CN114354168A - Biax heavy load sways test bench - Google Patents
Biax heavy load sways test bench Download PDFInfo
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- CN114354168A CN114354168A CN202111681391.4A CN202111681391A CN114354168A CN 114354168 A CN114354168 A CN 114354168A CN 202111681391 A CN202111681391 A CN 202111681391A CN 114354168 A CN114354168 A CN 114354168A
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Abstract
The invention discloses a double-shaft heavy-load swing test bed which mainly comprises a cradle type structure heavy-load swing test bed, a rotary driving mechanism and a rotary platform, wherein the cradle type structure heavy-load swing test bed comprises a base, a rotary table and a rotary table; the swing driving mechanism and the rotary platform are installed on the bottom plate of the hanging basket type structure heavy-load swing test bed, the test equipment is installed on the rotary platform, the rotation angle of the rotary platform and the swing angle of the swing platform are changed, pitching, rolling and heaving motions of the test equipment with different sizes can be realized simultaneously only by installing the test equipment once, three-degree-of-freedom motions of the test equipment under different working conditions can be reproduced more truly, the preparation time for changing the pitching, rolling and heaving motions of the test equipment is remarkably shortened, and the test bed has the characteristics of wide working table surface, strong bearing capacity, low comprehensive gravity center and the like.
Description
Technical Field
The invention relates to the technical field of swing test beds, in particular to a double-shaft swing test bed.
Background
The swing test bed is a space motion structure widely used for simulating the motion attitude of test equipment, and has very important application in the fields of ship motion, vehicle motion and the like. With the continuous expansion of the swing platform technology in many fields, higher requirements are put forward on the aspects of bearing space, load capacity, attitude simulation and the like. The existing heavy-load swing test bed (ZL201710515748.9) with a novel hanging basket type structure is structurally characterized in that the structural form of a lifting lug is used as a bearing part, so that the offset and the additional moment of inertia generated by self weight are reduced, the bearing capacity is improved, single swing motion can be carried out due to the limitation of a single shaft, the pitching, rolling and heaving motions of test equipment cannot be simultaneously realized, and the test equipment needs to be reinstalled at every time to change the installation position. Therefore, the test equipment can simultaneously realize the pitching, rolling and heaving motions of the test equipment by one-time installation, truly reappear the three-degree-of-freedom motions of the test equipment under different working conditions, remarkably shorten the preparation time for changing the pitching, rolling and heaving motions of the test equipment, and is very important for the research and test of the test equipment.
Disclosure of Invention
The invention aims to provide a double-shaft heavy-load swing test bed aiming at the defects in the prior art of the swing test bed. The invention changes the installation direction of the test equipment by additionally installing a large-scale rotary platform on the platform of the cradle type structure heavy-load swing test bed, the test equipment is installed on the rotary platform, the rotary platform is connected with the swing test bed through a rotary support, and the rotary platform is driven by a rotary driving mechanism. Compared with the original hanging basket type structure heavy-load swing test bed, the test environment required by the test equipment can be simulated more truly.
The technical scheme adopted by the invention for solving the technical problem is as follows.
The utility model provides a biax heavy load sways test bench which characterized in that: the device comprises a cradle type structure heavy-load swing test bed (hereinafter referred to as a swing platform), a rotary driving mechanism and a rotary platform; the rotary driving mechanism is arranged on the bottom plate of the swing platform and consists of a prime motor, a speed reducer, a pinion and a rotary support, the prime motor is connected with the speed reducer, the speed reducer is arranged at the lower part of the bottom plate of the swing platform, and an output shaft of the speed reducer penetrates through a through hole of the bottom plate upwards and then is fixedly connected with the pinion; the small gear is meshed with the outer ring of the large gear of the slewing bearing, and the inner ring of the slewing bearing is arranged on the upper surface of the swinging platform base plate; the rotary platform is connected with the outer ring of the large gear of the rotary support and is arranged on the upper surface of the outer ring of the large gear of the rotary support, the center of the rotary platform coincides with the center of the swinging platform bottom plate, the test equipment is arranged on the rotary platform, the test equipment can be simultaneously moved in pitching, rolling and heaving modes by one-time installation, and the rolling angle, the pitching angle and the heaving displacement of the test equipment can be changed by changing the swinging angle and the rotating angle.
Furthermore, a prime motor in the rotary driving mechanism is a brake hydraulic motor or a brake motor, an output shaft of the speed reducer is connected with a pinion through a key to transmit torque, and a screw and an end cover are mounted on the end face of the output shaft to axially position the pinion; the inner ring of the slewing bearing is connected with the swinging platform bottom plate through a circle of bolts and nuts, and the inner ring of the slewing bearing and the upper surface of the swinging platform bottom plate are radially positioned through a spigot so as to ensure that the center of the inner ring of the slewing bearing coincides with the center of the swinging platform bottom plate.
Furthermore, the outer ring of the large gear of the slewing bearing and the lower surface of the slewing platform are radially positioned through a spigot, and the large gear of the slewing bearing and the lower surface of the slewing platform are connected through a circle of bolts and nuts so as to ensure that the center of the slewing bearing is coincided with the center of the slewing platform.
Furthermore, a swing angle sensor is installed at the end part of a rotating shaft at one end of the swing platform and used for measuring a swing angle beta of the swing platform, and a rotation angle sensor is installed on the upper surface of a bottom plate of the swing platform and used for measuring a rotation angle alpha of the rotation platform.
Further, the pitch angle and the roll angle of the test equipment on the rotary platform can be obtained by calculating the swing angle beta of the swing platform and the rotary angle alpha of the rotary platform: referring to FIG. 4, during working, the OZ "axis direction of the workpiece coordinate system is at an angle phi with respect to the OZ axis of the geodetic coordinate system, and the angle phi can be decomposed into an angle theta between the projection of the OZ axis in the XOZ plane and the OZ axis (pitch angle) and an angle theta between the projection of the OZ axis in the YOZ plane and the OZ axis (roll angle)
Let the orthonormal basis in the coordinate system OXYZ be
The orthonormal basis in the coordinate system OX "Y" Z "is
For being on the OZ' axis
Can be provided with
Wherein C is13、 C23、C33Is a coordinate in the geodetic coordinate system, and includes:
because it is a unit vector, therefore
Obtained by the formulas (1), (2) and (3),
under the combined action of pitching and rolling, an included angle between an OZ 'axis and the OZ axis can be considered as being in a coordinate system OXYZ, the OZ axis rotates around a straight line AB by an angle, so the straight line AB must pass through an origin, and the straight line AB is perpendicular to the OZ' axis and the OZ axis; thus AB must be in the coordinate plane XOY, while being orthogonal to the OZ "axis; the straight line AB is thus the intersection of the plane XOY with a plane normal to the origin at k'. In the geodetic coordinate system OXYZ, the plane equation perpendicular to the OZ "axis through the origin O is:
C13×(X-0)+C23×(Y-0)+C33×(Z-0)＝0 (5)
the XOY plane equation is
Z＝0 (6)
The included angle between the straight line AB and the positive direction of the OX axis is alpha:
accordingly, a coordinate transformation intermediate coordinate system is established, the OA direction is taken as the positive direction of the OX axis of the transition coordinate system OX 'Y' Z ', the OZ axis is taken as the OZ axis of the coordinate system OX' Y 'Z', and the transition coordinate system is established according to the right-hand rule, wherein the axis of the transition coordinate system OZ 'rotates around the axis of OX' by an angle beta relative to the axis of the workpiece coordinate system OZ ', the axis of the transition coordinate system OX' rotates around the axis of OZ by an angle alpha relative to the axis of the earth coordinate system OX, and the equations (4) and (7) are solved to obtain
In the formulas (4) and (7), alpha is the rotation angle of the rotary platform, the size is controlled by the working time, and beta is the swing angle of the biaxial heavy-load swing test bed:
in the formula (10), beta0Is the maximum swing angle (°), τ is the swing period (S), and t is the swing time (S). The heave displacement H of the test equipment on the rotary platform can be obtained by calculating a swing angle beta, and the calculation formula is shown as formula 3, wherein R is the swing radius of the gravity center of the test equipment:
H＝R(1-cosβ) (11)
compared with the prior art, the invention has the following beneficial effects:
according to the invention, a rotary platform is added on the basis of the original single-shaft swing test platform, swing operation is carried out under the drive of the original swing drive mechanism, the test equipment is arranged on the rotary platform, the rotary angle of the rotary platform and the swing angle of the swing platform are changed, and the pitching, rolling and heaving motions with different sizes can be simultaneously realized by only once arranging the test equipment, so that the three-degree-of-freedom motion of the test equipment under different working conditions can be truly reproduced, the preparation time for changing the pitching, rolling and heaving motions of the test equipment is obviously reduced, the performance test, simulation and reliability test of the test equipment are more suitable, the application range is expanded, and different working conditions can be competent; the test bed has the characteristics of wide working table surface, strong bearing capacity, low comprehensive gravity center and the like.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and examples.
FIG. 1 is a front view of a dual-axis heavy-duty swing test bed according to the present invention;
FIG. 2 is a top view of the dual-axis heavy-duty swing test bed according to the present invention;
FIG. 3 is an enlarged view of a portion of the rotary drive mechanism of the present invention;
FIG. 4 is a schematic view of a workpiece coordinate system OX "Y" Z "and a geodetic coordinate system OXYZ in accordance with the present invention;
wherein: in fig. 1, 2 and 3, 1 is a swing angle sensor, 2 is a swing driving oil cylinder, 3 is a bearing seat, 4 is a rotating shaft, 5 is a lifting lug, 6 is a base, 7 is a swing platform bottom plate, 8 is a rotary angle sensor, 9 is a prime mover, 10 is a speed reducer, 11 is a pinion, 12 is a key, 13 is an end cover, 14 is a screw, 15 is a rotary platform, 16 is a rotary support gearwheel outer ring, 17 is a rotary support inner ring. In FIG. 4, α is the angle between the AB straight line and the positive direction of the OX axis, β is the angle between the OZ' axis of the workpiece coordinate system and the OZ axis of the geodetic coordinate system, θ is the angle (pitch angle) between the projection of the OZ axis in the XOZ plane and the OZ axis,
is the included angle (roll angle) between the projection of the OZ' axis in the YOZ plane and the OZ axis.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
Referring to fig. 1, 2 and 3, a rotary driving mechanism of a biaxial heavy-duty swing test bed comprises a prime mover (9), a speed reducer (10), a pinion (11) and a rotary support: the prime motor (9) is connected with a speed reducer (10), the speed reducer (10) is installed on the lower portion of the swinging platform bottom plate (7), an output shaft of the speed reducer (10) upwards penetrates through a through hole of the swinging platform bottom plate (7) and then is connected with a pinion (11) through a key (12), and a screw (14) and an end cover (13) are installed on the end face of the output shaft of the speed reducer (10) to axially position the pinion (11); the small gear (11) is meshed with the outer ring (16) of the rotary supporting big gear; the rotary platform (15) is connected with the outer ring (16) of the large gear of the rotary support through a circle of bolts and nuts, is arranged on the upper surface of the outer ring (16) of the large gear of the rotary support, and is radially positioned through a spigot so as to ensure that the center of the rotary support is superposed with the center of the rotary platform (15); the inner ring (17) of the slewing bearing is arranged on the upper surface of the swinging platform bottom plate (7) through a circle of bolts and nuts and is radially positioned through a spigot so as to ensure that the center of the slewing bearing is superposed with the center of the swinging platform bottom plate (7); the output shaft of the speed reducer (10) performs rotary motion, and the rotary support is driven to perform rotary motion through the matching of the pinion (11), so that the rotary motion of the prime motor (9) is transmitted to the rotary platform (15), and the rotary platform (15) rotates; the utility model provides a biax heavy load sways wabbler mechanism of test bench comprises swing actuating cylinder (2), bearing frame (3), pivot (4), lug (5) and base (6): the swing driving oil cylinder (2) is connected with the bearing seat (3); the bearing seat (3) is fixed on the base (6), and the bearing seat (3) plays a supporting role; the bearing seat (3) is connected with the lifting lug (5) through a rotating shaft (4); the lifting lug (5) and the swinging platform bottom plate (7) are connected with a nut through a bolt;
the working process and principle of the invention are as follows:
firstly, the test equipment is fixedly arranged on a rotary platformOn the platform (15), the gravity center of the device is ensured to be positioned right above the rotation center as much as possible, the longitudinal axis direction of the testing device is marked, the longitudinal axis direction and the axial direction of the rotating shaft are positioned in the same vertical plane, the rotation angle alpha at the moment is marked to be 0 degrees, the swing angle beta is marked to be 0 degrees when the swing platform bottom plate (7) is positioned at the horizontal position, and the maximum longitudinal swing angle theta and the maximum transverse swing angle theta which are required to be reached according to the testing device are marked
According to the test requirements, the swing angle beta and the rotation angle alpha are calculated according to the formulas 8 and 9; secondly, starting a prime motor (9) to drive the rotary platform (15) to enable the rotary angle to be equal to alpha, wherein the rotary angle alpha of the rotary platform can be measured by a rotary angle sensor (8), and the rotary angle of the rotary platform (15) can be kept unchanged in the swinging process because the prime motor (9) is a brake hydraulic motor or a brake motor; and finally, the swing driving oil cylinder (2) converts the reciprocating linear motion into reciprocating rotary motion, torque is transmitted to the lifting lug (5) through the rotating shaft (4), so that the swing platform bottom plate (6) is driven to generate swing motion, a swing angle sensor (1) arranged at the end part of the rotating shaft at one end can measure a swing angle beta of the swing platform, and the size of the swing angle beta can be controlled by controlling the stroke of a piston of the swing driving oil cylinder (2).
Claims (5)
1. The utility model provides a biax heavy load sways test bench which characterized in that: the swing test device comprises a hanging basket type structure heavy-load swing test bed (hereinafter referred to as a swing platform), a rotary driving mechanism and a rotary platform; the swing platform is characterized in that the rotary driving mechanism is arranged on the swing platform bottom plate and consists of a prime motor, a speed reducer, a pinion and a rotary support, the prime motor is connected with the speed reducer, the speed reducer is arranged at the lower part of the swing platform bottom plate, and an output shaft of the speed reducer upwards penetrates through a through hole of the swing platform bottom plate and then is fixedly connected with the pinion; the small gear is meshed with the outer ring of the large gear of the slewing bearing, and the inner ring of the slewing bearing is arranged on the upper surface of the swinging platform base plate; the slewing platform is connected with the outer ring of the slewing bearing big gear wheel and is arranged on the upper surface of the outer ring of the slewing bearing big gear wheel, the center of the slewing platform coincides with the center of the swinging platform bottom plate, the test equipment is arranged on the slewing platform, the pitching, the rolling and the heaving motions of the test equipment can be simultaneously realized through one-time installation, and the rolling angle, the pitching angle and the heaving displacement of the test equipment can be changed through changing the swinging angle and the slewing angle.
2. The dual-axis heavy-duty swing test bed according to claim 1, wherein: a prime motor in the rotary driving mechanism is a brake hydraulic motor or a brake motor, an output shaft of the speed reducer is connected with a pinion through a key to transmit torque, and a screw and an end cover are arranged on the end face of the output shaft to axially position the pinion; the inner ring of the slewing bearing is connected with the swinging platform bottom plate through a circle of bolts and nuts, and the inner ring of the slewing bearing and the upper surface of the swinging platform bottom plate are radially positioned through a spigot so as to ensure that the center of the inner ring of the slewing bearing is coincided with the center of the swinging platform bottom plate.
3. The dual-axis heavy-duty swing test bed according to claim 1, wherein: the outer ring of the large gear of the slewing bearing and the lower surface of the slewing platform are radially positioned through a spigot, and the large gear of the slewing bearing and the lower surface of the slewing platform are connected through a circle of bolts and nuts so as to ensure that the center of the slewing bearing is coincided with the center of the slewing platform.
4. The dual-axis heavy-duty swing test bed according to claim 1, wherein: a swing angle sensor is installed at the end part of a rotating shaft at one end of the swing platform and used for measuring a swing angle beta of the swing platform, and a rotation angle sensor is installed on the upper surface of a bottom plate of the swing platform and used for measuring a rotation angle alpha of the rotation platform.
5. The dual-axis heavy-duty swing test bed according to claim 4, wherein: the longitudinal rocking angle theta and the transverse rocking angle of the test equipment on the rotary platform
The angle can be obtained by calculating the swing angle beta of the swing platform and the rotation angle alpha of the rotation platform, and the calculation formula is shown as formulas 1 and 2:
the heave displacement H of the test equipment on the rotary platform can be obtained by calculating the swing angle beta, and the calculation formula is shown as formula 3, wherein R is the swing radius of the gravity center of the test equipment:
H＝R(1-cosβ) (3)。
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| CN202111681391.4A CN114354168A (en) | 2021-12-31 | 2021-12-31 | Biax heavy load sways test bench |
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Citations (7)
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|---|---|---|---|---|
| CN2816784Y (en) * | 2005-07-13 | 2006-09-13 | 北京市星光凯明动感仿真模拟器中心 | High-precision heavy-load three-axle rotating swinging-type test platform |
| CN102141463A (en) * | 2010-01-29 | 2011-08-03 | 中国船舶重工集团公司第七〇四研究所 | Slewing mechanism of swing test bench |
| CN103940610A (en) * | 2014-03-19 | 2014-07-23 | 昆山洺九机电有限公司 | Double-shaft swing tester |
| CN106017928A (en) * | 2016-05-25 | 2016-10-12 | 湘潭大学 | Bearing swing test device |
| CN107063702A (en) * | 2017-06-29 | 2017-08-18 | 湘潭大学 | A kind of heavily loaded Swaying Test Platform of Novel spider plant basket fabric |
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| CN211317336U (en) * | 2020-03-03 | 2020-08-21 | 天津航大雄英航空工程有限公司 | Three-freedom-degree rotary table |
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2021
- 2021-12-31 CN CN202111681391.4A patent/CN114354168A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2816784Y (en) * | 2005-07-13 | 2006-09-13 | 北京市星光凯明动感仿真模拟器中心 | High-precision heavy-load three-axle rotating swinging-type test platform |
| CN102141463A (en) * | 2010-01-29 | 2011-08-03 | 中国船舶重工集团公司第七〇四研究所 | Slewing mechanism of swing test bench |
| CN103940610A (en) * | 2014-03-19 | 2014-07-23 | 昆山洺九机电有限公司 | Double-shaft swing tester |
| CN106017928A (en) * | 2016-05-25 | 2016-10-12 | 湘潭大学 | Bearing swing test device |
| CN107063702A (en) * | 2017-06-29 | 2017-08-18 | 湘潭大学 | A kind of heavily loaded Swaying Test Platform of Novel spider plant basket fabric |
| CN109048808A (en) * | 2018-08-29 | 2018-12-21 | 江苏大学 | A kind of Three Degree Of Freedom waves turntable |
| CN211317336U (en) * | 2020-03-03 | 2020-08-21 | 天津航大雄英航空工程有限公司 | Three-freedom-degree rotary table |
Non-Patent Citations (1)
| Title |
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| 张彦杰;郭海艳;黄威;: "三轴摇摆台上的一种复合联动装置", 工程机械, no. 11 * |
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