CN104596752B - A kind of six-degree-of-freedom parallel connection mechanism loading system and its method - Google Patents

A kind of six-degree-of-freedom parallel connection mechanism loading system and its method Download PDF

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Publication number
CN104596752B
CN104596752B CN201510025977.3A CN201510025977A CN104596752B CN 104596752 B CN104596752 B CN 104596752B CN 201510025977 A CN201510025977 A CN 201510025977A CN 104596752 B CN104596752 B CN 104596752B
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servo
platform
servo actuator
actuator
degree
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CN201510025977.3A
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CN104596752A (en
Inventor
沈刚
朱真才
李翔
滕文想
李伟
汤裕
刘善增
曹国华
卢昊
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中国矿业大学
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Abstract

The invention discloses a kind of six-degree-of-freedom parallel connection mechanism loading system and its method, including portal frame, servo actuator (3), six degree of freedom load maintainer and servo actuator control system;Six degree of freedom load maintainer includes movable platform, upper hinge component, lower hinge component, six platform servo actuators (6) and its fixed platform in parallel, the fixed platform of six degree of freedom load maintainer is fixedly mounted on ground, force snesor is installed on each platform servo actuator (6), to measure each platform servo actuator (6) power output in loading system;Servo actuator (3) installs in the vertical direction, and one end of servo actuator is hinged by connector with being fixed on the base of portal frame, and the other end is connected with being loaded object;Servo actuator (3) is built-in with displacement transducer, for the displacement of the hydraulic cylinder of measurement servo actuator in real time, and then determines to be loaded the pose of object and realizes closed-loop control.

Description

A kind of six-degree-of-freedom parallel connection mechanism loading system and its method
Technical field
The present invention relates to mechanism loading system, the loading system and its method of particularly a kind of six-degree-of-freedom parallel connection mechanism.
Background technology
Parallel institution has that rigidity is big, bearing capacity is strong, relatively simple for structure, precision is high, without error accumulation, is easy to control The advantages that processed, there is important application environment in modern national defense and industrial circle.And six-degree-of-freedom parallel connection mechanism loading system It is a typical case of parallel institution, the various loads born in use by test specimen can be reappeared in laboratory environments Lotus, the true stress performance of bulk loads structure can be reproduced, examine and original performance is kept under loading force effect by test specimen Ability, reliable test data is provided for the popularization of new technology, and then to being designed exploitation and experimental study by test specimen, solved The experimental test problem of key member and material in heavy construction, weight will be played to improving engineering structure resisting nature disaster weight bearing power Want meaning.
In view of the important function that six-degree-of-freedom parallel connection mechanism loading system is played in national defence and civil area, wide both at home and abroad The general research carried out to six-degree-of-freedom parallel connection mechanism loading system.However, loading system is when carrying out high-precision load test, Need to follow carrying object quickly to move, the motion for carrying object will cause the redundant force of loading system, and the presence of redundant force will Have a strong impact on the dynamic load precision and system response bandwidth of loading system.
The content of the invention
In view of the above-mentioned problems of the prior art, add the invention aims to provide a kind of six-degree-of-freedom parallel connection mechanism Loading system and its loading method, it is a kind of stability that can ensure system, true stress is reappeared with more accurate loading accuracy Situation, preferably to examine six-degree-of-freedom parallel connection mechanism loading system and method that experimental enviroment is provided by test specimen performance.
In order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of six-degree-of-freedom parallel connection mechanism loading system, including portal frame, servo actuator (3), six degree of freedom loading machine Structure and servo actuator control system, described servo actuator control system include force snesor and displacement transducer;Gantry Six degree of freedom load maintainer is installed in the space that frame is formed;Six degree of freedom load maintainer include movable platform, upper hinge component, under Hinge component, six platform servo actuators (6) and its fixed platform, the fixed platform of six degree of freedom load maintainer in parallel are fixed On ground, force snesor is installed on each platform servo actuator (6), made with measuring each platform servo in loading system Dynamic device (6) power output;Servo actuator (3) installs in the vertical direction, and one end of servo actuator passes through connector and fixation It is hinged in the base of portal frame, the other end is connected with being loaded object;Servo actuator (3) is built-in with displacement transducer, is used for The displacement of the hydraulic cylinder of measurement servo actuator in real time, and then determine to be loaded the pose of object and realize closed-loop control.
Described six-degree-of-freedom parallel connection mechanism loading system, including two portal frames, four servo actuators (3), wherein, Two portal frames are orthogonal to be fixed on ground by foundation bolt, symmetrical vertically-mounted two servos on each portal frame Actuator (3).
Described six-degree-of-freedom parallel connection mechanism loading system, described servo actuator control system remove force snesor and position Also include AD boards PCI1716, DA board PCL6126 and servo controller outside displacement sensor;AD boards PCI1716 and DA boards PCL6126 carries out data communication;The force snesor, displacement transducer carry out signal acquisition;Displacement transducer, force snesor point The force signal collected and displacement signal conditioning board is not transferred to, AD boards PCI1716 input is with nursing one's health board phase Even, AD boards PCI1716 output end is connected with servo controller, and the output end of servo controller is with DA boards PCL6126's Input is connected, and DA boards PCL6126 output end is connected with electrohydraulic servo valve;On platform servo actuator (6) Force snesor and the displacement transducer of servo actuator (3) is built in by the force signal of the platform servo actuator collected and is watched The conditioned board of displacement signal for taking actuator is transferred to AD boards PCI1716, AD board PCI1716 by the next signal warp of transmission Servo controller is fed back to after A/D conversion process, servo controller is transferred to DA board PCL6126 after signal is handled, By DA conversion signals, and then electrohydraulic servo valve is passed to, realize the servo-fluid to platform servo actuator and servo actuator The closed-loop control of cylinder pressure.
Described six-degree-of-freedom parallel connection mechanism loading system, the servo to platform servo actuator and servo actuator The closed-loop control of hydraulic cylinder, it is specially:Servo controller is compared by the force signal to input and the force signal fed back Signal is passed into servo valve compared with judgement, then by DA boards PCL6126, and then realizes the servo-fluid to platform servo actuator The SERVO CONTROL of cylinder pressure, it is ensured that the power of output is required power;Servo controller passes through the displacement signal and feedback to input The displacement signal returned is compared judgement, then signal is passed into servo valve by DA boards PCL6126, and then realizes to watching Take the SERVO CONTROL of the servo hydraulic cylinder of actuator, it is ensured that the pose for being loaded object is required position and posture.
The loading method of described six-degree-of-freedom parallel connection mechanism loading system, object will be loaded and be fixed on four servos works The bottom of dynamic device (3), the movable platform of platform servo actuator (6) drive load mechanism move to and are loaded the carrying of object The adaptable pose of acting surface, passes through additional lock device by the movable platform of the carrying acting surface and load maintainer that are loaded object Connection, the movable platform of six sets of platform servo actuator (6) parallel drive load maintainers in parallel, export multi-dimensional force;It is arranged on Force snesor detection six degree of freedom load maintainer on platform servo actuator (6) is applied to the multi-dimensional force being loaded on object, Carry out force servo control;The inbuilt displacement sensor of servo actuator (3) measures the displacement of each servo actuator (3) in real time, And then determine to be loaded the pose of object in real time, to form the big closed loop of pose, realize and the synchronous coordination for being loaded object is loaded.
The loading method of described six-degree-of-freedom parallel connection mechanism loading system, during static loading, according to quilt in actual use The position and posture for needing to specify six degree of freedom load maintainer movable platform to move to determination of part is surveyed, is then output to fixed multidimensional Power carries out load test to being loaded object, and now measured piece is inactive state, and servo actuator (3) plays fixation and is loaded object Effect;When dynamic synchronization loads, object is loaded by four servo actuators being fixed on portal frame (3) to simulate reality Motion state in the operating mode of border, six degree of freedom load maintainer movable platform, which accurately follows, is loaded object motion, while exports more Power is tieed up, carries out coordination loading.
The present invention carries out multiple degrees of freedom using six degree of freedom electrohydraudic servomechanism output action power in parallel to being loaded object The loading of power and torque, and while output given active force, the pose for loading 6-dof parallel mechanism is carried out High-precision SERVO CONTROL, accurate synchronous loading can be achieved.
In four symmetrical hydraulic servo actuators of the vertical direction of six degree of freedom load maintainer, servo can be passed through The stroke of regulation of hydraulic system hydraulic servo actuator adjusts the pose being loaded needed for object and is fixed, and passes through The motion of the movable platform of six degree of freedom load maintainer is realized to being loaded object coordinated loading control;By controlling four admittedly The servo actuator on portal frame is scheduled on to simulate the motion state being loaded in object actual condition, six degree of freedom load maintainer Movable platform, which accurately follows, is loaded object motion, while exports multi-dimensional force, carries out coordination loading.
Use beneficial effects of the present invention:Load maintainer of the present invention uses 6-dof parallel mechanism, and multi-dimensional force can be achieved With the loading of torque, due to the effect of four servo actuators on portal frame, can preferably be solved in dynamic load more Surplus energy problem.The present invention detects six degree of freedom load maintainer by the force snesor on platform servo actuator 6 and applied Multi-dimensional force on object is loaded, carry out the SERVO CONTROL of power.And in the servo actuator 3 by being connected with portal frame Displacement sensor measures the displacement of each actuator in real time, and then can determine to be loaded the pose of object in real time, to form The big closed loop of pose, realize and the synchronous coordination for being loaded object is loaded.
Brief description of the drawings
Fig. 1 is the structure principle chart of the present invention;
Fig. 2 is the servo actuator control system schematic diagram of the present invention;
1- portal frames;2- force snesors;3- servo actuators;4- movable platforms;The upper hinge components of 5-;6- platform servo starts Device;Hinge component under 7-;8- fixed platforms;9- grounds;10- servo controllers.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.
As shown in figure 1, the six-degree-of-freedom parallel connection mechanism loading system of the present invention includes 1, four servo actuator of portal frame 3rd, six degree of freedom load maintainer and servo actuator control system.Wherein two sets of portal frames 1 are orthogonal passes through foundation bolt It is fixed on ground 9, six degree of freedom load maintainer is installed in the center in the space that two sets of portal frames 1 are formed;Six degree of freedom adds Mounted mechanism includes movable platform 4, upper hinge component 5, lower hinge component 7, six platform servo actuator 6 and fixed platform 8 in parallel, The fixed platform 8 of six degree of freedom load maintainer is arranged on ground 9 by foundation bolt, is closed on each platform servo actuator 6 Force snesor 2 is installed, to measure each actuator power output in loading system at section.On the top of movable platform 4, vertically Four servo actuators 3 (also having two in Fig. 1 to be not shown) are symmetrically installed, two servo actuators 3 are installed on a set of portal frame, Four servo actuators 3 connect from the top for being loaded object is loaded object to determine to be loaded the pose of object.Servo is made One end of dynamic device 3 is hinged by connector with being fixed on the base of portal frame, and the other end is connected with being loaded object by flange. Four servo actuators 3 are built-in with displacement transducer, for the displacement of the hydraulic cylinder of four servo actuators of measurement in real time, are used for It is determined that it is loaded the pose of object.
As shown in Fig. 2 servo actuator control system includes force snesor, displacement transducer, AD boards PCI1716, DA Board PCL6126 and servo controller.AD boards PCI1716 and DA boards PCL6126 carries out data communication;Force snesor, position Displacement sensor carries out signal acquisition;The force signal collected and displacement signal are transferred to by displacement transducer, force snesor respectively Board is nursed one's health, AD boards PCI1716 input is connected with conditioning board, AD boards PCI1716 output end and SERVO CONTROL Device connects, and the output end of servo controller is connected with DA boards PCL6126 input, DA boards PCL6126 output end and Electrohydraulic servo valve connects;Force snesor on platform servo actuator 6 and the displacement sensing for being built in servo actuator 3 The conditioned board of displacement signal of the force signal and servo actuator 3 of the platform servo actuator 6 collected is transferred to AD by device Board PCI1716, AD board PCI1716 feeds back to servo controller, servo control by next signal is transmitted after A/D conversion process Device processed is transferred to DA board PCL6126 after signal is handled, by DA conversion signals, and then pass to electrohydraulic servo valve, Realize the closed-loop control to platform servo actuator 6 and the servo hydraulic cylinder of servo actuator 3.Specifically, servo controller Judgement is compared by the force signal to input and the force signal fed back, then passed signal by DA boards PCL6126 Servo valve is passed, and then realizes the SERVO CONTROL to the servo hydraulic cylinder of platform servo actuator 6, it is ensured that the power of output is required The power wanted.Servo controller 10 is compared judgement by the displacement signal to input and the displacement signal fed back, then leads to Cross DA boards PCL6126 and signal is passed into servo valve, and then realize the servo control to the servo hydraulic cylinder of servo actuator 3 System, it is ensured that the pose for being loaded object is required position and posture.Sensor signal is sent to each board, board by cable In the industrial computer of servo-control system.
The operation principle of the present invention is as follows:
The bottom for four servo actuators 3 that object is fixed on portal frame 1 will be loaded, on six degree of freedom load maintainer The movable platform 4 for six sets of drive load mechanisms of platform servo actuator 6 in parallel being installed in parallel with joint hinge move to The adaptable pose of the carrying acting surface of object is loaded, the activity of the carrying acting surface and load maintainer that are loaded object is put down Platform is connected by additional lock device, the movable platform 4 of six sets of parallel drive load maintainers of platform servo actuator 6 in parallel, defeated Go out multi-dimensional force.Six degree of freedom load maintainer can be when keeping the movable platform 4 of load maintainer to be free-position to being loaded object Multidimensional loading is carried out, and load maintainer can be lived using four servo actuators 3 while output given multi-dimensional force The pose of moving platform 4 carries out high-precision SERVO CONTROL, accurately follows the motion for being loaded object, realizes that dynamic synchronization loads. Force snesor detection six degree of freedom load maintainer on platform servo actuator 6 is applied to the multidimensional being loaded on object Power, carry out force servo control.And measured in real time by the inbuilt displacement sensor for the servo actuator 3 being connected with portal frame The displacement of each actuator, and then can determine to be loaded the pose of object in real time, to form the big closed loop of pose, realize to being loaded The synchronous coordination loading of object.
During static loading, according in actual use measured piece need specify six degree of freedom load maintainer movable platform 4 to transport A certain position and posture is moved, fixed multi-dimensional force is then output to and carries out load test to being loaded object, now measured piece is quiet Only state, servo actuator 3 only serve fixation;When dynamic synchronization loads, it is loaded object and is fixed on gantry by four Servo actuator 3 on frame simulates the motion state in actual condition, and six degree of freedom load maintainer movable platform 4 accurately follows Object motion is loaded, while exports multi-dimensional force, carries out coordination loading.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted, And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims (2)

1. a kind of six-degree-of-freedom parallel connection mechanism loading system, it is characterised in that including portal frame, servo actuator (3), six freely Degree load maintainer and servo actuator control system, described servo actuator control system include force snesor and displacement sensing Device;Including two portal frames, four servo actuators (3), wherein, two portal frames are orthogonal to be fixed by foundation bolt On ground, symmetrical vertically-mounted two servo actuators (3) on each portal frame;Six are installed in the space that portal frame is formed Free degree load maintainer;Six degree of freedom load maintainer includes movable platform, upper hinge component, lower hinge component, six platforms in parallel Servo actuator (6) and its fixed platform, the fixed platform of six degree of freedom load maintainer are fixedly mounted on ground, in each platform Servo actuator installs force snesor on (6), to measure each platform servo actuator (6) power output in loading system;Servo is made Dynamic device (3) installation in the vertical direction, one end of servo actuator are hinged by connector with being fixed on the base of portal frame, separately One end is connected with being loaded object;Servo actuator (3) is built-in with displacement transducer, for the liquid of measurement servo actuator in real time The displacement of cylinder pressure, and then determine to be loaded the pose of object and realize closed-loop control;Due to the servo actuator (3) on portal frame Effect, can solve the problems, such as redundant force in dynamic load;Described servo actuator control system also includes AD boards PCI1716, DA board PCL6126 and servo controller;AD boards PCI1716 and DA boards PCL6126 carries out data communication;Institute State force snesor, displacement transducer carries out signal acquisition;Displacement transducer, force snesor are respectively by the force signal collected and position Shifting signal is transferred to conditioning board, and AD boards PCI1716 input is connected with conditioning board, AD boards PCI1716 output End is connected with servo controller, and the output end of servo controller is connected with DA boards PCL6126 input, DA boards PCL6126 output end is connected with electrohydraulic servo valve;Force snesor on platform servo actuator (6) and being built in is watched The displacement transducer of actuator (3) is taken by the force signal of platform servo actuator collected and the displacement signal of servo actuator Conditioned board is transferred to AD boards PCI1716, AD board PCI1716 and fed back next signal is transmitted after A/D conversion process To servo controller, servo controller is transferred to DA board PCL6126 after signal is handled, by DA conversion signals, enter And electrohydraulic servo valve is passed to, realize the closed-loop control of the servo hydraulic cylinder to platform servo actuator and servo actuator;Institute The closed-loop control of the servo hydraulic cylinder to platform servo actuator and servo actuator is stated, is specially:It is right that servo controller passes through The force signal of input and the force signal fed back are compared judgement, then pass to signal by DA boards PCL6126 and watch Valve is taken, and then realizes the SERVO CONTROL to the servo hydraulic cylinder of platform servo actuator, it is ensured that the power of output is required power; Servo controller is compared judgement by the displacement signal to input and the displacement signal fed back, then passes through DA boards Signal is passed to servo valve by PCL6126, and then realizes the SERVO CONTROL to the servo hydraulic cylinder of servo actuator, it is ensured that is added The pose for carrying object is required position and posture.
2. the loading method of six-degree-of-freedom parallel connection mechanism loading system according to claim 1, it is characterised in that will be added Carry the bottom that object is fixed on four servo actuators (3), the movable platform fortune of platform servo actuator (6) drive load mechanism Move the pose adaptable with the carrying acting surface that is loaded object, the carrying acting surface and load maintainer of object will be loaded Movable platform is connected by additional lock device, the activity of six sets of platform servo actuator (6) parallel drive load maintainers in parallel Platform, export multi-dimensional force;Force snesor detection six degree of freedom load maintainer on platform servo actuator (6) is applied to The multi-dimensional force being loaded on object, carry out force servo control;The inbuilt displacement sensor of servo actuator (3) is measured respectively in real time The displacement of servo actuator (3), and then determine to be loaded the pose of object in real time, to form the big closed loop of pose, realize to being added Carry the synchronous coordination loading of object;During static loading, according in actual use measured piece need specify six degree of freedom loading machine Structure movable platform moves to the position and posture of determination, is then output to fixed multi-dimensional force and carries out load test to being loaded object, Now measured piece is inactive state, and servo actuator (3) plays fixation and is loaded object;When dynamic synchronization loads, added Object is carried by four servo actuators being fixed on portal frame (3) to simulate the motion state in actual condition, six freely Degree load maintainer movable platform, which accurately follows, is loaded object motion, while exports multi-dimensional force, carries out coordination loading.
CN201510025977.3A 2015-01-20 2015-01-20 A kind of six-degree-of-freedom parallel connection mechanism loading system and its method CN104596752B (en)

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