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CN-121977870-A - Dynamic simulation device for load reliable transfer based on rope drive and application thereof

CN121977870ACN 121977870 ACN121977870 ACN 121977870ACN-121977870-A

Abstract

The invention relates to the technical field of load reliable transfer simulation and test, in particular to a dynamic load reliable transfer simulation device based on rope driving and application thereof, which is characterized in that a rope driving suspension arm main body with a tower crane type optimized configuration is arranged, and an electric control system, a sensing detection system and a virtual-real interaction simulation module are arranged; 2 servo drive lead screw modules control the pulley to move horizontally, pulleys are arranged on the upper, lower, left and right sides of the pulley, gaps are reserved between the upper, left and right pulleys and the lower pulley to prevent toppling, a ground simulation platform with accurate and controllable mechanical action and high simulation test efficiency is provided for a star-meter rope drive boom load reliable transfer technology, the problem that load transfer is difficult to test in the field under the extreme environment of a star meter is solved, and the device is suitable for research, development, debugging and performance verification scenes of load transfer mechanisms in the field of deep space exploration.

Inventors

  • GU HAIYU
  • WANG SIYU
  • YOU BINDI
  • DUAN JIANYU
  • WANG HUAISHENG

Assignees

  • 哈尔滨工业大学
  • 哈尔滨工业大学（威海）

Dates

Publication Date
20260505
Application Date
20251230

Claims (7)

  1. 1. A dynamic simulation device for reliably transferring load based on rope driving is characterized by comprising a rope driving suspension arm main body with a tower crane type optimized structure, an electric control system, a sensing detection system and a virtual-real interaction simulation module, wherein the rope driving suspension arm main body respectively realizes multi-dimensional mechanical actions through 7 servos, 2 servodriving screw rod modules control a pulley to move horizontally, pulleys are arranged on the upper, lower, left and right sides of the pulley, gaps are reserved between the upper, left and right pulleys and the lower pulleys to prevent toppling, 1 servomotor is matched with a hollow rotating platform to realize the whole rotation of the suspension arm, 2 motor modules respectively control two adjusting ropes, 1 servomotor is connected with a worm gear reducer to drive a pitching adjusting system to improve joint rigidity at a large reduction ratio, two sets of auxiliary rope tensioning mechanisms are additionally arranged, one end of each rope is used for fixing the front end and the tail end of a main arm, the other end of each rope is connected with a tension sensor on the screw rod through the pulley, and tension is adjusted through a motor to counteract main arm vibration.
  2. 2. The dynamic simulation device for reliably transferring load based on rope driving is characterized in that a 6060 multiplied by 2mm carbon fiber tube is adopted as a horizontal main arm to achieve light weight and strength retention, 6061 aluminum alloy is adopted as a vertical rod to improve bottom stability, 6061 aluminum alloy is covered at a sliding rail to reduce friction, high-strength 3D printing consumables are used for part of non-stressed parts, a motor driver and a sensor are cooperatively controlled by an electric control system based on Speedgoat real-time machine through EtherCAT communication, an IMU attitude sensor, a tension sensor and an inclination sensor are integrated by a sensing system, load swing angle, rope tension and boom attitude data are collected in real time, and a virtual-real interaction simulation module can reproduce complex terrain and installation base shaking working conditions based on combined simulation of an Adams virtual prototype and Simulink.
  3. 3. The dynamic simulation device for reliably transferring load based on rope driving according to claim 1 is characterized in that rigid connection and action synchronization are achieved through cooperation linkage of a horizontal operation unit and a vertical support unit, the horizontal operation unit is used for achieving accurate transportation and lifting of load, the horizontal operation unit takes a 6060×2mm carbon fiber tube as a horizontal main arm, a pulley transportation scheme of 'double-motor cooperative driving+screw transmission' is adopted, the problems that traditional single-motor driving control precision is low and load capacity is insufficient are solved, 2 driving motors of which are in the mode of tandem MS1H-10B30CA are symmetrically distributed at the rear end of a horizontal main arm, two high-precision ball screw modules and screw modules are respectively connected through a coupler and the coupler, the lead of the ball screw modules is 10mm, the efficiency is 0.8, front-end pulley front-back movement is achieved through a cooperative driving mechanism of 'one-pull one-drop', when a pulley needs to move forwards along a main arm sliding rail, a front-end pulley servo motor is connected with a speed reducer and then rotates forwards through the coupler driving module, a rear-end servo motor 34 is connected with a speed reducer, the front-end pulley is further pulled through the coupler driving module, the two-end pulley is controlled by the coupler to rotate through the coupler, and the rope is controlled by the reverse direction of the coupler, the rope is in a real-time, and the real-time risk is avoided from being controlled by the rope is achieved, and the real-time is controlled, and the real-time risk is achieved by the rope is achieved, and the rope is controlled to pass through the rope and the rope is in a real-time, and the real-time situation is prone to be in a situation, and the real-time situation is prone to and has high.
  4. 4. The dynamic simulation device for reliably transferring load based on rope driving is characterized in that a pulley body is of a 6061 aluminum alloy integrated structure, upper side pulleys, left side pulleys, right side pulleys and right side pulleys are integrated on the upper side, the left side pulleys and the right side pulleys are completely covered on a sliding rail, the friction coefficient is less than or equal to 0.03, guiding precision of the pulley in motion is guaranteed, gaps of 5mm are reserved between the lower side pulleys and the sliding rail, the pulleys are only contacted with the sliding rail when the pulley starts up to acceleration exceeding 0.5m/s < 2 > or suddenly shakes, the dynamic simulation device plays a role of preventing toppling and buffering, the bottom of the pulley is fixedly provided with a 400W lifting motor through a flange, an output shaft of the motor is connected with a lifting rotating shaft of the lifting object, the lifting rotating shaft is wound with a high-strength galvanized steel wire rope, the diameter of the steel wire rope is 3mm, the breaking force is more than or equal to 5kN, the tail end of the steel wire rope is connected with a load lifting tool through a hook, lifting control of the load is achieved, the lifting speed range is 0.1-4mm/s, positioning precision is +/-1 mm, the bottom is integrated with a JY B type IMU sensor in the mode, pitch angle, the data, the rolling angle data and the rolling angle data in the motion process are acquired in real time, and reference compensation data are provided for the load.
  5. 5. A dynamic simulation device based on rope-driven load reliable transfer is characterized in that a vertical supporting unit is used for realizing integral posture adjustment and rigidity enhancement, specifically, the vertical supporting unit takes 6061 aluminum alloy as a vertical supporting tube, the bottom of the vertical supporting unit is rigidly connected with a base through bolts, the dynamic simulation device comprises (1) a slewing mechanism, wherein the top of the vertical supporting tube is connected with 1 hollow rotating platform through a flange, the maximum bearing torque of the vertical supporting tube is 50Nm, the input end of the platform is connected with a rotating servo motor at the bottom of 1 platform 100W through a coupling, the motor drives the rotating platform to drive a device to realize 360-degree continuous slewing, an absolute encoder is integrated in the rotating platform, real-time feedback slewing angle data (2) pitching adjusting mechanism is realized by connecting a horizontal main arm with bolts through a rotating clamping plate, meanwhile, a worm gear transmission mechanism is arranged between the rear part in the horizontal main arm and the upper part of the vertical supporting tube through bolts, the rotating clamping plate is respectively connected with the horizontal main arm and a worm gear reducer through bolts, when the servo motor is driven by the servo motor of 1 platform 100W to rotate forwards, the worm drives the servo motor to rotate, the horizontal main arm is pushed upwards around a hinge, a pitch angle is realized to realize maximum pitch angle of the worm gear is 15 degrees, the pitch angle is realized by the pitch angle is realized, and the pitch angle is automatically locked to be 10 degrees when the pitch angle is realized at any angle is the position of the main arm is down, and the pitch angle is automatically adjusted to the pitch angle is at the maximum angle, and is 10 degrees, and the pitch angle is suitable for a state, and can be automatically adjusted to the pitch angle, and has the angle and has the characteristics and 10 angle and the angle and can be adjusted, the rigidity enhancing mechanism comprises a vertical rod, wherein 1 set of motor-screw-tension sensor auxiliary rope tensioning systems are respectively arranged on two sides of the top of the vertical rod, 2 100W servo motors are respectively connected with JLBM-1-100kg of tension sensors through screw modules, the other ends of the sensors are connected with high-strength ropes, the two sets of rope systems output two ropes, the ropes reach the rope fixing blocks through U-shaped shafts and are tensioned from the rear ends of the horizontal main arms, the ropes reach the rope fixing blocks through hanging wheels and are tensioned from the front ends of the horizontal main arms, a triangular stable structure is formed, when the vertical rod is in operation, the tension sensors acquire rope tension in real time, the Speedgoat real-time machine automatically adjusts the output torque of the motor according to load quality, controls the rope tension to be in a range of 50-300N, counteracts bending deformation of the horizontal main arms in the load lifting and moving process, and reduces load shaking amplitude.
  6. 6. The dynamic simulation device for reliably transferring load based on rope driving is characterized by further comprising a cooperative control system for realizing multi-action linkage and dynamic simulation, wherein the dynamic simulation of all load transferring working conditions is realized through closed loop linkage of an electric control system-a sensing detection system-a virtual-actual interaction simulation module, the electric control system takes a Speedgoat real-time machine as a core, synchronously controls 7 motor drivers through an EtherCAT bus, collects data of 2 IMU sensors, 4 tension sensors and 1 inclination angle sensor, the sensing detection system uploads the collected data of load swing angle, rope tension, boom posture and the like to an upper computer in real time, the virtual-actual interaction simulation module builds a virtual model of a horizontal main arm, a pulley and a rope based on Adams, and combines the virtual model with a control algorithm model of a Simulink, so that a star table terrain model and lander shaking parameters can be imported, complex working conditions in the load transferring process are reproduced, and a virtual test environment is provided for path planning algorithm verification and load swing sensitivity analysis.
  7. 7. The application of the rope-driven load reliable transfer dynamic simulation device according to any one of claims 1-6, wherein under the ground experimental environment, through the cooperation of the preset motion parameters of an upper computer and a path planning algorithm and the multi-action cooperation of a mechanical structure, the dynamic simulation test of the horizontal movement, rotation and lifting working conditions of load transfer is repeated, the load swing sensitivity analysis, the path planning algorithm verification and the multi-load sequencing transfer is completed, a ground simulation platform with accurate and controllable mechanical action and high simulation test efficiency is provided for the star-meter rope-driven boom load reliable transfer technology, the problem that the load transfer is difficult to test in the field under the extreme environment of a star meter is solved, and the device is suitable for the research, the development, the debugging and the performance verification scenes of the load transfer mechanism in the field of deep space exploration.

Description

Dynamic simulation device for load reliable transfer based on rope drive and application thereof Technical Field The invention relates to the technical field of load reliable transfer simulation and test, in particular to a dynamic load reliable transfer simulation device based on rope driving and application thereof. Background In the field of object handling and transfer, rope driving equipment has been an important tool for realizing load transfer in scenes such as industrial handling and special operations by virtue of advantages such as light weight, large operation range, high adaptability and the like. Along with the improvement of the complexity of the carrying task, the load needs to be ensured to avoid collision and reduce the shaking amplitude in the transferring process, and meanwhile, the influence of the motion parameters and the structural parameters of the equipment on the transferring stability needs to be accurately tested, and the reliability of a path planning algorithm is verified. However, in an actual working environment, the load transfer process is affected by factors such as terrain complexity, base stability, load characteristics and the like, so that efficient dynamic test and algorithm verification are difficult to directly develop, and a special dynamic simulation device is needed to reproduce various working conditions, so that support is provided for research and development and optimization of a rope-driven load transfer technology. At present, the simulation device for rope-driven load transfer has many limitations that part of the device is single in structural design, only can realize simple translation or lifting motion, can not reproduce load dynamic response under multi-dimensional cooperative motion, lacks accurate sensing detection and simulation interaction capability, is difficult to quantitatively analyze influence weights of motion parameters on load shaking, and also does not consider key factors such as rope flexibility, structural rigidity and the like, so that deviation between a simulation result and actual working conditions is large, and reliable data support can not be provided for path planning algorithm optimization and equipment structural improvement. Disclosure of Invention Aiming at the defects and shortcomings existing in the prior art, the invention provides a dynamic simulation device for reliably transferring load based on rope driving, which solves the pain point of the prior art, can reproduce complex working conditions, realizes multi-dimensional action coordination and has accurate test and simulation functions, and application thereof. The invention is achieved by the following measures: A dynamic simulation device for reliably transferring load based on rope driving is characterized by comprising a rope driving suspension arm main body with a tower crane type optimized structure, an electric control system, a sensing detection system and a virtual-real interaction simulation module, wherein the rope driving suspension arm main body respectively realizes multi-dimensional mechanical actions through 7 servos, 2 servodriving screw rod modules control a pulley to move horizontally, pulleys are arranged on the upper, lower, left and right sides of the pulley, gaps are reserved between the upper, left and right pulleys and the lower pulleys to prevent toppling, 1 servomotor is matched with a hollow rotating platform to realize the whole rotation of the suspension arm, 2 motor modules respectively control two adjusting ropes, 1 servomotor is connected with a worm gear reducer to drive a pitching adjusting system to improve joint rigidity at a large reduction ratio, two sets of auxiliary rope tensioning mechanisms are additionally arranged, one end of each rope is used for fixing the front end and the tail end of a main arm, the other end of each rope is connected with a tension sensor on the screw rod through the pulley, and tension is adjusted through a motor to counteract main arm vibration. The invention adopts a 6060 multiplied by 2mm carbon fiber tube as a horizontal main arm to realize light weight and strength retention, adopts 6061 aluminum alloy as a vertical rod to improve bottom stability, covers 6061 aluminum alloy at a sliding rail for friction reduction, uses high-strength 3D printing consumables (net filling, strength and weight reduction) as part of non-stressed parts, adopts Speedgoat real time as a core, realizes cooperative control of a motor driver and a sensor through EtherCAT communication, integrates an IMU attitude sensor, a tension sensor and an inclination sensor as a sensing detection system, acquires load swing angle, rope tension and boom attitude data in real time, and realizes complex terrain and installation base shaking working conditions based on Adams virtual and Simulink joint simulation by a virtual interaction simulation module. According to the invention, under a ground experimental environment, through the