CN113865887A - Vehicle vibration test rack based on six-degree-of-freedom parallel mechanism - Google Patents
Vehicle vibration test rack based on six-degree-of-freedom parallel mechanism Download PDFInfo
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- CN113865887A CN113865887A CN202111210008.7A CN202111210008A CN113865887A CN 113865887 A CN113865887 A CN 113865887A CN 202111210008 A CN202111210008 A CN 202111210008A CN 113865887 A CN113865887 A CN 113865887A
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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
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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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
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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Abstract
The invention belongs to the field of devices for testing vehicle vibration, and particularly relates to a vehicle vibration testing rack based on a six-degree-of-freedom parallel mechanism, which comprises the six-degree-of-freedom parallel mechanism, a rack base, a transverse slide rail mechanism, a longitudinal slide rail mechanism, a wheel fixing device, a control system and a test vehicle, wherein the bottom of the rack base is arranged on the horizontal ground, the longitudinal slide rail mechanism is arranged at the upper part of the rack base and is connected with the rack base, the invention can reproduce all vibration conditions including large-angle inclination when a vehicle runs on an actual road, the vibration testing device can carry out vibration tests on the vehicle 1/4 suspension system, the 1/2 suspension system and the whole vehicle system such as smoothness, durability and the like, compared with the existing vehicle vibration testing device, the vehicle vibration testing device has the advantages of convenient and quick testing process, wide testing range and stronger economical practicability.
Description
Technical Field
The invention belongs to the field of devices for vehicle vibration testing, and particularly relates to a vehicle vibration testing rack based on a six-degree-of-freedom parallel mechanism.
Background
With the rapid development of the times, the living standard of people is gradually improved, people expect that the taken vehicle has higher driving performance and comfort performance, therefore, in the vehicle development process, the vehicle vibration test becomes an important link for detecting the vehicle ride comfort performance, and all links throughout the whole vehicle development process are not repeated, and because the traditional road test method is adopted for a long period, the existing vehicle vibration test mainly adopts an indoor road simulation method for carrying out the vehicle vibration test, the method can complete the vehicle vibration test in a short time, in addition, the repeated test can be carried out without the interference of the external environment, the vibration environment of the vehicle in the driving process can be simulated with high precision in the test, and a vibration test platform is provided for the research and development of vehicle assemblies and structural members, performance tests and the like.
At present, the existing vehicle vibration testing device can be divided into: the single degree of freedom device, the few degree of freedom device and the six degree of freedom device, wherein, the single degree of freedom device and the few degree of freedom device can not simulate the vibration condition of the vehicle in the actual running process in the vehicle vibration test, in addition, the existing six degree of freedom vehicle vibration test device usually only has a set of simplified platform system, only can put the whole vehicle chassis or four wheels on the same platform, however, when the vehicle runs on the road, the contact state of each wheel and the road is different, each wheel has independent motion, if the test vehicle is singly put on the same platform, the vibration condition of the vehicle including large-angle inclination in the actual running process is difficult to simulate, thereby causing the test effect to be poor, therefore, the existing vehicle vibration test device can not simulate the vibration condition of the vehicle in the actual running process more truly, the test effect is not good, and the existing defects need to be improved.
Disclosure of Invention
The invention provides a vehicle vibration test bench based on a six-degree-of-freedom parallel mechanism, aiming at the problems that the existing vehicle vibration test device can not simulate the vibration condition of a vehicle in the actual running process more truly and completely and has poor test effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a vehicle vibration test rack based on six degree of freedom parallel mechanism, includes six degree of freedom parallel mechanism, rack base, horizontal slide rail mechanism, vertical slide rail mechanism, wheel fixing device, control system and test vehicle, the bottom installation of rack base arranges on the level ground, vertical slide rail mechanism install the upper portion position at rack base and link to each other with rack base, horizontal slide rail mechanism installs on vertical slide rail mechanism, six degree of freedom parallel mechanism install on horizontal slide rail mechanism and link to each other with horizontal slide rail mechanism, the test vehicle on four-wheel install on six degree of freedom parallel mechanism and link to each other with six degree of freedom parallel mechanism, wheel fixing device install on test vehicle and carry out fixed operation to the four-wheel on the test vehicle, the installation is provided with control system in the outside of rack base.
Furthermore, four groups of six-degree-of-freedom parallel mechanisms are mounted on the transverse sliding rail mechanism and used for bearing a test vehicle, wherein each wheel of the test vehicle is independently placed on one group of six-degree-of-freedom parallel mechanisms, and the wheel fixing device fixes the wheel on a movable platform of the parallel mechanism by limiting the self-movement of the wheel.
The six-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, an electric cylinder, a spherical hinge and a hooke hinge, wherein the bottom of the fixed platform is installed on a transverse slide rail mechanism and is connected with the transverse slide rail mechanism, the hooke hinge is installed on the upper portion of the fixed platform, the bottom of the electric cylinder is connected with the fixed platform through the hooke hinge, the spherical hinge is installed on the bottom of the movable platform, the top of the electric cylinder is connected with the movable platform through the spherical hinge, four limiting seats used for preventing wheels from falling are installed on the upper portion of the movable platform, and the bottom of each limiting seat is fixedly connected with the movable platform.
Furthermore, six groups of electric cylinders are arranged between the fixed platform and the movable platform.
The rack base comprises a first supporting component, a second supporting component, a third supporting component, a fourth supporting component and a mounting platform frame, wherein the bottoms of the first supporting component, the second supporting component, the third supporting component and the fourth supporting component are mounted on the horizontal ground, the mounting platform frame is mounted on the upper portions of the first supporting component, the second supporting component, the third supporting component and the fourth supporting component, and the mounting platform frame is mounted on the first supporting component, the second supporting component, the third supporting component and the fourth supporting component and connected with the first supporting component, the second supporting component, the third supporting component and the fourth supporting component.
The transverse sliding rail mechanism comprises a transverse sliding rail seat, a transverse sliding rail, a transverse sliding block and a transverse sliding plate, wherein the transverse sliding rail seat is installed on the installation platform framework and fixed together with the installation platform framework, the transverse sliding rail is installed on the transverse sliding rail seat, the transverse sliding block is installed on the transverse sliding rail and in damping sliding contact with the transverse sliding rail, and the transverse sliding plate is installed on the transverse sliding block and fixed together with the transverse sliding block.
The longitudinal slide rail mechanism comprises a longitudinal slide rail seat, a longitudinal slide rail, a longitudinal slide block and a longitudinal slide plate, wherein the bottom of the longitudinal slide rail seat is fixedly arranged on the transverse slide plate, the longitudinal slide rail is arranged on the longitudinal slide rail seat, the lower side of the longitudinal slide block for arranging the longitudinal slide plate is arranged on the longitudinal slide rail and is in damping sliding contact with the longitudinal slide rail, and the bottom of the longitudinal slide plate for directly arranging the six-freedom-degree parallel mechanism is arranged on the longitudinal slide block and is fixedly connected with the longitudinal slide block.
Furthermore, the transverse slide rail mechanisms and the longitudinal slide rail mechanisms can adjust the positions of the six-degree-of-freedom parallel mechanism according to different wheel tracks and wheel bases of the test vehicle.
Furthermore, the control system can control the six-freedom-degree parallel mechanism to generate different types of vibration by controlling the telescopic motion of the electric cylinder in the six-freedom-degree parallel mechanism, and various vibration conditions suffered by the vehicle when the vehicle runs on a road are simulated.
Furthermore, a position sensor and an angle sensor are installed on the six-degree-of-freedom parallel mechanism, and a control system can feed back the motion state of the six-degree-of-freedom parallel mechanism to form closed-loop control and improve the test precision.
Furthermore, a displacement sensor, a speed sensor and a pressure sensor for testing are arranged on the test vehicle, and the control system can receive test signals of the test vehicle in real time according to the displacement sensor, the speed sensor and the pressure sensor.
Further, the vehicle vibration test stand of the present invention can perform vibration tests of 1/4 suspension systems, 1/2 suspension systems and entire vehicle systems on test vehicles.
The invention has the beneficial effects that: the vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism has scientific overall structure design and simple and convenient installation, use and control processes, particularly, the vehicle vibration test bench of the invention can reproduce all vibration conditions including large-angle inclination when a vehicle runs on an actual road by the cooperative operation of the six-degree-of-freedom parallel mechanism, the bench base, the transverse slide rail mechanism, the longitudinal slide rail mechanism, the wheel fixing device, the control system and other components, can carry out vibration tests on the smoothness, the durability and the like of a vehicle 1/4 suspension system, a 1/2 suspension system and a vehicle system, and is generally more convenient and rapid in test process compared with the existing vehicle vibration test device, the test range is wide, and the economic practicability is strong.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a structural elevation of the present invention;
FIG. 4 is a first structural diagram of a six-DOF parallel mechanism according to the present invention;
FIG. 5 is a schematic diagram of a six-DOF parallel mechanism according to the present invention;
FIG. 6 is a schematic view of the construction of the pedestal of the present invention;
FIG. 7 is a perspective view of the base of the gantry of the present invention;
FIG. 8 is a schematic view of the first, second, third and fourth support members of the present invention;
FIG. 9 is a first schematic view of the structure of the limiting seat of the present invention with a buffering spring and a stopper;
FIG. 10 is a second schematic view of the structure of the limiting seat of the present invention with a buffer spring and a stop block;
FIG. 11 is a schematic view of the mounting structure of the lateral slide rail mechanism and the longitudinal slide rail mechanism according to the present invention;
the reference numbers in the figures are: 1-six-degree-of-freedom parallel mechanism, 2-rack base, 3-transverse slide rail mechanism, 4-longitudinal slide rail mechanism and 5-wheel fixing device; 6-a control system, 7-a test vehicle, 101-a fixed platform, 102-a movable platform, 103-an electric cylinder, 104-a spherical hinge, 105-a hooke hinge, 106-a limiting seat, 107-a buffer spring, 108-a stop block, 201-a first support component, 202-a second support component, 203-a third support component, 204-a fourth support component, 205-a mounting platform frame, 2011-a support bottom plate, 2012-a vertical support frame, 2013-a hydraulic cylinder body, 2014-a hydraulic lifting rod, 2015-a movable support plate, 2016-a universal connection joint, 301-a transverse slide rail seat, 302-a transverse slide rail, 303-a transverse slide plate, 401-a longitudinal slide rail seat, 402-a longitudinal slide rail and 403-a longitudinal slide plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that: in the present invention, all the embodiments and preferred methods mentioned herein can be combined with each other to form a new technical solution, if not specifically stated. In the present invention, all the technical features mentioned herein and preferred features may be combined with each other to form a new technical solution, if not specifically stated. The "ranges" disclosed herein may have one or more lower limits and one or more upper limits, respectively, in the form of lower limits and upper limits. Unless otherwise defined, technical and scientific terms used herein have the same meaning as is familiar to those skilled in the art. In addition, any methods or materials similar or equivalent to those described herein can also be used in the present invention.
As shown in the attached drawings 1, 2 and 3 of the specification, aiming at the problems that the existing vehicle vibration test device can not truly and completely simulate the vibration condition of a vehicle in the actual running process (the conventional detection device can not simulate the vibration condition when the vehicle inclines at a large angle) and the test effect is poor, the invention provides a vehicle vibration test bench based on a six-degree-of-freedom parallel mechanism, which specifically comprises a six-degree-of-freedom parallel mechanism 1, a bench base 2, a transverse slide rail mechanism 3, a longitudinal slide rail mechanism 4, a wheel fixing device 5, a control system 6 and a test vehicle 7, wherein the bottom of the bench base 2 for installing and supporting the longitudinal slide rail mechanism 4(4) is arranged on the horizontal ground, the longitudinal slide rail mechanism 4 for adjusting the six-degree-of freedom parallel mechanism 1 in the Y-axis direction is arranged at the upper part of the bench base 2 and connected with the bench base 2, the horizontal slide rail mechanism 3 used for adjusting the six-degree-of-freedom parallel mechanism 1 in the X-axis direction is arranged on the longitudinal slide rail mechanism 4, the six-degree-of-freedom parallel mechanism 1 used for directly mounting, supporting and testing the wheel position of the test vehicle 7 is arranged on the horizontal slide rail mechanism 3 and connected with the horizontal slide rail mechanism 3, four groups of six-degree-of-freedom parallel mechanisms 1 are arranged on the horizontal slide rail mechanism 3 and used for bearing the test vehicle 7, wherein each wheel of the test vehicle 7 is independently arranged on one group of six-degree-of-freedom parallel mechanisms 1, the wheel fixing device 5 fixes the wheel on the movable platform 102 of the parallel mechanism by limiting the self-motion of the wheel, and the control system 6 is arranged outside the rack base 2.
As shown in the accompanying drawings 4 and 5 of the specification, the six-degree-of-freedom parallel mechanism 1 for supporting and testing each wheel of a test vehicle 7 independently comprises a fixed platform 101, a movable platform 102, an electric cylinder 103, a spherical hinge 104 and a hooke hinge 105, wherein the bottom of the fixed platform 101 for mounting the hooke hinge 105 is fixedly mounted on a transverse sliding rail mechanism 3, the hooke hinge 105 for mounting and supporting the bottom of the electric cylinder 103 is mounted on the upper portion of the fixed platform 101, during mounting, the bottom of the electric cylinder 103 is connected with the fixed platform 101 through the hooke hinge 105, the bottom of the movable platform 102 is mounted with the spherical hinge 104 for connecting and mounting the top of the electric cylinder 103, during mounting, the top of the electric cylinder 103 is connected with the movable platform 102 through the spherical hinge 104, it should be noted that six groups of electric cylinders 103 are mounted between the fixed platform 101 and the movable platform 102, in order to prevent the test vehicle 7 from inclining on a larger side, the driven platform 102 falls off, as shown in the specification, fig. 9 and the specification, fig. 10, four sets of limiting seats 106 for preventing wheels from falling off are arranged on the upper portion of the movable platform 102, the bottom of the limiting seat 106 is fixedly connected with the movable platform 102, meanwhile, a buffer spring 107 is arranged on the inner side wall of the limiting seat 106, one end portion of the buffer spring 107 is arranged on the inner side wall of the limiting seat 106 and is fixedly connected with the inner side wall of the limiting seat 106, a stop block 108 is arranged at the other end portion of the buffer spring 107, when the buffer spring 107 works and is used, the buffer spring 107 can support the stop block 108 to cling to the periphery of each wheel of the test vehicle 7, when general tests are carried out, the buffer spring 107 can support and limit the wheels and simultaneously do not hinder front-back and left-right displacement actions of the wheels, and when a large-angle one-side inclination test is carried out, the buffer spring 107 supports the stop block 108 to prevent the wheels from being suddenly moved obliquely on the movable platform 102 to impact damage to the limiting seat 106, thereby protecting the limit seat 106.
As shown in fig. 6, 7 and 8 of the specification, the gantry base 2 for mounting and supporting the longitudinal slide mechanism 4 includes a first support 201, a second support 202, a third support 203, a fourth support 204 and a mounting platform frame 205, wherein the bottom of the first support 201, the second support 202, the third support 203 and the fourth support 204 for four-corner supporting the mounting platform frame 205 is mounted on a horizontal ground, the mounting platform frame 205 for directly mounting and supporting the longitudinal slide mechanism 4 is mounted on the top of the first support 201, the second support 202, the third support 203 and the fourth support 204, and the mounting platform frame 205 is mounted on the top of the first support 201, the second support 202, the third support 203 and the fourth support 204 and is connected to the first support 201, the second support 201, the third support 203 and the fourth support 204, The first supporting part 201, the second supporting part 202, the third supporting part 203 and the fourth supporting part 204 are connected together, the first supporting part 201, the second supporting part 202, the third supporting part 203 and the fourth supporting part 204 are formed by processing the same, the fourth supporting part comprises a supporting bottom plate 2011, a vertical supporting frame 2012, a hydraulic cylinder 2013, a hydraulic lifting rod 2014 and a movable supporting plate 2015, the supporting bottom plate 2011 is installed on the horizontal ground, the bottom of the vertical supporting frame 2012 is installed on the upper portion of the supporting bottom plate 2011 and welded with the upper surface of the supporting bottom plate 2011 together in a planar mode, a hollow cavity for placing the hydraulic cylinder 2013 is processed in the vertical supporting frame 2012, the bottom of the hydraulic cylinder 2013 is installed at the bottom of the hollow cavity in the vertical supporting frame 2012, the hydraulic lifting rod 2014 for installing and supporting the movable supporting plate 2015 is installed on the hydraulic cylinder 2013, the lower side of the movable supporting plate 2015 for directly installing and supporting the installation platform frame 205 is installed on the hydraulic lifting rod 2015 The top of the descending rod 2014 is connected with the top of the hydraulic lifting rod 2014 through a universal connection joint 2016 (the universal connection joint 2016 can realize flexible connection between a movable support plate 2015 and the top of the hydraulic lifting rod 2014), when a large-angle one-side inclination test is carried out on the test vehicle 7, an operator can control the hydraulic cylinder bodies 2013 on the same side on the front, the back, the left and the right of the test vehicle 7 to work, the hydraulic cylinder bodies 2013 drive the movable support plate 2015 to move upwards for a certain height (the height can be determined according to specific design requirements) through the hydraulic lifting rod 2014, at the moment, the movable support plate 2015 is lifted to drive the mounting platform frame 205 on the side to be lifted, the mounting platform frame 205 can drive the test vehicle 7 mounted on the mounting platform frame to realize the large-angle one-side inclination through the six-degree-of-freedom parallel mechanism 1, at the moment, the buffer spring 107 arranged on the inner side wall of the limiting seat 106 supports the stop block 108 to prevent the impact damage of the limiting seat 106 caused by sudden inclination of the wheels on the movable platform 102, thereby protecting the limit seat 106.
As shown in the attached drawing 11 in the description, the vehicle vibration test bench is provided with two groups of transverse slide rail mechanisms 3 and two groups of longitudinal slide rail mechanisms 4, and the transverse slide rail mechanisms 3 and the longitudinal slide rail mechanisms 4 can adjust the position of the six-degree-of-freedom parallel mechanism 1 according to different wheel pitches and axle pitches of a test vehicle 7. The transverse slide rail mechanism 3 comprises a transverse slide rail seat 301, a transverse slide rail 302, a transverse slide block and a transverse slide plate 303, wherein the transverse slide rail seat 301 for mounting the transverse slide rail 302 is arranged on the mounting platform frame 205 and is fixed with the mounting platform frame 205, the transverse slide rail 302 is arranged on the transverse slide rail seat 301, the transverse slide block for mounting and supporting the transverse slide plate 303 is arranged on the transverse slide rail 302 and is in damping sliding contact with the transverse slide rail 302, the transverse slide plate 303 for mounting the longitudinal slide rail seat 401 is arranged on the transverse slide block and is fixed with the transverse slide block, when in specific use, the transverse slide plate 303 can drive the longitudinal slide rail seat 401 to adjust in the Y-axis direction, the longitudinal slide rail mechanism 4 comprises a longitudinal slide rail seat 401, a longitudinal slide rail 402, a longitudinal slide block and a longitudinal slide plate 403, and the bottom of the longitudinal slide rail seat 401 for mounting the longitudinal slide rail 402 is fixedly arranged on the transverse slide plate 303, the longitudinal slide rail seat 401 is provided with a longitudinal slide rail 402, the lower side of a longitudinal slide block for installing the longitudinal slide plate 403 is arranged on the longitudinal slide rail 402 and is in damping sliding contact with the longitudinal slide rail 402, the bottom of the longitudinal slide plate 403 for directly installing the six-degree-of-freedom parallel mechanism 1 is arranged on the longitudinal slide block and is fixedly connected with the longitudinal slide block, and when the six-degree-of-freedom parallel mechanism 1 is used specifically, the longitudinal slide plate 403 can drive the six-degree-of-freedom parallel mechanism 1 to be adjusted in the X-axis direction.
As shown in the accompanying drawings of the specification 1 and 2, the control system 6 controls the telescopic motion of the electric cylinder 103 in the six-degree-of-freedom parallel mechanism 1 to make the test bench (movable platform 102) move, so as to simulate the vibration condition of the vehicle when running on the road, and perform vibration tests on the test vehicle 7 for smoothness, durability and the like, in addition, the six-degree-of-freedom parallel mechanism 1 is provided with a position sensor and an angle sensor, the motion state of the six-degree-of-freedom parallel mechanism 1 can be fed back to form closed-loop control, the test precision is improved, the test vehicle 7 is also provided with corresponding sensors used for test items, such as a displacement sensor, a speed sensor, a pressure sensor and the like, the control system 6 can receive the test signal of the test vehicle 7 in real time, and finally, the control system 6 controls the six electric cylinders 103 of the six-degree-of-freedom parallel mechanism 1 in the vehicle vibration test bench, the telescopic displacement of the electric cylinder 103 drives the wheels to move on six degrees of freedom, namely, transverse, longitudinal, vertical, pitching, rolling and yawing, so that the vibration condition of the vehicle in the actual running process is simulated.
Example 1:
for a specific course of motion of the left front wheel.
According to the tire coordinate system, an X axis is defined along the vehicle advancing direction, a Y axis is defined along the right side of the vehicle body, and a Z axis is defined along the vertical ground direction.
When the electric cylinders 103D1, D2, D4 and D5 are in an extension process and D3 and D6 are in a compression process, the single wheel realizes the translation motion along the X axis.
When the electric cylinders 103D1, D3, D4 and D6 are in an extension process and D2 and D5 are in a compression process, the single wheel realizes the translation motion along the Y axis.
When the electric cylinders 103D1, D2, D3, D4, D5 and D6 are all in the extension process, the single wheel realizes the translation motion along the Z axis.
When the electric cylinders 103D1, D2, D5 and D6 are in an extension process and D3 and D4 are in a compression process, the single wheel realizes the rotation motion around the X axis.
When the electric cylinders 103D4, D5 and D6 are in an extension process and D1, D2 and D3 are in a compression process, the single wheel realizes the rotation motion around the Y axis.
When the electric cylinders 103D2, D4 and D6 are in an extension process and D1, D3 and D5 are in a compression process, the single wheel realizes the rotation motion around the Z axis.
Example 2:
the invention discloses a six-degree-of-freedom parallel mechanism-based vehicle vibration test stand, which is used for measuring the natural frequency and the damping ratio of a vehicle 1/4 suspension system and a 1/2 suspension system, and comprises the following steps:
firstly, fixing the front and rear wheels of a test vehicle 7 at a certain height through a wheel fixing device 5, vertically impacting the wheels at a certain speed through a six-degree-of-freedom parallel mechanism 1, recording vibration attenuation curves of the vehicle body and the wheel mass by a sensor arranged on the test vehicle 7, and obtaining the vibration period T of the vehicle body mass, the vibration period T' of the wheel mass and the first amplitude peak value A through the vibration attenuation curves1And a second amplitude peak A2. And (3) obtaining the natural frequency of each part by utilizing a calculation formula according to the vibration period T of the vehicle body mass and the vibration period T' of the wheel mass obtained by the test.
Body portion natural frequency:
wheel part natural frequency:
the first amplitude peak value A obtained by testing1And a second amplitude peak A2The division gives the attenuation ratio of each part.
Attenuation rate of vehicle body portion:
wheel partial attenuation rate:
and substituting the attenuation rate into a calculation formula to obtain the damping ratio of each part.
Vehicle body part damping ratio:
wheel part damping ratio:
example 3:
the frequency response function measuring process of the vehicle vibration testing bench vehicle whole system based on the six-degree-of-freedom parallel mechanism comprises the following steps: firstly, a motion signal is input to the six-degree-of-freedom parallel mechanism 1 through the control system 6, so that the movable platform 102 generates vibration, the vibration of a wheel is given in the range of 0.5-30 Hz, the vibration response of each measuring point on an axle, a vehicle body and a seat is recorded by a sensor on the test vehicle 7, and then the frequency response functions of the wheel, a suspension and the seat can be obtained correspondingly according to the axle/vibration input, the vehicle body/axle and the seat/vehicle body.
Example 4:
the road spectrum random excitation test process of the vehicle vibration test bench vehicle whole system based on the six-degree-of-freedom parallel mechanism comprises the following steps: firstly, wheels of a test vehicle 7 are fixed on a movable platform 102 of a six-degree-of-freedom parallel mechanism 1, according to working conditions of different types of vehicles and road conditions required by a test of the test vehicle 7, collected corresponding road spectrum data are imported into a control system 6, the control system 6 converts a road spectrum into point space position change information in a mathematical processing mode, and then the control system 6 calculates the telescopic displacement of an electric cylinder 103 through a pose inverse solution program of the six-degree-of-freedom parallel mechanism 1, so that a vehicle vibration test rack generates required road spectrum random excitation. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A vehicle vibration test bench based on a six-degree-of-freedom parallel mechanism (1) is characterized by comprising the six-degree-of-freedom parallel mechanism (1), a bench base (2), a transverse slide rail mechanism (3), a longitudinal slide rail mechanism (4), a wheel fixing device (5), a control system (6) and a test vehicle (7), wherein the bottom of the bench base (2) is arranged on the horizontal ground, the longitudinal slide rail mechanism (4) is arranged at the upper part of the bench base (2) and connected with the bench base (2), the transverse slide rail mechanism (3) is arranged on the longitudinal slide rail mechanism (4), the six-degree-of-freedom parallel mechanism (1) is arranged on the transverse slide rail mechanism (3) and connected with the transverse slide rail mechanism (3), four wheels on the test vehicle (7) are arranged on the six-degree-of-freedom parallel mechanism (1) and connected with the six-degree-of-freedom parallel mechanism (1), the wheel fixing device (5) is arranged on a test vehicle (7) and used for fixing four wheels on the test vehicle (7), and a control system (6) is arranged on the outer side of the rack base (2).
2. The vehicle vibration test bench based on six-degree-of-freedom parallel mechanism (1) as claimed in claim 1, further characterized in that four groups of six-degree-of-freedom parallel mechanisms (1) are mounted on the transverse slide rail mechanism (3) for carrying the test vehicle (7), wherein each wheel of the test vehicle (7) is independently placed on one group of six-degree-of-freedom parallel mechanisms (1), and the wheel fixing device (5) fixes the wheel on the movable platform (102) of the parallel mechanism by limiting the self-movement of the wheel.
3. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) according to claim 1, characterized in that the six-degree-of-freedom parallel mechanism (1) comprises a fixed platform (101), a movable platform (102), an electric cylinder (103), a spherical hinge (104) and a hooke hinge (105), the bottom of the fixed platform (101) is installed on a transverse slide rail mechanism (3) and connected with the transverse slide rail mechanism (3), the hooke hinge (105) is installed on the upper portion of the fixed platform (101), the bottom of the electric cylinder (103) is connected with the fixed platform (101) through the hooke hinge (105), the spherical hinge (104) is installed on the bottom of the movable platform (102), the top of the electric cylinder (103) is connected with the movable platform (102) through the spherical hinge (104), four sets of limiting seats (106) for preventing wheels from falling off are installed on the upper portion of the movable platform (102), the bottom of the limiting seat (106) is fixedly connected with the movable platform (102).
4. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) is characterized in that six groups of electric cylinders (103) are further arranged between the fixed platform (101) and the movable platform (102).
5. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) as claimed in claim 1, wherein the bench base (2) comprises a first support part (201), a second support part (202), a third support part (203), a fourth support part (204) and a mounting platform frame (205), the bottoms of the first support part (201), the second support part (202), the third support part (203) and the fourth support part (204) are mounted on a horizontal ground, the mounting platform frame (205) is mounted on the upper portions of the first support part (201), the second support part (202), the third support part (203) and the fourth support part (204), and the mounting platform frame (205) is mounted on the first support part (201), the second support part (202), the third support part (203) and the fourth support part (204) and is connected with the first support part (201), The second support part (202), the third support part (203) and the fourth support part (204) are connected together.
6. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) as claimed in claim 5, wherein the transverse slide rail mechanism (3) comprises a transverse slide rail seat (301), a transverse slide rail (302), a transverse slide block and a transverse slide plate (303), the transverse slide rail seat (301) is installed on the installation platform frame (205) and fixed with the installation platform frame (205), the transverse slide rail is installed on the transverse slide rail seat (301), the transverse slide block is installed on the transverse slide rail (302) and in damping sliding contact with the transverse slide rail (302), and the transverse slide plate (303) is installed on the transverse slide block and fixed with the transverse slide block.
7. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) is characterized in that the longitudinal slide rail mechanism (4) comprises a longitudinal slide rail seat (401), a longitudinal slide rail (402), a longitudinal slide block and a longitudinal slide plate (403), the bottom of the longitudinal slide rail seat (401) is fixedly arranged on the transverse slide plate (303), the longitudinal slide rail (402) is arranged on the longitudinal slide rail seat (401), the lower side of the longitudinal slide block for installing the longitudinal slide plate (403) is arranged on the longitudinal slide rail (402) and is in damping sliding contact with the longitudinal slide rail (402), and the bottom of the longitudinal slide plate (403) for directly installing the six-degree-of-freedom parallel mechanism (1) is arranged on the longitudinal slide block and is fixedly connected with the longitudinal slide block.
8. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) is characterized in that the transverse slide rail mechanisms (3) are divided into two groups, the longitudinal slide rail mechanisms (4) are divided into two groups, and the transverse slide rail mechanisms (3) and the longitudinal slide rail mechanisms (4) can adjust the position of the six-degree-of-freedom parallel mechanism (1) according to different wheel tracks and wheel bases of the test vehicle (7).
9. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) is characterized in that further, the control system (6) can control the six-degree-of-freedom parallel mechanism (1) to generate different types of vibration by controlling the telescopic motion of the electric cylinder (103) in the six-degree-of-freedom parallel mechanism (1), so as to simulate various vibration conditions suffered by the vehicle when the vehicle runs on a road.
10. The vehicle vibration test bench based on the six-degree-of-freedom parallel mechanism (1) is characterized in that a displacement sensor, a speed sensor and a pressure sensor for testing are further arranged on the test vehicle (7), and the control system (6) can receive test signals of the test vehicle (7) in real time according to the displacement sensor, the speed sensor and the pressure sensor.
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| CN202111210008.7A CN113865887A (en) | 2021-10-18 | 2021-10-18 | Vehicle vibration test rack based on six-degree-of-freedom parallel mechanism |
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