CN213956799U - Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair - Google Patents
Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair Download PDFInfo
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Abstract
一种考虑运动副间隙与刚度的空间多体机构刚柔耦合试验器，包括驱动部分、传动部分、执行部分、调节部分、测量部分。通过丝杠带动滑台做直线运动，一级二级曲柄绕各自转轴转动，转动过程中角度传感器测量曲柄摆角。如需研究平面滑块曲柄机构，则取下用于连接关节轴承法兰盘与一级曲柄的螺栓。如需考虑不同连杆长度对于整体机构动态性能的影响，则拧动一级连杆接头。如需考虑转动副间隙对于整体机构动态性能的影响，则更换更小直径的特殊销轴；如需考虑杆件柔性化对于整体机构动态性能的影响，则更换更小直径的二级连杆。本实用新型由平面滑块曲柄机构与空间RSSR机构整合而成，间隙、刚度、连杆长度可调，可做刚柔耦合试验。
A rigid-flexible coupling tester for a spatial multi-body mechanism considering the clearance and stiffness of a kinematic pair includes a drive part, a transmission part, an execution part, an adjustment part and a measurement part. The lead screw drives the slide table to move in a straight line, the primary and secondary cranks rotate around their respective axes, and the angle sensor measures the crank angle during the rotation. To study the flat-slider crank mechanism, remove the bolts connecting the spherical plain bearing flange to the primary crank. To consider the effect of different link lengths on the dynamic performance of the overall mechanism, screw the primary link joint. If you need to consider the influence of the rotating pair clearance on the dynamic performance of the overall mechanism, replace the special pin with a smaller diameter; if you need to consider the impact of the flexibility of the rod on the dynamic performance of the overall mechanism, replace the secondary link with a smaller diameter. The utility model is formed by integrating the plane slider crank mechanism and the space RSSR mechanism, the gap, the stiffness and the length of the connecting rod are adjustable, and the rigid-flexible coupling test can be performed.
Description
Technical Field
The utility model belongs to many body dynamics test device of mechanical field relates to a consider rigid-flexible coupling test ware of many body mechanisms in space of motion pair clearance and rigidity.
Background
Compared with a planar mechanism, the space mechanism has the advantages that the structure is complex due to the existence of the spherical pair and the cylindrical pair, the structure is compact, the rod piece is translational and rotational, and the space mechanism is widely applied to the fields of aerospace and the like. With the increasingly complex working environment and the complex task, the requirements on the design of the spatial mechanism are higher, and the problems to be considered in the design and manufacture are deeper, such as the clearance of a kinematic pair of the mechanism, the influence of contact rigidity and rigid-flexible coupling on the precision of the mechanism, and the like. In the mechanical structure, due to the existence of abrasion, manufacturing tolerance and installation error, the generation of gaps between the kinematic pairs is inevitable. Numerous studies have demonstrated that the clearances can cause vibrations and fatigue in the mechanism, further reducing the precision of the output motion, affecting the dynamics of the overall device.
In addition, although the scholars do a lot of research on the mechanism considering the clearance and the rigidity, the test part focuses on a plane mechanism, the space mechanism focuses on theoretical modeling and simulation, and the space multi-body mechanism rigid-flexible coupling tester considering the clearance and the rigidity of the kinematic pair is newly designed. The utility model discloses form by plane slider crank mechanism and space RSSR mechanism integration, clearance, rigidity, connecting rod length, drive mode are adjustable, can do just gentle coupling test, so the utility model discloses the research to space mechanism's dynamics has important meaning on the mechanical system design of relevant field.
SUMMERY OF THE UTILITY MODEL
The problem that exists to prior art, the utility model provides a consider rigid-flexible coupling tester of space many bodies mechanism of motion pair clearance and rigidity realizes studying motion pair clearance, rigidity through experimental mode, and drive mode, connecting rod length and rigid-flexible coupling are to the influence of space mechanism dynamics result.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of a kinematic pair is divided into the following parts according to functions: the device comprises a driving part, a transmission part, an execution part, an adjusting part and a measuring part.
The driving part mainly comprises a bearing seat 2, a section bar 3, a motor plate 4, a stepping motor 5, a lead screw 6 and a sliding table 7. The bearing seat 2 is installed on a sliding table 7 through a bolt, the sliding table 7 is matched with a lead screw 6, and the lead screw 6 is installed on the motor plate 4; the stepping motors 5 are arranged on the corresponding motor plates 4 through screws, and the motor plates 4 are fixed with the sectional materials 3; the profile 3 is fixed to the base 1 by means of bottom bolts.
The transmission part comprises two primary connecting rods (9-1 and 9-2), a primary connecting rod joint 10, a primary crank 12, two joint bearing flanges (13-1 and 13-2), two joint shaft bearing heads (14-1 and 14-2), two joint bearing regulators (15-1 and 15-2) and a secondary connecting rod 16. The primary connecting rod A9-1 is connected with the bearing seat 2 through a common pin shaft 8; the primary connecting rod B9-2 is connected with a primary crank 12 through a special pin shaft 11, and the gap and the rigidity of the connecting part can be adjusted, which is detailed later; the two primary connecting rods are connected through a primary connecting rod joint 10. The joint bearing flange A13-1 is fixed on the first-stage crank 12 by bolts, and the joint bearing flange A13-1 is connected with the joint shaft bearing head A14-1; the joint bearing flange B13-2 is fixed above the secondary crank 17 by bolts, and the joint bearing flange B13-2 is connected with the joint shaft bearing head B14-2. The two ends of the secondary connecting rod 16 are connected with two joint bearing regulators 15 through threads, and the two joint bearing regulators (15-1 and 15-2) are connected with two joint shaft bearing heads (14-1 and 14-2) through threads, wherein the joint bearing regulators are replaceable joints, the diameters of inner holes of the joint bearing regulators are variable, the diameters of the secondary connecting rods 16 are also changed, and therefore the rigidity of the slender rod (the secondary connecting rod 16) can be changed, and the rigid-flexible coupling is realized, and the detailed view is shown in figure 4.
The executing part comprises a secondary crank 17, an angle bearing seat B18-2 and an angle pin shaft B19-2. The bottom of the secondary crank 17 is fixed with an angle pin shaft B19-2 through a key, the angle pin shaft B19-2 is in interference fit with a bearing inner hole of the angle bearing seat B18-2, and the tail end of the angle pin shaft B19-2 is limited by blocking a shaft with a clamp spring.
The adjusting part comprises length adjustment and clearance adjustment: the length adjustment part comprises: primary connecting rod, primary connecting rod joint 10. The primary connecting rod joint 10 is connected into a primary connecting rod A9-1 and a primary connecting rod B9-2 in a threaded connection mode, the thread turning directions of the left end and the right end of the primary connecting rod joint 10 are opposite, the primary connecting rod A9-1 is left-hand turning, and the primary connecting rod B9-2 is right-hand turning, so that when the primary connecting rod joint 10 is rotated, the primary connecting rod can retract inwards or expand outwards, and the purpose of adjusting the length is achieved. The gap adjusting part includes: a first-stage connecting rod B9-2, a special pin 11 and a first-stage crank 12. One end of the special pin shaft 11 is connected to the first-stage connecting rod B9-2 through threads, the other end of the special pin shaft is inserted into a pin hole of the first-stage crank 12, the clamp spring is used for limiting axial displacement, gap adjustment can be achieved by changing the shaft diameter of the special pin shaft 11, different materials are electroplated on the outer diameter of the special pin shaft 11, rigidity can be changed, and therefore gap and rigidity adjustment of the mechanism is achieved, and the detailed view is shown in figure 5.
The measuring part mainly comprises two angle pin shafts 19-1 and 19-2, two angle measuring supports (20-1 and 20-2), two angle sensors (21-1 and 21-2) and two couplers (22-1 and 22-2). The utility model discloses in total two measurements, one of them: the angle pin shaft A19-1 is connected to the first-stage crank 12 through a key and passes through an inner hole of the angle bearing seat A18-1; the coupling A22-1 is connected with an angle pin A19-1 and an angle sensor A21-1; the angle sensor A21-1 is fixed on an angle measurement bracket A20-1 through bolts, and a slide way is processed on the outer side of the angle measurement bracket A20-1 so as to adjust the height of the angle sensor A21-1 to adapt to different ground clearance; secondly, the angle pin B19-2 is connected to the secondary crank 17 through a key and passes through an inner hole of the angle bearing seat B18-2; the angle pin B19-2 and the angle sensor B21-2 are connected by a coupler; the angle sensor B21-2 is fixed on an angle measurement bracket B20-2 through bolts, and a slide way is processed on the outer side of the angle measurement bracket B20-2 so as to adjust the height of the angle sensor B21-2 to adapt to different ground clearance.
The utility model discloses a use does: after the tester is installed, the stepping motor 5 is controlled to rotate by an external control signal, the sliding table 7 is driven to do linear motion through the screw rod 6, the primary crank 12 and the secondary crank 17 further rotate around respective rotating shafts, the angle sensor A21-1 measures the swing angle of the primary crank 12 in the rotating process, and the angle sensor B21-2 measures the swing angle of the secondary crank 17. If the plane slide block crank mechanism needs to be researched, the bolt for connecting the joint bearing flange A13-1 and the first-stage crank 12 is removed. If the influence of different connecting rod lengths on the dynamic performance of the whole mechanism needs to be considered, the primary connecting rod joint 10 is screwed. If the influence of the clearance of the revolute pair on the dynamic performance of the whole mechanism needs to be considered, the special pin shaft 11 with smaller diameter is replaced; if the influence of the flexibility of the rod piece on the dynamic performance of the whole mechanism needs to be considered, the secondary connecting rod 16 with smaller diameter is replaced.
The utility model has the advantages that: the dynamic performance of the plane sliding block crank mechanism and the space mechanism can be researched; the length of the connecting rod can be changed by adopting the threaded connection of the primary connecting rod joint 10; the influence of different gaps on the performance of the mechanism can be researched by adopting the detachable special pin shaft 11; the impact of different clearances on the performance of the mechanism can be studied using a removable secondary link 16.
Drawings
Fig. 1 is a three-dimensional view of the present invention.
Fig. 2 is a rear view of the present invention.
Fig. 3 is a schematic view of the measurement part of the present invention.
Fig. 4 is a schematic view of the rigid-flexible coupling portion of the present invention.
Fig. 5 is a schematic view of the gap adjusting part of the present invention.
In the figure: 1, a bottom plate; 2, bearing seats; 3, section bar; 4, a motor plate; 5, a step motor; 6, a lead screw; 7, a sliding table; 8, a common pin shaft; 9-1 a primary connecting rod A; 9-2 primary connecting rods B; 10 a primary connecting rod joint; 11 special pin shafts; 12 a first-stage crank; 13-1 joint bearing flange A; 13-2 joint bearing flange B; 14-1 joint shaft bearing head A; 14-2 joint bearing flange B; 15-1 knuckle bearing adjuster a; 15-2 knuckle bearing adjuster B; 16 secondary connecting rods; 17 a secondary crank; an 18-1 angle bearing seat A; an 18-2 angle bearing seat B; 19-1 angle pin shaft A; 19-2 angle pin B; a 20-degree measuring bracket A; 20-2 angular measurement mount B; 21-1 angle sensor A; 21-2 angle sensor B; 22-1 coupling A; 22-2 coupling B.
Detailed Description
The embodiments of the present invention will be further explained with reference to the accompanying drawings.
The utility model discloses a following technical scheme realizes: the tester can be divided into the following parts according to the functions of each part: the device comprises a driving part, a transmission part, an execution part, an adjusting part and a measuring part.
The driving part mainly comprises a bearing seat 2, a section bar 3, a motor plate 4, a stepping motor 5, a screw rod 6 and a sliding table 7. The bearing seat 2 is installed on a sliding table 7 through a bolt, the sliding table 7 is matched with a lead screw 6, and the lead screw 6 is installed on the motor plate 4; the stepping motors 5 are arranged on the corresponding motor plates 4 through screws, and the motor plates 4 are fixed with the sectional materials 3; the profile 3 is fixed to the base 1 by means of bottom bolts. The stepping motor 5 is controlled by a PLC (programmable logic controller) and drives the whole mechanism to move, and the driving mode supports uniform speed, uniform acceleration, simple chord and the like.
The transmission portion includes: the device comprises a primary connecting rod, a primary connecting rod joint 10, a primary crank 12, a joint bearing flange plate, a joint shaft bearing head, a joint bearing regulator and a secondary connecting rod 16. The primary connecting rod A9-1 is connected with the bearing seat 2 through a common pin shaft 8; the primary connecting rod B9-2 is connected with a primary crank 12 through a special pin shaft 11, and the gap and the rigidity of the connecting part can be adjusted, which is detailed later; the joint bearing flange A13-1 is fixed on the primary crank 12 by bolts, and the joint bearing flange B13-2 is fixed on the secondary crank 17 by bolts; the two ends of the secondary connecting rod 16 are connected with a joint bearing adjuster 15 by screw threads, the joint bearing adjuster 15 is connected with a joint shaft bearing head 14 by screw threads, wherein the joint bearing adjuster 15 is a replaceable joint, the diameter of an inner hole of the joint bearing adjuster 15 is variable, so that the diameter of the secondary connecting rod 16 is also changed, and the rigidity of the slender rod (the secondary connecting rod 16) can be changed, and rigid-flexible coupling is realized, and the detail is shown in figure 4. The stepping motor 5 moves linearly to drive the primary connecting rod to do plane translation and swing, and further drives the primary crank 12 to rotate around an angle pin shaft A19-1; the motion of the primary crank 12 is transferred to the implement portion via the knuckle bearing, the secondary connecting rod 16.
The execution section includes: a secondary crank 17, an angle bearing seat B18-2 and an angle pin B19-2. The secondary crank 17 is fixed with an angle pin shaft B19-2 through a key, the angle pin shaft B19-2 is in interference fit with a bearing inner hole of the angle bearing seat B18-2, and the tail end of the angle pin shaft B19-2 is limited by blocking a shaft with a snap spring. The secondary crank 17 is driven by the secondary connecting rod 16 to rotate around an angle pin shaft A19-1, a rotating shaft of the secondary crank is not parallel to a rotating shaft of the primary crank 12, but a certain included angle exists, the included angle is limited by the type selection of the joint bearing, and the included angle, the maximum swing angle of the joint bearing, the position of the bearing seat and the like are determined after optimization in actual use.
The adjusting part comprises a length adjusting part and a gap adjusting part, and the length adjusting part comprises: primary connecting rod, primary connecting rod joint 10. The primary connecting rod joint 10 is connected into a primary connecting rod A9-1 and a primary connecting rod B9-2 in a threaded connection mode, the thread turning directions of the left end and the right end of the primary connecting rod joint 10 are opposite, the primary connecting rod A9-1 is left-hand turning, and the primary connecting rod B9-2 is right-hand turning, so that when the primary connecting rod joint 10 is rotated, the primary connecting rod can retract inwards or expand outwards, and the purpose of adjusting the length is achieved. The gap adjusting part includes: a first-stage connecting rod B9-2, a special pin 11 and a first-stage crank 12. One end of the special pin shaft 11 is connected to the first-stage connecting rod B9-2 through threads, the other end of the special pin shaft is inserted into a pin hole of the first-stage crank 12, the clamp spring is used for limiting axial displacement, gap adjustment can be achieved by changing the shaft diameter of the special pin shaft 11, different materials are electroplated on the outer diameter of the special pin shaft 11, rigidity can be changed, and therefore gap and rigidity adjustment of the mechanism is achieved, and the detailed view is shown in figure 5. The special pin 11 is convenient to disassemble and simple to install for replacing special pins with different diameters.
The measuring part mainly comprises: angle pin 19, angle measurement support 20, angle sensor 21, shaft coupling 22. The utility model discloses in total two measurement, only introduce one of them department, another is dealt with the same. The angle pin shaft A19-1 is connected on the primary crank 12 through a key and passes through an inner hole of the angle bearing seat A18-1; the coupling A22-1 is connected with an angle pin A19-1 and an angle sensor A21-1; the angle sensor A21-1 is fixed on an angle measurement bracket A20-1 through bolts, and a slideway is processed on the outer side of the angle measurement bracket A20-1 so as to adjust the height of the angle sensor A21-1 to adapt to different ground clearance. The output of the sensor is generally a voltage signal or a current signal, and the voltage signal or the current signal can be displayed on a computer after being collected by a data acquisition card.
When the influence of the flexibility of the secondary connecting rod 16 on the dynamic characteristics of the tester is researched, the secondary connecting rod 16 with a smaller diameter is replaced, and a three-way acceleration sensor can be pasted on the secondary connecting rod 16 to acquire data.
The above-mentioned embodiments only represent the embodiments of the present invention, but can not be understood as the limitation of the scope of the present invention, and it should be noted that, for those skilled in the art, a plurality of variations and improvements can be made without departing from the concept of the present invention, and all of them belong to the protection scope of the present invention.
Claims (1)
1. A space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of a kinematic pair is characterized in that the tester is divided into the following parts according to functions: the device comprises a driving part, a transmission part, an execution part, an adjusting part and a measuring part;
the driving part comprises a bearing seat (2), a section bar (3), a motor plate (4), a stepping motor (5), a lead screw (6) and a sliding table (7); the bearing seat (2) is arranged on the sliding table (7), the sliding table (7) is matched with the lead screw (6), and the lead screw (6) is arranged on the motor plate (4); the stepping motor (5) is arranged on the motor plate (4), and the motor plate (4) is fixed with the sectional material (3); the bottom of the section bar (3) is fixed on the base (1);
the transmission part comprises two primary connecting rods, a primary connecting rod joint (10), a primary crank (12), two joint bearing flange plates, two joint shaft bearing heads, two joint bearing regulators and a secondary connecting rod (16); the primary connecting rod A (9-1) is connected with the bearing seat (2) through a common pin shaft (8); the primary connecting rod B (9-2) is connected with a primary crank (12) through a special pin shaft (11), and the gap and the rigidity of the connecting part can be adjusted; the two primary connecting rods are connected through a primary connecting rod joint (10); a joint bearing flange A (13-1) and a joint bearing flange B (13-2) are respectively fixed on the primary crank (12) and the secondary crank (17), and the joint bearing flange A (13-1) and the joint bearing flange B (13-2) are respectively connected with a joint shaft bearing head A (14-1) and a joint shaft bearing head B (14-2); two ends of the secondary connecting rod (16) are connected with the joint bearing regulators through threads, and the two joint bearing regulators are connected with the two joint shaft bearing heads through threads; the joint bearing adjuster is a replaceable joint, and the diameter of an inner hole of the joint bearing adjuster is variable, so that the diameter of the secondary connecting rod (16) is also changed, and the rigidity of the secondary connecting rod (16) can be changed to realize rigid-flexible coupling;
the executing part comprises a secondary crank (17), an angle bearing seat B (18-2) and an angle pin shaft B (19-2); the bottom of the secondary crank (17) is fixed with an angle pin shaft B (19-2), the angle pin shaft B (19-2) is in interference fit with a bearing inner hole of an angle bearing seat B (18-2), and the tail end of the angle pin shaft B (19-2) is blocked by a clamp spring to limit the axial displacement of the angle pin shaft B (19-2);
the adjusting part comprises length adjustment and clearance adjustment:
the length adjustment part comprises: two primary connecting rods, a primary connecting rod joint (10); the primary connecting rod joint (10) is connected into a primary connecting rod A (9-1) and a primary connecting rod B (9-2) in a threaded connection mode, wherein the threads at the left end and the right end of the primary connecting rod joint (10) are opposite in rotating direction, and when the primary connecting rod joint (10) is rotated, the primary connecting rod can be retracted inwards or expanded outwards, so that the purpose of adjusting the length is achieved;
the gap adjusting part includes: a first-stage connecting rod B (9-2), a special pin shaft (11) and a first-stage crank (12); one end of the special pin shaft (11) is connected to the first-stage connecting rod B (9-2) through threads, the other end of the special pin shaft is inserted into a pin hole of the first-stage crank (12), the clamp spring is used for limiting axial displacement, gap adjustment is realized by changing the shaft diameter of the special pin shaft (11), different materials are electroplated through the outer diameter of the special pin shaft (11), rigidity is changed, and gap and rigidity adjustment of the mechanism is further realized;
the measuring part mainly comprises two angle pin shafts, two angle measuring brackets, two angle sensors and two couplers; there are two measurements in total, one of which: an angle pin shaft A (19-1) is connected to the first-stage crank (12) and penetrates through an inner hole of the angle bearing seat A (18-1); the angle pin shaft A (19-1) is connected with the angle sensor A (21-1) through a coupler A (22-1); the angle sensor A (21-1) is fixed on the angle measurement support A (20-1), and a slideway for adjusting the height of the angle sensor A (21-1) to adapt to different ground clearance is processed on the outer side of the angle measurement support A (20-1); secondly, an angle pin shaft B (19-2) is connected to the secondary crank (17) and penetrates through an inner hole of the angle bearing seat B (18-2); the angle pin shaft B (19-2) and the angle sensor B (21-2) are connected by a coupler; the angle sensor B (21-2) is fixed on the angle measurement bracket B (20-2), and a slideway is processed on the outer side of the angle measurement bracket B (20-2) and used for adjusting the height of the angle sensor B (21-2) to adapt to different ground clearance.
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| CN202022776401.XU CN213956799U (en) | 2020-11-26 | 2020-11-26 | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair |
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| CN202022776401.XU CN213956799U (en) | 2020-11-26 | 2020-11-26 | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112304664A (en) * | 2020-11-26 | 2021-02-02 | 大连理工大学 | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112304664A (en) * | 2020-11-26 | 2021-02-02 | 大连理工大学 | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair |
| CN112304664B (en) * | 2020-11-26 | 2024-08-13 | 大连理工大学 | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair |
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