CN113358337B - Loading method and loading device for aircraft wing static strength experiment - Google Patents
Loading method and loading device for aircraft wing static strength experiment Download PDFInfo
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- CN113358337B CN113358337B CN202110586460.7A CN202110586460A CN113358337B CN 113358337 B CN113358337 B CN 113358337B CN 202110586460 A CN202110586460 A CN 202110586460A CN 113358337 B CN113358337 B CN 113358337B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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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
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0676—Force, weight, load, energy, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0682—Spatial dimension, e.g. length, area, angle
Abstract
The invention provides a loading method and a loading device for an aircraft wing static strength experiment, which comprise a two-rotation two-movement four-freedom-degree parallel loading device and a two-level lever system. The parallel loading device comprises a fixed platform, a loading platform, a force sensor, a first motion branch, a second motion branch, a third motion branch and a fourth motion branch, wherein the loading platform is connected with the fixed platform through the four motion branches, two secondary lever systems are positioned on the loading platform and symmetrically distributed on two sides above the loading platform, each secondary lever system is provided with four loading point positions, and the whole device is totally provided with eight loading point positions. Force sensors are arranged on the four movement branches. The driving of the four movement branches selects to drive the moving pair and adopts a hydraulic cylinder to drive. The invention can simultaneously adjust the direction and the magnitude of the loading force in the loading process of the wing static force experiment, thereby effectively reducing the experimental error.
Description
Technical Field
The invention relates to the field of aviation experiment tests, in particular to a loading method and a loading device for an aircraft wing static strength experiment based on a parallel mechanism and a lever system.
Background
The full-static force test in the ground strength test of the airplane structure is an important test project for checking the characteristics of the airplane structure, such as bearing capacity, rigidity and the like. In order to simulate the loading force applied to the wing in flight in the full-static experiment, the loading direction needs to be adjusted to ensure that the loading force is vertical to the surface of the wing.
At present, a loading device for carrying out static force experiments on airplane wings is mainly a rubberized fabric tape-lever loading system, and other common wing static force loading modes comprise a clamping board loading mode and an air bag loading mode. The adhesive tape-lever system requires that the adhesive tape is adhered on the surface of the wing, and then the lever system is used for carrying out multi-stage loading on the wing. The adhesive tape-lever system can better simulate the aerodynamic load borne by the wing, the defect is that the strength of the wing surface layer made of composite materials is possibly low, unnecessary damage to the wing surface is caused, and in addition, the loading direction cannot be kept perpendicular to the wing due to large wing deformation near the wing end, so that errors occur in the experiment. Plate loading is primarily the clamping of the wing by the clip, which can be simulated by pulling the clip upwards, but the clip is generally heavy and complex to install. The airbag loading is a novel loading technology, the pneumatic load of the wing in actual flight can be more accurately simulated, but the airbag loading cost is high; the types of wings are diversified, the air bags are not standardized, and the universality is poor; sharp objects or over-rated inflation of the wing structure surface can cause sudden bursts on loading; the measurement of the strain is also a problem when the bladder is fully in contact with the wing surface when loaded. The existing loading technology can not meet static test conditions of the wings of the airplane with large aspect ratio or generate errors. The experimental results are greatly influenced.
Disclosure of Invention
The invention provides a four-degree-of-freedom wing experiment loading device, and aims to solve the problems that the loading direction cannot be guaranteed to be always perpendicular to the surface of a wing and the loading force is uniformly distributed when other loading modes are used for carrying out a wing static test.
The invention provides a loading method for an aircraft wing static strength experiment, which comprises the following steps: s1, theoretically analyzing the wings, determining required loading point positions, calculating the theoretical loading force of each loading point position in the loading experiment process, and calculating the resultant force of the theoretical loading forces of each group of loading point positions in the experiment process, wherein each group of loading point positions has eight loading points, and the resultant force of the loading forces of each eight loading point positions is the loading force required to be applied by the loading platform; predicting the deformation condition of the wing through theoretical calculation, determining the displacement required by a loading device, and planning the motion path of the movable platform in an actual loading experiment; s2, starting loading, driving the movable platform to move according to the path in the step S1, detecting the magnitude and direction of the reaction force of the airplane wings on the loading platform in real time through the force sensor in the movement branch, and detecting the deformation condition of the wings in real time in the experimental process; s3, judging the loading force of the wing after detecting the wing deformation condition, calculating the angle difference between the loading force and the wing surface, and calculating the angle to be adjusted according to the measured wing deformation condition and the posture of the wing experiment loading device when the loading force is not vertical to the wing surface in the experiment; s4, after the angle required to be adjusted is calculated, the displacement required by each actuator cylinder can be calculated through inverse kinematics solution, and the adjustment of the direction of the loading force is completed; s5, after the operation of the step S4 is completed, if the loading force of the wing loading device and the surface normal direction of the wing still have errors, the step S3 and the step S4 are repeated until the accuracy requirement is met.
The invention provides a loading device based on the loading method of the aircraft wing static strength experiment, which comprises a parallel loading device and a secondary lever system, wherein the parallel loading device is a four-degree-of-freedom mechanism with two-rotation and two-shift functions, and comprises a fixed platform, a loading platform, a force sensor, a first motion branch, a second motion branch, a third motion branch and a fourth motion branch; the fixed platform is connected with the movable platform through four movement branches; a first end of the first motion branch is connected with a first end of the fixed platform, a first end of the second motion branch is connected with a second end of the fixed platform, a first end of the third motion branch is connected with a third end of the fixed platform, a first end of the fourth motion branch is connected with a fourth end of the fixed platform, a second end of the first motion branch is connected with a first end of the loading platform, a second end of the second motion branch is connected with a second end of the loading platform, a second end of the third motion branch is connected with a third end of the loading platform, a second end of the fourth motion branch is connected with a fourth end of the loading platform, and the force sensors are respectively positioned on the first motion branch, the second motion branch, the third motion branch and the fourth motion branch; the two secondary lever systems are positioned above the loading platform and symmetrically distributed at two ends of the loading platform, the rotation axes of the first-stage lever systems are parallel and collinear, the rotation axes of the first-stage lever systems are parallel and coplanar with the ball pair connecting lines of the first movement branch and the third movement branch, the second-stage lever paths are symmetrically distributed, and the rotation axes are perpendicular to the rotation axes of the first-stage levers.
Preferably, the first motion branch and the third motion branch have the same structure, the second motion branch and the fourth motion branch have the same structure and each include a revolute pair, a revolute pair and a ball pair, a first end of the revolute pair is connected with the fixed platform, a second end of the revolute pair is connected with a first end of the revolute pair, a second end of the revolute pair is connected with a first end of the ball pair, and a second end of the ball pair is connected with the loading platform; the force sensor is positioned between the moving pair and the ball pair.
Preferably, the second motion branch and the fourth motion branch have the same structure, and the second motion branch and the fourth motion branch have the same structure and each include a U pair, a moving pair and a ball pair, a first end of the U pair is connected with the fixed platform, a second end of the U pair is connected with a first end of the moving pair, a second end of the moving pair is connected with a first end of the ball pair, and a second end of the ball pair is connected with the loading platform; the force sensor is positioned between the moving pair and the ball pair.
Preferably, the revolute pair of the first kinematic branch, the U pair of the second kinematic branch, the revolute pair of the first kinematic branch and the U pair of the second kinematic branch are coplanar and parallel to the fixed platform, the revolute pair of the first kinematic branch, the U pair of the second kinematic branch, the revolute pair of the first kinematic branch and the U pair of the second kinematic branch are distributed in a diamond shape, and the rotation axes of the revolute pairs of the first kinematic branch and the third kinematic branch are parallel to each other and perpendicular to the connecting line between the revolute pair of the first kinematic branch and the U pair of the second kinematic branch; the ball pairs in the four movement branches are coplanar, the plane formed by the four ball pairs is parallel to the loading platform, and the four ball pairs are distributed in a diamond shape.
Compared with the prior art, the invention has the following beneficial effects:
(1) the four-degree-of-freedom parallel mechanism can realize that the movable platform completes two-rotation two-shift movement, and can automatically adjust the direction of a loading force during loading so as to meet the requirement of static force experiments of airplane wings, reduce experiment errors and effectively improve experiment precision;
(2) the parallel device is adopted for loading, and compared with a loading device for a wing static strength experiment, the loading device has higher stability and rigidity, and the loading device cannot lose stability when the wing breaks.
Drawings
FIG. 1 is a schematic view of a loading device for a wing static strength experiment based on a parallel mechanism and a lever system;
FIG. 2 is a schematic structural diagram of a first motion branch and a third motion branch;
FIG. 3 is a schematic structural diagram of a second motion branch and a fourth motion branch;
FIG. 4 is a schematic view of a ball set;
FIG. 5 is a schematic view of a lever system;
FIG. 6 is a schematic view of a primary beam of the lever system;
FIG. 7 is a schematic view of a secondary beam of the lever system;
FIG. 8 is a schematic view of an installation of a loading device for a wing static strength experiment based on a parallel mechanism and a lever system;
FIG. 9 is a loading diagram.
Reference numerals:
1. fixing a platform; 2. a first motion branch; 3. a second motion branch; 4. a third motion branch; 5. a fourth motion branch; 6. loading a platform; 7. a lever system; 8. a revolute pair; 9. a sliding pair; 10. a first force sensor; 11. a first ball pair; 12. u pair; 13. a sliding pair; 14. a second force sensor; 15. a second ball pair; 16. a first rotating pair in the ball pair; 17. a second revolute pair in the ball pair; 18. a third revolute pair in the ball pair; 19. a primary lever beam; 20. a secondary lever beam; 21. loading a panel; 22. an airfoil; 23. an experiment loading device; 191. a connecting hole of the first-level lever beam and the loading platform; 192. a first connection hole; 201. a second connection hole; 202. a second shaft bore.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
A loading device for an aircraft wing static strength experiment based on a parallel mechanism and a lever system is shown in figures 1-9, wherein an experiment loading device 23 comprises a two-rotation two-movement four-freedom-degree parallel loading device and a two-level lever system 7, and the two-level lever system is arranged above the two-rotation two-movement four-freedom-degree parallel loading device. The parallel loading device comprises a fixed platform 1, a loading platform 6, a first motion branch 2, a second motion branch 3, a third motion branch 4 and a fourth motion branch 5.
The fixed platform and the movable platform in the two-rotation two-movement four-freedom-degree parallel loading device are connected through four movement branches. The first end of the first moving branch 2 is connected with the first end of the fixed platform 1, the first end of the second moving branch 3 is connected with the second end of the fixed platform 1, the first end of the third moving branch 4 is connected with the third end of the fixed platform 1, the first end of the fourth moving branch 5 is connected with the fourth end of the fixed platform 1, the second end of the first moving branch 2 is connected with the first end of the loading platform 6, the second end of the second moving branch 3 is connected with the second end of the loading platform 6, the second end of the third moving branch 4 is connected with the third end of the loading platform 6, the second end of the fourth moving branch 5 is connected with the fourth end of the loading platform 6, and the first force sensors 10 are respectively positioned on the first moving branch 2, the second moving branch 3, the third moving branch 4 and the fourth moving branch 5.
The first motion branch 2 and the third motion branch 4 have the same structure, and as shown in fig. 2, include a revolute pair 8, a revolute pair 9 and a first ball pair 11, a first end of the revolute pair 8 is connected to the fixed platform 1, a second end of the revolute pair 8 is connected to a first end of the revolute pair 9, a second end of the revolute pair 9 is connected to a first end of the first ball pair 11, and a second end of the first ball pair 11 is connected to the loading platform 6. The first force sensor 10 is located between the sliding pair 9 and the first ball pair 11.
The second motion branch 3 and the fourth motion branch 5 have the same structure and respectively comprise a U pair 12, a moving pair 13 and a second ball pair 15, the first end of the U pair 12 is connected with the fixed platform 1, the second end of the U pair 12 is connected with the first end of the moving pair 13, the second end of the moving pair 13 is connected with the first end of the second ball pair 15, and the second end of the second ball pair 15 is connected with the loading platform 6. The second force sensor 14 is located between the moving pair 13 and the second spherical pair 15, the first force sensor 10 and the second force sensor 14 are three-dimensional force sensors, can simultaneously measure forces in three vertical axial directions in a Cartesian coordinate system, and then feed back the forces to an upper computer, so that the magnitude and the direction of wing loading force in the experimental process can be measured.
As shown in fig. 4, each of the first ball pair 11 and the second ball pair 15 is composed of three revolute pairs with their rotational axes intersecting at a point and perpendicular to each other, namely a first revolute pair 16 in the ball pair, a second revolute pair 17 in the ball pair, and a third revolute pair 18 in the ball pair.
The revolute pair 8 of the first kinematic branch 2, the U pair 12 of the second kinematic branch 3, the revolute pair 8 of the third kinematic branch 4 and the U pair 12 of the fourth kinematic branch 5 are coplanar and parallel to the fixed platform 1, the revolute pair 8 of the first kinematic branch 2, the U pair 12 of the second kinematic branch 3, the revolute pair 8 of the third kinematic branch 4 and the U pair 12 of the fourth kinematic branch 5 are distributed in a diamond shape, and the rotation axes of the revolute pairs 8 of the first kinematic branch 2 and the third kinematic branch 2 are parallel to each other and perpendicular to the connecting line between the two. The first ball pairs 11 and 15 in the four movement branches are coplanar, the plane formed by the four ball pairs is parallel to the loading platform 6, and the four ball pairs are distributed in a diamond shape. The four ball pairs are distributed in a diamond shape and are coplanar, so that the bearing capacity of the parallel device can be increased, and the calculation is convenient.
The two secondary lever systems 7 are positioned above the loading platform 6 and symmetrically distributed at two ends of the loading platform. The two secondary lever systems are symmetrically distributed, and the primary lever beam 19 is structurally shown in fig. 6, and the rotation axis thereof is parallel to the loading platform 6. The primary lever beam is parallel and collinear with the attachment hole 191 of the loading platform. The connecting hole 191 of the first-level lever beam and the loading platform is parallel and coplanar with the connecting line of the first ball pair 11 of the first moving branch 2 and the third moving branch 3. The second-level lever beams 20 are symmetrically distributed, the rotation axes of the second connecting holes 201 are perpendicular to the connecting holes 191 of the first-level lever beams and the loading platform, and the first connecting holes 192 are coaxially connected with the second connecting holes 201. The second shaft hole 202 is a shaft hole of the loading panel 21 connected with the secondary lever, and is parallel to the axis of the second connecting hole 201.
The parallel mechanism in the wing static strength experiment loading device based on the parallel mechanism and the lever system has two degrees of freedom of rotation and two movements, and can apply loading force in any direction to the wing 22. The loading device is fixedly connected with the lower surface of the wing 22 through a loading panel in a lever system, as shown in fig. 8. During loading, the direction of the required loading force changes due to large deformations of the wing 22, which requires adjustment of the orientation of the loading platform 6.
The use method of the loading device comprises the following steps:
s1, theoretically analyzing the wings 22, determining required loading point positions, calculating the theoretical loading force of each loading point position in the loading experiment process, and calculating the resultant force of the theoretical loading forces of each group of loading point positions in the experiment process, wherein each group of loading point positions has eight loading points, and the resultant force of the loading forces of each eight loading point positions is the loading force required to be applied by the loading platform. Predicting the deformation condition of the wing 22 through theoretical calculation, determining the displacement required by a loading device, and planning the motion path of the movable platform in an actual loading experiment;
s2, starting loading, keeping the path in the first step, driving the loading platform 6 to move, detecting the magnitude and direction of the reaction force of the airplane wing 22 on the loading platform 6 in real time through the force sensors 10 and 14 in the moving branch, and detecting the deformation condition of the wing 22 in real time in the experimental process;
s3, judging the loading force of the wing 22 after detecting the deformation condition of the wing 22, calculating the angle difference between the loading force and the surface of the wing 22, and calculating the angle to be adjusted according to the detected deformation condition of the wing 22 and the pose of the wing experiment loading device 23 when the loading force is not vertical to the surface of the wing 22 in the experiment;
s4, after the angle required to be adjusted is calculated, the displacement required by the sliding pair in each moving branch can be calculated through inverse kinematics solution, and the adjustment of the direction of the loading force is completed;
and S5, after the operation of the fourth step is completed, if the loading force of the wing loading device still has an error with the surface normal direction of the wing 22, repeating the steps 3 and 4 until the precision requirement is met.
The loading device and the adjusting method for the wing static strength experiment based on the parallel mechanism and the lever system are further described by combining the embodiment as follows:
the first embodiment is as follows:
a plurality of wing static strength experiment loading devices 23 based on a parallel mechanism and a lever system are selected to carry out related static experiment loading on the airplane wing 22, and the loading platform 6 has four degrees of freedom which are two translation degrees of freedom and two rotation degrees of freedom respectively.
S1, theoretically analyzing the airplane wing 22, presetting the force theoretically needed to be loaded and the pose needed to be reached by the static force experiment loading device 23 of the wing, measuring the stress state on the corresponding branch through the first force sensor 10 arranged on the branch, and detecting the stress state on the corresponding branchAfter the stress condition on the branch is measured, the force conversion equation is passed
Calculating the magnitude and direction of the counterforce of the loading platform 6 on the airplane wing 22, wherein F is the counterforce of the wing on the loading device,
in order to load the weight of the platform 6 and the secondary lever system 7,
measuring a force vector for the force sensor in the ith branch;
s2, applying a load on the wing static force experiment loading device 23 to enable the deflection of a contact point between the aircraft wing 22 and the wing static strength experiment loading device 23 based on the parallel mechanism and the lever system to reach 3m, wherein the contact point simultaneously generates displacement along the wingspan direction of the aircraft wing 22 because the aircraft wing 22 is in a large deformation state at the moment, the displacement is set to 1m, namely the point generates movement in two directions in a plane, and the normal vector of the surface of the aircraft wing 22 at the point is simultaneously changed, so that the actual deformation of the aircraft wing 22 can be determined through the position and posture of the loading platform 6 of the wing static force experiment loading device 23;
s3, when the loading force is not perpendicular to the surface of the airplane wing 22 in the test, calculating the angle difference between the loading force applied by the static force experiment loading device 23 of the wing and the perpendicular direction of the surface of the airplane wing to be 2 degrees according to the deformation condition of the airplane wing 22 obtained in the step S3, and calculating the rotation of the loading platform 6 by 2 degrees according to the angle difference;
s4, after the motion trail of the loading platform 6 is planned, determining a second motion branch 3 and a fourth motion branch 5 in a plurality of motion branches forming the loading device 23 of the wing static force experiment through inverse kinematics solution of the loading device 23 of the wing static force experiment, and enabling the loading platform 6 to rotate in two directions to adjust the angle of the loading platform 6 by the simultaneous action of two identical branches under the driving action, so as to finish the adjustment of the direction of the loading force;
s5, after the adjustment of the step S4 is completed, if the loading direction of the loading platform 6 in the static force experiment loading device 23 has an error, the steps S2-S4 are repeated until the loading direction of the loading platform 6 in the static force experiment loading device 23 reaches the error allowable range.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. As a result of the observation: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (5)
1. A loading method for an aircraft wing static strength experiment is characterized by comprising the following steps:
s1, theoretically analyzing the wings, determining required loading point positions, calculating the theoretical loading force of each loading point position in the loading experiment process, and calculating the resultant force of the theoretical loading forces of each group of loading point positions in the experiment process, wherein each group of loading point positions has eight loading points, and the resultant force of the loading forces of each eight loading point positions is the loading force required to be applied by the loading platform; predicting the deformation condition of the wing through theoretical calculation, determining the displacement required by a loading device, and planning the motion path of the movable platform in an actual loading experiment;
s2, starting loading, driving the movable platform to move according to the path in the step S1, detecting the magnitude and direction of the reaction force of the airplane wings on the loading platform in real time through the force sensor in the movement branch, and detecting the deformation condition of the wings in real time in the experimental process;
s3, judging the loading force of the wing after detecting the wing deformation condition, calculating the angle difference between the loading force and the wing surface, and calculating the angle to be adjusted according to the measured wing deformation condition and the pose of the wing experiment loading device when the loading force is not perpendicular to the wing surface in the experiment;
s4, calculating the angle to be adjusted, calculating the displacement required by each actuator cylinder through inverse kinematics solution, and completing adjustment of the direction of the loading force;
s5, after the operation of the step S4 is completed, if the loading force of the wing loading device and the surface normal direction of the wing still have errors, the step S3 and the step S4 are repeated until the accuracy requirement is met.
2. The loading device of the loading method for the aircraft wing static strength test according to claim 1, which comprises a parallel loading device and a secondary lever system, and is characterized in that,
the parallel loading device is a four-degree-of-freedom mechanism with two rotations and two movements, and comprises a fixed platform, a loading platform, a force sensor, a first motion branch, a second motion branch, a third motion branch and a fourth motion branch;
the fixed platform is connected with the movable platform through four movement branches; a first end of the first motion branch is connected with a first end of the fixed platform, a first end of the second motion branch is connected with a second end of the fixed platform, a first end of the third motion branch is connected with a third end of the fixed platform, a first end of the fourth motion branch is connected with a fourth end of the fixed platform, a second end of the first motion branch is connected with a first end of the loading platform, a second end of the second motion branch is connected with a second end of the loading platform, a second end of the third motion branch is connected with a third end of the loading platform, a second end of the fourth motion branch is connected with a fourth end of the loading platform, and the force sensors are respectively positioned on the first motion branch, the second motion branch, the third motion branch and the fourth motion branch;
the two secondary lever systems are positioned above the loading platform and symmetrically distributed at two ends of the loading platform, the rotation axes of the first-stage lever systems are parallel and collinear, the rotation axes of the first-stage lever systems are parallel and coplanar with the ball pair connecting lines of the first movement branch and the third movement branch, the second-stage lever paths are symmetrically distributed, and the rotation axes are perpendicular to the rotation axes of the first-stage levers.
3. The loading device according to claim 2, wherein the first motion branch and the third motion branch are identical in structure, the second motion branch and the fourth motion branch are identical in structure and each comprise a revolute pair, a revolute pair and a ball pair, a first end of the revolute pair is connected with the fixed platform, a second end of the revolute pair is connected with a first end of the revolute pair, a second end of the revolute pair is connected with a first end of the ball pair, and a second end of the ball pair is connected with the loading platform; the force sensor is positioned between the moving pair and the ball pair.
4. The loading device according to claim 2, wherein the second motion branch and the fourth motion branch are identical in structure, the second motion branch and the fourth motion branch are identical in structure and each comprise a U pair, a moving pair and a ball pair, a first end of the U pair is connected with the fixed platform, a second end of the U pair is connected with a first end of the moving pair, a second end of the moving pair is connected with a first end of the ball pair, and a second end of the ball pair is connected with the loading platform; the force sensor is positioned between the moving pair and the ball pair.
5. The loading device according to claim 4, wherein the revolute pair of the first kinematic branch, the U pair of the second kinematic branch, the revolute pair of the first kinematic branch and the U pair of the second kinematic branch are coplanar and parallel to a fixed platform, the revolute pair of the first kinematic branch, the U pair of the second kinematic branch, the revolute pair of the first kinematic branch and the U pair of the second kinematic branch are distributed in a diamond shape, and the rotation axes of the revolute pairs of the first kinematic branch and the third kinematic branch are parallel to each other and perpendicular to a connecting line between the revolute pair of the first kinematic branch and the U pair of the second kinematic branch; the ball pairs in the four movement branches are coplanar, the plane formed by the four ball pairs is parallel to the loading platform, and the four ball pairs are distributed in a diamond shape.
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