A mechanical arm low-gravity environment simulation experiment device

Abstract

The utility model discloses a kind of mechanical arm low gravity environment simulation experiment device, including main frame body, the top of main frame body is provided with adjusting frame, several sliding grooves are set on adjusting frame, several sliding grooves and adjusting frame center are as apex on adjusting frame and evenly distributed in radial, rotating disc is set at the apex of several sliding grooves, several connecting rods are hinged on rotating disc. Adopt radial sliding groove can make slider when rotating disc rotates, realize multi-angle, multidirectional position adjustment on adjusting frame, so different shapes of mechanical arm can be suspended;The hinged structure of connecting rod and slider can convert the rotation of rotating disc into the linear sliding of slider in sliding groove, can be suspended to different size mechanical arm;The length of lifting rope can be adjusted by the cooperation of rotating shaft and winding drum, the balance after the suspension of mechanical arm can be guaranteed by adjusting the length of lifting rope of different lifting points;The risk that mechanical arm falls after reversing of ratchet and ratchet wheel cooperation can be avoided.

Description

Technical Field

[0001] This utility model belongs to the technical field of aerospace equipment experimental devices, and in particular relates to a low-gravity environment simulation experimental device for robotic arms. Background Technology

[0002] Spaceflight, also known as space travel, cosmic flight, or aerospace flight, refers to the general term for various activities that involve entering, exploring, developing, and utilizing outer space (the space outside the Earth's atmosphere) and celestial bodies beyond Earth.

[0003] With the development of aerospace technology, robotic arms are also widely used in the aerospace field. However, space is a weightless environment, which causes the forces acting on the robotic arm to be different from those on the ground. Therefore, robotic arms used in the aerospace field need to be tested in a simulated weightless environment.

[0004] Therefore, we need to design a low-gravity environment simulation experimental device for robotic arms to solve these problems. Utility Model Content

[0005] The problem to be solved by this utility model is to provide a low-gravity environment simulation experimental device for robotic arms.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A low-gravity environment simulation experimental device for a robotic arm includes a main frame. An adjustment frame is mounted on the top of the main frame. Several sliding grooves are formed on the adjustment frame, and these grooves are radially and evenly distributed along the center of the adjustment frame. A rotating disk is positioned at the apex of each sliding groove. Several connecting rods are hinged to the rotating disk and are evenly distributed around the circumference of the rotating disk. A slider is hinged to the free end of each connecting rod and is located within a sliding groove. A lifting box is rotatably mounted on each slider and is equipped with a one-way lock. A drum is located inside the lifting box and connected to the one-way lock. A lifting rope is wound around the drum, with its free end located outside the lifting box.

[0008] Preferably, a truss is slidably mounted on the top of the main frame, and an annular track is fixedly mounted on the truss. The adjusting frame is connected to the main frame through the annular track.

[0009] This configuration, through the sliding of the truss and the engagement of the circular track, allows the adjustment frame to rotate circumferentially or move radially along the top of the main frame, further expanding the operating range of the lifting box and meeting the hanging requirements of different positions. The design of the circular track provides stable support and guidance for the adjustment frame, ensuring a smooth adjustment process and reducing swaying. The sliding connection between the truss and the main frame facilitates installation and disassembly, and the position of the adjustment frame can be adjusted according to actual operational needs, improving the applicability of the equipment.

[0010] Preferably, a wheel frame is fixedly installed inside the lifting box, and a rotating shaft is rotatably installed on the wheel frame. The drum is coaxially and fixedly connected to the rotating shaft. A limit shaft is provided below the drum. The two ends of the limit shaft are rotatably connected to a set of opposite inner walls of the lifting box. A through hole is opened on the lifting box below the limit shaft. The diameter of the through hole is larger than the diameter of the hoisting rope. The free end of the hoisting rope extends out of the lifting box from the through hole, and a hook can be detachably installed at the free end of the hoisting rope.

[0011] This design, through the cooperation of the wheel frame and the rotating shaft, enables the drum to rotate stably, reduces frictional loss, and ensures smooth rope winding and unwinding; the limiting shaft can limit the rope to prevent it from getting tangled on the drum, improving the orderliness of rope winding and unwinding; the diameter design of the through hole avoids friction between the rope and the hole wall, extending the rope's service life; and the detachable hook facilitates maintenance and replacement.

[0012] Preferably, the one-way lock includes a mounting bracket, which is fixedly connected to the lifting box. A ratchet is rotatably mounted on the mounting bracket and fixedly connected to the rotating shaft. A ratchet tooth is rotatably mounted on the mounting bracket on one side of the ratchet. A stop block is fixedly mounted on the ratchet tooth at the connection end with the mounting bracket. A pressure plate is detachably mounted on the mounting bracket on one side of the ratchet tooth. A spring is mounted between the pressure plate and the ratchet tooth. One end of the spring is connected to the pressure plate, and the other end is connected to the middle of the ratchet tooth. When the spring is in its natural state, the free end of the ratchet tooth contacts the ratchet. A push rod is rotatably mounted on the mounting bracket on one side of the stop block. A lever is fixedly mounted on the push rod. When the lever pushes the stop block to move, the free end of the ratchet tooth will separate from the ratchet.

[0013] This design allows for one-way locking of the drum through the engagement of the ratchet and ratchet teeth, preventing the hoisting rope from rotating in the opposite direction due to the weight of the robotic arm and ensuring safety during the hoisting process. The spring force keeps the ratchet teeth engaged with the ratchet, ensuring the reliability of the lock. The push rod and lever design allows the ratchet teeth to be separated from the ratchet by pushing the stop block, facilitating the release of the lock and enabling the lowering of the hoisting rope. The operation is convenient, safe, and controllable. The detachable pressure plate facilitates the adjustment of the spring tension or the replacement of parts, improving the maintenance convenience of the one-way lock.

[0014] Preferably, a knob is rotatably provided on the outer wall of the lifting box, the knob being coaxial with the rotating shaft and fixedly connected to one end of the rotating shaft.

[0015] This design, with a direct connection between the knob and the shaft, allows for manual rotation of the knob to control the winding and unwinding of the drum, eliminating the need for an additional power source and making operation simple and intuitive. The coaxial design ensures efficient knob rotation, resulting in smoother rope winding and unwinding and facilitating precise control of the hoisting height. The knob design also provides a convenient interface for manual intervention, especially in emergencies such as power outages, allowing for manual operation to complete hoisting tasks and enhancing the equipment's emergency response capabilities.

[0016] Preferably, the pressure plate and the mounting bracket are detachably connected by bolts.

[0017] This design, using bolted connections, facilitates quick disassembly of the pressure plate, allowing for the inspection, replacement, or adjustment of internal components such as springs and ratchet teeth within the one-way lock. The detachable design reduces maintenance difficulty, shortens maintenance time, and improves the maintainability of the equipment. At the same time, the high structural strength of the bolted connection ensures the pressure plate remains stable during use, guaranteeing the normal operation of the one-way lock.

[0018] Preferably, a rotating seat is also fixedly provided on the top of the lifting box, and the slider is rotatably connected to the lifting box through the rotating seat.

[0019] This design allows for adjustment of the lifting box's direction, making it easier for operators to maneuver.

[0020] The advantages and positive effects of this utility model are:

[0021] This invention employs radial grooves, allowing the slider to achieve multi-angle and multi-directional position adjustment on the adjustment frame as the rotating disk rotates, thus enabling the suspension of robotic arms of different shapes. The hinged structure between the connecting rod and the slider converts the rotation of the rotating disk into linear sliding of the slider within the groove, accommodating robotic arms of different sizes. The combination of the rotating shaft and the drum allows for adjustment of the suspension rope length, ensuring the balance of the robotic arm after suspension by adjusting the rope length at different suspension points. The combination of ratchet and ratchet wheel prevents the risk of the robotic arm falling after the rotating shaft reverses. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the connection between the annular track and the truss of this utility model;

[0024] Figure 2 This is a schematic diagram of the connection structure between the adjustment frame and the lifting box of this utility model;

[0025] Figure 3 This is a bottom view of the overall design of this utility model;

[0026] Figure 4 This is a schematic diagram of the ratchet and ratchet tooth structure of this utility model;

[0027] Figure 5 This is a schematic diagram of the internal structure of the lifting box of this utility model.

[0028] The annotations in the attached figures are explained as follows:

[0029] 1. Main frame; 2. Truss; 3. Circular track; 4. Adjustment frame; 5. Mounting frame; 6. Slide groove; 7. Slider; 8. Connecting rod; 9. Rotary disc; 10. Lifting box; 11. Rotating seat; 12. Push rod; 13. Pressure plate; 14. Spring; 15. Pulley; 16. Stop block; 17. Ratchet; 18. Ratchet wheel; 19. Knob; 20. Wheel frame; 21. Drum; 22. Lifting rope; 23. Rotating shaft; 24. Limiting shaft; 25. Through hole; 26. Hook. Detailed Implementation

[0030] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] The present invention will be further described below with reference to the accompanying drawings:

[0033] Example: Figures 1-5 As shown, a low-gravity environment simulation experimental device for a robotic arm includes a main frame 1. An adjustment frame 4 is mounted on the top of the main frame 1. Several sliding grooves 6 are formed on the adjustment frame 4, radiating evenly from the center of the adjustment frame 4. A rotating disk 9 is positioned at the apex of each sliding groove 6. Several connecting rods 8 are hinged to the rotating disk 9, evenly distributed around the circumference of the rotating disk 9. A slider 7 is hinged to the free end of each connecting rod 8, located within a sliding groove 6. Each slider 7 is rotatably connected to the lifting box 10 via a rotating seat 11 on the lifting box 10. A one-way lock is installed on the lifting box 10. A drum 21 is installed inside the lifting box 10, connected to the one-way lock. A lifting rope 22 is wound around the drum 21, with its free end located outside the lifting box 10. The main frame 1 serves as the basic support structure, providing an installation platform for the adjustment frame 4. When the rotating disk 9 rotates, the connecting rods 8, which are evenly distributed around its circumference, swing accordingly. Since the two ends of the connecting rods 8 are hinged to the rotating disk 9 and the slider 7 respectively, the swinging connecting rods 8 push the slider 7 to slide within the radially distributed grooves 6, thereby causing the lifting box 10 on the slider 7 to adjust its position. The position adjustment of the lifting box 10, combined with its own lifting function, enables flexible positioning of the suspension point of the hoisting rope 22, providing multi-dimensional position adjustment for hoisting operations.

[0034] A truss 2 is slidably mounted on the top of the main frame 1, and a circular track 3 is fixedly mounted on the truss 2. An adjusting frame 4 is connected to the main frame 1 via the circular track 3. The truss 2 can slide on the top of the main frame 1, driving the circular track 3 and the adjusting frame 4 connected to it to move, thus expanding the range of motion of the adjusting frame 4 on the top of the main frame 1. The adjusting frame 4 rotates on the truss 2 via the circular track 3, cooperating with its own position adjustment via connecting rod 8 and slider 7, enabling the lifting box 10 to cover a larger spatial area and meet the hanging requirements in complex environments. This coordinated design greatly enhances the spatial operational flexibility of the entire device.

[0035] A wheel frame 20 is fixedly installed inside the lifting box 10. A rotating shaft 23 is rotatably mounted on the wheel frame 20. A drum 21 is coaxially and fixedly connected to the rotating shaft 23. A limit shaft 24 is provided below the drum 21. Both ends of the limit shaft 24 are rotatably connected to a set of opposite inner walls of the lifting box 10. A through hole 25 is provided on the lifting box 10 below the limit shaft 24. The diameter of the through hole 25 is larger than the diameter of the hoisting rope 22. The free end of the hoisting rope 22 extends out of the lifting box 10 through the through hole 25, and a hook 26 can be detachably installed at the free end of the hoisting rope 22. The wheel frame 20 provides support for the rotating shaft 23. When the rotating shaft 23 rotates, the coaxially fixed drum 21 rotates accordingly, realizing the winding and unwinding of the hoisting rope 22. The limit shaft 24 constrains the hoisting rope 22, preventing the hoisting rope 22 from getting tangled on the drum 21 and ensuring the orderly winding and unwinding of the hoisting rope 22. The hoisting rope 22 extends out of the lifting box 10 through a through hole 25 with a diameter larger than its own and is connected to a detachable hook 26. This allows for easy replacement of the hook 26 for different suspended objects. The through hole 25 is designed to reduce friction between the hoisting rope 22 and the box wall, extending the service life of the hoisting rope 22. This part of the structure, through the cooperation of various components, ensures the stability and reliability of the hoisting rope 22's deployment and retraction.

[0036] The one-way lock includes a mounting bracket 5, which is fixedly connected to the lifting box 10. A ratchet 18 is rotatably mounted on the mounting bracket 5 and is fixedly connected to the rotating shaft 23. A ratchet 17 is rotatably mounted on the mounting bracket 5 on one side of the ratchet 18. A stop block 16 is fixedly mounted on the ratchet 17 at the end of the ratchet 17 that connects to the mounting bracket 5. A pressure plate 13 is detachably mounted on the mounting bracket 5 on one side of the ratchet 17. A spring 14 is mounted between the pressure plate 13 and the ratchet 17. One end of the spring 14 is connected to the pressure plate 13, and the other end is connected to the middle of the ratchet 17. When the spring 14 is in its natural state, the free end of the ratchet 17 contacts the ratchet 18. A push rod 12 is rotatably mounted on the mounting bracket 5 on one side of the stop block 16. A lever 15 is fixedly mounted on the push rod 12. When the lever 15 pushes the stop block 16 to move, the free end of the ratchet 17 will separate from the ratchet 18. Mounting bracket 5 is fixed on lifting box 10, providing a mounting base for other components of the one-way lock. When the rotating shaft 23 rotates, it drives the coaxial ratchet 18 to rotate. Under the action of spring 14, the free end of ratchet 17 engages with ratchet 18, preventing ratchet 18 from rotating in the opposite direction, thereby preventing the hoisting rope 22 from slipping due to the weight of the robotic arm and ensuring hoisting safety. When it is necessary to lower the hoisting rope 22, the push rod 12 is rotated, and the lever 15 on the push rod 12 pushes the stop block 16, causing ratchet 17 to rotate around the connection point with mounting bracket 5. The free end of ratchet 17 separates from ratchet 18, releasing the lock on the rotating shaft 23 and drum 21, and realizing the controllable lowering of the hoisting rope 22.

[0037] A knob 19 is rotatably mounted on the outer wall of the lifting box 10. The knob 19 is coaxial with the rotating shaft 23 and fixedly connected to one end of the rotating shaft 23. The knob 19 is fixedly coaxially with the rotating shaft 23. By rotating the knob 19, the operator can directly drive the rotating shaft 23 to rotate, thereby controlling the winding and unwinding of the hoisting rope 22 by the drum 21. This design provides a convenient manual operation method. In the absence of power supply or when precise control of the hoisting height is required, the hoisting rope 22 can be precisely adjusted by manually rotating the knob 19. Combined with the one-way lock, it enables safe and precise hoisting operations.

[0038] The pressure plate 13 and the mounting bracket 5 are detachably connected by bolts. This bolt connection allows for easy disassembly of the pressure plate 13, enabling inspection, replacement of the spring 14 between the pressure plate 13 and the ratchet 17, or maintenance of components such as the ratchet 17. This connection method ensures the maintainability of the internal components of the one-way lock. When the spring 14 has insufficient elasticity or the ratchet 17 is worn, the pressure plate 13 can be quickly disassembled for repair or replacement, ensuring the normal function of the one-way lock and guaranteeing the safety and reliability of the entire hanging device.

[0039] Working process: First, rotate the rotary disk 9. The connecting rod 8 on the rotary disk 9 drives the slider 7 to move in the slide groove 6. The hanging point can be adjusted according to the size of the robotic arm to be hung. Then, push the push rod 12. The lever on the push rod 12 moves the stop block 16. The stop block 16 will rotate after being moved by the lever. This will drive the ratchet 17 to rotate. After the ratchet 17 rotates, it will compress the spring 14 and separate from the ratchet 18, unlocking the ratchet 18. Then, pull the hoisting rope 22 through the hook 26 to make the drum 21 rotate. The hoisting rope 22 wound on the drum 21 will be released from the through hole 25 until the hook 26 can hook the robotic arm to be hung and then stop.

[0040] Next, release the push rod 12. The ratchet 17 will re-engage with the ratchet 18 under the push of the spring 14, locking the ratchet 18 in one direction. Then turn the knob 19, which will drive the rotating shaft 23 to rotate. The drum 21 on the rotating shaft 23 will also rotate synchronously, and the hoisting rope 22 will be wound onto the drum 21. When the rotating shaft 23 rotates in the forward direction, the ratchet 17 will slide over the teeth of the ratchet 18 one by one. If the rotating shaft 23 rotates in the reverse direction, the ratchet 17 will lock with the teeth on the ratchet 18 to prevent the rotating shaft 23 from rotating in the reverse direction, thus ensuring the safety of the suspended robotic arm.

[0041] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A mechanical arm low gravity environment simulation experiment device, comprising a main frame body (1), characterized in that: An adjusting frame (4) is provided on the top of the main frame (1). Several sliding grooves (6) are provided on the adjusting frame (4). These grooves (6) are radially and evenly distributed on the adjusting frame (4) with the center of the adjusting frame (4) as their apexes. A rotating disk (9) is provided at the apex of each of the sliding grooves (6). Several connecting rods (8) are hinged to the rotating disk (9). These connecting rods (8) are evenly distributed around the rotating disk (9). Each connecting rod... Each free end of the rod (8) is hinged with a slider (7), which is located in the groove (6). Each slider (7) is rotatably equipped with a lifting box (10), which is equipped with a one-way lock. A drum (21) is installed inside the lifting box (10), which is connected to the one-way lock. A hoisting rope (22) is wound on the drum (21), and the free end of the hoisting rope (22) is located outside the lifting box (10). 2.The mechanical arm low-gravity environment simulation experiment device according to claim 1, characterized in that: A truss (2) is slidably mounted on the top of the main frame (1), and a ring track (3) is fixedly mounted on the truss (2). The adjustment frame (4) is connected to the main frame (1) through the ring track (3). 3.The mechanical arm low-gravity environment simulation experiment device according to claim 1, characterized in that: A wheel frame (20) is fixedly installed inside the lifting box (10). A rotating shaft (23) is rotatably installed on the wheel frame (20). The drum (21) is coaxially fixedly connected to the rotating shaft (23). A limiting shaft (24) is provided below the drum (21). The two ends of the limiting shaft (24) are rotatably connected to a set of opposite inner walls of the lifting box (10). A through hole (25) is opened on the lifting box (10) below the limiting shaft (24). The diameter of the through hole (25) is larger than the diameter of the hoisting rope (22). The free end of the hoisting rope (22) extends out of the lifting box (10) from the through hole (25). A hook (26) can also be detachably installed on the free end of the hoisting rope (22).

4. The mechanical arm low-gravity environment simulation experiment device according to claim 3, characterized in that: The one-way lock includes a mounting bracket (5), which is fixedly connected to the lifting box (10). A ratchet (18) is rotatably mounted on the mounting bracket (5) and is fixedly connected to the rotating shaft (23). A ratchet tooth (17) is rotatably mounted on the mounting bracket (5) on one side of the ratchet tooth (18). A stop block (16) is fixedly mounted on the ratchet tooth (17) at the connection end with the mounting bracket (5). A pressure plate (13) is detachably mounted on the mounting bracket (5) on one side of the ratchet tooth (17). The pressure plate (13) and the... A spring (14) is provided between the ratchet teeth (17). One end of the spring (14) is connected to the pressure plate (13), and the other end is connected to the middle of the ratchet teeth (17). When the spring (14) is in its natural state, the free end of the ratchet teeth (17) is in contact with the ratchet wheel (18). A push rod (12) is rotatably provided on the mounting bracket (5) on one side of the stop block (16). A paddle block (15) is fixedly provided on the push rod (12). When the paddle block (15) pushes the stop block (16) to move, the free end of the ratchet teeth (17) will separate from the ratchet wheel (18).

5. The mechanical arm low-gravity environment simulation experiment device according to claim 3, characterized in that: A knob (19) is rotatably mounted on the outer wall of the lifting box (10). The knob (19) is coaxial with the rotating shaft (23) and is fixedly connected to one end of the rotating shaft (23).

6. The mechanical arm low-gravity environment simulation experiment device according to claim 4, characterized in that: The pressure plate (13) and the mounting bracket (5) are detachably connected by bolts.

7. The robotic arm low-gravity environment simulation experimental device according to claim 4, characterized in that: The top of the lifting box (10) is also fixedly provided with a rotating seat (11), and the slider (7) is rotatably connected to the lifting box (10) through the rotating seat (11).

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