CN107063598A - A kind of labyrinth stiffness parameters automatic test platform - Google Patents
A kind of labyrinth stiffness parameters automatic test platform Download PDFInfo
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- CN107063598A CN107063598A CN201710232799.0A CN201710232799A CN107063598A CN 107063598 A CN107063598 A CN 107063598A CN 201710232799 A CN201710232799 A CN 201710232799A CN 107063598 A CN107063598 A CN 107063598A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
- G01M5/005—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress by means of external apparatus, e.g. test benches or portable test systems
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Abstract
The present invention discloses a kind of labyrinth stiffness parameters automatic test platform, the clamped end of tested joint piece is connected with bottom tooling platform, loading end is connected by adapter flange dish with loading beam；Loading beam two ends fill force snesor, and steel wire rope one end is connected with force snesor, and the other end bypasses fixed pulley connection load maintainer；The pulling force for applying respective direction and size in measurand both sides by load maintainer realizes loading；And both sides it is in the same direction etc. big when apply Tensile or Compressive Loading, two ends apply bending load when reversely etc. big.In test process, the PID/feedback controller in the feedback signal input computer of force snesor, it is determined that to the control signal of load maintainer, realizing the automation loading of load maintainer；After loading terminates, treat that measurand stabilization can be by the experimental datas of all measuring points of data collecting instrument automatic data collection；Experimental data is handled using data processing software after the completion of all experimentss, tested joint piece stiffness parameters are obtained with reference to linear fit method.
Description
Technical field
It is specifically a kind of to be directed to labyrinth rigidity the present invention relates to labyrinth stiffness parameters test measurement field
The automatic test platform of test, it is possible to achieve firm to various structures, multiple operating modes, the tension and compression of multiple directions, bending and torsion
Spend the automation loading and data acquisition of parameter.
Background technology
Space manipulator possesses precise manipulation ability and visual identity ability, is mainly used for entering by catching transport vessel
Row automatic precision is docked, and more safe, fast, efficient compared to traditional docking mode.Space manipulator is collection machinery, regarded
The high-end Space Equipment that the subjects such as feel, dynamics, electronics and control are integrated.Its internal structure is complicated, contains multiple driving structures
Part, therefore be only difficult to obtain accurate, reliable tension and compression, torsion, bending, shearing by theory analysis or finite element stimulation
Rigidity.But joint of mechanical arm part rigidity directly affects mechanical arm property indices and control accuracy again, it is therefore necessary to design
Special experiment test system, i.e. labyrinth rigidity testing system.Original labyrinth rigidity testing system passes through manual
Hoist engine is loaded, and is read and record experimental data by artificial, with the progress of experiment, it is found that this processing is present
Many the drawbacks of, reason following points：
(1) scheme of artificial hand loading is manually operated to people in loading proposes very high requirement, that is, is keeping very
Also to accomplish that fine adjustment reaches predetermined value while big load, steel wire rope rigidity has very strong nonlinear characteristic
Therefore a certain degree of fluctuation (about ± 5N) inevitably occurs in load in test process, it is difficult to stably measured, shadow
Ring measurement accuracy；
(2) it is artificial to read the mode with record data in inefficiency, the artificial reading of another aspect and the mistake manually typed in
Journey not only it is dilatory slowly must also cooperation, be readily incorporated accidental error, influence test result precision；
(3) test assignment requirement is in a rigidity test experiment, the rigidity test knot in same one direction of detected element
At least three groups of fruit, every group at least gathers about 60 test points, therefore complete experiment flow at least includes the loading of hundreds of times
Unloading, laboratory technician easily produces fatigue after test is repeated several times, and the possibility for introducing accidental error is greatly improved.
The content of the invention
The present invention devises a kind of complicated knot to overcome the deficiencies in the prior art based on labyrinth rigidity testing system
Structure rigidity automatic measurement platform, is that tension and compression, bending, the torsional rigidity test and accurate control of joint of mechanical arm part all directions are carried
For reliable test data, it is possible to applied in the polyaxial rigidity test of other types of labyrinth.
A kind of labyrinth stiffness parameters automatic test platform of the present invention, labyrinth stiffness parameters automatic test is put down
Platform, it is characterised in that：Including tested joint piece tooling platform and load maintainer；
The tested joint piece tooling platform includes fixed steel frame construction, bottom tooling platform, loading beam, fixed pulley, fixed
Pulley bracket and steel wire rope；Tested joint piece bottom is fixedly installed on the tooling platform of bottom；Loading beam is set along y-axis, middle part
It is connected by adapter flange with tested joint piece top；Loading beam is set along y-axis, and two ends are circumferentially equipped with sensor installation position
Put, while two ends end face center is also configured with sensor mounting location；Force snesor is installed at sensor mounting location；
Steel wire rope is two, and one end is respectively intended to fix with the force snesor at loading beam two ends, and the other end is respectively intended to connect
Enter the load maintainer of tested joint piece both sides, pulling force is applied to two steel wire ropes by load maintainer, realized to being tested joint piece
Loading；
Fixed steel frame construction is placed on outside tested joint piece, the back timber with higher than loading beam, and positioned at tested joint
Fixed pulley is mounted on the fixed pulley support of part both sides, back timber two ends and both sides fixed pulley support；Simultaneously in bottom frock
On platform, positioned at tested joint piece both sides；Direction of pull of the steel wire rope to tested joint piece is changed by fixed pulley.
Thus according to different operating modes, one group of relative with loading beam two ends respectively power of one end selectivity of steel wire rope is passed
Sensor is connected；The steel wire rope other end is respectively connecting to load maintainer.Bypassed simultaneously according to different operating mode steel wire ropes are also selective
Load maintainer is connected after fixed pulley, or steel wire rope is directly connected to load maintainer, steel wire rope is applied by load maintainer and drawn
Power, is realized to being tested the load such as tension and compression, bending, torsion, shearing that joint piece applies.
Labyrinth stiffness parameters automatic test platform of the present invention, also with data acquisition and control section, including it is many
Channel data Acquisition Instrument, signal sampler and control computer.Wherein, multi-Channels Data Acquisition, signal sampler and control
Computer is connected by data wire；Meanwhile, it is connected between multi-Channels Data Acquisition and displacement transducer with data wire；Signal acquisition
It is connected between instrument and force snesor with data wire；In test process, control computer is monitored and is exerted by real time by force snesor
The pulling force size of tested joint piece simultaneously feeds back to PID/feedback controller, and then determine the control signal to stepper motor, to adjust
Tensile or Compressive Loading suffered by tested joint piece reaches designated value.
The advantage of the invention is that：
1st, labyrinth stiffness parameters automatic test platform of the present invention, load mode is changed to by the loading of laboratory technician's hand-rail type
Automatic loading based on PID/feedback controller, improves loading accuracy and loading efficiency, in repeated rigidity test task
In, this improvement will greatly reduce the workload of laboratory technician；
2nd, labyrinth stiffness parameters automatic test platform of the present invention, the different end faces of tested joint piece can be measured simultaneously
Correlation displacement, bending angular displacement, bending neutral surface angular displacement, torsional angular displacement, tension and compression displacement and the shearing of such as different end faces
Displacement, that is, propose complete set and accurately rigidity displacement measurement method；
3rd, labyrinth stiffness parameters automatic test platform of the present invention, the artificial data mode that reads is changed to using more logical
Track data Acquisition Instrument gathers experimental data, improves conventional efficient, greatly reduces laboratory technician's workload, improve data acquisition
Precision；
4th, labyrinth stiffness parameters automatic test platform of the present invention, because loading system can be on three degree of freedom
Freely adjust, while this automatic measurement platform maximum load torque can exceed 10000N.m, therefore be adapted to different tested
The rigidity test requirement of joint piece, it is applied widely；
5th, labyrinth stiffness parameters automatic test platform of the present invention, the mode being combined using screw mandrel with cod
Loading, cleverly separates the application of load and holding so that it is more accurate that load applies, and load is kept more in measurement process
Plus it is steady, so as to improve test accuracy；
6th, labyrinth stiffness parameters automatic test platform of the present invention, this automatic test platform design is simplified, and is used
Convenient, automaticity is high, completes laboratory technician's number needed for once testing and is down to 1~3 people by 7~10 original people.
Brief description of the drawings
Fig. 1 is labyrinth stiffness parameters automatic test platform overall structure diagram of the present invention；
When Fig. 2 is that labyrinth stiffness parameters automatic test platform of the present invention applies upward pulling force to tested joint piece,
Steel wire rope connected mode schematic diagram；
Fig. 3 is that this labyrinth stiffness parameters automatic test platform of the present invention applies X-direction to being tested joint piece
During bending load, steel wire rope connected mode schematic diagram；
When Fig. 4 is that labyrinth stiffness parameters automatic test platform of the present invention applies downward pulling force to tested joint piece,
Steel wire rope connected mode schematic diagram；
Fig. 5 is the torsion that labyrinth stiffness parameters automatic test platform of the present invention applies Z-direction to being tested joint piece
When reprinting lotus, steel wire rope connected mode schematic diagram；
Fig. 6 shears to apply Z-direction to tested joint piece in labyrinth stiffness parameters automatic test platform of the present invention
During load, steel wire rope connected mode schematic diagram；
Fig. 7 is that labyrinth stiffness parameters automatic test platform of the present invention applies X to tested joint piece or Y-direction is sheared
During load, steel wire rope connected mode schematic diagram；
Fig. 8 is measuring point on the measurement end face of tested joint piece in labyrinth stiffness parameters automatic test platform of the present invention
Arrange schematic diagram；
Fig. 9 is tested joint piece load maintainer structural representation in labyrinth stiffness parameters automatic test platform of the present invention
Figure.
In figure：
1- is tested joint piece tooling platform 2- load maintainer 3- data acquisitions and control section
4- is tested joint piece 5- force snesor 6-L types and surveys piece
7-I types survey piece 101- and fix steel frame construction 102- bottoms tooling platform
103- loading beam 104a- fixed pulley 104b- fixed pulleys B
104c- fixed pulley c 105- fixed pulley support 106- adapter flange dish
107- steel wire rope 108- displacement sensor brackets 201- loads support
202- screw mandrel 203- screw mandrel frock 204- driving gears
205- driven gear 206- stepper motors
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
Automatic measurement platform of the invention based on labyrinth rigidity, including tested joint piece tooling platform 1, loading machine
Structure 2, data acquisition and control section 3, as shown in Figure 1.
The tested joint piece tooling platform 1 include fixed steel frame construction 101, bottom tooling platform 102, loading beam 103,
Fixed pulley A104a, fixed pulley B104b, fixed pulley C104c, fixed pulley support 105, adapter flange dish 106 and steel wire rope 107, such as
Shown in Fig. 2.Wherein, bottom tooling platform 102 is arranged on horizontal plane.The tested bottom of joint piece 4 is clamped end and bottom frock
Platform 102 is fixed by the flange arrangement in circumference；The tested top of joint piece 4 is loading end, by adapter flange dish 106 with adding
The middle part of carrier beam 103 is connected, and loading beam 103 is set along y-axis.Loading beam 103 is square-section, and its two ends is at 1m position
On circumferential four walls, and two ends end face center sets force sensor installation site, for installing force snesor 5.
Fixed steel frame construction 101, which is placed on the tested exterior top of joint piece 4, has the back timber set along y-axis, and back timber, which is located at, to be added
Directly over carrier beam 103, it is located at loading beam 103 in same perpendicular；Back timber left part is provided with rotary shaft parallel to x with right part
The fixed pulley A104a of axle；The fixed both sides of steel frame construction 101 are provided with two fixed pulley supports 105 arranged along X-direction, fixed
The middle part of pulley bracket 105 is provided with fixed pulley B104b；The both sides of bottom tooling platform 102 are also equipped with fixed pulley C104c；And it is fixed
Pulley A104a, fixed pulley B104b and fixed pulley C104c are located in same perpendicular, and rotary shaft is each parallel to y-axis.
The steel wire rope 107 is two, and one end of two steel wire ropes 107 is fixing end, according to different operating modes selectivity
It is connected respectively by the buckle one group force snesor 5 relative with the two ends of loading beam 103；The other end of two steel wire ropes 107 is to lead
Pull end, is respectively connecting to fix the load maintainer 2 that the left side of steel frame construction 101 and right side are set.Pass through 2 points of the load maintainer of both sides
It is other that pulling force is applied to two steel wire ropes 107, realize the loading to being tested joint piece 4.Simultaneously steel wire ropes according to different operating mode 107 also
Selectivity bypasses fixed pulley A104a, fixed pulley B104b and is connected load maintainer 2 after two in fixed pulley C104c, or
The drawing end of steel wire rope 107 is directly connected to loading beam 103.
In test process, the load such as tension and compression, bending, torsion, shearing of application can be by adding needed for being tested joint piece 4
The two ends of carrier beam 103 apply the pulling force of respective direction and size to realize, the big I of the pulling force is measured by force snesor 5.To quilt
When surveying the tension and compression applied needed for joint piece 4, bending, torsion, shear-type load, the installation site of force snesor and the company of steel wire rope
Connect mode as follows：
A, Tensile or Compressive Loading is applied to tested joint piece 4.
1) when, applying the upward pulling force of Z-direction perpendicular to horizontal plane to being tested joint piece 4：
As shown in Fig. 2 after the two ends upper wall surface of loading beam 103 installs force snesor 5, by force snesor 5 respectively with two
The fixing end of steel wire rope 107 is connected, and the drawing end of two steel wire ropes 107 bypasses the fixed pulley of back timber left part and right part respectively
After fixed pulley B104b on A104a, and two fixed pulley supports 105, load maintainer 2 is connected to；While two load maintainers
2 pairs of steel wire ropes 105 apply same equal sizes pulling force；Pass through the drawing end of the load maintainers 2 of both sides respectively to two steel wire ropes 107
The size horizontal direction pulling force such as application, are converted to by the fixed pulley A104a of both sides and the sizes such as the two ends of loading beam 103 application are erected
Straight pulling force upwards.
2) when, applying the downward pulling force of Z-direction to being tested joint piece 4：
As shown in figure 3, after the two ends lower wall surface of loading beam 103 installs force snesor 5, by force snesor 5 respectively with two
The fixing end of steel wire rope 107 is connected, and the drawing end of two steel wire ropes 107 bypasses the left side of bottom tooling platform 102 and right side respectively
Fixed pulley C104c, and after fixed pulley B104b on two fixed pulley supports 105, be connected to load maintainer 2；Two simultaneously
Load maintainer 2 applies same equal sizes pulling force to steel wire rope 105；By the load maintainer 2 of both sides respectively to two steel wire ropes 107
Drawing end apply etc. size pulling force, by the fixed pulley C104c of both sides be converted to the two ends of loading beam 103 apply etc. size erect
Straight downward pulling force.
B, bending load is applied to tested joint piece 4；
(1) when, applying the bending load of X-direction to being tested joint piece 4：
As shown in figure 4, after the left end upper wall surface of loading beam 103 and right-hand member lower wall surface install force snesor 5, power is sensed
Fixing end of the device 5 respectively with two steel wire ropes 107 is connected；Wherein, the drawing end of left side steel wire rope 107 bypasses back timber left part respectively
After fixed pulley B104b on fixed pulley A, and left side fixed pulley support 105, connection left side load maintainer 2.Right side steel wire rope
107 drawing end bypasses the fixed pulley C104c on the right side of bottom tooling platform 102, and determines cunning on right side fixed pulley support 105
Take turns after B104b, be connected to right side load maintainer 2；Two load maintainers 2 pair, two steel wire ropes 105 apply same equal sizes simultaneously
Pulling force；Pulling force is applied by the drawing end of 2 pairs of left side steel wire ropes 107 of load maintainer in left side, passes through the fixed pulley A104a in left side
Be converted to the pulling force applied to the left end of loading beam 103 straight up；Pass through steel wire ropes 107 on the right side of 2 pairs of the load maintainer on right side
Pull end and apply pulling force, the pulling force applied to the right-hand member of loading beam 103 straight down is converted to by the fixed pulley C104c on right side；
(2) when applying the bending load of Y direction to being tested joint piece 4：
On the basis of (1), remove tested joint piece 4, and by tested joint piece 4 around z-axis be rotated by 90 ° after reinstall,
Y direction bending load is applied to tested joint piece 4 according still further to mode in (1).
C, the torsional load for applying Z-direction to being tested joint piece 4；
Set as shown in figure 5, loading beam 103 is adjusted to along X-direction, and it is right in loading beam left end left surface and right-hand member
Force snesor 5 is installed on side, force snesor 5 is connected with left side with the fixing end of right side steel wire rope 107 respectively；Steel wire rope
107 do not bypass any fixed pulley, and traction end is connected directly to the load maintainer in left side and right side；Led to by the load maintainer 2 of both sides
Steel wire rope 107 is crossed to size horizontal direction pulling force such as the two ends of loading beam 103 applications.
D, shear-type load is applied to tested joint piece 4；
When the Ith, applying Z-direction shear-type load to tested joint piece 4：
As shown in fig. 6, on one end upper wall surface of loading beam 103 install force snesor 5 after, by force snesor 5 respectively with together
The fixing end of side steel wire rope 107 is connected, and the drawing end of steel wire rope 107 bypasses the fixed pulley A104a of back timber homonymy, and homonymy is determined
After fixed pulley B104b on pulley bracket 105, homonymy load maintainer 2 is connected to；Pass through the leading to steel wire rope 107 of load maintainer 2
Pull end applies horizontal direction pulling force, is converted to by fixed pulley C104c and applies vertical direction pulling force to the one end of loading beam 103.
When the IIth, applying X or Y-direction shear-type load to tested joint piece 4：
Set as shown in fig. 7, loading beam 103 is adjusted to along corresponding X-axis or Y direction, and at loading beam one end end
Force snesor 5 is installed on face, force snesor 5 is connected with the fixing end of homonymy steel wire rope 107；Steel wire rope 107 does not bypass any
Fixed pulley, traction end is connected directly to the load maintainer of homonymy；Water is applied to the drawing end of steel wire rope 107 by load maintainer 2
Square to pulling force.
Above-mentioned tested joint piece 4 is designed with from top to bottom totally four measurement end faces, is respectively：Adapter flange side surface, quilt
Survey joint piece loading end end face, tested joint piece middle part section, the tested clamped end of joint piece.Each end face is displaced through installation
Measured in the displacement transducer on tubular displacement sensor bracket 108.Displacement sensor bracket 108 is installed on bottom frock
On platform 102, and it is placed on outside tested joint piece 4, as shown in Figure 2.Due to being tested angle of the joint piece 4 under the effect of bending load
Displacement is very small, therefore by being all provided with 4 measuring points upwards in each measurement end face outer circumference, and two measuring point A are along space x-axis cloth
Put, another two measuring point B is arranged along space Y axle.At two measuring point A and two measuring point B two L-types can be installed according to specific needs
Survey piece 6 or I types survey piece 7, as shown in Figure 3；Thus angular displacement small at measuring point can be converted into small displacement of the lines h, utilized
High accuracy displacement sensor is measured, while measuring point can be measured apart from joint piece center apart from l, must be calculated and obtained by following formula：
When tested angular displacement is very small, because the maximum relative error that arc angles simplify measurement introducing is no more than
0.05 ‰, completely in test error allowed band.Each high accuracy displacement sensor is arranged on displacement sensor bracket 108
Relevant position, on the one hand can facilitate under the conditions of different loads with corresponding measurement point be connected, on the other hand also adopted for data
Collection is there is provided stable monitoring platform.
As shown in figure 8, above-mentioned L-type surveys 6 one sides of piece to install side, level is fixed on measurement end face, and relative L
The installation side that type surveys piece 6 is coaxial；Another side end left and right sides symmetric position that L-type surveys piece 6 is disposed with measuring point；I types are surveyed
Piece 7 is horizontally disposed with, and one end is fixed on measurement end face, and relative I types survey the axis coaxle of piece 7；I types survey outer end of piece 7 or so two
Side symmetric position is disposed with measuring point, and arranges measuring point simultaneously in both sides up and down.Corresponding measurement point under different loading conditions
It is also different, is respectively：Under the load-up condition of forward and reverse torsion about the z axis, to measure end face torsional angular displacement, from two
I types are surveyed the fixation of piece 7 and are pasted at two measuring point A, and high accuracy displacement sensor is surveyed to the measuring point of the left and right sides of piece 7 with I types respectively
It is connected.Under the load-up condition around the forward and reverse bending of X-axis, for measurement end face angle of bend displacement, survey piece 7 from two I types and fix
It is pasted at two measuring point A, high accuracy displacement sensor is surveyed into the measuring point of 7 upper and lower side of piece two with I types respectively is connected；It is curved to measure
Bent neutral surface angular displacement, surveys pieces 6 from two L-types and fixes and be pasted at two measuring point B, by high accuracy displacement sensor respectively with
The measuring point that L-type surveys the left and right sides of piece 6 is connected., need to be overall by tested joint piece 4 in measurement bending angular displacement forward and reverse around Y-axis
Reinstalled after being rotated by 90 ° about the z axis, then arrangement measurement in a manner described；Similarly, cut in measurement Z-direction tension and compression with X, Y-direction
When cutting displacement, high accuracy displacement sensor need to be only connected with the measuring point of respective direction.
The load maintainer 2 of the above-mentioned both sides of fixed steel frame construction 101, structure is identical, including loading support 201, screw mandrel 202,
Screw mandrel frock 203, driving gear 204, driven gear 205 and stepper motor 206, as shown in Figure 9.Wherein, loading support 201 is
Vertical frame structure, is set with screw mandrel frock 203 thereon.Screw mandrel 202 is set along Y-axis, and screw mandrel frock 203 is installed on by bearing
On.Driving gear 204 is fixed in rotating shaft, and rotating shaft one end is installed on loading support 201 by bearing, and the other end installs stepping
Motor 206, rotation is driven by stepper motor 206.Driven gear 205 is fixedly installed on screw mandrel 202, and with driving gear 204
Engagement；Rotated from there through the driving driving gear 204 of stepper motor 206, drive driven gear 205 to rotate, finally realize screw mandrel
202 rotation.Above-mentioned screw mandrel frock 203 can be moved up and down on loading support 201 along Z axis, and then realize the height of screw mandrel 202
Regulation.
In the load maintainer 2 of the fixed both sides of steel frame construction 2, one end of screw mandrel 202 is led with two steel wire ropes 105 respectively
Pull end is connected by buckle, and screw mandrel 202, steel wire rope 105 are located in same perpendicular with the axis of loading beam 103；Thus lead to
Cross the positive and negative rotation of stepper motor 206 to adjust the advance and retreat of screw mandrel 202 in the horizontal plane, and then adjust the drawing on steel wire rope 105
Power size, realizes the loading to being tested joint piece 4, and loading range is big and easy to adjust.
Data acquisition includes multi-Channels Data Acquisition, signal sampler and control computer with control section 3.Wherein,
Multi-Channels Data Acquisition, signal sampler are connected with control computer by data wire.Each high accuracy displacement sensor with
It is connected between multi-Channels Data Acquisition with data wire, the survey of each high accuracy displacement sensor is gathered by multi-Channels Data Acquisition
Data are measured, and are sent to control computer；Two force snesors by being connected between data wire and signal sampler with data wire, by
Signal sampler gathers the measurement data of each high accuracy displacement sensor, and sends to control computer.Thus test process
In, control computer is monitored the pulling force size for being exerted by tested joint piece by force snesor and feeds back to control and calculated in real time
PID/feedback controller in machine, by PID/feedback controller by feedback control algorithm, it is determined that to the control signal of stepper motor,
Designated value is reached to adjust Tensile or Compressive Loading suffered by tested joint piece, the automation loading of load maintainer is realized, improves loading essence
Degree.To be kept 3~5 seconds after Tensile or Compressive Loading is adjusted in place, multi-channel data is passed through after tested joint piece malformation is stable
Acquisition Instrument gathers each displacement transducer data.To avoid the accuracy of accidental error raising rigidity test result need to be to same operating
Duplicate measurements is carried out, general to be no less than three times, end product is the average value repeatedly measured.After three measurements, change experiment work
Condition repeats said process until off-test.Test data can then be handled, with reference to linear fit method obtain by
Survey the stiffness parameters of joint piece 4.
Claims (6)
1. a kind of labyrinth stiffness parameters automatic test platform, it is characterised in that：Including tested joint piece tooling platform with
Load maintainer；
The tested joint piece tooling platform includes fixed steel frame construction, bottom tooling platform, loading beam, fixed pulley, fixed pulley
Support and steel wire rope；Tested joint piece bottom is fixedly installed on the tooling platform of bottom；Loading beam is set along y-axis, and middle part passes through
Adapter flange is connected with tested joint piece top；Loading beam is set along y-axis, and two ends are circumferentially equipped with sensor mounting location, together
When two ends end face centers be also configured with sensor mounting location；Force snesor is installed at sensor mounting location；
Steel wire rope is two, and one end is respectively intended to fix with the force snesor at loading beam two ends, and the other end is respectively intended to access quilt
The load maintainer of joint piece both sides is surveyed, pulling force is applied to two steel wire ropes by load maintainer, the loading to being tested joint piece is realized；
Fixed steel frame construction is placed on outside tested joint piece, the back timber with higher than loading beam, and positioned at tested joint piece two
Fixed pulley is mounted on the fixed pulley support of side, back timber two ends and both sides fixed pulley support；Simultaneously in bottom tooling platform
On, positioned at tested joint piece both sides；Direction of pull of the steel wire rope to tested joint piece is changed by fixed pulley.
2. a kind of labyrinth stiffness parameters automatic test platform as claimed in claim 1, it is characterised in that：To being tested joint
When the required tension and compression applied of part, bending, torsion, shear-type load, the installation site of force snesor and the connected mode of steel wire rope
It is as follows：
A, Tensile or Compressive Loading is applied to tested joint piece；
1) when, applying to being tested joint piece perpendicular to the upward pulling force of Z-direction of horizontal plane：
After loading beam two ends upper wall surface installs force snesor, the fixing end by force snesor respectively with two steel wire ropes is connected,
The drawing end of two steel wire ropes bypasses the fixed pulley of back timber left part and right part, and the fixed pulley on two fixed pulley supports respectively
Afterwards, it is connected to load maintainer；Two load maintainers apply with equal sizes pulling force to steel wire rope simultaneously；Pass through the loading machine of both sides
Structure is respectively to size horizontal direction pulling force such as the drawing end applications of two steel wire ropes, and the fixed pulley for passing through back timber left part and right part turns
It is changed to and loading beam two ends is applied etc. with size pulling force straight up；
2) when, applying the downward pulling force of Z-direction to being tested joint piece：
After loading beam two ends lower wall surface installs force snesor, the fixing end by force snesor respectively with two steel wire ropes is connected,
The drawing end of two steel wire ropes bypasses the fixed pulley with right side on the left of the tooling platform of bottom respectively, and on two fixed pulley supports
Fixed pulley after, be connected to load maintainer；Two load maintainers apply with equal sizes pulling force to steel wire rope simultaneously；Pass through both sides
Load maintainer the size pulling force such as apply to the drawing end of two steel wire ropes respectively, pass through the fixed pulley of bottom tooling platform both sides
Be converted to the pulling force of size straight down such as loading beam two ends applications；
B, bending load is applied to tested joint piece；
(1) when, applying the bending load of X-direction to being tested joint piece：
After loading beam left end upper wall surface and right-hand member lower wall surface install force snesor, by force snesor respectively with two steel wire ropes
Fixing end be connected；Wherein, the drawing end of left side steel wire rope bypasses back timber left part fixed pulley, and left side fixed pulley support respectively
On fixed pulley after, connection left side load maintainer；The drawing end of right side steel wire rope bypasses the fixed pulley on the right side of the tooling platform of bottom,
And after the fixed pulley on the fixed pulley support of right side, it is connected to right side load maintainer；Two load maintainers are to two steel wires simultaneously
Rope applies with equal sizes pulling force；Pulling force is applied to the drawing end of left side steel wire rope by the load maintainer in left side, passes through back timber
The fixed pulley of left part is converted to the pulling force applied to loading beam left end straight up；By the load maintainer on right side to right side steel wire
The drawing end of rope applies pulling force, is converted to by the fixed pulley on the right side of the tooling platform of bottom and loading beam right-hand member is applied straight down
Pulling force；
(2) when applying the bending load of Y direction to being tested joint piece：
On the basis of (1), remove tested joint piece, and by tested joint piece around z-axis be rotated by 90 ° after reinstall, according still further to
(1) mode applies Y direction bending load to tested joint piece in.
C, the torsional load for applying Z-direction to being tested joint piece；
Loading beam is adjusted to along X-direction and set, and the installing force on loading beam two ends left end left surface and right-hand member right flank
Sensor, force snesor is connected with left side with the fixing end of right side steel wire rope respectively；Steel wire rope does not bypass any fixed pulley, leads
Draw the load maintainer that end is connected directly to left side and right side；Loading beam two ends are applied by steel wire rope by the load maintainer of both sides
Etc. size horizontal direction pulling force；
D, shear-type load is applied to tested joint piece；
When the Ith, applying Z-direction shear-type load to tested joint piece：
Installed on the upper wall surface of loading beam one end after force snesor, by the fixing end phase of force snesor respectively with homonymy steel wire rope
Even, the drawing end of steel wire rope bypasses the fixed pulley of back timber homonymy, and after the fixed pulley on homonymy fixed pulley support, is connected to
Side load maintainer；Horizontal direction pulling force is applied to the drawing end of steel wire rope by load maintainer, turned by the fixed pulley on back timber
It is changed to and vertical direction pulling force is applied to loading beam one end；
When the IIth, applying X or Y-direction shear-type load to tested joint piece：
Loading beam is adjusted to along corresponding X-axis or Y direction and set, and force snesor is installed on the end face of loading beam one end,
Force snesor is connected with the fixing end of homonymy steel wire rope；Steel wire rope does not bypass any fixed pulley, and traction end is connected directly to together
The load maintainer of side；Horizontal direction pulling force is applied to the drawing end of steel wire rope by load maintainer.
3. a kind of labyrinth stiffness parameters automatic test platform as claimed in claim 1, it is characterised in that：Tested joint piece
On be from top to bottom designed with measurement end face, each end face is displaced through the displacement transducer being installed on displacement sensor bracket
Measure.
4. a kind of labyrinth stiffness parameters automatic test platform as claimed in claim 3, it is characterised in that：Each measurement end
Face outer circumference is all provided with 4 measuring points upwards, and two measuring point A arrange that another two measuring point B is arranged along space Y axle along space x-axis；Two
It is used for that two L-types survey pieces are installed at measuring point A and two measuring point B or I types surveys piece；L-type surveys the symmetrical position in the piece outer end end left and right sides
Put and be disposed with measuring point；I types survey piece outer end left and right sides symmetric position and are disposed with measuring point, and arrange measuring point simultaneously in both sides up and down；
Under the load-up condition perpendicular to the forward and reverse torsion of the Z axis of horizontal plane, for measurement end face torsional angular displacement, from two I types
Survey piece fixation to be pasted at two measuring point A, the measuring point that displacement transducer is surveyed into the piece left and right sides with I types respectively is connected；Around X-axis
Under the load-up condition of forward and reverse bending, for measurement end face angle of bend displacement, survey piece fixation from two I types and be pasted on two measuring points
At A, displacement transducer is surveyed into the measuring point of piece upper and lower side two with I types respectively and is connected；Neutral surface angular displacement is bent for measurement, from two
Individual L-type is surveyed piece fixation and is pasted at two measuring point B, and the measuring point that displacement transducer is surveyed into the piece left and right sides with L-type respectively is connected；
When measuring bending angular displacement forward and reverse around Y-axis, reinstalled after need to tested joint piece be integrally rotated by 90 ° about the z axis, then by above-mentioned
Mode arranges measurement；Similarly, when measuring Z-direction tension and compression with X, Y-direction shear displacemant, by high accuracy displacement sensor and phase
The measuring point in direction is answered to be connected.
5. a kind of labyrinth stiffness parameters automatic test platform as claimed in claim 1, it is characterised in that：Load maintainer bag
Include loading support, screw mandrel, screw mandrel frock, driving gear, driven gear and stepper motor；Wherein, it is set with height on loading support
Spend adjustable screw mandrel frock；Screw mandrel is set along Y-axis, is installed on by bearing in screw mandrel frock；Led with steel wire rope one end of screw mandrel
Pull end is connected；Driving gear is fixed in rotating shaft, and rotating shaft one end is installed on loading support by bearing；Driving gear is by stepping
Motor-driven rotation；Driven gear is fixedly installed on screw mandrel.
6. a kind of labyrinth stiffness parameters automatic test platform as claimed in claim 1, it is characterised in that：Also there are data
Collection and control section, including multi-Channels Data Acquisition, signal sampler and control computer；Wherein, multi-channel data is adopted
Collection instrument, signal sampler are connected with control computer by data wire；Meanwhile, between multi-Channels Data Acquisition and displacement transducer
It is connected with data wire；It is connected between signal sampler and force snesor with data wire；In test process, control computer is passed by power
Sensor monitoring in real time is exerted by the pulling force size of tested joint piece and feeds back to PID/feedback controller, and then determines to stepping
The control signal of motor, designated value is reached to adjust Tensile or Compressive Loading suffered by tested joint piece.
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| CN112595604A (en) * | 2020-11-25 | 2021-04-02 | 山东大学 | Table type material mechanics testing machine |
| CN112945533A (en) * | 2021-02-06 | 2021-06-11 | 中国航发沈阳发动机研究所 | Combined loading device and method for aeroengine parts |
| CN113340737A (en) * | 2021-05-06 | 2021-09-03 | 上海卫星工程研究所 | Rigidity test equipment suitable for different structural members and test method thereof |
| CN113639943A (en) * | 2021-08-20 | 2021-11-12 | 中国航发贵阳发动机设计研究所 | Device and method for beam structure hysteresis test |
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| CN112945533A (en) * | 2021-02-06 | 2021-06-11 | 中国航发沈阳发动机研究所 | Combined loading device and method for aeroengine parts |
| CN113340737A (en) * | 2021-05-06 | 2021-09-03 | 上海卫星工程研究所 | Rigidity test equipment suitable for different structural members and test method thereof |
| CN113639943A (en) * | 2021-08-20 | 2021-11-12 | 中国航发贵阳发动机设计研究所 | Device and method for beam structure hysteresis test |
| CN116046346A (en) * | 2023-02-15 | 2023-05-02 | 中国航天三江集团有限公司 | Measurement method for searching elastic center |
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