CN201335793Y - Sextuple loaded material mechanical testing machine - Google Patents
Sextuple loaded material mechanical testing machine Download PDFInfo
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- CN201335793Y CN201335793Y CNU2008201246969U CN200820124696U CN201335793Y CN 201335793 Y CN201335793 Y CN 201335793Y CN U2008201246969 U CNU2008201246969 U CN U2008201246969U CN 200820124696 U CN200820124696 U CN 200820124696U CN 201335793 Y CN201335793 Y CN 201335793Y
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Abstract
The utility model relates to a sextuple loaded material mechanical testing machine which is capable of testing dynamic and static mechanical properties of material under three-dimensional force and three-dimensional torque. Six Hooke hinges are fixed on a base platform and six spherical hinges are fixed on a movable platform. A test piece is clamped on an upper clamp and a lower clamp; the upper clamp is fixedly connected with the movable platform and can move along with the platform; and the lower clamp is fixed on a sextuple force sensor. The test piece receives load through the upper clamp and the lower clamp; and the movable platform is driven to move by six telescopic links which can stretch and retract axially precisely under the drive of a servo host computer. The combination of the stretching and retracting of the six telescopic links drives the upper clamp to move in various forms so that various single or combined load can be added to the test piece under. The sextuple loaded material mechanical testing machine can test the dynamic and static mechanical properties of the mechanical test piece material under three-dimensional force and three-dimensional torque.
Description
(1) technical field
Patent of the present invention relates to a kind of material mechanical performance test detecting equipment, and particularly a kind of being suitable for carried out multidimensional loading mechanical property test sensing equipment to standard material mechanics test specimen.Belong to the Experiments of Machanics technical field.
(2) background technology
At present, the test form of mechanics test specimen is forms such as simple stretching, compression, bending, distortion substantially.But the actual loading situation of actual components and standard testing power (simple stretching, compression, bending, distortion etc.) differ greatly, and promptly there is very large gap in the combination of multiple simple test force often between material environment for use and design considerations at present.This gap causes Intensity Design error to occur, makes structure early damage occur.In common product design, always adopt the method that strengthens safety coefficient to make the working stress of part, tackling above-mentioned design error, but cause the bulkiness and the waste of material of structure so again away from maximum conditions.Be starved of a kind of proving installation that can simulate the actual loading situation at present, under simulation actual loading environment, test material load-bearing capacity data are for structure optimization, lightweight, security and Reliability Design provide foundation.
The present invention is based on the parallel moving mechanism motion principle, inventing a kind of is the multi-freedom parallel connection mechanical test machine of tested object with standard mechanics test specimen.Simulation material actual loading situation in use, the dynamic and static load-bearing capacity of bioassay standard mechanics of materials test specimen.Mechanical test machine of the present invention can be realized the dynamic and static material mechanical performance test of three-dimensional force and three-dimensional moment.
Parallel institution once was used for flight simulator the sixties, be used for robot arm the seventies.1993 to 1994 in the period of, the U.S., Switzerland, Russia have successively released initial parallel machine product.Successively there were tens companies and university to put on display the parallel machine of development separately in 1996 again in the period of to 1998, and present diverse trends.Except that six bar six degree of freedom structures, multiple lower-mobility structure, connection in series-parallel mixed structure etc. have appearred.Current, parallel institution obtains application to a certain degree in fields such as numerically-controlled machine, assembly robot.The successful Application of parallel moving mechanism on stock-removing machine proves that there are enough load-bearing capacitys, freedom of motion and bearing accuracy in this mechanism, can satisfy the requirement of test specimen Mechanics Performance Testing fully.Current new material mechanical test machine extensively replaces hydraulic-driven with driven by servomotor, to obtain higher position servo precision, so the parallel kinematic structure applications is had sufficient foundation and feasibility in the conception of test specimen Mechanics Performance Testing.
(3) summary of the invention
Content of the present invention is to propose a kind of mechanical property experiment with measuring machine structure of carrying out sextuple power loading at standard material mechanics test specimen, and testing machine motion implementation method.With the parallel kinematic structure applications in the structural member Mechanics Performance Testing, to solve the deficiency of present unidirectional mechanics testing machine.
A kind of six-dimension loading material mechanical test machine of the present invention, adopt load maintainer in parallel to applied alone or in combination sextuple load (along the power of X, Y, Z three directions with around the moment of three directions) by the ergometry test specimen, the force-bearing situation of imitation specimen under in working order truly, measure the load-bearing capacity of test specimen more accurately, provide foundation for realizing the precision architecture design.Consist of the following components.
1. load maintainer in parallel
The load maintainer in parallel of six-dimension loading material mechanical test machine is made up of several like this parts altogether: basic platform, Hooke's hinge (totally 6), expansion link (totally 6), six-dimension force sensor, anchor clamps (totally 2), test specimen, ball pivot (totally 6), movable platform.Hooke's hinge, expansion link, anchor clamps, ball pivot are assembly, are made up of a plurality of parts or subassembly respectively.Hooke's hinge and ball pivot adopt common construction standard assembly, and expansion link is divided into motor-driven and two kinds of forms of hydraulic oil cylinder driving.Anchor clamps are divided into anchor clamps and lower clamp, and both structures are identical, adopt vice formula screw structure to clamp.Basic platform and movable platform are triangle, and six oscillating bearing-Hooke's hinges and ball pivot are respectively arranged.Test specimen by clamping on two anchor clamps up and down.Last anchor clamps are fixedlyed connected with movable platform, move with movable platform.Lower clamp is fixed on the six-dimension force sensor, and sextuple mechanics sensor is fixedlyed connected with basic platform.Test specimen is accepted load by two anchor clamps up and down, can realize the dynamic and static material mechanical performance test of three-dimensional force and three-dimensional moment.Moving by six expansion links of movable platform drives realization.The expansion link parts are realized accurate axial stretching under the driving of self servo host.The flexible combination of six expansion links realizes the various motions of last anchor clamps are driven, and then test specimen is applied various single or combined loads.
Expansion link can adopt with the motor to be the expansion link of servo host or to be the expansion link of servo host with the hydraulic jack.
Basic platform is connected by six roots of sensation connecting rod in parallel (being expansion link) with movable platform, every connecting rod ball pivot one end in parallel is connected by the ball pivot seat with movable platform, Hooke's hinge one end is connected by the Hooke free bearing with basic platform, forms 6-UPS mechanism (i.e. 6 kinematic chain mechanisms that Hooke's hinge-moving sets-ball pivot is formed).
Its principle of work is: every connecting rod in parallel drives by motor-leading screw or Driven by Hydraulic Cylinder generation stretching motion, the motion combination of six roots of sensation connecting rod makes movable platform produce the loading campaign of six degree of freedom, can apply sextuple load (three-dimensional force and three-dimensional moment) to test specimen.The motion of six roots of sensation connecting rod can produce given motion combination and Changing Pattern thereof according to required loading spectrum by computer control.
2. control system
As shown in Figure 4, the control system composition comprises:
1) load motion controller: comprise control computer and multi-axis motion control card, multi-axis motion control card is inserted in the I/O expansion slot of control computer, sends motion control instruction to each kinematic axis under computer control.Multi-axis motion control card links to each other with servomotor by driver, links to each other with servo-cylinder by servo-valve.
Wherein, control computer can be selected 486 above industrial computers for use,
Wherein, multiaxial motion control control card can be selected 6 above control cards for use.
2) load movement programming system and control system software: loading movement programming system software promptly is installed in the software systems on the described control computer, and it comprises load-displacement conversion module, Cartesian coordinates-real axis coordinate transferring and programming interface.Described load-displacement conversion module is to require to determine displacement mode according to load, or determines the software module of load mode according to displacement request.Cartesian coordinates-real axis coordinate transferring is used for the deformation displacement of Cartesian coordinates is converted to the displacement (mechanism is counter to separate) of each connecting rod; To import kind, the quantity of load in the programming interface, the space of load, time distribute information such as extreme displacement.Loading kinetic control system software is according to the result of calculation that loads the movement programming system, the concrete software of carrying out six expansion link extension and contraction control and power, Displacement Feedback control.
According to the kind of load, quantity, room and time distribution etc., determine movable platform motion requirement.Found the solution by the Cartesian coordinates-real axis coordinate transferring that loads the movement programming system software that parallel institution is counter to be separated, control each expansion link servo-drive system and produce given loading campaign, the motion requirement that is about to movable platform is decomposed into each stretching motion of six expansion links.The anti-concrete computation process of separating of mechanism is as follows:
Motion is counter separates in order to ask, movable platform set up coordinate system (Op-Xp, Yp, Zp), basic platform set up coordinate system (Ob-Xb, Yb, Zb), each root expansion link with a vector Li represent (i=1,2 ... 6.), as shown in Figure 5.
Among Fig. 5, H is the position vector of movable platform true origin in the basic platform coordinate system, and Pi is a movable platform hinge point position vector, and Bi is that vow basic platform hinge point position.Can get by illustrated vector correlation:
Li＝H+PiR
T-Bi (1)
In the formula, R is the attitude matrix of movable platform coordinate system with respect to the basic platform coordinate system:
Sin and cos brief note is s and c, θ in the matrix
1, θ
2, θ
3Represent the corner of movable platform respectively around X, Y, Z axle.
Desired position H and attitude θ when loading according to movable platform
1, θ
2, θ
3, by formula (1) and (2), can calculate the long Li of bar, realize control to parallel institution.
3) load the motion servo system: comprise servo power supply, servo host and to the feedback circuit of control system.Described servo host can adopt servomotor or servo-cylinder; For little load, high precision load maintainer, servo host preferentially adopts servomotor, is good with AC servo motor again wherein; For big load, low precision load maintainer, servo host preferentially adopts servo-cylinder, and displacement transducer resolution is not more than 5 ‰ of maximum load displacement.
4) force transducer: foregoing six-dimension force sensor, measure three-dimensional power and three-dimensional moment, and to loading motion controller and sampling system feedback force sensor signal.Six-dimension force sensor can be selected piezoelectric type or strain-type for use, preferentially selects piezoelectric transducer when load is the higher dynamic loading of frequency for use; When load is static load or when changing slower load, preferentially select strain gauge transducer for use.
5) displacement transducer: with the motor is the expansion link of servo host, can directly utilize rotary encoder that the servomotor afterbody carries as the expansion link displacement transducer; With the hydraulic jack is the expansion link of servo host, and a linear displacement transducer is set on each expansion link.Be used for to the axial displacement information that loads motion controller and sampling system feedback expansion link.Displacement transducer resolution is not more than 5 ‰ of maximum load displacement.
Loading movement programming system is mounted in the software systems on the control computer, and its function is the LOAD FOR load deflection required according to loading, and the gained displacement is the displacement in the cartesian coordinate system, through coordinate conversion, becomes real axis coordinate displacement amount; Load motion controller and link to each other with loading motion servo system, the real axis displacement sends instruction through control computer and multi-axis motion control card to loading the motion servo system, makes servo host produce given motion; Force transducer is installed in and detects the actual loaded effect on the basic platform, and to the control computer feedback, regulates.
Control system operation block diagram as shown in Figure 6.Control system adopts the dual feedback of force signal and displacement signal that load maintainer is controlled.Computing machine sends instructions for respectively six servo host according to program, six main frames of synchro control, and then the action of control movable platform.Between computing machine and servo host, be connected with driver, be used for receiving computer instruction and provide enough power to servo host.Computing machine is gathered power, the torque signals of force transducer simultaneously, writes down, analyzes, handles.Each root expansion link can be realized position feedback control according to displacement transducer.Computing machine is realized the integral position FEEDBACK CONTROL and the force feedback control of movable platform according to the power and the torque signals of force transducer.
Relation between loading movement programming system and control system software as shown in Figure 7.Loading the movement programming system software is the pre-treatment and the working foundation of motion control, and control system software is controlled six expansion link extension and contraction control and power, Displacement Feedback according to the former concrete execution of result of calculation.
3. sampling system
Sampling system is carried out conversion, storage, processing in order to gather force signal and displacement signal, expression waies such as formation curve, numerical table, the relation of power and displacement in the demonstration loading procedure.As shown in Figure 8, sampling system comprises:
1) computing machine: comprise functions such as data storage, processing, demonstration.
2) force transducer: six-dimension force sensor, three-dimensional power and three-dimensional moment that real-time sensing test specimen is born in experimentation.The used force sensor signals feedback force signal used with loading motion controller of sampling system is same signal, produces by six-dimension force sensor.
3) sampling integrated circuit board: the functions such as collection, A/D conversion that comprise the hyperchannel force signal.Can select the data acquisition card more than 12 for use, port number will satisfy the acquisition channel requirement.
4) displacement transducer: with the motor is the expansion link of servo host, can directly utilize rotary encoder that the servomotor afterbody carries as the expansion link displacement transducer; With the hydraulic jack is the expansion link of servo host, and a linear displacement transducer is set on each expansion link.Be used for axial displacement information to sampling system feedback expansion link.
5) displacement computing module: according to the actual displacement of connecting rod, calculate, obtain the actual loaded displacement by the parallel institution normal solution.
The parallel institution normal solution calculates opposite with the anti-computation process of separating of front.Here the actual displacement vector Li of known every expansion link (i=1,2 ... 6.), find the solution the position vector H of true origin in the basic platform coordinate system of movable platform.As shown in Figure 5.Pi is a movable platform hinge point position vector, and Bi is that vow basic platform hinge point position.Can get by illustrated vector correlation:
H＝Li-PiR
T+Bi (3)
In the formula, R is the attitude matrix of movable platform coordinate system with respect to the basic platform coordinate system:
Sin and cos brief note is s and c, θ in the matrix
1, θ
2, θ
3Represent the corner of movable platform respectively around X, Y, Z axle.
The sampling system software flow as shown in Figure 9.After system start-up, software is wanted initialization; Then the force signal of force transducer and the displacement information of six expansion links are gathered respectively.The displacement information that collects six expansion links will carry out the displacement normal solution by the displacement computing module and calculate, and obtains the displacement of test specimen clamping place on the movable platform.Resultant force signal and displacement information, the load of drawing---displacement relation figure, and storage data.
6) strain transducer: at test specimen key point or key position, arrange foil gauge or strainometer, strain signal is transferred to the sampling integrated circuit board, detect the actual strain and the STRESS VARIATION of this point or position in real time.
The method of operating of a kind of six-dimension loading material mechanical test machine of the present invention is as follows:
1. clear and definite test specimen shape, size and test request.According to mechanics of materials test specimen test request, determine testing scheme:
(1) static load test or dynamic loading testing fatigue;
(2) load mode, magnitude of load, load duration, loading velocity, dynamic loading frequency, dynamic loading cycle index etc.;
(3) force servo control test or position control test.
2. according to movable platform motion requirement, separate, draw the forms of motion of every expansion link by the computer solving parallel institution is counter.The establishment driver is used for Control Servo System and produces the loading motion.
3. the clamping test specimen starts testing machine.Movable platform loads to test specimen, by the real-time monitors load of six-dimension force sensor, by the real-time displacement monitoring situation of the displacement transducer of six expansion links, and feeds back to control system.
4. meanwhile, the displacement signal of the load signal of six-dimension force sensor, six expansion links, test specimen key position strain signal are sampled system acquisition.The displacement signal of six expansion links is through the displacement computing module, and normal solution calculates test specimen and is held place's displacement.Resultant force signal and displacement information, output load---displacement relation figure; Resultant force signal and strain information, output stress---strain stress relation figure; And storage data.
The present invention relates to sextuple mechanic property test method of a kind of mechanics of materials test specimen and device thereof, adopt load maintainer in parallel that test specimen is applied three-dimensional force and three-dimensional moment, its advantage is: be subjected under the force environment test specimen to be applied multidimensional power and test realistic as far as possible, obtain more accurately ess-strain distributed data, dangerous position position and real more failure mode more accurately, thereby the force-bearing situation of real simulated material under in working order more measured the load-bearing capacity of material more accurately.Accurate design for the optimization of various bearing structures, lightweight, safe reliability is significant.
(4) description of drawings
Fig. 1 six-dimension loading material mechanical test machine structure diagram
Fig. 2 is the single expansion link synoptic diagram of servo host with the motor
Fig. 3 is the single expansion link synoptic diagram of servo host with the hydraulic jack
Fig. 4 control system is formed
Fig. 5 parallel institution coordinate diagram
Fig. 6 control system operation block diagram
Concern between Fig. 7 programing system and control system software
Fig. 8 sampling system block diagram
Fig. 9 sampling system software flow pattern
Test specimen of Figure 10 is subjected to stretching-crooked combined load effect
Concrete label declaration is as follows among the figure:
1, basic platform 2, Hooke's hinge 3, expansion link
4, six-dimension force sensor 5, anchor clamps 6, test specimen
7, ball pivot 8, movable platform 9, Hooke's hinge support
10, motor support 11, servomotor 12, shaft coupling
13, angular contact ball bearing 14, ball-screw
15, sleeve 16, nut 17, pole
18, ball pivot support 19, piston rod 20, displacement transducer scale
21, displacement transducer slide rule 22, servo-cylinder
5b, last anchor clamps 5a, lower clamp
(5) embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.Herein overall technical architecture at be little load, high-precision load maintainer.
1. load maintainer in parallel
As shown in Figure 1, the six-dimension loading material mechanical test machine load maintainer is made up of several like this parts altogether: basic platform 1, Hooke's hinge 2 (totally 6), expansion link 3 (totally 6), six-dimension force sensor 4, anchor clamps 5 (totally 2), test specimen 6, ball pivot 7 (totally 6), movable platform 8.
Hooke's hinge 2, expansion link 3, anchor clamps 5, ball pivot 7 are assembly, are made up of a plurality of parts or subassembly respectively.Hooke's hinge 2 and ball pivot 7 adopt common construction standard assembly, and expansion link 3 is a type motor-driven.Anchor clamps 5 are divided into anchor clamps 5b and lower clamp 5a, and both structures are identical, adopt vice formula screw structure to clamp.
It is the expansion link 3 of servo host that expansion link 3 adopts with servomotor 11, as shown in Figure 2, its composition has: Hooke's hinge support 9, motor support 10, servomotor 11, shaft coupling 12, angular contact ball bearing 13 (2), ball-screw 14, sleeve 15, nut 16, pole 17, ball pivot support 18.Servomotor 11 drives ball-screws 14 rotations by shaft coupling 12, and then promotes nut 16 and move up and down along sleeve 15 inside, drives pole 17 and ball pivot simultaneously and supports 18 and move up and down.The amount of spin of servomotor 11 is by the programmed control that weaves.
2. control system
As shown in Figure 4, the control system composition comprises:
1) load motion controller: comprise control computer and multi-axis motion control card, multi-axis motion control card is inserted in the I/O expansion slot of control computer, sends motion control instruction to each kinematic axis under computer control.Multi-axis motion control card links to each other with servomotor 11 by driver, and driver and servomotor 11 are by supporting the selecting for use of manufacturer's explanation.
Control computer is selected DELL (Dell) Optiplex 755 type computing machines for use.
Multi-axis motion control card is selected COMIZOA (section's placate) CompactPCI 6 axis motion control cards for use.
2) load movement programming system and control system software: loading movement programming system promptly is installed in the software systems on the control computer, comprises load-displacement conversion module, Cartesian coordinates-real axis coordinate transferring and programming interface.Described load-displacement conversion module is to require to determine displacement mode according to load, or determines the software module of load mode according to displacement request.Cartesian coordinates-real axis coordinate transferring is used for the deformation displacement of Cartesian coordinates is converted to the displacement (mechanism is counter to separate) of each connecting rod; To import kind, the quantity of load in the programming interface, the space of load, time distribute information such as extreme displacement.Loading kinetic control system software is according to the result of calculation that loads the movement programming system, the concrete software of carrying out six expansion links, 3 extension and contraction control and power, Displacement Feedback control.
According to the kind of load, quantity, room and time distribution etc., determine movable platform 8 motion requirements.Found the solution by the Cartesian coordinates-real axis coordinate transferring of control system that parallel institution is counter to be separated, control each expansion link 3 servo-drive system and produce given loading campaign, the motion that is about to movable platform 8 requires to be decomposed into each stretching motion of six expansion links 3.The anti-concrete computation process of separating of mechanism is as follows:
Motion is counter separates in order to ask, movable platform 8 set up coordinate system (Op-Xp, Yp, Zp), basic platform 1 set up coordinate system (Ob-Xb, Yb, Zb), vector Li of each root expansion link 3 usefulness represent (i=1,2 ... 6.), as shown in Figure 5.
Among Fig. 5, H is the position vectors of movable platform 8 true origin in basic platform 1 coordinate system, and Pi is movable platform 8 hinge point position vectors, and Bi is that vow basic platform 1 hinge point position.Can get by illustrated vector correlation:
Li＝H+PiR
T-Bi (1)
In the formula, R is the attitude matrixs of movable platform 8 coordinate systems with respect to basic platform 1 coordinate system:
Sin and cos brief note is s and c, θ in the matrix
1, θ
2, θ
3Represent the corner of movable platform 8 respectively around X, Y, Z axle.
Desired position H and attitude θ when loading according to movable platform 8
1, θ
2, θ
3, by formula (1) and (2), can calculate the long Li of bar, realize control to parallel institution.
3) load the motion servo system: comprise servo power supply, servomotor 11 and to the feedback circuit of control system.
4) force transducer: promptly six-dimension force sensor 4, measure three-dimensional power and three-dimensional moment, and to loading motion controller and sampling system feedback force sensor signal.This six-dimension force sensor 4 is selected the MC12 type six-dimension force sensor of U.S. AMTI company for use.
5) displacement transducer: directly utilize rotary encoder that servomotor 11 afterbodys carry as expansion link 3 displacement transducers; Be used for to the axial displacement information that loads motion controller and sampling system feedback expansion link 3.Displacement transducer resolution is 1 μ m.
Loading movement programming system is mounted in the software systems on the control computer, and its function is the LOAD FOR load deflection required according to loading, and the gained displacement is the displacement in the cartesian coordinate system, through coordinate conversion, becomes real axis coordinate displacement amount; Load motion controller and link to each other with loading motion servo system, the real axis displacement sends instruction through control computer and multi-axis motion control card to loading the motion servo system, makes servo host produce given motion; Sextuple sensor 4 is installed in and detects the actual loaded effect on the basic platform 1, and to the control computer feedback, regulates.
Control system operation block diagram as shown in Figure 6.Control system adopts the dual feedback of force signal and displacement signal that load maintainer is controlled.Computing machine sends instructions for respectively six servomotors 11 according to program, six motors of synchro control, and then the action of control movable platform 8.Between computing machine and servomotor 11, be connected with driver, be used for receiving computer instruction and provide enough power to servo host.Computing machine is gathered power, the torque signals of force transducer simultaneously, writes down, analyzes, handles.Each root expansion link 3 can be realized position feedback control according to displacement transducer.Computing machine is realized the integral position FEEDBACK CONTROL and the force feedback control of movable platform 8 according to the power and the torque signals of force transducer.
Relation between loading movement programming system and control system software as shown in Figure 7.Loading the movement programming system software is the pre-treatment and the working foundation of motion control, and control system software is controlled six expansion links, 3 extension and contraction control and power, Displacement Feedback according to the former concrete execution of result of calculation.
3. sampling system
Sampling system is carried out conversion, storage, processing in order to gather force signal and displacement signal, expression waies such as formation curve, numerical table, the relation of power and displacement in the demonstration loading procedure.As shown in Figure 8, sampling system comprises:
1) computing machine: comprise functions such as data storage, processing, demonstration.
2) force transducer: six-dimension force sensor 4, three-dimensional power and three-dimensional moment that real-time sensing test specimen is born in experimentation.The used force sensor signals feedback force signal used with loading motion controller of sampling system is same signal, produces by six-dimension force sensor 4.
3) sampling integrated circuit board: comprise the functions such as collection, A/D conversion of hyperchannel force signal, select the NI6040E card of U.S. virtual instrument company here for use.
4) displacement transducer: directly utilize rotary encoder that servomotor 11 afterbodys carry as expansion link 3 displacement transducers, be used for axial displacement information to sampling system feedback expansion link 3.
5) displacement computing module: according to the actual displacement of connecting rod, calculate, obtain the actual loaded displacement by the parallel institution normal solution.
The parallel institution normal solution calculates opposite with the anti-computation process of separating of front.The actual displacement vector Li of known here every expansion link 3 (i=1,2 ... 6.), find the solution the position vector H of true origin in basic platform 1 coordinate system of movable platform 8.As shown in Figure 5.Pi is movable platform 8 hinge point position vectors, and Bi is that vow basic platform 1 hinge point position.Can get by illustrated vector correlation:
H＝Li-PiR
T+Bi (3)
In the formula, R is the attitude matrixs of movable platform 8 coordinate systems with respect to basic platform 1 coordinate system:
Sin and cos brief note is s and c, θ in the matrix
1, θ
2, θ
3Represent the corner of movable platform 8 respectively around X, Y, Z axle.
Adopt the system software flow process as shown in Figure 9.After system start-up, software is wanted initialization; Then the force signal of force transducer and the displacement information of six expansion links 3 are gathered respectively.The displacement information that collects six expansion links 3 will carry out the displacement normal solution by the displacement computing module and calculate, and obtains the displacement of test specimen clamping place on the movable platform 8.Resultant force signal and displacement information, the load of drawing---displacement relation figure, and storage data.
6) strain transducer: at test specimen key point or key position, arrange foil gauge or strainometer, strain signal is transferred to the sampling integrated circuit board, detect the actual strain and the STRESS VARIATION of this point or position in real time.Here strain transducer is selected DI-10 type small strain meter for use.
It is the expansion link 3 of servo host that expansion link 3 described in the technical program also can adopt in the specific implementation with hydraulic servo oil cylinder 22, as shown in Figure 3, comprises piston rod 19, displacement transducer scale 20, displacement transducer slide rule 21, servo-cylinder 22.Displacement transducer slide rule 21 usefulness chucks are fixed on the piston rod 19.Piston rod 19 links to each other with ball pivot 7, and servo-cylinder 22 links to each other with Hooke's hinge 2.The embodiment of this kind expansion link 3 generally is for big load, low precision load maintainer.Corresponding multi-axis motion control card links to each other with servo-cylinder 22 by servo-valve.With the hydraulic jack is the expansion link 3 of servo host, and a linear displacement transducer (displacement transducer scale 20, displacement transducer slide rule 21) is set on each expansion link 3, is used for the axial displacement information to sampling system feedback expansion link 3.
Embodiment is for drawing-bend the assembled static test to a standard mechanics test specimen.
1. test specimen 6 is a metal material standard tensile test specimen, and testing scheme is:
(1) static load test, the load form is a stretching-crooked combined load (as shown in figure 10).
(2) load mode: tensile load and bending moment load apply simultaneously, and the stretching maximum load is 20kN, and the bending moment maximum load is 500Nm; Two kinds of load increase to maximum load separately gradually by 0 beginning; Loading velocity: in 10 minutes, two kinds of load are by 0 maximal value that increases to gradually separately.
(3) force servo control test.
(4) purpose of experimental test: obtain this test specimen 6 under two kinds of combined load effects, load---concern between displacement, and stress---the relation between strain.
2. two load realize that by 8 motions of testing machine movable platform the test specimen upper end is clamped by last anchor clamps 5b, and moves with movable platform 8.Movable platform 8 moves along Z axle positive dirction, realizes stretching loading; Movable platform 8 is rotated around X-axis, realizes crooked the loading.According to this loading campaign requirement, determine to go up the deformation trace of anchor clamps 5b clamping point, promptly determine the position vector H of movable platform 8 true origin in basic platform 1 coordinate system.Separate by the computer solving parallel institution is counter, draw the forms of motion of every expansion link 3.The moving displacement of every expansion link 3 is:
Wherein, Li represents (i=1,2 ... 6.) each root expansion link 3 mobile vector, H are the position vectors of movable platform 8 true origin in basic platform 1 coordinate system, Pi (i=1,2 ... 6.) be movable platform 8 hinge point position vectors, Bi (i=1,2 ... be that vow basic platform 1 hinge point position 6.).
The establishment driver is used for Control Servo System and servo host and produces the loading motion.
3. the clamping test specimen 6, as required, and at the fixing strainometer of test specimen key position (middle part).Start testing machine.Under the control of driver, movable platform 8 loads to test specimen 6, by six-dimension force sensor 4 real-time monitors load, by the real-time displacement monitoring situation of the displacement transducer of six expansion links 3, and feeds back to control system.
4. meanwhile, the displacement signal of the load signal of six-dimension force sensor 4, six expansion links 3, test specimen key position strainometer signal are sampled system acquisition.The displacement signal of six expansion links 3 is through the displacement computing module, and normal solution calculates test specimen and is held place's displacement.Resultant force signal and displacement information, output load---displacement relation figure; Resultant force, torque signals and strainometer information, output stress---strain stress relation figure.Store the graph of a relation data.
Claims (8)
1, a kind of six-dimension loading material mechanical test machine is characterized in that consisting of the following components: load maintainer in parallel comprises: basic platform, Hooke's hinge, expansion link, six-dimension force sensor, anchor clamps, test specimen, ball pivot, movable platform; Anchor clamps are divided into anchor clamps and lower clamp, and both structures are identical; Basic platform and movable platform are triangle, and six oscillating bearing-Hooke's hinges and ball pivot are respectively arranged; Test specimen by clamping on two anchor clamps up and down; Last anchor clamps are fixedlyed connected with movable platform, move with movable platform; Lower clamp is fixed on the six-dimension force sensor; Test specimen is accepted load by two anchor clamps up and down; Moving by six expansion links of movable platform drives realization; The expansion link parts are realized accurate axial stretching under the driving of self servo host;
Expansion link is divided into the motor to be the expansion link of servo host and to be the expansion link of servo host with the hydraulic jack; Basic platform is connected by six roots of sensation expansion link with movable platform, and every connecting rod ball pivot one end in parallel is connected by the ball pivot seat with movable platform, and Hooke's hinge one end is connected by the Hooke free bearing with basic platform, forms 6-UPS mechanism;
Control system, its composition comprises:
1) load motion controller: comprise control computer and multi-axis motion control card, multi-axis motion control card is inserted in the I/O expansion slot of control computer;
2) load movement programming system and control system software;
3) load the motion servo system: comprise servo power supply, servo host and to the feedback circuit of control system;
4) force transducer: six-dimension force sensor;
5) displacement transducer;
Sampling system comprises:
1) computing machine;
2) force transducer: six-dimension force sensor;
3) sampling integrated circuit board: select the data acquisition card more than 12 for use;
4) displacement transducer: with the motor is the expansion link of servo host, can directly utilize rotary encoder that the servomotor afterbody carries as the expansion link displacement transducer; With the hydraulic jack is the expansion link of servo host, and a linear displacement transducer is set on each expansion link;
5) displacement computing module;
6) strain transducer: the key position at test specimen is arranged strain transducer, and strain transducer comprises foil gauge and strainometer.
2, a kind of six-dimension loading material mechanical test machine as claimed in claim 1, it is characterized in that: for little load, high precision load maintainer, employing is the single expansion link of servo host with the motor, and by constituting with lower unit: Hooke's hinge support, motor support, servomotor, shaft coupling, angular contact ball bearing, ball-screw, sleeve, nut, pole, ball pivot support; Servomotor drives the ball-screw rotation by shaft coupling, and then promotes nut and move up and down along sleeve inner, drives pole and ball pivot simultaneously and supports and move up and down; The amount of spin of servomotor is by the programmed control that weaves; Multi-axis motion control card links to each other with servomotor by driver; Utilize rotary encoder that the servomotor afterbody carries as the expansion link displacement transducer.
3, a kind of six-dimension loading material mechanical test machine shown in claim 1, it is characterized in that: for big load, low precision load maintainer, employing is the single expansion link of servo host with the hydraulic jack, comprises ball pivot, piston rod, servo-cylinder, Hooke's hinge, displacement transducer slide rule, scale and Hydraulic Servo-Loop; The displacement transducer slide rule is fixed on the piston rod with chuck; Multi-axis motion control card links to each other with servo-cylinder by servo-valve.
4, a kind of six-dimension loading material mechanical test machine as claimed in claim 1 is characterized in that: control computer can be selected 486 above industrial computers for use.
5, a kind of six-dimension loading material mechanical test machine as claimed in claim 1 is characterized in that: multiaxial motion control control card can be selected 6 above control cards for use.
6, a kind of six-dimension loading material mechanical test machine as claimed in claim 1, it is characterized in that: displacement transducer resolution is not more than 5 ‰ of maximum load displacement.
7, a kind of six-dimension loading material mechanical test machine as claimed in claim 1 is characterized in that: when load was the higher dynamic loading of frequency, sextuple mechanics sensor was preferentially selected piezoelectric transducer for use.
8, a kind of six-dimension loading material mechanical test machine as claimed in claim 1 is characterized in that: when load is static load or when changing slower load, sextuple mechanics sensor is preferentially selected strain gauge transducer for use.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201246969U CN201335793Y (en) | 2008-12-18 | 2008-12-18 | Sextuple loaded material mechanical testing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201246969U CN201335793Y (en) | 2008-12-18 | 2008-12-18 | Sextuple loaded material mechanical testing machine |
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| CN201335793Y true CN201335793Y (en) | 2009-10-28 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101451933B (en) * | 2008-12-18 | 2010-11-10 | 北京林业大学 | Six-dimension loading material mechanical test machine |
| CN102706549A (en) * | 2012-06-01 | 2012-10-03 | 南通市建筑科学研究院有限公司 | Portable supporting device for static load test dial indicator |
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| CN105928788A (en) * | 2016-04-25 | 2016-09-07 | 重庆大学 | Spherical hinge constraining method capable of realizing hinge joint compression on 1000-t testing machine |
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- 2008-12-18 CN CNU2008201246969U patent/CN201335793Y/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101451933B (en) * | 2008-12-18 | 2010-11-10 | 北京林业大学 | Six-dimension loading material mechanical test machine |
| CN102706549A (en) * | 2012-06-01 | 2012-10-03 | 南通市建筑科学研究院有限公司 | Portable supporting device for static load test dial indicator |
| CN102706549B (en) * | 2012-06-01 | 2014-07-30 | 南通市建筑科学研究院有限公司 | Portable supporting device for static load test dial indicator |
| CN104006959A (en) * | 2014-06-18 | 2014-08-27 | 苏州东菱科技有限公司 | Method for measuring composite fatigue test |
| CN104677746A (en) * | 2015-02-02 | 2015-06-03 | 吉林大学 | Testing device and testing method for high-temperature fatigue property of microelement under compound stress |
| CN104677746B (en) * | 2015-02-02 | 2017-06-13 | 吉林大学 | Micro structures fatigue at high temperature performance testing device and method under combined stress |
| CN104748959A (en) * | 2015-04-09 | 2015-07-01 | 上海理工大学 | Tri-axial multi-dimensional loading mechanics performance test stand |
| CN104748959B (en) * | 2015-04-09 | 2017-03-22 | 上海理工大学 | Tri-axial multi-dimensional loading mechanics performance test stand |
| CN105928788A (en) * | 2016-04-25 | 2016-09-07 | 重庆大学 | Spherical hinge constraining method capable of realizing hinge joint compression on 1000-t testing machine |
| CN112768790A (en) * | 2020-12-29 | 2021-05-07 | 天能电池(芜湖)有限公司 | Pre-groove-descending grabbing and positioning device |
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