CN113075036B - Miniature heavy-load uniaxial pressure test system with mechanical arm and test method - Google Patents
Miniature heavy-load uniaxial pressure test system with mechanical arm and test method Download PDFInfo
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Abstract
The invention relates to a miniature heavy-load uniaxial pressure test system with a mechanical arm and a test method, and belongs to the technical field of rock mechanical tests. The test system comprises a loading mechanism, a transmission mechanism, a control mechanism, a power distribution mechanism and a supporting seat, wherein the loading mechanism is arranged on the supporting seat, the transmission mechanism penetrates through the supporting seat to be connected with the loading mechanism, the transmission mechanism is connected to the control mechanism, the transmission mechanism and the control mechanism are both connected to the power distribution mechanism, the transmission mechanism and the control mechanism are powered through the power distribution mechanism, and the control mechanism controls the transmission mechanism to apply load to the loading mechanism. The invention realizes micro heavy load, has high test precision, easy control, simple test method and complete test data, and is beneficial to students to obtain complete test results and understand the constitutive relation of rock strength.
Description
Technical Field
The invention relates to a miniature heavy-load uniaxial pressure test system with a mechanical arm and a test method, and belongs to the technical field of rock mechanics tests.
Background
Rock mechanics (or rock mechanics) is a core course of the engineering and specialties of mining engineering, geological engineering, hydraulic and hydroelectric engineering, tunnel engineering, geotechnical engineering, oil and gas development engineering, underground building engineering and the like, and in the course of learning, a test is an essential link.
The rock strength test is used as a necessary test project, and has important functions and significance for assisting theoretical teaching and training the rock strength knowledge structure of the student manual operation capability and resume system. However, the existing rock mechanics testing instruments mainly aim at researchers, and have the characteristics of high acquisition cost, high maintenance cost and complex operation to determine that the instruments must be operated by full-time testers, and the instruments are difficult to open to students, so that the students can only passively listen to the explanation of the testers in experimental study, cannot manually operate the instruments, and have poor experimental teaching effect. In addition, the rock mechanics testing instrument for scientific research work is large in size, heavy in weight and complex in hydraulic system structure, and is not suitable for test teaching sites of schools and multiple sets of grouped tests.
In the existing rock strength test, an oil pressure loading mode is usually adopted for applying dynamic and static loads, for example, a dynamic and static load superposed rock mechanics testing machine and testing method disclosed in the chinese patent document CN110031321B and a rock uniaxial compressive strength prediction system and method disclosed in the chinese patent document CN111220463A, the loading structure has the problems of complex maintenance operation of equipment and high equipment maintenance cost when an oil leakage problem of an oil way system occurs. The published portable shearing instrument for student operation applies pressure by using an oil pressure rod, the rock point load tester applies pressure by using a rocking oil pump (pay brightness, rock mechanics experiment course 2010,66-67 and 70-71), when an oil pressure pressurizing device is controlled, the load of a test piece is unstable, the reading is inaccurate, a full stress-strain test result and a rock strength constitutive relation cannot be obtained, and a displacement sensor used in the prior art adopts interval output data, so that the strain data cannot accurately correspond to the stress change, and the determination of the rock strength constitutive relation is influenced.
In view of this, the invention provides a micro heavy-load uniaxial pressure testing system with high testing precision and easy control.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the miniature heavy-load uniaxial pressure testing system with the mechanical arm, which is miniature heavy-load, high in testing precision, easy to control, simple and convenient in testing method, complete in test data, and beneficial for students to obtain complete test results and understand the constitutive relation of rock strength.
The invention also provides a test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm.
The technical scheme of the invention is as follows:
a miniature heavy-load uniaxial pressure test system with a mechanical arm comprises a loading mechanism, a transmission mechanism, a control mechanism, a power distribution mechanism and a supporting seat, wherein,
the supporting seat is provided with a loading mechanism, the transmission mechanism penetrates through the supporting seat to be connected with the loading mechanism, the transmission mechanism is connected to the control mechanism, the transmission mechanism and the control mechanism are both connected to the power distribution mechanism, the transmission mechanism and the control mechanism are powered through the power distribution mechanism, and the control mechanism controls the transmission mechanism to apply load to the loading mechanism.
Preferably, the loading mechanism comprises a rigid frame and a single-shaft mechanical arm, the rigid frame is arranged on the supporting seat, the single-shaft mechanical arm is connected to the rigid frame through a folding flange, and loads are applied to test pieces in the rigid frame through the single-shaft mechanical arm.
Preferably, the rigid frame is a solid square rigid metal frame poured integrally, the connection strength is high, the rigid frame comprises a left upright, a right upright, an upper beam and a lower beam, the length, the width and the height of the rigid frame are more than or equal to 25 x 8 x 40cm, the thicknesses of the left upright and the right upright are more than or equal to 5cm, the thickness of the upper beam is more than or equal to 5cm, the thickness of the lower beam is more than or equal to 8cm, the bearing capacity of the rigid frame is improved by controlling the size of the rigid frame and increasing the thicknesses of the left upright, the right upright and the lower beam, the test strength of the rigid frame on a miniature or standard test piece is further improved, and the miniature heavy load is realized.
Preferably, the rigid frame is made of low-carbon steel or cast iron, the specific material can be adjusted according to actual needs, and deformation of the rigid frame during loading meets the rigidity requirement through the low-carbon steel or cast iron.
Preferably, the top sets up pressure sensor in the rigid frame, and pressure sensor corresponds the unipolar arm, and pressure sensor connection control mechanism records the atress condition of test piece through pressure sensor.
Preferably, an axial deformation grating ruler and a radial deformation grating ruler are respectively arranged in the rigid frame, and axial and radial changes of the test piece after stress are recorded through the axial deformation grating ruler and the radial deformation grating ruler.
Preferably, drive mechanism includes servo motor, speed reducer and ball, and servo motor passes through the axle key and connects the speed reducer, and the speed reducer passes through the coupling joint ball, and ball passes supporting seat and rigid frame and connects the unipolar arm, and servo motor, speed reducer and ball are for coaxial reinforcement connection from bottom to top. Through servo motor control ball motion, and then drive unipolar arm stretches out and draws back, through control unipolar arm displacement volume, the test piece axial deformation is directly confirmed, avoids using displacement sensor, makes the accurate stress variation that corresponds of strain data.
Preferably, the tie bars are fixedly connected between the coupler and the folding flanges, so that the integral straightness is ensured, and the fixing strength is improved.
Preferably, the single-shaft mechanical arm top sets up the pressure head, conveniently settles the test piece, and the test piece atress is even when guaranteeing the test, through putting pressure head cooperation rigid frame down, improves miniature heavy load ability jointly.
More preferably, the displacement precision value of the single-shaft mechanical arm is less than or equal to 0.1 mu m/s.
The test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the test of the compressive strength and the compressive creep comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the test piece to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed less than or equal to 0.1 mu m/s or at a pressure loading speed less than or equal to 10N/s, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to perform a compression test;
(5) And when the test piece is completely damaged, stopping the compression test, exporting test data, and recording the load value, the axial deformation and the radial deformation of the test piece by the whole test process control mechanism all the time.
The test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the tensile test comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece into the Brazilian splitting fixture, placing the Brazilian splitting fixture on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the Brazilian splitting fixture to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed of less than or equal to 0.1 mu m/s or at a pressure loading speed of less than or equal to 10N/s, stressing and stretching a test piece through a Brazilian splitting clamp, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value through a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler are recorded, and then the servo motor is continuously started to perform the compression test;
(5) When the test piece in the Brazilian splitting clamp is completely damaged, the compression test is stopped, test data is exported, and the whole test process control mechanism always records the load value, the axial deformation and the radial deformation of the test piece.
The test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the point load strength test comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a conical point load pressure head on a pressure head, placing a test piece on the conical point load pressure head, placing the conical point load pressure head on the upper part of the test piece, measuring the distance between the conical point load pressure head on the upper part of the test piece and a pressure sensor, then setting the measured distance as a running distance, controlling a servo motor to run by a control mechanism, driving a single-shaft mechanical arm to rise by a set distance through a ball screw, and enabling the conical point load pressure head on the upper part of the test piece to just contact the pressure sensor;
(3) Setting a sampling period and a compression speed, then starting a point load strength test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed of less than or equal to 0.1 mu m/s or at a pressure loading speed of less than or equal to 10N/s, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to carry out a point load strength test;
(5) When the test piece is completely damaged, the load strength of the stop point is tested, test data is derived, and the whole test process control mechanism always records the load value, the axial deformation and the radial deformation of the test piece.
The above operation steps can be used for supplementing and monitoring the deformation amount through the axial deformation grating ruler in the process from the initial deformation stage to the complete damage of the test piece, and presetting the advancing lead of the precise ball screw to realize the precise control of displacement loading, so that the complete stress-strain curve of the test piece can be obtained, the test can be carried out on the test pieces made of different materials and with different strengths, and the application range of the equipment is expanded.
The invention has the beneficial effects that:
1. the invention realizes micro heavy load by matching the rigid frame with the lower pressure head, has high test precision, easy control, simple test method and complete test data, is beneficial to students to obtain complete test results and understand the constitutive relation of rock strength.
2. The servo motor is adjusted to work through the control mechanism, the ball screw structure is used for transmission loading, and a complex system of hydraulic loading is avoided, so that the structure of a test system is simplified, the maintenance of equipment is facilitated, and the maintenance cost is saved.
3. The invention realizes the accurate positioning of the single-shaft mechanical arm by accurately controlling the transmission mechanism, particularly the forward displacement of the single-shaft mechanical arm is the axial deformation of the test piece before the test piece is damaged and deformed, and the test precision of the axial displacement of the test piece is improved.
4. By replacing different testing pressure heads, the testing device can perform testing tests on uniaxial compressive strength, point load strength, uniaxial tensile strength and uniaxial compressive creep, and improves testing efficiency.
5. Based on the characteristics of the miniature heavy load, the invention can test the mechanical strength of other materials besides the rock strength, improves the application range and the utilization rate of test equipment, has small volume, large rigidity and simple and convenient operation and control, and is more suitable for test teaching.
6. The rigidity of a rigid frame in a rock strength test affects the accuracy of a stress-strain test result, if the rigid frame is a medium-sized or micro-sized assembled main body frame, when an output load is large, the deformation of the main body frame easily affects the test result, so that the error of the test result is large, and if the error of the test result is small and a whole process curve of stress-strain is obtained, the frame is required to be large enough in size and the frame material is required to be thick enough, so that the whole test equipment is large in size. Therefore, in order to reduce test errors and improve precision, the conventional testing machine is generally made into medium-sized or large-sized equipment, and is large in size and large in occupied area. As teaching test equipment, due to the limited space, one college or one unit is often only provided with one testing machine, when a stress teaching test is carried out, a teacher generally shows that students watch around, and the teaching effect is poor.
According to the invention, the rigid frame of the testing machine is integrally poured, when the output load is more than or equal to 100KN, the existing medium-sized or large-sized equipment is made into a micro-type equipment under the condition of meeting the requirements of heavy loading strength and rigidity of the main body frame, a plurality of equipment can be placed in the same space, the teaching requirement is met on the premise of considering the test precision, and meanwhile, the trouble of assembly is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the transmission structure of the present invention;
FIG. 3 is a partial schematic view of the transmission configuration of the present invention;
FIG. 4 is a cross-sectional view of the transmission of the present invention;
FIG. 5 is a diagram illustrating a numerical simulation stress distribution of a low carbon steel in example 1 of the present invention;
FIG. 6 is a numerical simulation stress distribution diagram of cast iron in example 1 of the present invention;
FIG. 7 is a diagram of a numerically simulated strain distribution of mild steel in example 1 of the present invention;
FIG. 8 is a diagram showing a distribution of a numerical simulation strain of cast iron in example 1 of the present invention;
wherein: 1. a loading mechanism; 2. a transmission mechanism; 3. a control mechanism; 4. a power distribution mechanism; 5. a pressure sensor; 6. a supporting seat; 7. an axial deformation grating ruler; 8. radial deformation grating ruler.
11. A rigid frame; 12. a single-shaft mechanical arm; 13. a folding flange;
21. a servo motor; 22. a ball screw; 23. a speed reducer; 24. stretching a rib; 25. a shaft key; 26. a coupling is provided.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-4, the present embodiment provides a miniature heavy-duty uniaxial pressure testing system with a mechanical arm, which comprises a loading mechanism 1, a transmission mechanism 2, a control mechanism 3, a power distribution mechanism 4 and a supporting seat 6, wherein,
set up loading mechanism 1 on the supporting seat 6, drive mechanism 2 passes supporting seat 6 and connects loading mechanism 1, and drive mechanism 2 is connected to control mechanism 3, and drive mechanism 2 and control mechanism 3 all are connected to distribution mechanism 4, supply power to drive mechanism and control mechanism through distribution mechanism 4, and control mechanism controls drive mechanism through control mechanism and applys load to loading mechanism. The power distribution mechanism is a power supply circuit and supplies power to the control mechanism and the transmission mechanism through an external power supply.
The loading mechanism 1 comprises a rigid frame 11 and a single-shaft mechanical arm 12, wherein the rigid frame 11 is arranged on the supporting seat 6, the single-shaft mechanical arm 12 is connected to the rigid frame 11 through a folding flange 13, and a load is applied to a test piece in the rigid frame through the single-shaft mechanical arm. The unipolar arm is conventional flexible arm, and inside sets up the cavity inner chamber, and ball passes through the cavity inner chamber and connects the unipolar arm.
The rigid frame 11 pours solid square body rigid metal frame as an organic whole, joint strength is high, the rigid frame includes left stand, right stand, upper beam and underbeam, rigid frame's length is multiplied by width is multiplied by height and is 25 multiplied by 8 multiplied by 40cm, the thickness of left stand and right stand is 5cm, the thickness of upper beam is 5cm, the thickness of underbeam is 8cm, through controlling rigid frame size, increase the bearing capacity of rigid frame, and then improve rigid frame's test intensity to miniature test piece, realize miniature heavy load.
The rigid frame 11 is made of low-carbon steel or cast iron, and deformation of the rigid frame during loading meets the rigidity requirement through the low-carbon steel or cast iron. The pressure chamber is arranged in the rigid frame, and four corners of the inner side of the pressure chamber connected with the rigid frame are provided with arc guides.
In order to ensure that the deformation generated by the rigid frame in loading meets the rigidity requirement, a numerical simulation is adopted to apply 100KN load to the rigid frames made of cast iron and low-carbon steel respectively, the stress, the strain and the deformation displacement of the rigid frames are shown in figures 5-8, a stress, displacement and strain table of the low-carbon steel and the cast iron under the pressure of 100KN can be obtained from figures 5-8, and the stress of the low-carbon steel and the stress of the cast iron reach 8.31x10 respectively as shown in table 1 8 N/m 2 And 9.34x10 8 N/m 2 The deformation displacement is respectively 5.46x10 -2 mm and 5.79x10 -2 mm, strain of 3.26x10 respectively -3 And 3.51x10 -3 The rigidity and deformation displacement of the rigid frame made of two materials can completely realize miniature heavy load, and the teaching requirement is met. Von Mises are stress in fig. 5-6 and ESTRN is strain in fig. 7-8.
Table 1: stress, displacement and strain gauges for low carbon steel and cast iron at 100KN pressure
| Material | Stress (N/m) 2 ) | Deformation displacement (mm) | Strain of |
| Low carbon steel | 8.31x10 8 | 5.46x10 -2 | 3.26x10 -3 |
| Cast iron | 9.34x10 8 | 5.79x10 -2 | 3.51x10 -3 |
And a pressure sensor 5 is arranged on an upper beam of the rigid frame 11, the pressure sensor corresponds to the single-shaft mechanical arm, the pressure sensor is connected with the control mechanism, and the stress condition of the test piece is recorded through the pressure sensor.
An axial deformation grating ruler 7 is arranged on an upper beam of the rigid frame 11, the axial deformation grating ruler records axial deformation of a test piece which continues to be loaded after the test piece reaches a destructive load, and a radial deformation grating ruler 8 on the right upright post records axial and radial changes of the test piece after being stressed through the axial deformation grating ruler and the radial deformation grating ruler. The measurement accuracy of the axial deformation grating ruler and the radial deformation grating ruler is 0.01mm, the pressure sensor, the axial deformation grating ruler and the radial deformation grating ruler jointly form a monitoring mechanism, the monitoring mechanism is connected with a control mechanism 3, the control mechanism is a computer control system, and the control mechanism controls the movement of the transmission mechanism and records monitoring data of the monitoring mechanism.
But servo motor control slew velocity that can be accurate can reduce the rotational speed of motor through speed reducer and ball, and increase servo motor power take off converts rotary motion into linear motion, control unipolar arm linear motion.
And a tie bar 24 is fixedly connected between the coupler 26 and the folding flange 13, so that the integral straightness is ensured, and the fixing strength is improved.
The unipolar arm top sets up the pressure head, conveniently settles the test piece, and the test piece atress is even when guaranteeing the test, through putting pressure head cooperation rigid frame down, improves miniature heavy load ability jointly.
The displacement accuracy of the single-axis mechanical arm is 0.1 μm/s.
The test system adopts a precise numerical control electronic servo pressure system, removes a complex oil way pressure supply system, simplifies the structure of equipment and further achieves the effects of energy conservation and consumption reduction; the mechanical arm is controlled by the ball screw to realize accurate behavior control, the precision of displacement measurement is improved, the test system also has the advantages of miniature heavy load and high rigidity of the whole structure, and the whole rigidity is not less than 10 6 KN/m can bear not less than 100KN heavy load, belongs to miniature heavy load unipolar pressure test machine, and the test procedure adopts intelligence control system, has and controls simple, convenient to use's characteristics.
The test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the test of the compressive strength and the compressive creep deformation comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the test piece to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously rise through a ball screw, loading the servo motor at a displacement loading speed of 0.1 mu m/s, simultaneously displaying a test piece load value and test piece axial deformation and radial deformation values by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to perform a compression test;
(5) And when the test piece is completely damaged, stopping the compression test, exporting test data, and recording the load value, the axial deformation and the radial deformation of the test piece by the whole test process control mechanism all the time.
Example 2:
a method for testing the micro heavy-duty uniaxial pressure testing system with the mechanical arm in the tensile test according to embodiment 1, comprising the following steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece into the Brazilian splitting fixture, placing the Brazilian splitting fixture on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the Brazilian splitting fixture to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously rise through a ball screw, loading the servo motor at a displacement loading speed of 0.1 mu m/s, stressing and stretching a test piece by a Brazilian splitting clamp, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler are recorded, and then the servo motor is continuously started to perform the compression test;
(5) When the test piece in the Brazilian splitting clamp is completely damaged, the compression test is stopped, test data is exported, and the whole test process control mechanism always records the load value, the axial deformation and the radial deformation of the test piece.
Example 3:
a method for testing the point load strength of the miniature heavy-duty uniaxial pressure testing system with the mechanical arm in the embodiment 1, which comprises the following steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a conical point load pressure head on a pressure head, placing a test piece on the conical point load pressure head, placing the conical point load pressure head on the upper part of the test piece, measuring the distance between the conical point load pressure head on the upper part of the test piece and a pressure sensor, then setting the measured distance as a running distance, controlling a servo motor to run by a control mechanism, driving a single-shaft mechanical arm to rise by a set distance through a ball screw, and enabling the conical point load pressure head on the upper part of the test piece to just contact the pressure sensor;
(3) Setting a sampling period and a compression speed, then starting a point load strength test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the single-shaft mechanical arm by the servo motor at a pressure loading speed of 10N/s, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to carry out a point load strength test;
(5) When the test piece is completely damaged, the load strength test of the stop point is carried out, test data are derived, and the whole test process control mechanism always records the load value, the axial deformation and the radial deformation of the test piece.
Claims (3)
1. A test method of a miniature heavy-load uniaxial pressure test system with a mechanical arm is characterized in that the system comprises a loading mechanism, a transmission mechanism, a control mechanism, a power distribution mechanism and a supporting seat, wherein,
the supporting seat is provided with a loading mechanism, the transmission mechanism penetrates through the supporting seat and is connected with the loading mechanism, the transmission mechanism is connected to the control mechanism, the transmission mechanism and the control mechanism are both connected to the power distribution mechanism, the transmission mechanism and the control mechanism are powered through the power distribution mechanism, and the control mechanism controls the transmission mechanism to apply load to the loading mechanism;
the loading mechanism comprises a rigid frame and a single-shaft mechanical arm, the rigid frame is arranged on the supporting seat, and the single-shaft mechanical arm is connected to the rigid frame through a folding flange;
the rigid frame is a solid square rigid metal frame poured integrally, the rigid frame comprises a left upright post, a right upright post, an upper beam and a lower beam, the length, the width and the height of the rigid frame are more than or equal to 25, 8 and 40cm, the thicknesses of the left upright post and the right upright post are more than or equal to 5cm, the thickness of the upper beam is more than or equal to 5cm, and the thickness of the lower beam is more than or equal to 8cm;
the rigid frame is made of low-carbon steel or cast iron;
a pressure sensor is arranged at the top end in the rigid frame, the pressure sensor corresponds to the single-shaft mechanical arm, and the pressure sensor is connected with the control mechanism;
an axial deformation grating ruler and a radial deformation grating ruler are respectively arranged in the rigid frame;
the transmission mechanism comprises a servo motor, a speed reducer and a ball screw, the servo motor is connected with the speed reducer through a shaft key, the speed reducer is connected with the ball screw through a coupler, the ball screw penetrates through the supporting seat and the rigid frame to be connected with the single-shaft mechanical arm, and the servo motor, the speed reducer and the ball screw are coaxially and fixedly connected from bottom to top;
a pressure head is arranged at the top end of the single-shaft mechanical arm;
the test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the test of the compressive strength and the compressive creep comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the test piece to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed of less than or equal to 0.1 mu m/s or at a pressure loading speed of less than or equal to 10N/s, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to carry out a compression test;
(5) When the test piece is completely damaged, stopping the compression test, exporting test data, and recording the load value, axial deformation and radial deformation of the test piece by the whole test process control mechanism;
the test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm during the tensile test comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, the density and the specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a test piece into the Brazilian splitting fixture, placing the Brazilian splitting fixture on a pressure head, controlling the operation of a servo motor by a control mechanism, driving a single-shaft mechanical arm to ascend through a ball screw, further driving the Brazilian splitting fixture to ascend, and stopping the operation of the servo motor when a pressure sensor reads;
(3) Setting a sampling period and a compression speed, then starting a compression test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed of less than or equal to 0.1 mu m/s or at a pressure loading speed of less than or equal to 10N/s, stressing and stretching a test piece through a Brazilian splitting clamp, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value through a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler are recorded, and then the servo motor is continuously started to perform the compression test;
(5) When the test piece in the Brazilian splitting clamp is completely damaged, stopping the compression test, exporting test data, and recording the load value, axial deformation and radial deformation of the test piece by the whole test process control mechanism;
the test method of the miniature heavy-load uniaxial pressure test system with the mechanical arm in the point load strength test comprises the following operation steps:
(1) Manufacturing a cylindrical test piece, recording the size, density and specific gravity of the test piece, and then starting a power distribution mechanism and a control mechanism, wherein the system is in a standby state;
(2) Placing a conical point load pressure head on a pressure head, placing a test piece on the conical point load pressure head, placing the conical point load pressure head on the upper part of the test piece, measuring the distance between the conical point load pressure head on the upper part of the test piece and a pressure sensor, then setting the measured distance as a running distance, controlling a servo motor to run by a control mechanism, driving a single-shaft mechanical arm to rise by a set distance through a ball screw, and enabling the conical point load pressure head on the upper part of the test piece to just contact the pressure sensor;
(3) Setting a sampling period and a compression speed, starting a point load strength test, starting a servo motor to run, driving a single-shaft mechanical arm to continuously ascend through a ball screw, loading the servo motor at a displacement loading speed of less than or equal to 0.1 mu m/s or at a pressure loading speed of less than or equal to 10N/s, simultaneously displaying a test piece load value and a test piece axial deformation and radial deformation value by a control mechanism, and automatically storing test data;
(4) When the test piece is cracked, the servo motor is suspended, the positions of the upper end and the lower end of the test piece displayed by the axial deformation grating ruler at the moment are recorded, and then the servo motor is continuously started to carry out a point load strength test;
(5) When the test piece is completely damaged, the load strength of the stop point is tested, test data is derived, and the whole test process control mechanism always records the load value, the axial deformation and the radial deformation of the test piece.
2. The method of claim 1, wherein a tie bar is fixedly connected between the coupling and the folding flange.
3. The method of claim 1, wherein the single axis robotic arm has a displacement accuracy value of 0.1 μm/s or less.
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| CN114216762B (en) * | 2021-10-18 | 2023-11-21 | 中国人民解放军国防科技大学 | Test device for testing long-term low-stress compression creep property of solid propellant |
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