CN117387838A - Gravity center and rotational inertia testing device and method for heavy equipment - Google Patents

Gravity center and rotational inertia testing device and method for heavy equipment Download PDF

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Publication number
CN117387838A
CN117387838A CN202311347047.0A CN202311347047A CN117387838A CN 117387838 A CN117387838 A CN 117387838A CN 202311347047 A CN202311347047 A CN 202311347047A CN 117387838 A CN117387838 A CN 117387838A
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CN
China
Prior art keywords
tilting ring
moment
test platform
inertia
tilting
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Pending
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CN202311347047.0A
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Chinese (zh)
Inventor
丁念
刘培志
胡雄文
赵东阳
徐玉国
刘永辉
张文尚
李凯
孙力
刘志超
徐洋
张一凡
余凌晶
成佳艺
马开平
曹华峰
刘新国
张君
樊莹
苏周前
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Zhongbing Drone Research Institute Co ltd
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Zhongbing Drone Research Institute Co ltd
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Priority to CN202311347047.0A priority Critical patent/CN117387838A/en
Publication of CN117387838A publication Critical patent/CN117387838A/en
Pending legal-status Critical Current

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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
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/10—Determining the moment of inertia

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

The invention relates to a gravity center and moment of inertia testing device and method for heavy equipment, belongs to the technical field of gravity center and moment of inertia testing, and solves the problems of potential safety and economical hazards of heavy equipment adopting a suspension method and a three-wire pendulum testing in the prior art. The device comprises a test platform, a tilting ring and a supporting frame, wherein the test platform is arranged above the tilting ring, the test platform and the tilting ring can rotate relatively, the tilting ring is connected with the supporting frame, and equipment to be tested is placed on the test platform. According to the invention, corresponding data for calculating the gravity center and the moment of inertia can be obtained by changing the relative rotation modes among the test platform, the tilting ring and the support frame and the placement position of the equipment to be tested, and further the gravity center and the moment of inertia of heavy equipment can be obtained by calculation.

Description

Gravity center and rotational inertia testing device and method for heavy equipment
Technical Field
The invention relates to the technical field of gravity center and moment of inertia testing, in particular to a gravity center and moment of inertia testing device and method for heavy equipment.
Background
The heavy equipment has the characteristics of large volume and heavy mass. The inherent characteristics, such as the position of the center of gravity, the moment of inertia of the three axes, etc., are necessary in some application scenarios, so that the inherent characteristics of some heavy equipment are required to be tested.
The common scheme for testing the gravity center at present is a suspension method, and the gravity center of an object to be tested can be obtained by suspending the object to be tested to obtain the action lines of gravity and intersecting a plurality of action lines; the common method for testing the moment of inertia is a three-wire pendulum, and the moment of inertia of an object to be tested is obtained by counting the swinging period.
The method for measuring the gravity center and the rotational inertia needs to empty and hang the object to be measured, and certain safety and economic hidden trouble exists when the object to be measured is heavy. In the gravity center measurement, the gravity action line of the suspension is difficult to position because the surface of the object to be measured may be irregular. In moment of inertia measurement, the devices to be measured are required to be suspended from the three axes respectively, however, some devices to be measured do not allow large-angle suspension, and it is difficult to simultaneously satisfy the measurement of the moment of inertia of the three axes.
Disclosure of Invention
In view of the above analysis, the embodiments of the present invention are directed to a device and a method for testing the center of gravity and moment of inertia of heavy equipment, so as to solve the problems of potential safety and economic hazards of the existing heavy equipment using a suspension method and a three-wire pendulum test.
In one aspect, the invention provides a gravity center and moment of inertia testing device for heavy equipment, which comprises a testing platform, a tilting ring and a supporting frame, wherein the testing platform is arranged above the tilting ring, the testing platform and the tilting ring can rotate relatively, the tilting ring is connected with the supporting frame, and equipment to be tested is placed on the testing platform.
Further, the test platform comprises a first disc and a support shaft, wherein the support shaft is arranged at the bottom of the first disc, and the support shaft is a stepped shaft.
Further, the tilting ring comprises a second disc and a connecting shaft, and the connecting shaft is arranged at the bottom of the second disc.
Further, a first stepped hole is formed in the center of the second disc, and a second stepped hole is formed in the axial direction of the connecting shaft.
Further, the second stepped hole is concentric with the connecting shaft, and the first stepped hole and the second stepped hole are communicated.
Further, the device also comprises a first rotation speed sensor, wherein the first rotation speed sensor is arranged at the top of the second disc.
Further, a first protrusion is arranged at the bottom of the first disc.
Further, the support frame comprises a table top, and a round hole is formed in the table top.
Further, the test platform and the tilting ring are correspondingly arranged in the round hole.
On the other hand, the invention provides a gravity center and moment of inertia testing method of the heavy equipment, and the gravity center and moment of inertia testing device of the heavy equipment is adopted for testing.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) According to the invention, corresponding data for calculating the gravity center and the moment of inertia can be obtained by changing the relative rotation modes among the test platform, the tilting ring and the support frame and the placement position of the equipment to be tested, and further, the gravity center and the moment of inertia of the heavy equipment can be obtained by calculation.
(2) When the test platform and the tilting ring rotate relatively, the test platform can rotate by taking the first bearing as a support and taking the axis of the support shaft as the axis, a first torsion spring is connected between the support shaft and the connecting shaft, and when the test platform and the tilting ring rotate relatively, torsion data of the test platform relative to the tilting ring can be obtained.
(3) According to the invention, the first through hole is formed in the lower end of the supporting shaft, the second through hole is formed in the lower end of the connecting shaft, when the test platform and the tilting ring are required to rotate relatively, the first pin shaft is taken out, the test platform is rotated, when the relative rotation between the test platform and the tilting ring is required to be limited, the first pin shaft is placed in the first through hole and the second through hole, and the structure is simple and the operation is convenient.
(4) The pressure sensor is arranged on the adjustable mounting seat, the adjustable mounting seat is arranged on the placing frame, and the height of the pressure sensor is changed by adjusting the height of the adjustable mounting seat so as to obtain different tilting angles of the tilting ring when the tilting ring contacts the pressure sensor.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of a test apparatus according to an embodiment;
FIG. 2 is a schematic diagram illustrating connection between a test platform and a tilting ring according to an embodiment;
FIG. 3 is a schematic diagram of a connection between a tilting ring and a supporting frame according to an embodiment (I);
FIG. 4 is a schematic diagram of the connection between the tilting ring and the supporting frame (II) according to the embodiment;
FIG. 5 is a schematic diagram of a pressure sensor placement of an embodiment;
fig. 6 is a schematic diagram illustrating a tilting state of a device under test according to an embodiment.
Reference numerals:
1-a test platform; 11-a first disc; 12-a support shaft; 121-a first step; 122-a second step; 123-third step; 13-a first bump;
2-tilting ring; 21-a second disc; 22-connecting shaft; 23-a second bump; 24-a third bump;
3-supporting frames; 31-a table top; 32-supporting legs; 33-round holes; 34-a placement frame;
4-a first bearing; 5-a first torsion spring; 6-a first pin shaft; 7-a first rotational speed sensor; 8-a second bearing; 9-a second pin shaft; 10-a second torsion spring; 14-a third pin shaft; 15-a second rotational speed sensor; 16-a pressure sensor;
100-devices under test.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
Example 1
1-6, a gravity center and moment of inertia testing device for heavy equipment is disclosed, and comprises a testing platform 1, a tilting ring 2 and a supporting frame 3, wherein the testing platform 1 is arranged above the tilting ring 2, the tilting ring 2 and the supporting frame 3 can rotate relatively, the tilting ring 2 is connected with the supporting frame 3, and equipment 100 to be tested is placed on the testing platform 1.
Specifically, as shown in fig. 2, the test platform 1 includes a first disc 11 and a support shaft 12, the support shaft 12 is disposed in the middle of the bottom of the first disc 11, the support shaft 12 is a stepped shaft, preferably, the support shaft 12 includes at least two steps, in this embodiment, the support shaft 12 includes a first step 121, a second step 122 and a third step 123, and diameters of the first step 121, the second step 122 and the third step 123 sequentially decrease.
The tilting ring 2 comprises a second disc 21 and a connecting shaft 22, wherein the connecting shaft 22 is arranged at the bottom of the second disc 21, a first stepped hole is formed in the center of the second disc 21, a second stepped hole is formed in the axial direction of the connecting shaft 22 and concentric with the connecting shaft 22, and the first stepped hole is communicated with the second stepped hole. The support shaft 12 is connected to the tilting ring 2 through a first stepped hole of the second disk 21 and a second stepped hole of the connecting shaft 22.
Preferably, the first stepped hole and the second stepped hole each include two steps, and the aperture of the first stepped hole is large up and small down, and the aperture of the second stepped hole is large up and small down.
In order to enable the test platform 1 and the tilting ring 2 to rotate more smoothly, the test device further comprises a first bearing 4, the first bearing 4 is arranged in the first stepped hole, the support shaft 12 is sleeved in the first bearing 4, specifically, the first bearing 4 is positioned in a large direct hole of the first stepped hole, and the second step 122 is matched with the first bearing 4.
In view of the relative rotation that needs to occur between the test platform 1 and the tilting ring 2 during the test, in order to reduce friction between the test platform 1 and the tilting ring 2, there is no contact in the horizontal plane between the test platform 1 and the tilting ring 2, i.e. a gap is left between the bottom of the first step 121 and the top of the second disc 21.
Because the torsion data of the test platform 1 relative to the tilting ring 2 need to be obtained in the moment of inertia test process, the test device further comprises a first torsion spring 5, and the first torsion spring 5 is sleeved on the support shaft 12 and is positioned in the large-diameter hole of the second step hole.
In this embodiment, the test platform 1 and the tilting ring 2 are connected through the first bearing 4, and when the relative rotation between the test platform 1 and the tilting ring 2 is required, the test platform 1 can rotate with the first bearing 4 as a support and with the axis of the support shaft 12 as an axis. Further, the lower end of the supporting shaft 12 is sleeved with the first torsion spring 5, the first torsion spring 5 is located in the second stepped hole of the connecting shaft 22, namely, the first torsion spring 5 is connected between the supporting shaft 12 and the connecting shaft 22, and when the testing platform 1 and the tilting ring 2 rotate relatively, torsion data of the testing platform 1 relative to the tilting ring 2 can be obtained.
Considering that it is sometimes necessary to limit the relative rotation between the test platform 1 and the tilting ring 2 during the test, a first through hole is provided at the lower end of the support shaft 12 in the radial direction of the support shaft 12, and a second through hole is provided at the lower end of the connection shaft 22 in the radial direction of the connection shaft 22, and the first through hole and the second through hole are opposite when the test platform 1 is mounted on the tilting ring 2. The testing device further comprises a first pin 6, which is capable of limiting the relative rotation between the testing platform 1 and the tilting ring 2 when the first pin 6 is placed through the first and second through holes.
In this embodiment, through set up first through-hole at the lower extreme of back shaft 12, set up the second through-hole at the lower extreme of connecting axle 22, when needs test platform 1 and tilting ring 2 relative rotation, take off first round pin axle 6, rotate test platform 1 can, when needs restriction test platform 1 and tilting ring 2 relative rotation between in, lay first round pin axle 6 first through-hole and second through-hole can, simple structure, convenient operation.
In order to obtain a torsion period between the test platform 1 and the tilting ring 2, the test device further comprises a first rotation speed sensor 7, in particular, the first rotation speed sensor 7 is placed on top of the second disc 21, and correspondingly, the bottom of the first disc 11 is provided with a first protrusion 13, and when the test platform 1 and the tilting ring 2 are relatively stationary and in the original position, the first protrusion 13 is located directly above the first rotation speed sensor 7. When the test platform 1 and the tilting ring 2 relatively rotate, the relative positions of the first rotation speed sensor 7 and the first protrusion 13 are changed, so that a torsion period of the test platform 1 relative to the tilting ring 2 is obtained. The first rotational speed sensor 7 may be mounted on the tilting ring 2 by screws, or may be attached to the tilting ring 2.
As shown in fig. 1, the support 3 includes a table top 31 and a plurality of legs 32, the legs 32 are uniformly distributed at the bottom of the table top 31, preferably, 4 legs 32 are provided, the table top 31 is a rectangular table, and the 4 legs 32 are provided at four corners of the table top 31. The table top 31 is provided with a round hole 33, the test platform 1 and the tilting ring 2 are correspondingly arranged in the round hole 33, the diameter of the round hole 33 is larger than that of the test platform 1, and the diameter of the test platform 1 is equal to the outer diameter of the tilting ring 2.
Considering that the test platform 1 and the tilting ring 2 need to rotate along the horizontal axis together in the test process, the table top 31 is provided with a third through hole and a fourth through hole, the third through hole and the fourth through hole are symmetrically located at two sides of the tilting ring 2, the connecting line of the third through hole and the fourth through hole passes through the diameter of the tilting ring 2, and the third through hole and the fourth through hole are all communicated with the round hole 33. Correspondingly, a first slot and a second slot are symmetrically arranged along the radial direction of the tilting ring 2, and the first slot and the second slot are respectively opposite to the third through hole and the fourth through hole.
As shown in fig. 3, the testing device further includes two second bearings 8 and two second pins 9, one second bearing 8 is disposed in the first slot, the other second bearing 8 is disposed in the second slot, one second pin 9 passes through the third through hole to be connected with the second bearing 8, and the other second pin 9 passes through the fourth through hole to be connected with the second bearing 8. The two second pins 9 then form an axis about which the test platform 1 and the tilting ring 2 rotate, so that the test platform 1 and the tilting ring 2 can tilt about this axis.
In order to obtain torsion data when the test platform 1 and the tilting ring 2 tilt relative to the support frame 3, the test device further comprises two second torsion springs 10, wherein one second torsion spring 10 is sleeved on the second pin shaft 9 and is positioned in the third through hole, and the other second torsion spring 10 is sleeved on the second pin shaft 9 and is positioned in the fourth through hole.
In this embodiment, the two second pins 9 are disposed along the same diameter direction of the tilting ring 2, so that the test platform 1 and the tilting ring 2 can tilt along a horizontal axis formed by the two second pins 9.
Considering that the tilting of the test platform 1 and the tilting ring 2 along the horizontal axis sometimes needs to be limited in the test process, a fifth through hole and a sixth through hole are arranged on the table top 31, the fifth through hole and the sixth through hole are symmetrically located on two sides of the tilting ring 2, the connecting line of the fifth through hole and the sixth through hole passes through the diameter of the tilting ring 2, the fifth through hole and the sixth through hole are communicated with the round hole 33, and the connecting line of the fifth through hole and the sixth through hole is perpendicular to the connecting line of the third through hole and the fourth through hole. Correspondingly, a third slot and a fourth slot are symmetrically arranged along the radial direction of the tilting ring 2, and the third slot and the fourth slot are respectively opposite to the fifth through hole and the sixth through hole.
As shown in fig. 1 and 4, the testing device further includes two third pins 14, wherein an end portion of one third pin 14 is connected to the third slot through the fifth through hole, and an end portion of the other third pin 14 is connected to the fourth slot through the sixth through hole.
In this embodiment, the two third pins 14 are respectively connected with the slots (the third slot and the fourth slot) on the tilting ring 2 and the through holes (the fifth through hole and the sixth through hole) on the supporting frame 3 in a matching manner, so that the tilting ring 2 can be limited to the supporting frame 3.
In order to obtain the torsion cycle of the tilting ring 2 relative to the supporting frame 3 during the moment of inertia test, as shown in fig. 4, the test device further comprises a second rotation speed sensor 15, wherein the second rotation speed sensor 15 is arranged on the inner wall of the circular hole 33, and correspondingly, a second protrusion 23 is arranged on the outer circumferential surface of the tilting ring 2, and when the tilting ring 2 and the supporting frame 3 are relatively stationary and are positioned at the original position, the second protrusion 23 is opposite to the second rotation speed sensor 15. When the tilting ring 2 and the supporting frame 3 relatively rotate, the relative positions of the second rotation speed sensor 15 and the second protrusion 23 are changed, so that a torsion period of the tilting ring 2 relative to the supporting frame 3 is obtained. The second rotational speed sensor 15 can be mounted on the support 3 by means of screws, for example, or can be glued to the support 3.
Considering that pressure data needs to be acquired during the gravity center test, as shown in fig. 1 and 5, the testing device further includes a pressure sensor 16, a placing frame 34 is disposed between two supporting legs 32 of the supporting frame 3, and the pressure sensor 16 is disposed on the placing frame 34. As shown in fig. 6, the bottom edge of the tilting ring 2 is provided with a third protrusion 24, and the third protrusion 24 is located directly below the third slot or the fourth slot, and when the tilting ring 2 tilts about the second pin 9 as the rotation axis, the third protrusion 24 can contact the pressure sensor 16.
In order to allow different tilting angles of the tilting ring 2 when the third protrusion 24 is in contact with the pressure sensor 16, the testing device further comprises an adjustable mounting (not shown in the figure) on which the pressure sensor 16 is arranged, the adjustable mounting being arranged on the rest 34, the height of the pressure sensor 16 being changed by adjusting the height of the adjustable mounting to obtain different tilting angles of the tilting ring 2 when in contact with the pressure sensor 16.
According to the testing device provided by the embodiment, the corresponding data for calculating the gravity center and the moment of inertia can be obtained by changing the relative rotation mode among the testing platform 1, the tilting ring 2 and the supporting frame 3, and then the gravity center and the moment of inertia of heavy equipment can be obtained by calculation, so that the structure is simple, the operation is convenient, the safety risk existing in the suspension method and the three-wire pendulum test is avoided, and the economic cost is reduced.
Example 2
In another embodiment of the present invention, as shown in fig. 1 to 6, a method for testing the center of gravity and moment of inertia of heavy equipment is disclosed, and the device for testing the center of gravity and moment of inertia of heavy equipment according to embodiment 1 is used, including a method for testing the center of gravity of heavy equipment and a method for testing the moment of inertia of heavy equipment.
The gravity center testing method of the heavy equipment comprises the following steps:
step 1: fixing the device under test 100 onto the test platform 1, limiting the relative rotation of the test platform 1 and the tilting ring 2, and enabling the device under test 100, the test platform 1 and the tilting ring 2 to rotate as a whole around the axis where the second pin 9 is located to obtain a first tilting angle alpha 1 First pressure value N 1 And the center of gravity of the whole body (the device under test 100, the test platform 1 and the tilting ring 2 as a whole body) and tilt by alpha 1 Straight line m of (2) 1 Is a function of the equation (c).
Step 1.1: and 2 second pin shafts 9 with the second torsion springs 10 are removed, and after the second torsion springs 10 are removed, 2 second pin shafts 9 without the second torsion springs 10 are inserted again.
Step 1.2: the test platform 1, the tilting ring 2 and the supporting frame 3 are limited to move relatively, and the device 100 to be tested is placed.
In step 1.2, the first pin 6 is kept well inserted to restrict the rotational freedom of the test platform 1 relative to the tilting ring 2, and the third pin 14 is kept well inserted to restrict the rotational freedom of the tilting ring 2 relative to the supporting frame 3, and at this time, there is no relative movement between the test platform 1, the tilting ring 2 and the supporting frame 3, so as to place the device under test 100.
Step 1.3: after the device under test 100 is fixed, the two third pins 14 are removed to release the rotation restriction between the tilting ring 2 and the supporting frame 3. Rotating the tilting ring 2 such that the third protrusion 24 is in contact with the pressure sensor 16, a first pressure value N is obtained 1 And a first tilting angle alpha of the tilting ring 2 1 。
In step 1.3, there is no relative movement among the device under test 100, the test platform 1 and the tilting ring 2, and the three are as a whole, because the second pin 9 connects the support frame 3 and the tilting ring 2, the device under test 100, the test platform 1 and the tilting ring 2 as a whole can rotate around the axis where the second pin 9 is located, and the third protrusion 24 obtains the first pressure value N when contacting the pressure sensor 16 1 First tilting angle α of tilting ring 2 1 . The first inclination angle α 1 Measured by an angle ruler, a first inclination angle alpha 1 Also the tilting angle of the test platform 1 and the device under test 100.
Step 1.4: according to the first tilting angle alpha 1 And a first pressure value N 1 Obtain the whole gravity center and incline alpha 1 Straight line m of (2) 1 Is a function of the equation (c).
Knowing the radius R of the tilting ring 2, the gravity of the device under test 100 is G 0 The gravity of the whole of the device under test 100, the test platform 1 and the tilting ring 2 is G, and therefore the distance a between the contact point of the third protrusion 24 and the pressure sensor 16 and the tilting axis (i.e. the axis on which the second pin 9 is located) 1 ＝R×cosα 1 The distance b from the whole gravity center to the tilting axis can be obtained according to a moment balance equation 1 ＝N 1 ×a 1 and/G. In the xy plane coordinate system, the overweight center is inclined alpha according to the plane geometrical relationship 1 The equation of the straight line m1 of the angle is x+b 1 /cosα 1 ＝y tanα 1 。
It should be noted that, in the xy plane coordinate system, the x axis coincides with the axis of the third pin 14, and points away from the third protrusion 24, and the y axis passes through the axis of the second pin 9, and points toward the device under test 100.
Step 2: varying the height of the pressure sensor 16 to obtain a second tilting angle beta 1 Second pressure value N 2 And pass through the center of gravity of the whole body and incline beta 1 Straight line n of (2) 1 Is a function of the equation (c).
Adjusting the height of the adjustable mounting seat, changing the height of the pressure sensor 16, rotating the tilting ring 2 to make the third protrusion 24 contact with the pressure sensor 16, obtaining a second pressure value N 2 And a second tilting angle beta of the tilting ring 2 1 。
Distance a from the contact point of the third protrusion 24 with the pressure sensor 16 to the tilting axis (i.e. the axis of the second pin 9) 2 ＝R×cosβ 1 The distance b from the whole gravity center to the tilting axis can be obtained according to a moment balance equation 2 ＝N 2 ×a 2 and/G. In the xy coordinate system, the overweight center is inclined by beta according to the plane geometrical relationship 1 Straight line n of angle 1 Is x+b 2 /cosβ 1 ＝y tanβ 1 。
Step 3: solving straight line m in xy plane coordinate system 1 And straight line n 1 To obtain the barycentric coordinates (x) of the device under test 100, the test platform 1, and the tilting ring 2 as a whole 0 ，y 0 )。
Solving a system of equationsObtaining the barycentric coordinates (x) of the device under test 100, the test platform 1, and the tilting ring 2 as a whole 0 ，y 0 )。
Step 4: the device under test 100 is rotated horizontally by 90 °, steps 1.3, 1.4 and 2 are repeated to obtain the barycentric coordinates (y) of the device under test 100, the test platform 1 and the tilting ring 2 as a whole 0 ，z 0 ) Thereby obtaining the three-dimensional barycentric coordinates (x) of the device under test 100, the test platform 1, and the tilting ring 2 as a whole 0 ，y 0 ，z 0 )。
Specifically, the third pin 14 is installed so that the test platform 1 is in a horizontal state, then the device under test 100 is rotated horizontally by 90 ° and then fixed, and the above-mentioned barycentric coordinates (x 0 ，y 0 ) The test steps (step 1.3, step 1.4 and step 2) of the test device 100, the test platform 1 and the tilting ring 2 can be obtainedIs the center of gravity coordinate (y 0 ，z 0 ) Combining the two to obtain the three-dimensional barycentric coordinates (x) of the device under test 100, the test platform 1 and the tilting ring 2 as a whole 0 ，y 0 ，z 0 )。
It should be noted that, in acquiring the barycentric coordinates (y 0 ，z 0 ) Since the second torsion spring 10 is in the process of obtaining the barycentric coordinates (x 0 ，y 0 ) And is removed, so that step 1.1 need not be repeated.
Step 5: repeating steps 1 to 3 after removing the device under test 100 to obtain the barycentric coordinates (x) of the test platform 1 and the tilting ring 2 as a whole 1 ，y 1 )。
Specifically, step 5.1: the relative rotation of the test platform 1 and the tilting ring 2 is limited, so that the test platform 1 and the tilting ring 2 rotate as a whole around the axis where the second pin shaft 9 is positioned, and the third bulge 24 is contacted with the pressure sensor 16, so as to obtain a third tilting angle alpha 2 Third pressure value N 3 And the center of gravity of the whole (the test platform 1 and the tilting ring 2 are taken as a whole) and tilt alpha 2 Straight line m of (2) 2 Is a function of the equation (c).
Step 5.2: according to the third inclination angle alpha 2 And a third pressure value N 3 The center of gravity of the tested platform 1 and the tilting ring 2 as a whole is obtained and the tilt alpha is obtained 2 Straight line m of (2) 2 Is a function of the equation (c).
Knowing that the radius of the tilting ring 2 is R, the gravity of the whole of the test platform 1 and the tilting ring 2 is G 1 Thus, the distance a from the contact point of the third protrusion 24 with the pressure sensor 16 to the tilting axis (i.e. the axis of the second pin 9) 3 ＝R×cosα 2 The distance b from the whole gravity center to the tilting axis can be obtained according to a moment balance equation 3 ＝N 3 ×a 3 /G 1 . In the xy plane coordinate system, the overweight center is inclined alpha according to the plane geometrical relationship 2 Straight line m of angle 2 Is x+b 3 /cosα 2 ＝y tanα 2 。
Step 5.3: varying pressure transmissionThe height of the sensor 16, a fourth tilting angle beta is obtained 2 Fourth pressure value N 4 And the center of gravity of the test platform 1 and the tilting ring 2 as a whole and tilting beta 2 Straight line n of (2) 2 Is a function of the equation (c).
Adjusting the height of the adjustable mounting seat, changing the height of the pressure sensor 16, rotating the tilting ring 2 to make the third protrusion 24 contact with the pressure sensor 16, obtaining a fourth pressure value N 4 And a fourth tilting angle beta of the tilting ring 2 2 。
Distance a from the contact point of the third protrusion 24 with the pressure sensor 16 to the tilting axis (i.e. the axis of the second pin 9) 4 ＝R×cosβ 2 The distance b from the whole gravity center to the tilting axis can be obtained according to a moment balance equation 4 ＝N 4 ×a 4 /G 1 . In the xy coordinate system, the overweight center is inclined by beta according to the plane geometrical relationship 2 Straight line n of angle 2 Is x+b 4 /cosβ 2 ＝y tanβ 2 。
Step 5.4: solving straight line m in xy plane coordinate system 2 And straight line n 2 To obtain the barycentric coordinates (x) of the test platform 1 and the tilting ring 2 as a whole 1 ，y 1 )。
Solving a system of equationsObtaining the barycentric coordinates (x) of the test platform 1 and the tilting ring 2 as a whole 1 ，y 1 )。
Step 6: the principle of barycentric coordinate superposition is utilized to further obtain the three-dimensional barycentric coordinates of the device 100 to be tested.
It should be noted that, in acquiring the barycentric coordinates (y 0 ,z 0 ) In (2), only the device under test 100 is rotated by 90 ° so that the x-coordinate is not changed, and therefore the xy-coordinate value of the test platform 1 and the tilting ring 2 as a whole corresponds to the yz-coordinate value, only the overall barycentric coordinate (x 1 ,y 1 ) The coordinates (x) 1 ,y 1 ,x 1 ) Participating in the process of resolving the barycentric coordinates of the device under test 100, i.e. using the coordinates (x 1 ,y 1 ,x 1 ) To show the barycentric coordinates of the test platform 1 and the tilting ring 2 as a whole, the z-axis coordinates are not actually obtained.
The rotational inertia testing method of the heavy equipment comprises the following steps:
step S1: fixing the device under test 100 to the test platform 1, and acquiring the torsion period T of the test platform 1 relative to the tilting ring 2 1 。
Specifically, step S1.1: the test platform 1, the tilting ring 2 and the supporting frame 3 are limited to move relatively, and the device 100 to be tested is placed.
In step 1.1, the first pin 6 is kept well inserted to restrict the rotational freedom of the test platform 1 relative to the tilting ring 2, and the third pin 14 is kept well inserted to restrict the rotational freedom of the tilting ring 2 relative to the supporting frame 3, and at this time, there is no relative movement between the test platform 1, the tilting ring 2 and the supporting frame 3, so as to place the device under test 100.
Step S1.2: after the device 100 to be tested is fixed, the first pin shaft 6 is dismounted, the rotation freedom degree of the test platform 1 relative to the tilting ring 2 is released, then the test platform 1 is shifted to enable the test platform 1 to make small-angle (within 30 degrees) periodic torsion relative to the tilting ring 2, and the torsion period T of the test platform 1 relative to the tilting ring 2 is acquired through the first rotation speed sensor 7 1 。
Step S2: calculating moment of inertia J of the device under test 100 and the test platform 1 in the plumb direction 1 。
The above-mentioned torsion motions are satisfiedWherein: j (J) 1 For the moment of inertia in the plumb direction of the whole of the device under test 100 and the test platform 1 c 1 For torsional damping (since rotation is by the first bearing 4, the system damping c can be neglected 1 The influence of (2) θ is the torsion angle, +.>For the torsion angular velocity +.>For the torsion angular acceleration, the period of the above motion can be theoretically obtainedSo that the moment of inertia->
Since it is known that: torsional rigidity k of first torsion spring 5 1 Torsion period T of test platform 1 relative to tilting ring 2 1 . Therefore, the moment of inertia J of the whole test platform 1 and the device 100 to be tested in the plumb direction can be obtained 1 。
Step S3: removing the device under test 100 to obtain the moment of inertia J of the test platform 1 in the plumb direction a 。
Specifically, the moment of inertia of the test platform 1 itself can be obtained by the above method when the device under test 100 is not placed. Torsion between the test platform 1 and the tilting ring 2 satisfies the equation of motionThe torsion period T of the test platform 1 relative to the tilting ring 2 obtained from the first rotation speed sensor 7 a Can calculate J a 。
Step S4: by utilizing the principle of moment of inertia superposition, the moment of inertia J of the test platform 1 in the plumb direction is subtracted a The moment of inertia J of the device under test 100 in the plumb direction can be obtained z 。
Step S5: fixing the device under test 100 on the test platform 1, and acquiring a torsion period T of the whole of the device under test 100, the test platform 1 and the tilting ring 2 relative to the support frame 3 2 。
Specifically, step S5.1: the test platform 1, the tilting ring 2 and the supporting frame 3 are limited to move relatively, and the device 100 to be tested is placed.
In step 5.1, the first pin 6 is kept well inserted to restrict the rotational freedom of the test platform 1 relative to the tilting ring 2, and the third pin 14 is kept well inserted to restrict the rotational freedom of the tilting ring 2 relative to the supporting frame 3, and at this time, there is no relative movement between the test platform 1, the tilting ring 2 and the supporting frame 3, so as to place the device under test 100.
Step S5.2: after the device 100 to be tested is fixed, the third pin shaft 14 is dismounted, the rotation freedom degree of the tilting ring 2 relative to the support frame 3 is released, then the tilting ring 2 is shifted, the tilting ring 2 can periodically twist at a small angle (within 30 degrees) relative to the support frame 3 around the second pin shaft 9 with the second torsion spring 10, and the torsion period T of the tilting ring 2 relative to the support frame 3 is acquired through the second rotation speed sensor 15 2 。
Step S6: calculating moment of inertia J of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the x-direction of the horizontal plane 2 。
In the same way, the above-mentioned torsion motions are satisfiedWherein: j (J) 2 For the moment of inertia, c, of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the x-direction of the horizontal plane 2 For torsional damping (since rotation is by the second bearing 8, the system damping c can be neglected 2 The influence of (2) θ is the torsion angle, +.>For the torsion angular velocity +.>For the torsion angle acceleration, the period of the above-mentioned movement can theoretically be obtained +.>So that the moment of inertia->
Since it is known that: torsional rigidity k of the second torsion spring 10 2 Torsional period T of tilting ring 2 relative to support frame 3 2 . Therefore, the moment of inertia J of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the x-direction of the horizontal plane can be obtained 2 。
Step S7: by utilizing the principle of moment of inertia superposition, the moment of inertia J of the device 100 to be tested in the x direction of the horizontal plane can be obtained by subtracting the moment of inertia of the whole of the test platform 1 and the tilting ring 2 x 。
The moment of inertia of the whole test platform 1 and the tilting ring 2 can be obtained by adopting the above method when the device 100 to be tested is not placed, and will not be described herein.
Step S8: the device 100 to be tested is rotated by 90 degrees on the horizontal plane, and the torsion period T of the tilting ring 2 relative to the support frame 3 is obtained 3 。
Specifically, step S8.1: the test platform 1, the tilting ring 2 and the supporting frame 3 are restrained from relative movement, and the device 100 to be tested is placed.
2 third pins 14 are inserted to restrict the rotation freedom degree of the tilting ring 2 relative to the supporting frame 3, the first pins 4 keep in a penetrating state to restrict the rotation freedom degree of the testing platform 1 relative to the tilting ring 2, the device to be tested 100 is rotated by 90 degrees on the horizontal plane and is fixed on the testing platform 1 again, and at the moment, the device to be tested 100, the testing platform 1 and the tilting ring 2 are fixed into a whole.
Step S8.2: the 2 third pins 14 are removed, and the rotational freedom of the tilting ring 2 relative to the support frame 3 is released. Then the tilting ring 2 is shifted, the tilting ring 2 can make a small angle (within 30 degrees) relative to the support frame 3 around the second pin shaft 9 with the second torsion spring 10, and the torsion period T of the tilting ring 2 relative to the support frame 3 is taken through the second rotation speed sensor 15 3 。
Step S9: calculating moment of inertia J of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the horizontal plane y direction 3 。
In the same way, the above-mentioned torsion motions are satisfiedWherein: j (J) 3 For the moment of inertia, c, of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the horizontal plane y-direction 2 Is a torsion resistanceThe damping c of the system can be neglected (due to rotation by the second bearing 8 2 The influence of (2) θ is the torsion angle, +.>For the torsion angular velocity +.>For the torsion angle acceleration, the period of the above-mentioned movement can theoretically be obtained +.>So that the moment of inertia->
Since it is known that: torsional rigidity k of the second torsion spring 10 2 Torsional period T of tilting ring 2 relative to support frame 3 3 . Therefore, the moment of inertia J of the whole of the device under test 100, the test platform 1 and the tilting ring 2 in the y-direction of the horizontal plane can be obtained 3 。
Step S10: by utilizing the principle of moment of inertia superposition, the moment of inertia J of the device 100 to be tested in the horizontal plane y direction can be obtained by subtracting the moment of inertia of the whole of the test platform 1 and the tilting ring 2 y 。
The moment of inertia of the whole test platform 1 and the tilting ring 2 can be obtained by adopting the above method when the device 100 to be tested is not placed, and will not be described herein.
The moment of inertia J of the three axes of the device under test 100 has been tested z 、J x And J y 。
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. The utility model provides a heavy equipment's focus, moment of inertia testing arrangement, its characterized in that includes test platform (1), tilting ring (2) and support frame (3), test platform (1) are located the top of tilting ring (2), just test platform (1) with tilting ring (2) can rotate relatively, tilting ring (2) with support frame (3) are connected, and equipment to be tested (100) are laid on test platform (1).
2. The gravity center and moment of inertia testing apparatus of heavy equipment according to claim 1, wherein the testing platform (1) comprises a first disc (11) and a supporting shaft (12), the supporting shaft (12) is arranged at the bottom of the first disc (11), and the supporting shaft (12) is a stepped shaft.
3. The gravity center, moment of inertia testing apparatus of heavy equipment according to claim 2, wherein the tilting ring (2) includes a second disc (21) and a connection shaft (22), the connection shaft (22) being provided at a bottom of the second disc (21).
4. A gravity center, moment of inertia testing apparatus of heavy equipment according to claim 3, wherein a first stepped hole is provided at a center of the second disk (21), and a second stepped hole is provided along an axial direction of the connection shaft (22).
5. The gravity center, moment of inertia testing apparatus of heavy equipment according to claim 4, wherein the second stepped hole is concentric with the connecting shaft (22), and the first stepped hole and the second stepped hole communicate.
6. A gravity center, moment of inertia testing device of heavy equipment according to claim 3, further comprising a first rotation speed sensor (7), the first rotation speed sensor (7) being provided on top of the second disc (21).
7. The gravity center, moment of inertia testing apparatus of heavy equipment according to claim 6, wherein a bottom of the first disk (11) is provided with a first protrusion (13).
8. The gravity center and moment of inertia testing apparatus of heavy equipment according to any one of claims 1-7, wherein the supporting frame (3) comprises a table top (31), and a round hole (33) is formed in the table top (31).
9. The gravity center and moment of inertia testing apparatus of heavy equipment according to claim 8, wherein the testing platform (1) and the tilting ring (2) are correspondingly disposed in the circular hole (33).
10. A method for testing the center of gravity and moment of inertia of heavy equipment, characterized in that the device for testing the center of gravity and moment of inertia of heavy equipment according to any one of claims 1 to 9 is used for testing.
CN202311347047.0A 2023-10-18 2023-10-18 Gravity center and rotational inertia testing device and method for heavy equipment Pending CN117387838A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117694841A (en) * 2024-02-06 2024-03-15 成都中医药大学 Gravity center track data acquisition method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117694841A (en) * 2024-02-06 2024-03-15 成都中医药大学 Gravity center track data acquisition method
CN117694841B (en) * 2024-02-06 2024-04-30 成都中医药大学 Gravity center track data acquisition method

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