance to meet the translational stiffness of the large arm in a certain configuration, and then the small arm moves under this base stiffness characteristics, which simulates the system scenario where the large arm remains fixed in a certain configuration while the small arm moves. It cannot realize the real-time change of the translational stiffness of the flexible base during the movement of the small arm, i.e. it cannot simulate the system scenario where the large arm also moves while the small arm moves.

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

[0006] To solve the above problems, the present application provides a translational stiffness simulation platform based on rope driving, 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 stiffness change of the single translational degree of freedom caused by the configuration change of the large arm during its movement is simulated, 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 translational stiffness simulation platform based on the rope drive provided by the application comprises a translational input end, an input end cover plate, a translational variable stiffness mechanism, a platform bottom plate, a guide rail set, a stiffness adjusting guide rail, and a stiffness adjusting slider matched with the stiffness adjusting guide rail.

[0008] Further, the translational variable stiffness mechanism comprises a fixed wheel, a fixed guide wheel, a rope pressing wheel, a translational rope collecting wheel, and a translational stiffness adjusting motor.

[0009] The translational stiffness adjusting motor is fixed on the platform bottom plate, and the output end of the translational stiffness adjusting motor is connected with a worm through a shaft coupling, the worm is engaged with a worm wheel fixed on the translational rope collecting wheel, so that the translational stiffness adjusting motor controls the rotation of the translational rope collecting wheel through the cooperation of the worm and the worm wheel, and then controls the pre-tightening force of the stiffness adjusting slider along the stiffness adjusting guide rail through the spring steel wire rope.

[0010] Further, guide wheels for changing the direction of the spring steel wire rope are arranged between the fixed wheel and the rope pressing wheel, between the rope pressing wheel and the fixed guide wheel, and between the rope pressing wheel and the translational rope collecting wheel.

[0011] Compared with the prior art, the application can achieve the following beneficial effects:

[0012] The translational stiffness simulation platform based on the rope drive provided by the application can simulate the stiffness change of the large arm in the movement process when the space station large arm combination is on the ground, and the reaction is applied to the small arm, thereby laying a foundation for studying the disturbance motion law occurring in the combined arm under the joint movement of the space station large arm. BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 is a whole structure diagram of the translational stiffness simulation platform based on the rope drive provided by the embodiment of the application;

[0014] Fig. 2 is a partial structural diagram of a translation stiffness simulation platform based on a rope drive according to an embodiment of the present application;

[0015] Fig. 3 is a structural diagram of a translation variable stiffness mechanism according to an embodiment of the present application;

[0016] Fig. 4 is a schematic diagram of a translation variable stiffness mechanism according to an embodiment of the present application.

[0017] Reference signs: translation input end 1, input end cover plate 2, guide rail set 3, stiffness adjustment guide rail 4, stiffness adjustment slider 5, translation variable stiffness mechanism 6, fixed wheel 6-1, fixed guide wheel 6-2, translation rope winding wheel 6-3, rope pressing wheel 6-4, translation stiffness adjustment motor 6-5, guide wheel 6-6, platform bottom plate 7, spring steel wire rope 8, transmission shaft 9. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is 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 only used to explain the present application and do not constitute a limitation on the present application.

[0019] The translation variable stiffness mechanism adjusts the pre-tightening force of the stiffness adjustment slider 5 moving along the stiffness adjustment guide rail 4 through the spring steel wire rope 8, and then adjusts the translation stiffness of the translation input end 1 and the rotation stiffness simulation platform, and then simulates the stiffness characteristics of the large arm joint in the translation degree of freedom when the large arm and the small arm are combined.

[0020] Fig. 1 and Fig. 2 respectively show the overall and partial structures of the translation stiffness simulation platform based on the rope drive according to an embodiment of the present application.

[0021] As shown in Fig. 1 and Fig. 2, the translation stiffness simulation platform based on the rope drive provided by the embodiment of the present application comprises a translation input end 1, an input end cover plate 2, a guide rail set 3, a stiffness adjustment guide rail 4, a stiffness adjustment slider 5, a translation variable stiffness mechanism 6 and a platform bottom plate 7.

[0022] The translation input end 1 is installed on the top surface of the input end cover plate 2 through a support table, the guide rail set 3, the stiffness adjustment guide rail 4 and the translation variable stiffness mechanism 6 are all installed on the platform bottom plate 7, and the input end cover plate 2 is connected with the stiffness adjustment slider 5 through the transmission shaft 9. The stiffness adjustment guide rail 4 is located in the translation variable stiffness mechanism 6, the stiffness adjustment slider 5 is connected with the translation variable stiffness mechanism 6 through the spring steel wire rope 8, the translation variable stiffness mechanism 6 adjusts the pre-tightening force of the stiffness adjustment slider 5 moving along the stiffness adjustment guide rail 4 through the spring steel wire rope 8, and then adjusts the translation stiffness of the input end cover plate 2 and the translation input end 1. The two guide rail sets 3 are parallel to the stiffness adjustment guide rail 4 and are fixed at both ends of the platform bottom plate 7, so that the guide rail sets 3 drive the input end cover plate 2 to move in translation.

[0023] Figure 3 shows the structure of the translational variable stiffness mechanism provided by the embodiment of the present application.

[0024] As shown in Figure 3, the translational variable stiffness mechanism provided by the embodiment of the present application comprises a fixed wheel 6-1, a fixed guide wheel 6-2, a pressing wheel 6-4, a translational rope collecting wheel 6-3 and a translational stiffness adjusting motor 6-5.

[0025] The fixed wheel 6-1 and the translational rope collecting wheel 6-3 are located at one end of the stiffness adjusting guide rail 4, the number of the pressing wheels 6-4 is two and the pressing wheels 6-4 are fixed at the two ends of the stiffness adjusting slider 5; the fixed guide wheel 6-2 is located at the other end of the stiffness adjusting guide rail 4; one end of the spring steel wire rope 8 is fixed on the fixed wheel 6-1, and the other end of the spring steel wire rope 8 is fixed on the translational rope collecting wheel 6-3 in sequence through one of the pressing wheels 6-4, the fixed guide wheel 6-2 and the other pressing wheel 6-4.

[0026] The translational stiffness adjusting motor 6-5 is fixed on the platform bottom plate 7, and the output end of the translational stiffness adjusting motor 6-5 is connected with a worm through a shaft coupling, the worm is engaged with a worm wheel installed on the translational rope collecting wheel 6-3, so that the translational stiffness adjusting motor 6-5 controls the rotation of the translational rope collecting wheel 6-3 through the cooperation of the worm and the worm wheel, and then controls the pre-tightening force of the spring steel wire rope 8 to adjust the motion of the stiffness adjusting slider 5 along the stiffness adjusting guide rail 4.

[0027] A guide wheel 6-6 for changing the direction of the spring steel wire rope 8 is arranged between the fixed wheel 6-1 and the pressing wheel 6-4, between the pressing wheel 6-4 and the fixed guide wheel 6-2 and between the pressing wheel 6-4 and the translational rope collecting wheel 6-3.

[0028] Figure 4 shows the principle of the translational variable stiffness mechanism provided by the embodiment of the present application.

[0029] As shown in Figure 4, the translational stiffness adjusting motor 6-5 drives the worm and the worm wheel through the shaft coupling to make the translational rope collecting wheel 6-3 tighten. The spring steel wire rope 8 slides between the wheels to change the pre-tightening force of each section of the spring steel wire rope 8, and then the stiffness of the stiffness adjusting slider 5 moving along the stiffness adjusting guide rail 4 is controllable and time-varying.

[0030] The translational stiffness simulation platform based on the rope driving provided by the embodiment of the present application can realize the translational stiffness adjustment of multiple degrees of freedom in the form of stacking. The platform bottom plate 7 of the upper translational stiffness simulation platform is stacked on the guide rail group 3 of the lower translational stiffness simulation platform through the heightening frame, and the platform bottom plate 7 of the upper translational stiffness simulation platform is connected with the stiffness adjusting slider 5 of the lower translational stiffness simulation platform through the transmission shaft 9, so that the lower translational stiffness simulation platform controls the translational stiffness of the upper translational stiffness simulation platform in different motion directions.

[0031] The arrangement direction of each translational stiffness simulation platform is the direction of the respective guide rail group 3, and the arrangement directions of all the translational stiffness simulation platforms are different.

[0032] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without limitation herein, so long as the desired results of the present disclosure are achieved.

[0033] The specific embodiments discussed above do not constrain the scope of the present disclosure. Those skilled in the art will recognize that modifications, combinations, sub-combinations, and alternatives are within the scope of the present disclosure. Any and all such modifications, combinations, sub-combinations, and alternatives are intended to fall within the scope of the present disclosure.

Claims

1. A translational stiffness simulation platform based on rope drive, comprising a translational input end and an input end cover plate, characterized in that, The translation stiffness mechanism, the platform base plate, the guide rail set and the translation stiffness guide rail, and the translation stiffness slider matched with the translation stiffness guide rail are also included; wherein the guide rail set, the translation stiffness guide rail and the translation stiffness mechanism are all installed on the platform base plate, and the input end cover plate is connected with the translation stiffness slider through a transmission shaft; the translation stiffness guide rail is located in the translation stiffness mechanism, the translation stiffness slider is connected with the translation stiffness mechanism through a spring steel wire rope, the translation stiffness mechanism adjusts the pre-tightening force received by the translation stiffness slider moving along the translation stiffness guide rail through the spring steel wire rope, and then adjusts the translation stiffness of the input end cover plate and the translation input end; two guide rail sets are parallel to the translation stiffness guide rail and are fixed at both ends of the platform base plate, so that the guide rail sets drive the input end cover plate to move horizontally. The translation stiffness mechanism includes a fixed wheel, a fixed guide wheel, a rope pressing wheel, a translation rope collecting wheel and a translation stiffness motor; wherein the fixed wheel and the translation rope collecting wheel are located at one end of the translation stiffness guide rail, the number of the rope pressing wheels is not less than two and the rope pressing wheels are fixed at both ends of the translation stiffness slider; the fixed guide wheel is located at the other end of the translation stiffness guide rail; one end of the spring steel wire rope is fixed on the fixed wheel, the other end of the spring steel wire rope passes through one of the rope pressing wheels, the fixed guide wheel and the other rope pressing wheel in sequence, and is then fixed on the translation rope collecting wheel; The translation stiffness motor is fixed on the platform base plate, and the output end of the translation stiffness motor is connected with a worm through a shaft coupling; the worm is engaged with a worm wheel installed on the translation rope collecting wheel, so that the translation stiffness motor controls the rotation of the translation rope collecting wheel through the cooperation of the worm and the worm wheel, and then controls the pre-tightening force received by the translation stiffness slider moving along the translation stiffness guide rail through the spring steel wire rope.

2. The cable-driven translational stiffness simulation platform of claim 1, wherein, A guide wheel for changing the direction of the spring steel wire rope is arranged between the fixed wheel and the rope pressing wheel, between the rope pressing wheel and the fixed guide wheel, and between the rope pressing wheel and the translation rope collecting wheel.

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