CN104749054A - Three-dimensional controllable dynamic compaction simulated centrifuge testing mechanical arm device - Google Patents
Three-dimensional controllable dynamic compaction simulated centrifuge testing mechanical arm device Download PDFInfo
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Abstract
The invention belongs to the technical field of geotechnical centrifuges and in particular relates to a three-dimensional controllable dynamic compaction simulated centrifuge testing mechanical arm device. The three-dimensional controllable dynamic compaction simulated centrifuge testing mechanical arm device is composed of a base, a model box, a three-dimensional displacement system and an automatic hammer dropping system, wherein a dynamic compaction mechanical arm can realize manual controllable three-freedom-degree movement in horizontal-longitudinal, horizontal-transverse and vertical directions, and can realize simulation actions such as free falling of a miniature rammer, hoisting ramming repeatedly and ramming at different points and the like based on a three-directional movement module and an electromagnetic relay system; by combining a centrifuge device, an imaging system and a sensor system, provided by a centrifugation laboratory room, the three-dimensional controllable dynamic compaction simulated centrifuge testing mechanical arm device can be used for simulating the dynamic compaction construction method, disclosing the mechanism of the dynamic compaction method and optimizing the construction scheme.
Description
Technical field
The invention belongs to ground Centrifuge Techniques field, be specifically related to the centrifuge test robot device that a kind of three-dimensional can manipulate simulation strong rammer.
Background technology
Heavy-tamping method is again dynamic consolidation method or power densification method, it is a kind of effective Ground Treatment Schemes, this method then utilizes automatic decoupling device to make its free-falling by repeatedly weight being lifted to eminence, to ground ramming with powerful impact energy, thus improve the intensity of foundation soil, reduce compressibility, Compaction variables, improve anti-vibration liquefying power, improve the homogeneity of soil layer, reduce non-uniform settling.Heavy-tamping method is widely used in engineering practice.Chinese scholars has done a lot of research to heavy-tamping method, but still walks far away before theory the practice of heavy-tamping method.At present, Chinese scholars often adopts reduced scale indoor model test to carry out the discussion of heavy tamping theory, but the stress level of the scaled model under 1g is different from the stress level of on-the-spot prototype, on-the-spot stress level can not be reproduced really, so direct test reliability affecting Water And Earth Pressures load.Centrifugal model test then utilizes the hydro-extractor of High Rotation Speed, model is applied above gravity n centrifugal intertia force doubly, the loss of the gravity stress that compensation model causes because of reduced scale l/n, on-the-spot stress level can be reproduced really, and make model and prototype stress, strain equal, be out of shape similar (1/n), failure mechanism is identical.It is than the physical model usually under static(al) (acceleration of gravity) condition closer to reality, and therefore it just seems effective especially to the research of simulating with deadweight the geotechnical structure physical property shape being primary load.Current centrifugal model test is used widely in the research of underground works.
Since nearly twenty or thirty year, the rapid progress facilitating centrifuge modelling tests technology of China's Geotechnical Engineering practice, advanced centrifugal test equipment is all had in the scientific research institutions such as Tongji University, Tsing-Hua University, Nanjing hydro science institute, Yangtse academy of sciences.Hydro-extractor performance newly-built is in recent years become better and better, and power is increasing, and the auxiliary device performances such as simulation pile, excavation, loading, temperature control, moisture control are all the more complete.Then, simple heavy-tamping method of constructing in practice is but difficult to the centrifuge modelling at High Rotation Speed, this patent develops a set of three-dimensional in conjunction with the feature of dynamic consolidation construction engineering method can manipulate strong rammer analog mechanical arm device, to fill up the blank of centrifugal test simulation in strong rammer simulation.
Summary of the invention
The object of the present invention is to provide a kind of three-dimensional can manipulate the centrifuge test robot device of simulation strong rammer.
A kind of three-dimensional that the present invention proposes can manipulate the centrifuge test robot device of simulation strong rammer, is made up of device pedestal, model casing, three-D displacement system and automatic drop hammer system, wherein:
Model casing is connected to form by clear glass view window 2 and steel frame 3, and described model casing is positioned on base 1;
Three-D displacement system is by horizontal lengthwise movement module, horizontal cross motion module and vertical motion module composition, horizontal lengthwise movement module is by the first track 4, first motion crawler belt 5, slide block 6, support 7, reinforced support 8, first motor 9, motor fixed head 10, transmission shaft 11 and set bolt 12 form, article two, the first track 4 is fixed on above the steel frame 3 of model casing by set bolt 22 and bottom tongue and groove thereof, in every bar first track 4, the first motion crawler belt 5 is set, the termination of the first track 4 is provided with the first motor 9, described first motor 9 is fixed on the steel frame 3 of model casing by motor fixed head 10, described first motor 9 connects the first motion crawler belt 5 by transmission shaft 11, first motion crawler belt 5 places slide block 6, steel framework 7 on slide block 6, support 7 is fixed reinforced support 8, described slide block 6 can move around on the first motion crawler belt 5, by controlling the first motor 9 and transmission shaft 11 drives the first motion crawler belt 5, thus drive and be positioned at slide block 6 and the support lattice reinforced support 8 be fixed on slide block carries out horizontal lengthwise movement, horizontal cross motion module is by second track 13, second motion crawler belt 14, job platform 15 and the second motor 16 form, horizontal cross motion module two ends are fixed on the slide block 6 in horizontal lengthwise movement module by support 7 and reinforced support 8, second track 13 is arranged the second motion crawler belt 14, the termination of the second track 13 is provided with the second motor 16, described second motor 16 connects the second motion crawler belt 14 by transmission shaft, described second motion crawler belt 14 arranges job platform 15, described job platform 15 can move around on the second motion crawler belt 14, described job platform 15 drives the second motion crawler belt 14 by control second motor 16 and transmission shaft, thus drive the job platform 15 be positioned on slide block to carry out horizontal cross motion, vertical motion module is made up of three-motor 17, displacement bar 18 and wheel box 19, described vertical motion module is positioned on job platform 15, displacement bar 18 vertically inserts job platform 15, three-motor 17 connects displacement bar 18 by wheel box 19, realizes moving up and down of screwed displacement bar 18 by three-motor 17,
Automatic drop hammer system is made up of electromagnetic relay 20, the miniature hammer ram 21 of irony and slide bar 22, and described slide bar 22 top is connected to job platform 15, in the insert molding molding box soil sample of bottom; Described electromagnetic relay 20 is positioned at bottom displacement bar 18, the miniature hammer ram 21 of irony is positioned at slide bar 22, when electromagnetic relay 20 is energized, iron miniature hammer ram 21 can be held, when electrical power is off, the miniature hammer ram 21 of irony departs from electromagnetic relay 20 under centrifugal action, along slide bar 22, rams the soil sample in model casing.
Device pedestal 1 plays liner effect, and whole test unit, to thereon, is hung base by crane after completing by whole test unit, is positioned in centrifugal basket also fixing.
the course of work of the present invention:
Model casing is positioned on horizontal base 1, according to testing program, in model casing, make ground soil sample, bury vibration, displacement, hole pressure, hydraulic pressure sensor in soil sample relevant position underground, and fix top strong rammer robot section, by indoor loop wheel machine, whole model casing is winched on geotechnical centrifuge hanging basket, fixed die molding box, and the electric device connecting robot section, electromagnetic relay is energized, hold hammer ram, and mechanical arm is adjusted to rams position first.Start geotechnical centrifuge, after hydro-extractor reaches desired speed, under the supervision of laboratory image system, after adjustment mechanical arm to predeterminated position, cut off electromagnetic relay power supply, release hammer ram, makes it under centrifugal force ram model soil sample.After ramming, the attached each sensor of hydro-extractor records correlation parameter and the changes thereof such as soil sample vibration, crater depth, hole pressure, hydraulic pressure respectively.Be with each physical and mechanical parameter collection to complete and after stablizing, control vertical motion module, put down electromagnetic relay from top to bottom, and connect electromagnetic relay power supply, hold hammer ram, and after being promoted to design height, again cut off the electricity supply, repeat to ram operation.After soil sample has a bit been rammed, controllable levels longitudinal direction and transverse movement model choice new ram testing site.
beneficial effect of the present invention:
The great advantage of apparatus of the present invention can manipulate simulation strong rammer centrifuge test mechanical arm by installing three-dimensional on model casing, realize at the optional position of soil sample setting and hammer ram arbitrary height, repeatedly realize simulation strong rammer and ram ground experiment object, thus for correctly to disclose heavy tamping theory, contrast Optimum Experiment scheme provides a practicable approach.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is vertical view of the present invention.
Fig. 3 is left view of the present invention.
Fig. 4 is right view of the present invention.
Fig. 5 is front view of the present invention.
Fig. 6 is rear view of the present invention.
Fig. 7 is hammer ram partial schematic diagram of the present invention.
Number in the figure: 1 is base, 2 is clear glass view window, and 3 is steel frame, and 4 is the first track, 5 is the first motion crawler belt, and 6 is slide block, and 7 is support, and 8 is reinforced support, 9 is the first motor, and 10 is motor fixed head, and 11 is transmission shaft, and 12 is set bolt, 13 is the second track, and 14 is the second motion crawler belt, and 15 is job platform, and 16 is the second motor, 17 is three-motor, and 18 is displacement bar, and 19 is wheel box, 20 is electromagnetic relay, and 21 is the miniature hammer ram of irony, and 22 is slide bar.
Embodiment
The invention is further illustrated by the following examples.
embodiment 1
As shown in Fig. 1-Fig. 7, device by base 1, clear glass view window 2, steel frame 3, first track 4, first motion crawler belt 5, slide block 6, support 7, reinforced support 8, the first motor 9, motor fixed head 10, transmission shaft 11, for set bolt 12, the second track 13, second motion crawler belt 14, job platform 15, second motor 16, three-motor 17, wheel box 18, displacement bar 19, electromagnetic relay 20, the miniature hammer ram 21 of irony and slide bar 22 form.Wherein, base 1 can be built by normal concrete block and be formed, the platform temporarily deposited when making soil sample as model casing, base 1 need guarantee level, after model casing completes, adopt the loop wheel machine of geotechnological centrefuge experiment indoor that whole model casing is winched to centrifugal basket place together with strong rammer mechanical arm and install fixing.Model casing external dimensions is 900mm × 700mm × 700mm, and in order to reduce the distortion under high stress, steel frame 3 adopts high-carbon steel, and the glass that clear glass view window 2 adopts is for thickening tempered glass.According to centrifugal basket spiro keyhole position, bottom model casing, relevant position arranges screw, in order to combine closely with strong rammer three-D displacement system, arranges bolt hole and notch on model casing top and three-D displacement system joint portion.Three-D displacement system is made up of level longitudinal direction, horizontal cross and vertical motion module.In horizontal lengthwise movement module, two the first tracks 4 adopt bolt and bottom tongue and groove to be fixed on model casing top, corresponding first motion crawler belt 5 is set in first track 4, in the first track 4 termination, the first motor 9 is set, first motor 9 is attached on model casing by fixed head 10, and drive the first motion crawler belt 5 in the first track 4 to move by transmission shaft 11, thus realize the horizontal length travel of strong rammer mechanical arm.Horizontal cross motion module is connected on the slide block 6 in horizontal lengthwise movement module by support 7 and reinforced support 8, horizontal cross motion module is made up of second track 13, arrange the second motor 16, second motor 16 the second motion crawler belt 14 rotated in drive second track 13 to realize strong rammer job platform 15 move in horizontal transverse direction in the second track 13 end.In vertical motion module, three-motor 17 realizes displacement bar 18 in vertical displacement by wheel box 19.Electromagnetic relay 20 is fixed on below displacement bar 18, and it can hold miniature strong rammer hammer 21 in the energized state, when powered-down, miniature strong rammer hammer 21 departs from electromagnetic relay under centrifugal action, along slide bar 22, along centrifugal force direction, ram the soil sample in model casing.
Base 1 described in the present invention: be made up of C30 concreting, be of a size of 1000mm × 800mm × 200mm, susceptor surface keeps level.The model casing that model casing can adopt geotechnological centrifugal chamber supporting.Model casing upper opening, front-back adopts high-strength armoured-glass, and bottom adopts steel plate back cover, and block mold case requires good sealing, guarantees that soil sample and water do not ooze out from surrounding and bottom under heavily stressed field action.Three-dimensional motion module is made up of the rugged moving parts in mountain that Dongguan Heng Lishihai automation equipment factory is customized, and horizontal lengthwise movement model effective travel is 900mm, and horizontal lengthwise movement module effective travel is 650mm, and vertical motion module effective travel is 600mm.Track in horizontal lengthwise movement module arranges diameter at two ends be 10mm bolt hole, be connected with model casing by bolt, first rail inferior portion is provided with 800 mm × 10mm × 10mm protrusion simultaneously, agrees with model casing upper steel frame groove, strengthens mechanical arm integrally-built stable.Support 7 and the slide block 6 of horizontal cross motion module are bolted, and diameter of bolt hole is 10mm.Support 7 is connected by welding with the second track 13.Vertical motion module installation is on job platform 15, and the rotating speed of three-motor 17 is down to controlled speed by wheel box 19, in order to promote and landing vertical displacement bar 18.Electromagnetic relay 20 in automatic drop hammer system by Guangzhou Jin Hanli company GHL-200 series electromagnetic relay, rated voltage: DC24V, rated operational current :≤80mA, rated disspation≤2W, electromagnetic attraction >=500N, energising can hold hammer ram 21, and controlled power-off can discharge hammer ram.Slide bar 22 is the Metallic rod of diameter 2mm, and slide bar 22 top is connected to job platform 15, in the insert molding molding box soil sample of bottom.
It is as follows that three-dimensional can manipulate simulation strong rammer centrifuge test robot work process: be positioned over by model casing on horizontal base 1, according to testing program, ground soil sample is made in model casing, vibration, displacement, hole pressure, hydraulic pressure sensor is buried underground in soil sample relevant position, and fix top strong rammer robot section, by indoor loop wheel machine, whole model casing is winched on geotechnical centrifuge hanging basket, fixed die molding box, and connect the electric device of robot section, electromagnetic relay is energized, hold hammer ram, and mechanical arm is adjusted to rams position first.Start geotechnical centrifuge, after hydro-extractor reaches desired speed, under the supervision of laboratory image system, after adjustment mechanical arm to predeterminated position, cut off electromagnetic relay power supply, release hammer ram, makes it under centrifugal force ram model soil sample.After ramming, the attached each sensor of hydro-extractor records correlation parameter and the changes thereof such as soil sample vibration, crater depth, hole pressure, hydraulic pressure respectively.After each physical and mechanical parameter collection completes and stablizes, control vertical motion module, put down electromagnetic relay from top to bottom, and connect electromagnetic relay power supply, hold hammer ram, and after being promoted to design height, again cut off the electricity supply, repeat to ram operation.After soil sample has a bit been rammed, controllable levels longitudinal direction and transverse movement model choice new ram testing site.This mechanical arm need could realize its design function in conjunction with hydro-extractor, and centrifugal test is one of the most advanced soil test at present, and when carrying out above-mentioned test, scientific research personnel need possess the relevant knowledges such as the principle of geotechnical centrifuge and operation.
Claims (1)
1. three-dimensional can manipulate a centrifuge test robot device for simulation strong rammer, is made up of, it is characterized in that device pedestal, model casing, three-D displacement system and automatic drop hammer system:
Model casing is connected to form by clear glass view window (2) and steel frame (3), and described model casing is positioned on base (1);
Three-D displacement system is by horizontal lengthwise movement module, horizontal cross motion module and vertical motion module composition, horizontal lengthwise movement module is by the first track (4), first motion crawler belt (5), slide block (6), support (7), reinforced support (8), first motor (9), motor fixed head (10), transmission shaft (11) and set bolt (12) composition, article two, the first track (4) is fixed on steel frame (3) top of model casing by set bolt (22) and bottom tongue and groove thereof, first motion crawler belt (5) is set in every bar first track (4), the termination of the first track (4) is provided with the first motor (9), described first motor (9) is fixed on the steel frame (3) of model casing by motor fixed head (10), described first motor (9) connects the first motion crawler belt (5) by transmission shaft (11), first motion crawler belt (5) places slide block (6), the upper steel framework (7) of slide block (6), the upper fixing reinforced support (8) of support (7), described slide block (6) can move around on the first motion crawler belt (5), by controlling the first motor (9) and transmission shaft (11) drives the first motion crawler belt (5), thus drive is positioned at slide block (6) and the support lattice reinforced support (8) be fixed on slide block carries out horizontal lengthwise movement, horizontal cross motion module is by second track (13), second motion crawler belt (14), job platform (15) and the second motor (16) composition, horizontal cross motion module two ends are fixed on the slide block (6) in horizontal lengthwise movement module by support (7) and reinforced support (8), second track (13) is arranged the second motion crawler belt (14), the termination of the second track (13) is provided with the second motor (16), described second motor (16) connects the second motion crawler belt (14) by transmission shaft, described second motion crawler belt (14) arranges job platform (15), described job platform (15) can move around on the second motion crawler belt (14), described job platform (15) drives the second motion crawler belt (14) by control second motor (16) and transmission shaft, thus drive the job platform (15) be positioned on slide block to carry out horizontal cross motion, vertical motion module is made up of three-motor (17), displacement bar (18) and wheel box (19), described vertical motion module is positioned on job platform (15), displacement bar (18) vertically inserts job platform (15), three-motor (17) connects displacement bar (18) by wheel box (19), realizes moving up and down of screwed displacement bar (18) by three-motor (17),
Automatic drop hammer system is made up of electromagnetic relay (20), the miniature hammer ram of irony (21) and slide bar (22), described slide bar (22) top is connected to job platform (15), in the insert molding molding box soil sample of bottom; Described electromagnetic relay (20) is positioned at displacement bar (18) bottom, the miniature hammer ram of irony (21) is positioned at slide bar (22), when electromagnetic relay (20) is energized, iron miniature hammer ram (21) can be held, when electrical power is off, the miniature hammer ram of irony (21) departs from electromagnetic relay (20) under centrifugal action, along slide bar (22), rams the soil sample in model casing;
Base (1) plays liner effect, and whole test unit, to thereon, is hung base by crane after completing by whole test unit, is positioned in centrifugal basket also fixing.
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| CN105783975A (en) * | 2016-03-03 | 2016-07-20 | 同济大学 | Centrifuge test forced tamping simulation auxiliary test device |
| CN106706411A (en) * | 2016-11-18 | 2017-05-24 | 天津大学 | Minitype centrifuge experimental apparatus oriented to three-dimensional printed geotechnical model and research method thereof |
| CN109356209A (en) * | 2018-12-12 | 2019-02-19 | 交通运输部天津水运工程科学研究所 | Rolled plate Base Pit Excavation Simulation device under a kind of Elevated Gravity |
| CN109403966A (en) * | 2018-09-11 | 2019-03-01 | 临沂矿业集团有限责任公司 | One kind is mining chisel dress all-in-one machine and its application method |
| CN110261211A (en) * | 2019-07-17 | 2019-09-20 | 中冶沈勘工程技术有限公司 | The thin sight visible model testing device and method of forced ramming reinforcing saturated sand foundation |
| CN111175154A (en) * | 2020-01-13 | 2020-05-19 | 温州大学 | Test device for realizing multi-body continuous impact of centrifugal machine |
| CN112082525A (en) * | 2020-08-12 | 2020-12-15 | 重庆文理学院 | Laying device and working method of loess geological tunnel ground surface settlement measuring point rods |
| CN112229742A (en) * | 2020-09-30 | 2021-01-15 | 广东省高速公路有限公司 | Standard penetration test simulation equipment in centrifugal model test |
| CN112697277A (en) * | 2020-11-30 | 2021-04-23 | 佛山科学技术学院 | Mobile circuit board temperature field detection device |
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| CN105783975A (en) * | 2016-03-03 | 2016-07-20 | 同济大学 | Centrifuge test forced tamping simulation auxiliary test device |
| CN106706411A (en) * | 2016-11-18 | 2017-05-24 | 天津大学 | Minitype centrifuge experimental apparatus oriented to three-dimensional printed geotechnical model and research method thereof |
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| CN109356209A (en) * | 2018-12-12 | 2019-02-19 | 交通运输部天津水运工程科学研究所 | Rolled plate Base Pit Excavation Simulation device under a kind of Elevated Gravity |
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| CN111175154A (en) * | 2020-01-13 | 2020-05-19 | 温州大学 | Test device for realizing multi-body continuous impact of centrifugal machine |
| CN111175154B (en) * | 2020-01-13 | 2023-01-03 | 温州大学 | Test device for realizing multi-body continuous impact of centrifugal machine |
| CN112082525A (en) * | 2020-08-12 | 2020-12-15 | 重庆文理学院 | Laying device and working method of loess geological tunnel ground surface settlement measuring point rods |
| CN112229742A (en) * | 2020-09-30 | 2021-01-15 | 广东省高速公路有限公司 | Standard penetration test simulation equipment in centrifugal model test |
| CN112229742B (en) * | 2020-09-30 | 2023-06-20 | 广东省高速公路有限公司 | Standard penetration test simulation equipment in centrifugal model test |
| CN112697277A (en) * | 2020-11-30 | 2021-04-23 | 佛山科学技术学院 | Mobile circuit board temperature field detection device |
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