CN104865034A - Six-freedom vibration excitation system - Google Patents
Six-freedom vibration excitation system Download PDFInfo
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- CN104865034A CN104865034A CN201510194958.3A CN201510194958A CN104865034A CN 104865034 A CN104865034 A CN 104865034A CN 201510194958 A CN201510194958 A CN 201510194958A CN 104865034 A CN104865034 A CN 104865034A
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Abstract
The invention discloses a six-freedom vibration excitation system. The six-freedom vibration excitation system is composed of a mechanical structure subsystem, an air floating support subsystem and an electric control hardware subsystem. The mechanical structure subsystem comprises an upper platform, a lower platform and six motion branched chains, wherein each motion branched chain is composed of a two-freedom hook joint, a three-freedom hook joint and a voice coil motor actuator. The air floating support subsystem comprises air spring elements, thread screw elevators and a corresponding pneumatic control loop, for offsetting the gravity of a load in case of motion and non-motion conditions of the six-freedom vibration excitation system. The electric control hardware subsystem comprises sensors, signal conditioners, a control computer, a D/A board, an A/D board and a power amplifier, for controlling the six-freedom vibration excitation system. The six-freedom vibration excitation system has the following advantages: multi-freedom high-precision small-magnitude vibration excitation (including sine, frequency sweep and random vibration) under various conditions is provided for correlation precision instruments in the field of a spaceflight technology, and an on-orbit vibration environment is simulated and the instrument reliability is examined in a laboratory environment.
Description
Technical field
The invention belongs to precision optical machinery field, be specifically related to a kind of six-degree of freedom vibration excitation system.
Background technology
Some active members such as spaceborne engine can produce vibration, and this vibration can have influence on the precision of exact instrument, even cause instrument normally to work.Thus, be necessary before transmission, in ground environment Imitating vibration environment, the relation between the size of research vibration level and instrument operating accuracy.
The exemplary apparatus of research used by vibration effect is actuating vibration table.Current single-degree-of-freedom actuating vibration table is applied widely, but single-degree-of-freedom actuating vibration table only can simulate the vibration environment in single direction, along with the progress of engineering and the raising day by day of people's demand, single-degree-of-freedom actuating vibration table can not meet engineering demand, is badly in need of research and development multi DOF excitation system.Current multi DOF excitation system, in the also rare application of each engineering field, in space flight environmental simulation field in-orbit, still uses single-degree-of-freedom actuating vibration table to carry out the rough simulation of vibration environment.
Summary of the invention
For problems of the prior art, the object of the invention is to propose a kind of six-degree of freedom vibration excitation system, this excitation system provides the little magnitude vibrational excitation of the multiple degrees of freedom high precision of various working (comprising sine, frequency sweep, random vibration) for spationautics field exact instrument of being correlated with, thus in laboratory environment, simulate vibration environment and testing instruments reliability in-orbit.
A kind of six-degree of freedom vibration excitation system of the present invention, comprises physical construction subsystem, is made up of upper mounting plate, lower platform and 6 movement branched chain; It is characterized in that: also comprise air supporting support subsystem and automatically controlled hardware subsystem.
Described air supporting support subsystem comprises 3 threaded screw rod lifters, 4 air spring elements and 7 pier bases, and corresponding pneumatic control circuit; 4 air spring element lower ends are concentric with pier base to be respectively connected, and 4 pier bases are connected with pier base mounting hole d, the pier base mounting hole e of lower platform, pier base mounting hole f, pier base mounting hole g respectively; 4 air spring element upper ends are connected with upper mounting plate respectively, ensure that 4 air spring elastic force directions are vertical; 3 threaded screw rod lifter lower ends are concentric with pier base to be respectively connected, and pier base mounting hole a, pier base mounting hole b, the pier base mounting hole c of 3 pier bases and lower platform are connected; The upper end of 3 threaded rod lifters is separately installed with contiguous block draw-in groove a, b, c; Contiguous block A, B, C contraposition that contiguous block draw-in groove a, b, c and upper mounting plate lower surface design is installed, and uses pin to carry out detachable connection.
Described automatically controlled hardware subsystem comprises computer for controlling, A/D data processing card, D/A data processing card, signal conditioner A, signal conditioner B, power amplifier, acceleration transducer and displacement transducer; Acceleration transducer has 12, and wherein 6 are arranged on upper mounting plate, is used for measuring the acceleration of upper mounting plate and load 6 degree of freedom respectively; All the other 6 the mover tops being arranged on voice coil loudspeaker voice coil Motor actuator in 6 movement branched chain respectively, are axially arranged along mover, are used for measuring the relative acceleration of mover axially-movable; Displacement transducer has 6, is arranged on voice coil loudspeaker voice coil Motor actuator side in 6 movement branched chain respectively, axially arranges along voice coil motor actuator, is used for measuring the relative displacement of mover axially-movable; The output terminal of each acceleration transducer above-mentioned is connected with signal conditioner A by shielded cable, and the output terminal of each displacement transducer is connected with signal conditioner B by shielded cable; Signal conditioner A and signal conditioner B has been used for the modulation to the output signal of acceleration transducer and displacement transducer; The output terminal of signal conditioner A and signal conditioner B is connected to the input end of A/D data processing card respectively by shielded cable, A/D data processing card is arranged on the PCI slot of computer for controlling, by the signal transmission of the acceleration transducer that collects and displacement transducer to computer for controlling; D/A data processing card is arranged on the PCI slot of computer for controlling, and the output terminal of D/A data processing card is connected with the input end of power amplifier by shielded cable, D/A data processing card by the signal transmission of computer for controlling to power amplifier; The output terminal of power amplifier is connected to by shielded cable on the voice coil motor of voice coil motor actuator, and the signal of power amplifier accepts D/A data processing card is also modulated to drive singal, drives voice coil motor start.
When six-degree of freedom vibration excitation system is run, load is arranged on above upper mounting plate 1, by giving the inflation of air supporting support subsystem, utilizes the anchorage force of air spring element to offset the gravity of load; Opening automatically controlled hardware subsystem subsequently, according to expecting that the value of feedback of vibration values and acceleration transducer and displacement transducer controls the motion of voice coil motor actuator, thus making the vibration needed for the realization of six-degree of freedom vibration excitation system.When six-degree of freedom vibration excitation system is not run, air spring element is not inflated, and automatically controlled hardware subsystem does not power on, and now threaded screw rod lifter and upper mounting plate are locked by pin, is offset the gravity of load by the anchorage force of threaded screw rod lifter.
The invention has the advantages that:
1, six-degree of freedom vibration excitation system of the present invention, has six-freedom motion ability, can provide omnibearing vibrational excitation;
2, six-degree of freedom vibration excitation system of the present invention take voice coil motor as active member, and the high precision microvibration that is high, that can realize mg magnitude of fast response time, positioning precision encourages;
3, six-degree of freedom vibration excitation system of the present invention, is equipped with air supporting support subsystem, and can support the load up to 800kg, load-bearing capacity is strong.
Accompanying drawing explanation
Fig. 1: the isometric views of six-degree of freedom vibration excitation system of the present invention;
Fig. 2: the vertical view of six-degree of freedom vibration excitation system of the present invention;
Fig. 3: the isometric views of the lower platform of six-degree of freedom vibration excitation system of the present invention;
Fig. 4: the backplan of the upper mounting plate of six-degree of freedom vibration excitation system of the present invention;
Fig. 5: the explosive view of the two-freedom Hooke's hinge of six-degree of freedom vibration excitation system of the present invention;
Fig. 6: the front view of the two-freedom Hooke's hinge of six-degree of freedom vibration excitation system of the present invention;
Fig. 7: the front view A-A cut-open view of the two-freedom Hooke's hinge of six-degree of freedom vibration excitation system of the present invention
Fig. 8: the isometric views of the Three Degree Of Freedom Hooke's hinge of six-degree of freedom vibration excitation system of the present invention;
Fig. 9: the cut-open view of the Three Degree Of Freedom Hooke's hinge of six-degree of freedom vibration excitation system of the present invention;
Figure 10: the voice coil motor actuator isometric views of a kind of six-degree of freedom vibration excitation system that the present invention proposes;
Figure 11: the air supporting support subsystem scheme of installation of a kind of six-degree of freedom vibration excitation system that the present invention proposes;
Figure 12: the electric control circuit schematic diagram of a kind of six-degree of freedom vibration excitation system that the present invention proposes.
In figure:
1-upper mounting plate 2-Three Degree Of Freedom Hooke's hinge 3-voice coil motor actuator 4-lower platform
5-two-freedom Hooke's hinge 6-air spring element 7-threaded screw rod lifter 8-pier base
9-upper free bearing 10-pre-loading screw 11-end cap 12-taper roll bearing
Free bearing 15-compressing member 16-holddown spring under 13-joint spider 14-
17-pad 18-pedestal axle 19-taper roll bearing 20-rotary cap
21-gland nut 22-upper end cover 23-mover 24-stator
25-acceleration transducer 26-displacement transducer 27-signal conditioner A 28-signal conditioner B
29-computer for controlling 30-A/D data processing card 31-D/A transaction card 32-power amplifier
101-top base a 102-top base b 103-top base c 1011-internal point A
1012-internal point B 1021-internal point C 1022-internal point D 1031-internal point E
1032-internal point F 401-bottom base A 402-bottom base B 403-bottom base C
404-bottom base D 405-bottom base E 406-bottom base F 4011-internal point a
4012-internal point b 4013-internal point c 4014-internal point d 4015-internal point e
4016-internal point f 411-pier base mounting hole a 412-pier base mounting hole b 413-pier base mounting hole c
414-pier base mounting hole d 415-pier base mounting hole e 416-pier base mounting hole f 417-pier base mounting hole g
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
A kind of six-degree of freedom vibration excitation system of the present invention, as shown in Figure 1 and Figure 2.Comprise physical construction subsystem, air supporting support subsystem and automatically controlled hardware subsystem three parts.Wherein, air supporting support subsystem connects by constant assembly relation with physical construction subsystem, with the gravity of load of offsetting physical construction subsystem and may install later, automatically controlled hardware subsystem controls the voice coil motor motion of installing in mechanical structure subsystem by cable, realize vibrational excitation.
Described physical construction subsystem comprises upper mounting plate 1, lower platform 4 and 6 movement branched chain, as shown in Figure 1 and Figure 2.Lower platform 4 is preferably two-dimensional person's font structure with weight reduction, as shown in Figure 3, the edge of lower platform 4 is provided with bottom base A401, bottom base B402, bottom base C403, bottom base D404, bottom base E405, bottom base F406 by centrosymmetric, is all bolted on lower platform 4.And, wherein bottom base A401, bottom base B402 are a pair bottom base, and bottom base C403, bottom base D404 are a pair bottom base, and bottom base D404, bottom base E405 are a pair bottom base, three pairs of bottom base circumferences are uniform, lay respectively at chevron shaped lower platform three ends.Bottom base A401 is provided with internal point a4011, bottom base B402 is provided with internal point b4021, bottom base C403 is provided with internal point c4031, bottom base D404 is provided with internal point d4041, bottom base E405 is provided with internal point e4051, bottom base F406 is provided with internal point f4061, and these internal points are for installing voice coil motor actuator 3.
Described upper mounting plate 1 is approximate in equilateral triangle structure, and upper surface is smooth surface, and lower surface is complex beam structure, to meet structural mechanics characteristic requirement; As shown in Figure 4, upper mounting plate 1 edge is provided with top base a101, top base b102 and top base c103 by Central Symmetry, and top base a101, top base b102, top base c103 are all bolted on upper mounting plate 1.Top base a101 is provided with internal point A1011 and B1012, top base b102 is provided with internal point C1021 and D1022, top base c103 is provided with internal point E1031 and F1032, and internal point A1011, internal point B1012, internal point C1021, internal point D1022, internal point E1031, internal point F1032 distribute by circumference order along upper mounting plate 1.
Described 6 movement branched chain structures are identical, comprise Three Degree Of Freedom Hooke's hinge 2, voice coil motor actuator 3 and two-freedom Hooke's hinge 5.Wherein, the mover 23 of voice coil motor actuator 3 carries out centering with the lower free bearing 14 of Three Degree Of Freedom Hooke's hinge 2 and is connected; The upper end cover 22 of Three Degree Of Freedom Hooke's hinge 2 carries out centering by web member with the lower free bearing 14 of two-freedom Hooke's hinge 5 and is connected.6 movement branched chain are made to be respectively movement branched chain A, B, C, D, E, F; Then form physical construction subsystem by following connected mode:
In movement branched chain A, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point a4011 of bottom base A401 by screw and is connected; The upper free bearing 14 of two-freedom Hooke's hinge 5 carries out centering with the internal point A1011 of top base a101 with screw and is connected.
In movement branched chain B, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point b4021 of bottom base B402 by screw and is connected; The upper free bearing 9 of two-freedom Hooke's hinge 5 carries out centering with the internal point B1012 of top base a101 with screw and is connected.
In movement branched chain E, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point c4031 of bottom base C403 by screw and is connected; The upper free bearing 9 of two-freedom Hooke's hinge carries out centering with the internal point C1021 of top base b102 with screw and is connected.
In movement branched chain F, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point d4041 of bottom base D404 by screw and is connected; The upper free bearing 9 of two-freedom Hooke's hinge 5 carries out centering with the internal point D 1022 of top base b102 with screw and is connected.
In movement branched chain E, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point c4051 of bottom base E405 by screw and is connected; The upper free bearing 9 of two-freedom Hooke's hinge carries out centering with the internal point C1031 of top base b103 with screw and is connected.
In movement branched chain F, the stator 24 of voice coil loudspeaker voice coil Motor actuator 3 carries out centering with the internal point d4061 of bottom base F406 by screw and is connected; The upper free bearing 9 of two-freedom Hooke's hinge 5 carries out centering with the internal point D 1032 of top base b103 with screw and is connected.
Finally make between upper mounting plate 1 and lower platform 4, to be connected with six groups of movement branched chain be made up of two-freedom Hooke's hinge 5, Three Degree Of Freedom Hooke's hinge 3 and voice coil motor actuator 2 in turn.
Described two-freedom Hooke's hinge 5, as shown in Fig. 5, Fig. 6, Fig. 7, comprise free bearing 9, pre-loading screw 10, end cap 11, taper roll bearing 12, joint spider 13, lower free bearing 14, compressing member 15, holddown spring 16 and pad 17, two rotational freedoms can be provided.Four axle heads of described joint spider 13 are socketed four taper roll bearings 12; Wherein, two relative axle heads carry out concentric fits by taper roll bearing 12 and the bearing mounting hole of upper free bearing 9 two sides; Another two relative axle heads carry out concentric fits by taper roll bearing 12 and the bearing mounting hole of lower free bearing 14 two sides.Install pad 17 and end cap 11 successively by concentric manner outside the two sides of upper free bearing 9 and lower free bearing 14, concentric manner installing presser unit 15, holddown spring 16 is successively pressed in inner side.Then utilize pre-loading screw 10 that end cap 11 and pad 17 are fixed on the side of upper free bearing and lower free bearing, end cap 11 can be made inwardly to exert pressure simultaneously, compress taper roll bearing 12 by compressing member 15 and holddown spring 16, eliminate gap, and ensure that two-freedom Hooke's hinge 5 can flexible rotating.
Described Three Degree Of Freedom Hooke's hinge 2 designs on the basis of two-freedom Hooke's hinge 5, turntable is installed in the upper surface by free bearing 9 upper in two-freedom Hooke's hinge 5 and forms, as shown in Figure 8.Upper turntable has a rotational freedom, forms three independent rotational freedoms altogether with two-freedom Hooke's hinge.
Above-mentioned upper turntable comprises pedestal axle 18, taper roll bearing 19, rotary cap 20, gland nut 21 and upper end cover 22, as shown in Figure 9.Pedestal axle 18 lower end circumference has boss, is connected by screw fixing with the upper surface of free bearing 9 upper in two-freedom Hooke's hinge 5.Rotary cap 20 has endoporus, and in endoporus, circumference is designed with boss, and taper roll bearing 19 is two, is arranged on the boss both sides of rotary cap 20, realizes the location to two taper roll bearings 19 by opposing state.Pedestal axle 18, through the axis hole of rotary cap 20 and taper roll bearing 19, realizes pedestal axle, concentric fits between taper roll bearing and rotary cap.Gland nut 21 is arranged on one end of pedestal axle, compresses taper roll bearing 19 and rotary cap 20, realizes pedestal axle, axial location between taper roll bearing and rotary cap.Upper end cover 22 is fixedly connected by screw with the end face of rotary cap 20, finally realizes the clamping and positioning of two taper roll bearings 19.Because pedestal axle 18 and taper roll bearing 19 inner ring are fixed, rotary cap 20, upper end cover 22 are fixed with taper roll bearing 19 outer ring, therefore rotary cap 20, upper end cover 22 have a rotational freedom relative to pedestal axle, form three independently rotational freedoms altogether with two-freedom Hooke's hinge, and then form Three Degree Of Freedom Hooke's hinge.
Described voice coil motor actuator 3 take voice coil motor as the activation part of main element, and as shown in Figure 10, voice coil motor actuator 3 comprises mover 23 and stator 24, and mover 23 can realize axially-movable relative to stator 24.
Described air supporting support subsystem comprises 3 threaded screw rod lifters, 7,4 air spring elements 6 and 7 pier bases, and corresponding pneumatic control circuit, as shown in figure 11.4 air spring element 6 lower ends are concentric with pier base 8 to be respectively connected, and 4 pier bases 8 carry out screw be connected with pier base mounting hole d414, the pier base mounting hole e415 of lower platform 2, pier base mounting hole f416, pier base mounting hole g417 respectively; 4 air spring element 6 upper ends use screw to be connected with upper mounting plate 1 four mounting holes respectively, ensure that 4 air spring elastic force directions are vertical.3 threaded screw rod lifter 7 lower ends are concentric with pier base 8 to be respectively connected, and pier base mounting hole a411, pier base mounting hole b412, the pier base mounting hole c413 of 3 pier bases 8 and lower platform 4 are connected; The upper end of 3 threaded rod lifters 7 is separately installed with contiguous block draw-in groove a, b, c; Contiguous block A, B, C contraposition that contiguous block draw-in groove a, b, c and upper mounting plate 1 lower surface design is installed, and uses pin to carry out detachable connection, so that be locked on threaded screw rod lifter by upper mounting plate 1 when needed.
Described automatically controlled hardware subsystem comprises computer for controlling 29, A/D data processing card 30, D/A data processing card 31, signal conditioner A27, signal conditioner B28, power amplifier 32, acceleration transducer 25 and displacement transducer 26, as shown in figure 12.Acceleration transducer 25 has 12, and wherein 6 are arranged on upper mounting plate 1, is used for measuring the acceleration of upper mounting plate 1 and load 6 degree of freedom respectively; All the other 6 mover 23 tops being arranged on voice coil loudspeaker voice coil Motor actuator 3 in 6 movement branched chain respectively, are axially arranged along mover 23, are used for measuring the relative acceleration of mover 23 axially-movable; Displacement transducer 26 has 6, is arranged on voice coil loudspeaker voice coil Motor actuator 3 side in 6 movement branched chain respectively, axially arranges along voice coil motor actuator 3, is used for measuring the relative displacement of mover 23 axially-movable.The output terminal of each acceleration transducer 25 above-mentioned is connected with signal conditioner A27 by shielded cable, and the output terminal of each displacement transducer 26 is connected with signal conditioner B28 by shielded cable; Signal conditioner A27 and signal conditioner B28 has been used for the modulation to the output signal of acceleration transducer 25 and displacement transducer 26.The output terminal of signal conditioner A27 and signal conditioner B28 is connected to the input end of A/D data processing card 30 respectively by shielded cable, A/D data processing card 30 is arranged on the PCI slot of computer for controlling 29, by the signal transmission of the acceleration transducer 25 that collects and displacement transducer 26 to computer for controlling 29.D/A data processing card 31 is arranged on the PCI slot of computer for controlling 29, the output terminal of D/A data processing card 31 is connected by the input end of shielded cable with power amplifier 32, D/A data processing card 31 by the signal transmission of computer for controlling 29 to power amplifier 32; The output terminal of power amplifier 32 is connected to by shielded cable on the voice coil motor of voice coil motor actuator 3, and power amplifier 32 receives the signal of D/A data processing card 31 and is modulated to drive singal, drives voice coil motor start.
When six-degree of freedom vibration excitation system is run, load is arranged on above upper mounting plate 1, by giving the inflation of air supporting support subsystem, utilizes the anchorage force of air spring element 6 to offset the gravity of load; Opening automatically controlled hardware subsystem subsequently, according to expecting that the value of feedback of vibration values and acceleration transducer 25 and displacement transducer 26 controls voice coil motor actuator 3 and moves, thus making the vibration needed for the realization of six-degree of freedom vibration excitation system.When six-degree of freedom vibration excitation system is not run, air spring element is not inflated, and automatically controlled hardware subsystem does not power on, and now threaded screw rod lifter 7 is locked by pin with upper mounting plate 1, is offset the gravity of load by the anchorage force of threaded screw rod lifter 7.
The six-degree of freedom vibration excitation system of said structure, has six-freedom motion ability, can carry out omnibearing vibrational excitation.Eliminate gap owing to have employed pre-pressing technology, have employed air-flotation system and offset gravity, voice coil motor actuator encourages, and the present invention has bearing capacity, precision high.
Claims (4)
1. a six-degree of freedom vibration excitation system, is characterized in that: comprise physical construction subsystem, is made up of upper mounting plate, lower platform and 6 movement branched chain; It is characterized in that: also comprise air supporting support subsystem and automatically controlled hardware subsystem;
Described air supporting support subsystem comprises 3 threaded screw rod lifters, 4 air spring elements and 7 pier bases, and corresponding pneumatic control circuit; 4 air spring element lower ends are concentric with pier base to be respectively connected, and 4 pier bases are connected with pier base mounting hole d, the pier base mounting hole e of lower platform, pier base mounting hole f, pier base mounting hole g respectively; 4 air spring element upper ends are connected with upper mounting plate respectively, ensure that 4 air spring elastic force directions are vertical; 3 threaded screw rod lifter lower ends are concentric with pier base to be respectively connected, and pier base mounting hole a, pier base mounting hole b, the pier base mounting hole c of 3 pier bases and lower platform are connected; The upper end of 3 threaded rod lifters is separately installed with contiguous block draw-in groove a, b, c; Contiguous block A, B, C contraposition that contiguous block draw-in groove a, b, c and upper mounting plate lower surface design is installed, and uses pin to carry out detachable connection;
Described automatically controlled hardware subsystem comprises computer for controlling, A/D data processing card, D/A data processing card, signal conditioner A, signal conditioner B, power amplifier, acceleration transducer and displacement transducer; Acceleration transducer has 12, and wherein 6 are arranged on upper mounting plate, is used for measuring the acceleration of upper mounting plate and load 6 degree of freedom respectively; All the other 6 are arranged in 6 movement branched chain respectively, are used for measuring the relative acceleration of movement branched chain axially-movable; Displacement transducer has 6, is arranged on 6 movement branched chain sides respectively, is used for measuring the relative displacement of movement branched chain axially-movable; The output terminal of each acceleration transducer above-mentioned is connected with signal conditioner A by shielded cable, and the output terminal of each displacement transducer is connected with signal conditioner B by shielded cable; Signal conditioner A and signal conditioner B has been used for the modulation to the output signal of acceleration transducer and displacement transducer; The output terminal of signal conditioner A and signal conditioner B is connected to the input end of A/D data processing card respectively by shielded cable, A/D data processing card is arranged on the PCI slot of computer for controlling, by the signal transmission of the acceleration transducer that collects and displacement transducer to computer for controlling; D/A data processing card is arranged on the PCI slot of computer for controlling, and the output terminal of D/A data processing card is connected with the input end of power amplifier by shielded cable, D/A data processing card by the signal transmission of computer for controlling to power amplifier; The output terminal of power amplifier is connected with movement branched chain by shielded cable, and the signal of power amplifier accepts D/A data processing card is also modulated to drive singal, the start of actuation movement side chain.
2. a kind of six-degree of freedom vibration excitation system as claimed in claim 1, it is characterized in that: in described physical construction subsystem, the edge of lower platform is provided with bottom base A, bottom base B, bottom base C, bottom base D, bottom base E, bottom base F by Central Symmetry, is all fixed on lower platform; And wherein bottom base A, bottom base B are a pair bottom base, bottom base C, bottom base D are a pair bottom base, and bottom base D, bottom base E are a pair bottom base, and three pairs of bottom base circumferences are uniform; Bottom base A is provided with internal point a, and bottom base B is provided with internal point b, and bottom base C is provided with internal point c, and bottom base D is provided with internal point d, and bottom base E is provided with internal point e, and bottom base F is provided with internal point f;
Upper mounting plate edge is installed with top base a, top base b and top base c by Central Symmetry; Top base a is provided with internal point A and B, top base b is provided with internal point C and D, top base c is provided with internal point E and F, and internal point A, internal point B, internal point C, internal point D, internal point E, internal point F distribute by circumference order along upper mounting plate;
Described movement branched chain comprises Three Degree Of Freedom Hooke's hinge, voice coil motor actuator and two-freedom Hooke's hinge; Wherein, the mover of voice coil motor actuator carries out centering with the lower free bearing of Three Degree Of Freedom Hooke's hinge and is connected; The upper end cover of Three Degree Of Freedom Hooke's hinge carries out centering by web member with the lower free bearing of two-freedom Hooke's hinge and is connected;
6 movement branched chain are made to be respectively movement branched chain A, B, C, D, E, F; Then form physical construction subsystem by following connected mode:
In movement branched chain A, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point a of bottom base A by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point A of top base a with screw and is connected;
In movement branched chain B, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point b of bottom base B by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point B of top base a with screw and is connected;
In movement branched chain E, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point c of bottom base C by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point C of top base b with screw and is connected;
In movement branched chain F, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point d of bottom base D by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point D of top base b with screw and is connected;
In movement branched chain E, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point c of bottom base E by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point C of top base b with screw and is connected;
In movement branched chain F, the stator of voice coil loudspeaker voice coil Motor actuator carries out centering with the internal point d of bottom base F by screw and is connected; The upper free bearing of two-freedom Hooke's hinge carries out centering with the internal point D of top base b with screw and is connected.
Finally make between upper mounting plate and lower platform, to be connected with six groups of movement branched chain be made up of two-freedom Hooke's hinge, Three Degree Of Freedom Hooke's hinge and voice coil motor actuator in turn.
3. a kind of six-degree of freedom vibration excitation system as claimed in claim 2, is characterized in that: described two-freedom Hooke's hinge comprises free bearing, pre-loading screw, end cap, taper roll bearing, joint spider, lower free bearing, compressing member, holddown spring and pad; Four axle heads of described joint spider are socketed four taper roll bearings; Wherein, two relative axle heads carry out concentric fits by the bearing mounting hole of taper roll bearing and upper free bearing two sides; Another two relative axle heads carry out concentric fits by the bearing mounting hole of taper roll bearing and lower free bearing two sides; Install pad and end cap successively by concentric manner outside the two sides of upper free bearing and lower free bearing, concentric manner installing presser unit, holddown spring is successively pressed in inner side; Pre-loading screw is then utilized end cap and pad to be fixed on the side of upper free bearing and lower free bearing.
4. a kind of six-degree of freedom vibration excitation system as claimed in claim 2, is characterized in that: described Three Degree Of Freedom Hooke's hinge in two-freedom Hooke's hinge on free bearing upper surface on install turntable and form; Upper turntable comprises pedestal axle, taper roll bearing, rotary cap, gland nut and upper end cover; Pedestal axle lower end circumference has boss, is connected and fixed with the upper surface of free bearing upper in two-freedom Hooke's hinge; Rotary cap has endoporus, and in endoporus, circumference is designed with boss; Taper roll bearing is two, is arranged on the boss both sides of rotary cap, realizes the location to two taper roll bearings by opposing state; Pedestal axle, through the axis hole of rotary cap and taper roll bearing, realizes pedestal axle, concentric fits between taper roll bearing and rotary cap; Gland nut is arranged on one end of pedestal axle, compresses taper roll bearing and rotary cap, realizes pedestal axle, axial location between taper roll bearing and rotary cap; The end face of upper end cover and rotary cap is fixedly connected by screw, finally realizes the clamping and positioning of two taper roll bearings.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105136418A (en) * | 2015-09-07 | 2015-12-09 | 哈尔滨工业大学 | Vibration characteristic testing and analyzing device of micro-interference moment simulation system |
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| CN105738062A (en) * | 2016-04-29 | 2016-07-06 | 燕山大学 | High-and-low frequency mixed output parallel three-dimensional motion table with variable structure |
| CN106407607A (en) * | 2016-10-27 | 2017-02-15 | 北京航空航天大学 | Airborne multi-axis vibration isolation system and optimization method thereof |
| CN108387645A (en) * | 2018-05-25 | 2018-08-10 | 中国人民解放军陆军工程大学 | A kind of six degree of freedom hybrid vibration isolation pilot system |
| CN108910084A (en) * | 2018-06-28 | 2018-11-30 | 中国直升机设计研究所 | A kind of dynamic load measuring device |
| CN109004361A (en) * | 2018-06-20 | 2018-12-14 | 上海卫星工程研究所 | A kind of satellite antenna six-freedom degree pose adjustment device |
| CN109115442A (en) * | 2018-09-25 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | Micro-vibration analog platform and micro-vibration simulation system |
| CN109655222A (en) * | 2019-02-02 | 2019-04-19 | 北京思齐致新科技有限公司 | Novel vibration table |
| CN109990966A (en) * | 2019-04-28 | 2019-07-09 | 北京博科测试系统股份有限公司 | A kind of Underwater Parallel shake table |
| CN110398332A (en) * | 2019-07-25 | 2019-11-01 | 北京航宇振控科技有限责任公司 | A kind of six-degree of freedom vibration simulator of antarafacial configuration |
| CN111551329A (en) * | 2020-05-21 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Two-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system |
| CN111551328A (en) * | 2020-05-21 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Six-degree-of-freedom vibration excitation system with parallel configuration of three-stage Stewart mechanism |
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| CN105136418A (en) * | 2015-09-07 | 2015-12-09 | 哈尔滨工业大学 | Vibration characteristic testing and analyzing device of micro-interference moment simulation system |
| CN105136418B (en) * | 2015-09-07 | 2017-10-10 | 哈尔滨工业大学 | Micro- disturbance torque simulation system vibration characteristics device for testing and analyzing |
| CN105372031A (en) * | 2015-11-20 | 2016-03-02 | 中国航空工业集团公司上海航空测控技术研究所 | PXI development platform-based aviation vibration table test system |
| CN105738062A (en) * | 2016-04-29 | 2016-07-06 | 燕山大学 | High-and-low frequency mixed output parallel three-dimensional motion table with variable structure |
| CN105738062B (en) * | 2016-04-29 | 2018-05-01 | 燕山大学 | A kind of low-and high-frequency mixing output-parallel three-dimensional motion platform of varistructure |
| CN106407607A (en) * | 2016-10-27 | 2017-02-15 | 北京航空航天大学 | Airborne multi-axis vibration isolation system and optimization method thereof |
| CN106407607B (en) * | 2016-10-27 | 2020-09-15 | 北京航空航天大学 | Airborne multi-shaft vibration isolation system and optimization method |
| CN108387645A (en) * | 2018-05-25 | 2018-08-10 | 中国人民解放军陆军工程大学 | A kind of six degree of freedom hybrid vibration isolation pilot system |
| CN109004361A (en) * | 2018-06-20 | 2018-12-14 | 上海卫星工程研究所 | A kind of satellite antenna six-freedom degree pose adjustment device |
| CN108910084A (en) * | 2018-06-28 | 2018-11-30 | 中国直升机设计研究所 | A kind of dynamic load measuring device |
| CN109115442A (en) * | 2018-09-25 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | Micro-vibration analog platform and micro-vibration simulation system |
| CN109655222A (en) * | 2019-02-02 | 2019-04-19 | 北京思齐致新科技有限公司 | Novel vibration table |
| CN109655222B (en) * | 2019-02-02 | 2024-04-12 | 北京思齐致新科技有限公司 | Novel vibrating table |
| CN109990966A (en) * | 2019-04-28 | 2019-07-09 | 北京博科测试系统股份有限公司 | A kind of Underwater Parallel shake table |
| CN110398332A (en) * | 2019-07-25 | 2019-11-01 | 北京航宇振控科技有限责任公司 | A kind of six-degree of freedom vibration simulator of antarafacial configuration |
| CN111551328A (en) * | 2020-05-21 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Six-degree-of-freedom vibration excitation system with parallel configuration of three-stage Stewart mechanism |
| CN111551330A (en) * | 2020-05-21 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Four-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system |
| CN111551329A (en) * | 2020-05-21 | 2020-08-18 | 北京航宇振控科技有限责任公司 | Two-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system |
| CN111551329B (en) * | 2020-05-21 | 2021-07-23 | 北京航宇振控科技有限责任公司 | Two-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system |
| CN111551330B (en) * | 2020-05-21 | 2021-07-23 | 北京航宇振控科技有限责任公司 | Four-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system |
| CN111551328B (en) * | 2020-05-21 | 2021-07-27 | 北京航宇振控科技有限责任公司 | Six-degree-of-freedom vibration excitation system with parallel configuration of three-stage Stewart mechanism |
| CN112197927A (en) * | 2020-10-10 | 2021-01-08 | 北京航宇振控科技有限责任公司 | Automatic air floatation support system applied to vibration simulation device |
| CN112880953B (en) * | 2021-01-21 | 2022-04-08 | 复旦大学 | Vibration test device and vibration test method |
| CN112880953A (en) * | 2021-01-21 | 2021-06-01 | 复旦大学 | Vibration test device and vibration test method |
| CN114323526A (en) * | 2021-12-17 | 2022-04-12 | 中国计量科学研究院 | Linear motor driven six-degree-of-freedom vibration simulation device |
| CN114354110A (en) * | 2021-12-30 | 2022-04-15 | 中国科学院长春光学精密机械与物理研究所 | Multidimensional micro-vibration simulator |
| CN114608775A (en) * | 2022-03-15 | 2022-06-10 | 中国科学院长春光学精密机械与物理研究所 | Supporting leg type multi-dimensional micro-vibration simulator based on parallel connection of coarse and fine driving components |
| CN114608775B (en) * | 2022-03-15 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Landing leg type multidimensional micro-vibration simulator based on coarse and fine level driving assembly |
| CN116839845A (en) * | 2023-06-13 | 2023-10-03 | 哈尔滨工业大学 | Six-degree-of-freedom foundation excitation table |
| CN116839845B (en) * | 2023-06-13 | 2024-05-10 | 哈尔滨工业大学 | Six-degree-of-freedom foundation excitation table |
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