CN102680257A - Loading device based on six-degree-of-freedom parallel mechanisms - Google Patents
Loading device based on six-degree-of-freedom parallel mechanisms Download PDFInfo
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Abstract
The invention provides a loading device based on six-degree-of-freedom parallel mechanisms. The device is mounted on a base and comprises a front counter-force base, a six-degree-of-freedom parallel mechanism, a gravity balancing mechanism, a force measuring mechanism and a back counter-force base. The six-degree-of-freedom parallel mechanism comprises a lower hinge support connected with the front counter-force base, a hydraulic actuating mechanism connected with the lower hinge support and a moving platform connected with the hydraulic actuating mechanism; the gravity balancing mechanism comprises an air spring connected with the moving platform and a front end transition board connected with the air spring through a connecting support; the force measuring mechanism comprises a sensor on the moving platform; and the back counter-force base is in an adjustable connection with the base. The loading device has the advantages that parallel mechanism kinematic positive solution is used for measuring the output pose, investment for measurement equipment is simplified, measurement accuracy of the output pose is effectively improved; force measurement accuracy is effectively improved, and high-accuracy requirement for force measurement is met; and six-degree-of-freedom motion simulation and force loading test of parts can be performed.
Description
Technical field
The invention belongs to the simulation loading equipment technical field, especially relate to a kind of charger based on six-degree-of-freedom parallel connection mechanism.
Background technology
In existing technology; Along with development of science and technology; The security and the reliability of various high-speed cruising equipments and large-sized structural parts become important research work of equipment manufacture and technical guarantee means, and for example: the characteristics such as fatigue, intensity and life-span of critical components such as Large-scale Wind Turbines main shaft and high ferro car end assembly are for guaranteeing that people's life, property safety play crucial effects.Therefore; Need the high performance loading combined test apparatus of a cover; Can the comprehensive simulated test specimen at the residing mechanical environment of operating condition; Realization is to being carried out high-precision motion, fatigue and load test by test specimen, satisfies in national economy and the national defence field key core parts for the demand of experimental tests such as multiple degrees of freedom fatigue, intensity.Do not have a kind of specialized equipment at present and can satisfy above-mentioned requirement simultaneously.
Also do not have instrumentation can realize the accurate measurement of six free parallel institution pose outputs at present both at home and abroad, under less demanding situation, can adopt three-dimensional inertial nevigation apparatus to measure.Three-dimensional inertial nevigation apparatus is made up of the gyro of three quadratures installations and the accelerometer of three quadrature installations, and this device is used for the inertial navigation of boats and ships, aircraft and spacecraft.Three-dimensional inertial nevigation apparatus can be realized the accurate measurement at attitude of carrier angle, and the measurement of displacement is based on the measurement of acceleration through integration or filtering acquisition.Just present domestic and international three-dimensional inertial nevigation apparatus, the measuring accuracy of attitude angle generally can be higher than 0.01 degree, but the measuring accuracy of position generally has only about 20mm.The obvious precision of measurement that is used for the test specimen position is too low, can not meet the demands.In addition, because acceleration transducer sensitive line acceleration not only, and the roll angle of sensitive carrier and the angle of pitch, therefore when the coupled motions of carrier generation multiple degrees of freedom, the acceleration transducer output valve is incredible.From this point, three-dimensional inertial nevigation apparatus can not be realized the measurement of test specimen pose.
Summary of the invention
The problem that the present invention will solve provides a kind of charger based on six-degree-of-freedom parallel connection mechanism, especially is suitably for six-freedom motion simulation test and the six degree of freedom power rate of loading and tired compbined test of large-sized structural parts.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of charger based on six-degree-of-freedom parallel connection mechanism; This device is arranged on the ground; Counter-force basis, six-degree-of-freedom parallel connection mechanism, gravitational equilibrium mechanism, force measuring machine, test specimen and counter-force basis, back before comprising, said six-degree-of-freedom parallel connection mechanism comprises lower hinge support, hydraulic actuating mechanism that an end is connected with lower hinge support and the motion platform that is connected with the other end of hydraulic actuating mechanism that is connected with preceding counter-force basis; The front end rebound that said gravitational equilibrium mechanism comprises the air spring that is connected through carriage with motion platform, is connected through link with air spring; Said force measuring machine comprises the sensor on the motion platform, and said sensor is connected with the front end rebound; Said front end rebound is connected with said test specimen; Said test specimen is connected with said rear end rebound; Counter-force basis, said back is connected with the rear end rebound; Counter-force basis, said back is that controllability is connected with ground; The counter-force basis is fixedly connected with ground before said.
Further, said lower hinge support is three groups, and said hydraulic actuating mechanism is six covers, and said upper hinge support is three groups.
Further, be provided with simulation compartment end between counter-force basis, said back and the said rear end rebound.
Further, said hydraulic actuating mechanism comprises the magnetic hysteresis telescopic displacement sensor in hydraulic cylinder and the hydraulic cylinder.
Further again, said sensor is sextuple power/torque sensor.
Advantage and good effect that the present invention has are: owing to adopt the modularization flexible design, can satisfy multiple operating condition of test, the state when the simulation train passes through straight line, curve is with the mutual interference relation between each parts of inspection vehicle end; Simultaneously can carry out functional trial and investigation test separately to the parts that are installed in the car end; Testing table adopts hydraulically powered six-degree-of-freedom parallel connection mechanism to accomplish the simulation of test specimen relative motion, mainly comprises three-dimensional translation, three motion simulations such as swing tests, and fatigue and tensile strength test; Utilization parallel institution forward kinematics solution is measured the output pose, has not only simplified the input of measuring equipment, and has effectively improved the measuring accuracy of output pose; Based on the power measurement scheme of sextuple power/torque sensor, effectively improved the precision that power is measured, reached the high-precision requirement that power is measured; Adopt six-degree-of-freedom parallel connection mechanism as motion simulation and force loading device; Can carry out the motion simulation and the power load test of parts six-freedom degree; For the Comprehensive Experiment of parts provides a kind of compactness, desirable Integrated Solution, motion simulation test and power load test are organically combined.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the partial enlarged drawing of six-degree-of-freedom parallel connection mechanism.
Among the figure:
1, preceding counter-force basis 2, lower hinge support 3, hydraulic actuating mechanism
4, motion platform 5, upper hinge support 6, link
7, air spring 8, front end rebound 9, carriage
10, sensor 11, test specimen 12, rear end rebound
13, simulation compartment end 14, counter-force basis, back
Embodiment
As illustrated in fig. 1 and 2; A kind of charger of the present invention based on six-degree-of-freedom parallel connection mechanism; This device is arranged on the ground; Counter-force basis 1, six-degree-of-freedom parallel connection mechanism, gravitational equilibrium mechanism, force measuring machine and counter-force basis, back 14 before comprising, said six-degree-of-freedom parallel connection mechanism comprise the motion platform 4 that the lower hinge support 2 that is connected with preceding counter-force basis 1, hydraulic actuating mechanism 3 that an end is connected with lower hinge support 2 are connected with the other end with hydraulic actuating mechanism 3; The front end rebound 8 that said gravitational equilibrium mechanism comprises the air spring 7 that is connected through carriage 9 with motion platform 4, is connected through link 6 with air spring 7; Said force measuring machine comprises the sensor 10 on the motion platform 4, and said sensor 10 is connected with front end rebound 8; Counter-force basis, said back 14 is connected with a rear end rebound 12; Counter-force basis, said back 14 is that controllability is connected with ground; Counter-force basis 1 is fixedly connected with ground before said.Further, said lower hinge support 2 is three groups, and said hydraulic actuating mechanism 3 is six covers, and said upper hinge support 5 also is three groups.Further, be provided with simulation compartment end 13 between counter-force basis 14, said back and the said rear end rebound 12.Further, said hydraulic actuating mechanism 3 comprises the magnetic hysteresis telescopic displacement sensor 10 in hydraulic cylinder and the hydraulic cylinder.Further again, said sensor 10 is sextuple power/torque sensor 10.
Preceding counter-force basis 1 is fixed with ground, links to each other through three groups of lower hinge supports 2 and six cover hydraulic actuating mechanisms 3, and the front end of hydraulic actuating mechanism 3 links to each other with motion platform 4 through three groups of upper hinge supports 5; Motion platform 4 connects air spring 7 through carriage 9, and the other end of air spring 7 is connected with front end rebound 8 through link 6; Sextuple power/torque sensor 10 also is installed on the motion platform 4, and the other end of sextuple power/torque sensor 10 is connected with front end rebound 8; The right-hand member of front end rebound 8 connects test specimen 11, can connect simulation compartment end 13 or counter-force basis, back 14 through rear end rebound 12 its right sides; Back counter-force basis 14 is connected to ground, can be adjusted at position on the ground to adapt to the various parts type.
The course of work of this instance: control system is sent steering order through management and processing unit, and drive installation is simulated the space relative motion state between the test specimen 11 right ends faces at the hydraulically powered six-degree-of-freedom parallel connection mechanism on the counter-force basis.In the motion process; Accurately measure test specimen 11 suffered power and moment when being loaded by six-dimension force sensor 10; Can accurately obtain displacement and the rotational angle of test specimen 11 on each degree of freedom by the six-degree-of-freedom parallel connection mechanism forward kinematics solution, eliminate the gravity effect of parts such as test specimen 11 and windscreen through gravity balance device.By the displacement of test specimen 11 and suffered power/moment in the data acquisition system (DAS) record motion process, when off-test, send steering order through management and processing unit, hydraulically powered six-degree-of-freedom parallel connection mechanism is returned to the motion starting point.The performance parameter that can accurately calculate test specimen 11 by the displacement and the suffered power/moment of test specimen 11, for example: rigidity and damping characteristic.This test unit also can carry out the tests such as testing fatigue of test specimen 11.
The present invention adopts the modularization flexible design; Can satisfy multiple operating condition of test; For example: all component tests on railcar, EMUs, the railway passenger train car end, the state when the simulation train passes through straight line, curve is with the mutual interference relation between each parts of inspection vehicle end; Simultaneously can carry out functional trial and investigation test separately to the parts that are installed in the car end.Testing table adopts hydraulically powered six-degree-of-freedom parallel connection mechanism to accomplish the simulation of test specimen 11 relative motions, mainly comprises three-dimensional translation, three motion simulations such as swing tests, and fatigue and tensile strength test.In the bullet train operational process; Relative motion between the run-through channel both ends of the surface is rendered as irregular random graph form; This random graph can obtain through manual calculation; Or obtain through actual measurement, and realize accurately reproduction by six-degree-of-freedom parallel connection mechanism, thus jolting and motion states such as bend passes through when reproducing operation.
The present invention has following technical characterstic:
1. based on the six-degree-of-freedom parallel connection mechanism forward kinematics solution, can realize the high precision position and posture measurement.
The kinematics of six-degree-of-freedom parallel connection mechanism is to describe motion and the relation between the upper mounting plate motion of drive system.The motion of known upper mounting plate asks the motion of drive system to be referred to as kinematics against separating; Otherwise the motion of known drive systems asks the motion of upper mounting plate to be called forward kinematics solution.Because the upper mounting plate of kinematic system is fixedly connected with test specimen 11, so the motion of the motion of upper mounting plate and test specimen 11 is one stagnant.
Magnetic hysteresis telescopic displacement sensor 10 is equipped with in the present invention in hydraulic cylinder, through the length of accurate measurement hydraulic cylinder, and the forward kinematics solution algorithm of utilization six-degree-of-freedom parallel connection mechanism, can calculate the output pose of test specimen 11 in real time.In practical applications, the forward kinematics solution of six-degree-of-freedom parallel connection mechanism adopts the numerical value iterative algorithm to calculate, and sequence of iterations can be expressed as:
J in the formula---iterations, j >=1;
l
m---the long measured value of cylinder (m);
l
j---the cylinder long value of a last sequence of iterations;
q
j---the output pose of a last sequence of iterations;
q
J+1---current output pose;
The Specifeca tion speeification of magnetic hysteresis telescopic displacement sensor 10 is measurement range: 0 ~ 465mm, resolution: 5 μ m, output form: digital signal.This system adopts CAN bus digital sensor 10, and precision can reach 10 μ m, and therefore, the computational accuracy of forward kinematics solution can reach and be higher than 10
-5Magnitude, so this method is to measure the effective ways of test specimen 11 poses output.
Forward kinematics solution calculating needs the structural parameters of kinematic system; Because structural parameters all possibly produce error in design, processing and installation process; Though it is all very accurate that the displacement measurement of hydraulic cylinder and forward kinematics solution calculate; But because the influence of structural failure makes the test specimen 11 poses output of calculating with attained pose output certain error arranged.So must carry out strict control to the structural failure of system.
The present invention carries out strict control to structural parameters in design, processing and installation process, accurately measure through laser interferometer, makes kinematic system structural failure of the present invention be controlled at: the initial length error of hydraulic cylinder: 0.2mm; The site error of upper and lower hinge is less than 0.25mm; The former point tolerance of moving coordinate system of upper mounting plate definition, just upper mounting plate center error is less than 0.15mm.
When kinematic system structural failure of the present invention was controlled in the above-mentioned scope, the output error of kinematic system was less than 0.45mm, promptly less than 0.3%.But accomplish this point not enough, the most important thing is forward kinematics solution is demarcated, promptly in test specimen 11 whole range of movement, measure the deviation between actual output and forward kinematics solution.Adopt laser interferometer to accomplish measurement to three translational degree of freedom, the measurement of adopting angular displacement sensor 10 to accomplish to three anglecs of rotation, calibration process is: the motion that test specimen 11 is needed realize provides with the form of curve; With of the input signal driving six-degree-of-freedom parallel connection mechanism motion of this curve as kinematic system; Adopt the output pose of laser interferometer and 10 pairs of test specimens 11 of angular displacement sensor to measure, obtain measured value, simultaneously; Also record adopts the calculated value that the six-degree-of-freedom parallel connection mechanism forward kinematics solution calculates; Through contrasting the deviation that measured value and calculated value obtain both,, reached the accuracy requirement of system if deviation is enough little; Just explanation is credible based on the output pose that the six-degree-of-freedom parallel connection mechanism forward kinematics solution calculates, and has promptly accomplished the demarcation of forward kinematics solution.In the kinematics rating test of reality; Pose calculated value and measured value maximum that forward kinematics solution obtains differ 0.1mm; Therefore; The calculated value that forward kinematics solution is obtained uses as the measured value of test specimen 11 output poses, and the maximum error of introducing is 0.1mm promptly, has proved precision analysis result's correctness.
2. based on sextuple power/torque sensor 10, can realize accurate measurement to test specimen 11 loading forces.
For hydraulic control system, common force measuring method is that force transducer 10 is arranged on the single cylinder, comes the loading force of calculation testing piece 11 through the driving force of measuring each hydraulic cylinder; This metering system is arranged simple; Understand easily, the application of success is also arranged in other field, but be infeasible for charger based on six-degree-of-freedom parallel connection mechanism; Mainly contain following several respects reason; At first the loading force on the driving force of hydraulic cylinder and the test specimen 11 is very different, if force transducer 10 is arranged on the single cylinder, certainly will introduce the weight and the inertial force of six-degree-of-freedom parallel connection mechanism upper mounting plate.Usually the quality of test specimen 11 is about 600kg; And the design of general six-degree-of-freedom parallel connection mechanism; The quality of upper mounting plate also will be greater than 600kg; Even if the employing gravity balance device balances the influence of gravity, but the upper mounting plate The Effect of Inertia Force also can surpass 50%, and this will introduce very big error to loading force measurement.In addition, adopt this force measuring method, six-degree-of-freedom parallel connection mechanism becomes force measuring device simultaneously, and this device needs to demarcate, but does not also have suitable instrument or method can demarcate big like this six degree of freedom device for measuring force both at home and abroad at present.In sum, though the scheme of measuring based on Driven by Hydraulic Cylinder power had successful Application at other field, not only error is very big in the loading measurement based on six-degree-of-freedom parallel connection mechanism, and can't demarcate, so can't use.
Loading force measurement scheme of the present invention:
At motion platform 4 and 11 installing force sensors 10 of test specimen, directly measure six-degree-of-freedom parallel connection mechanism and be loaded into the power on the test specimen 11.The principle of this measuring method is following:
F
g=m
ga
g+B
gv
g+k
gx
g （2）
F in the formula
g, M
g---be loaded into power, moment on the test specimen 11;
m
g, I
g---the quality and the moment of inertia of test specimen 11;
B
g, B '
g---the damping of test specimen 11;
k
g, k '
g---the rigidity of test specimen 11;
a
g, v
g, x
g---acceleration, speed and the displacement of test specimen 11;
ω
g, ε
g---the angular velocity and the angular displacement of test specimen 11.
B
g, B '
g, k
gAnd k '
gBeing the damping and the rigidity of test specimen 11, also is the parameter that needs the test specimen 11 of measurement.Visible from formula (2) and formula (3), have only m
gAnd I
gSince be present in the quality and moment of inertia of sensor 10 and test specimen 11 web members, influential to measurement and data analysis structure, but because the quality of web member is programmable very little, weight is less than 10% of test specimen 11, the error that therefore causes is less.
3. the present invention adopts the Flexible module design, can realize multiple component test.
Testing table can carry out carrying out functional trial and investigation test.Testing table adopts the modularization flexible design; Combination through single parts or the different parts of adjustment; Can satisfy different test specimen 11 test demands, for example: all parts on railcar, EMUs, the railway passenger train car end carry out functional trial and investigation test.
Car end part is interfered demonstration test: the running status when the simulation train passes through straight line-curve and S curve, check are installed in the mutual interference relation of each parts of car end;
Car end part function test: carry out the hitch simulation and connect the extension test, rotate test, measure the hitch slewing area; Carry out test specimen 11 mock pendulum dynamic tests, measure it at vertical, horizontal and vertical displacement of the lines amount and angular displacement;
Investigation test: after all car end parts installations, carry out skimulated motion, measure the rigidity and the damping of whole car end part, comprise that linear rigidity, damping and non-linear rigidity, damping reach dynamic stiffness, dynamic damping with displacement and velocity variations; Test specimen 11, outer windscreen single-piece are carried out rigidity, damping test, comprise that linear rigidity, damping and non-linear rigidity, damping reach dynamic stiffness, dynamic damping with displacement and velocity variations; Have and carry out torture test and the tensile strength test function that the car end span connects cable; Have and carry out the function that air connects the torture test of rubber pipeline; Has the function of carrying out or verifying inside and outside windscreen, the test of test specimen 11 fatigabilities.
More than one embodiment of the present of invention are specified, but said content is merely preferred embodiment of the present invention, can not be considered to be used to limit practical range of the present invention.All equalizations of doing according to application range of the present invention change and improve etc., all should still belong within the patent covering scope of the present invention.
Claims (5)
1. charger based on six-degree-of-freedom parallel connection mechanism; This device is arranged on the ground; It is characterized in that: counter-force basis, six-degree-of-freedom parallel connection mechanism, gravitational equilibrium mechanism, force measuring machine, test specimen and counter-force basis, back before comprising, said six-degree-of-freedom parallel connection mechanism comprises lower hinge support, hydraulic actuating mechanism that an end is connected with lower hinge support and the motion platform that is connected with the other end of hydraulic actuating mechanism that is connected with preceding counter-force basis; The front end rebound that said gravitational equilibrium mechanism comprises the air spring that is connected through carriage with motion platform, is connected through link with air spring; Said force measuring machine comprises the sensor on the motion platform, and said sensor is connected with the front end rebound; Said front end rebound is connected with said test specimen; Said test specimen is connected with said rear end rebound; Counter-force basis, said back is connected with the rear end rebound; Counter-force basis, said back is that controllability is connected with ground; The counter-force basis is fixedly connected with ground before said.
2. a kind of charger based on six-degree-of-freedom parallel connection mechanism according to claim 1 is characterized in that: said lower hinge support is three groups, and said hydraulic actuating mechanism is six covers, and said upper hinge support is three groups.
3. a kind of charger based on six-degree-of-freedom parallel connection mechanism according to claim 1 is characterized in that: be provided with simulation compartment end between counter-force basis, said back and the said rear end rebound.
4. a kind of charger based on six-degree-of-freedom parallel connection mechanism according to claim 1 is characterized in that: said hydraulic actuating mechanism comprises the magnetic hysteresis telescopic displacement sensor in hydraulic cylinder and the hydraulic cylinder.
5. according to each described a kind of charger based on six-degree-of-freedom parallel connection mechanism in the claim 1 to 4, it is characterized in that: said sensor is sextuple power/torque sensor.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103439123A (en) * | 2013-08-07 | 2013-12-11 | 长春轨道客车股份有限公司 | Device for measuring railway vehicle end relation |
| CN104251759A (en) * | 2014-10-09 | 2014-12-31 | 南车青岛四方机车车辆股份有限公司 | Calibration device and method for six-dimensional force sensor of car end relationship test stand |
| CN104596752A (en) * | 2015-01-20 | 2015-05-06 | 中国矿业大学 | Six-degree of freedom parallel mechanism loading system and method |
| CN106855582A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | Satellite Direct to the sun drive device ground six degree of freedom loading test system |
| CN108318262A (en) * | 2018-01-10 | 2018-07-24 | 株洲联诚集团控股股份有限公司 | A kind of movement simulator stand of tramcar articulated mounting and run-through channel |
| CN109282996A (en) * | 2018-08-27 | 2019-01-29 | 鑫禾耀(苏州)智能科技有限公司 | A kind of six-DOF robot platform for the test of vehicle end relationship |
| CN111022437A (en) * | 2019-12-30 | 2020-04-17 | 天津福云天翼科技有限公司 | Hydraulic cylinder system control method and device, electronic equipment and storage medium |
| CN111458117A (en) * | 2020-03-10 | 2020-07-28 | 长沙市天映机械制造有限公司 | Six-degree-of-freedom servo loading test device and pose control method thereof |
| CN113375907A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院长春光学精密机械与物理研究所 | Performance test system of high-precision six-degree-of-freedom optical assembly |
| CN113970405A (en) * | 2021-11-15 | 2022-01-25 | 珠海格力电器股份有限公司 | Multi-dimensional force sensor calibration device and calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103439123B (en) * | 2013-08-07 | 2016-08-17 | 长春轨道客车股份有限公司 | A kind of device for measuring railway vehicle end relation |
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| CN104596752A (en) * | 2015-01-20 | 2015-05-06 | 中国矿业大学 | Six-degree of freedom parallel mechanism loading system and method |
| CN104596752B (en) * | 2015-01-20 | 2018-01-02 | 中国矿业大学 | A kind of six-degree-of-freedom parallel connection mechanism loading system and its method |
| CN106855582B (en) * | 2015-12-08 | 2019-05-28 | 上海宇航系统工程研究所 | Satellite Direct to the sun driving device ground six degree of freedom load test system |
| CN106855582A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | Satellite Direct to the sun drive device ground six degree of freedom loading test system |
| CN108318262A (en) * | 2018-01-10 | 2018-07-24 | 株洲联诚集团控股股份有限公司 | A kind of movement simulator stand of tramcar articulated mounting and run-through channel |
| CN109282996A (en) * | 2018-08-27 | 2019-01-29 | 鑫禾耀(苏州)智能科技有限公司 | A kind of six-DOF robot platform for the test of vehicle end relationship |
| CN111022437A (en) * | 2019-12-30 | 2020-04-17 | 天津福云天翼科技有限公司 | Hydraulic cylinder system control method and device, electronic equipment and storage medium |
| CN111458117A (en) * | 2020-03-10 | 2020-07-28 | 长沙市天映机械制造有限公司 | Six-degree-of-freedom servo loading test device and pose control method thereof |
| CN113375907A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院长春光学精密机械与物理研究所 | Performance test system of high-precision six-degree-of-freedom optical assembly |
| CN113970405A (en) * | 2021-11-15 | 2022-01-25 | 珠海格力电器股份有限公司 | Multi-dimensional force sensor calibration device and calibration method |
| CN113970405B (en) * | 2021-11-15 | 2022-09-16 | 珠海格力电器股份有限公司 | Multi-dimensional force sensor calibration device and calibration method |
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Application publication date: 20120919 |