CN216815975U

CN216815975U - Multifunctional high-precision heavy-load mechanical arm joint prototype testing platform

Info

Publication number: CN216815975U
Application number: CN202123370794.5U
Authority: CN
Inventors: 姚达毛; 王岩; 白晓伟; 许铁军
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2022-06-24
Anticipated expiration: 2031-12-29

Abstract

The utility model relates to a multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform which comprises a load simulation system, a supporting structure and a sensor unit. The load simulation system comprises a first loading shaft, a second loading shaft, a hydraulic cylinder for loading shearing force and bending moment and a hydraulic cylinder for loading torque, which are sequentially connected. The supporting structure comprises a base, a first support and a second support. The left end of the loading shaft I is connected with the right end of the loading shaft II, the right end of the loading shaft I is connected with the left end of the joint sample machine, the right end of the joint sample machine is connected with the support II, the left end of the loading shaft II is connected with a piston rod of the hydraulic cylinder for torque loading, and a cylinder barrel of the hydraulic cylinder for torque loading is connected with the support I. The utility model uses the hydraulic system as a load loading mode, has the characteristics of large load and high precision, effectively reduces the cost compared with an electric loading mode, simplifies the structure and is easy to manufacture.

Description

Multifunctional high-precision heavy-load mechanical arm joint prototype testing platform

Technical Field

The utility model relates to the technical field of mechanical joint performance testing, in particular to a multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform.

Background

Physical research and technological development of controlled nuclear fusion has continued for over 60 years, and fusion energy is considered to be the most potential permanent, stable, clean energy source. The tokamak device is an important way to achieve controlled nuclear fusion. When the device operates, severe and extreme conditions such as high temperature, high vacuum, strong magnetic field, strong radiation and the like exist in the vacuum chamber, personnel cannot enter the vacuum chamber easily, and a multifunctional heavy-load mechanical arm teleoperation system is needed.

The teleoperation system of the multifunctional heavy-load mechanical arm of the Tokamak device has 6 degrees of freedom, the length of the teleoperation system is 11 meters, the tail end load is 2 tons, and the repeated positioning precision is +/-10 mm. The mechanical arm is complex and large, and the cost is high. In order to verify the engineering feasibility of the design scheme of the multifunctional heavy-duty mechanical arm, key joints of the mechanical arm need to be manufactured, and testing and verification are performed, so that technical reference is provided for research and development of the complete mechanical arm.

According to the working condition analysis of the complete mechanical arm, the key joint prototype is a joint, and the bearing load and precision requirements are as follows. The key joint model machine mainly comprises the following technical parameters to be measured: output torque, bearable bending moment and shearing force, structural deformation, rotation precision and the like.

Currently, common joint testing platforms include the following: typical researches developed in China are used for researching a large space manipulator joint performance test platform, a 6-degree-of-freedom loading platform for simulating and testing a large concrete pump truck structural member, a steering engine test platform for simulating a pneumatic load on a control surface of a steering engine when an aircraft flies, an earthquake loading platform for simulating an earthquake in the building industry to damage mechanisms of buildings and the like.

The large-scale space manipulator joint performance test platform can realize that the load is less, and can not be used for the test of a key joint prototype of a multifunctional heavy-load manipulator remotely operated by a Tokamak device. The 6-freedom-degree loading platform for simulating and testing the structural member of the large concrete pump truck is a 6-freedom-degree hydraulic drive parallel mechanism, and has extremely high cost and large equipment volume. The earthquake loading platform for simulating the damage mechanism of the earthquake to the building is used for simulating the impact action of earthquake waves to the building and does not have the loading function of torque, bending moment and shearing force.

Therefore, a multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform suitable for a Tokamak device needs to be designed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a multifunctional high-precision heavy-duty mechanical arm joint prototype test platform which is suitable for a Tokamak device, adopts a hydraulic system as a load loading mode, has the characteristics of large load and high precision, effectively reduces the cost compared with an electric loading mode, simplifies the structure and is easy to manufacture.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a multifunctional high-precision heavy-duty mechanical arm joint prototype test platform comprises a load simulation system, a support structure and a sensor unit; the load simulation system comprises a first loading shaft, a second loading shaft, a hydraulic cylinder for shearing force and bending moment loading and a hydraulic cylinder for torque loading which are sequentially connected; the supporting structure comprises a base, a first support and a second support, wherein the first support and the second support are respectively arranged above the left end and the right end of the base; the left end of the loading shaft I is connected with the right end of the loading shaft II, the right end of the loading shaft I is connected with the left end of the joint prototype machine, the right end of the joint prototype machine is connected with the support II, the left end of the loading shaft II is connected with a piston rod of a hydraulic cylinder for torque loading, and a cylinder barrel of the hydraulic cylinder for torque loading is connected with the support I; the sensor unit comprises a torque sensor connected between the first loading shaft and the second loading shaft and a force measuring sensor arranged at the bottom of the hydraulic cylinder for loading shearing force and bending moment.

Furthermore, the number of the hydraulic cylinders for shearing force and bending moment loading is two, namely a hydraulic cylinder I for shearing force and bending moment loading and a hydraulic cylinder II for shearing force and bending moment loading; the load simulation system also comprises a first support arm and a second support arm; the hydraulic cylinder for shearing force and bending moment loading is arranged below the first loading shaft and is connected with the first loading shaft through the first support arm; the upper end of the support arm I is sleeved on the loading shaft I, and the lower end of the support arm I is connected with a piston rod of a hydraulic cylinder for loading shearing force and bending moment; the upper end of the first support arm is rotatably connected with a first loading shaft through a joint bearing.

Furthermore, the number of the hydraulic cylinders for torque loading is two, and the hydraulic cylinders are respectively a first hydraulic cylinder for torque loading and a second hydraulic cylinder for torque loading; the first hydraulic cylinder for torque loading and the second hydraulic cylinder for torque loading are both connected with the loading shaft through a second support arm; one end of the second support arm is connected with a piston rod of the first hydraulic cylinder for torque loading, the other end of the second support arm is connected with a piston rod of the second hydraulic cylinder for torque loading, a mounting hole is formed in the middle of the second support arm, and the second support arm is mounted in the mounting hole and is in running fit with the mounting hole.

Further, the loading shaft II comprises a loading shaft A and a loading shaft B which are connected through a coupler; one end of the loading shaft A is connected with the first loading shaft, the other end of the loading shaft A is connected with one end of the loading shaft B, and the other end of the loading shaft B is connected with the middle section of the second support arm; the shaft coupling is an Oldham coupling.

Furthermore, the first support comprises a first support, a second support and a third support which are sequentially arranged above the left end of the base; the cylinder body of the hydraulic cylinder for shearing force and bending moment loading is fixedly connected above the middle section of the base; the cylinder body of the first hydraulic cylinder for torque loading is fixedly connected to the first support, the cylinder body of the second hydraulic cylinder for torque loading is fixedly connected to the third support, and the other end of the second loading shaft is rotatably connected with the second support.

Furthermore, one end of the torque sensor is connected with the second loading shaft, and the other end of the torque sensor is connected with the first loading shaft.

Furthermore, one end of the force measuring sensor is connected with the bottom of a cylinder barrel of the hydraulic cylinder for loading the shearing force and the bending moment, and the other end of the force measuring sensor is connected with the base.

Further, the sensor unit further comprises a photoelectric encoder arranged at the outer end part of the loading shaft B.

According to the technical scheme, the hydraulic system is used as a load loading mode, the hydraulic loading device has the characteristics of large load and high precision, and compared with an electric loading mode, the hydraulic loading device effectively reduces the cost, simplifies the structure and is easy to manufacture.

Drawings

FIG. 1 is a top view of the present invention;

FIG. 2 is a sectional view taken along line A-A of the present invention.

Wherein:

1. the device comprises a second support arm, 2, a pin, 3, a loading shaft B, 4, a first half-coupling, 5, a crosshead shoe, 6, a second half-coupling, 7, a loading shaft A, 8, a torque sensor, 9 and 12, a first support arm, 10 and 13, a joint bearing, 11, a first loading shaft, 14, an output flange of a joint prototype, 15, a joint prototype, 16, a connecting pin, 17 and 20, a second support frame, 18, a base, 19, a connecting frame, 21, a pin, 22, a first hydraulic cylinder for shearing force and bending moment loading, 23, a force measuring sensor, 24, a second support frame, 25, a bolt, 26, a first support frame, 27, a third support frame, 28, a second hydraulic cylinder for shearing force and bending moment loading, 29, a first hydraulic cylinder for torque loading, 30 and a second hydraulic cylinder for torque loading.

Detailed Description

The utility model is further described below with reference to the accompanying drawings:

the multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform shown in the figures 1-2 comprises a load simulation system, a supporting structure and a sensor unit.

The load simulation system comprises a first loading shaft 11, a second loading shaft, hydraulic cylinders (22 and 28) for loading shearing force and bending moment, a first hydraulic cylinder 29 for loading torque, a second hydraulic cylinder 30 for loading torque, a first support arm (9 and 12) and a second support arm 1. One end of the first loading shaft 11 is used for being connected with the joint model machine 15, and the other end of the first loading shaft is connected with one end of the second loading shaft. The first support arms (9 and 12) are sleeved on the first loading shaft (11), and the lower ends of the first support arms (9 and 12) are connected with piston rods of hydraulic cylinders (22 and 28) for loading shearing force and bending moment. The other end of the second loading shaft is connected with the middle section of the second support arm 1 through a pin 2, and two ends of the second support arm 1 are respectively connected with a piston rod of a first hydraulic cylinder 29 for torque loading and a piston rod of a second hydraulic cylinder 30 for torque loading. The load simulation system has the key function of loading torque, bending moment and shearing force.

Further, the loading shaft II comprises a loading shaft A7 and a loading shaft B3 which are connected through a coupler; one end of the loading shaft A7 is connected with the first loading shaft 11, the other end of the loading shaft A is connected with one end of the loading shaft B3, and the other end of the loading shaft B3 is connected with the middle sections of the first support arms (9 and 12). The coupler is an Oldham coupling and comprises a first half-coupling 4, an Oldham 5 and a second half-coupling 6 which are sequentially connected.

Further, the number of the first support arms is 2, which are respectively 9 and 12 in fig. 2, and the two first support arms are sequentially sleeved on the first loading shaft 11.

Further, the first support arms (9 and 12) are rotatably matched with the first loading shaft (11) through joint bearings (10 and 13).

Furthermore, the number of the hydraulic cylinders for loading the shearing force and the bending moment is 2, and the hydraulic cylinders for loading the shearing force and the bending moment are respectively a first hydraulic cylinder 22 and a second hydraulic cylinder 28. Two hydraulic cylinders for shearing force and bending moment loading are arranged in one-to-one correspondence with the two support arms. In order to shorten the length of a loading shaft, reduce the size of a test platform and ensure that the distribution of the shell and the internal deformation of the tested joint is close to real, the utility model adopts two hydraulic cylinders for loading shearing force and bending moment, increases opposite compensation force on the basis of short moment arm, achieves the aims of increasing acting shearing force and reducing acting moment arm, improves the shearing force and the bending moment applied to the tested joint at the same time and ensures that the stress condition of the tested joint is consistent with the real condition.

The supporting structure comprises a base 18, a first support 26, a second support (17 and 20) and a third support 27 which are sequentially arranged above the left end of the base 18, and a second support 24 arranged above the right end of the base 18. The cylinder body of the hydraulic cylinder for shearing force and bending moment loading is fixedly connected above the middle section of the base 18; the cylinder body of the first hydraulic cylinder 29 for torque loading is fixedly connected to the first support 26, the cylinder body of the second hydraulic cylinder 30 for torque loading is fixedly connected to the third support 27, and the other end of the second loading shaft is rotatably connected with the second support. One end of the joint model machine 15 is connected with the second support 24 through a connecting pin, and the other end of the joint model machine 15 is connected with the first loading shaft 11 through an output flange 14 of the joint model machine. The base is secured to the concrete by bolts 25. The base is divided into a left half part, a middle part and a right half part, and the three parts are connected together through a connecting frame 19. The left half part is used for fixing the first bracket, the second bracket and the third bracket. The right half part is used as the bottom of the second support and used for fixing the second support. The middle part is used as a fixed seat for fixing two hydraulic cylinders for shearing force and bending moment loading.

The sensor unit comprises a torque sensor, a load cell and a photoelectric encoder. The torque sensor is arranged between the second loading shaft and the first loading shaft 11, one end of the torque sensor 8 is connected with the second loading shaft (a loading shaft A in the second loading shaft), and the other end of the torque sensor is connected with the first loading shaft 11. A force measuring sensor 23 is arranged between the bottom of the cylinder barrel of each hydraulic cylinder for loading shearing force and bending moment and the base 18, one end of the force measuring sensor 23 is connected with the bottom of the cylinder barrel of each hydraulic cylinder for loading shearing force and bending moment, and the other end of the force measuring sensor 23 is connected with the base 18. The photoelectric encoder is arranged at the outer end part of the loading shaft B. The thrust can be adjusted by changing the working pressure of the hydraulic cylinder, so that the change of the torque is controlled; the movement speed of the piston can be adjusted by changing the flow of the hydraulic cylinder, and the rotating speed of the loading shaft is further controlled. And the force transducers are used for respectively measuring the thrust/tension of the hydraulic cylinder and converting the thrust/tension into the acting torque of the joint to be measured and the bending moment borne by the joint model machine according to the structural parameters. And measuring the rotating speed of the joint prototype through a photoelectric encoder.

The working principle of the utility model is as follows:

the hydraulic cylinder is used as a prime mover of the load simulation system, and the load simulation system has the advantages of large thrust, simple structure, easiness in control and the like. When bending moment is loaded, the first hydraulic cylinder 22 for shearing force and bending moment loading and the second hydraulic cylinder 28 for shearing force and bending moment loading generate push-pull force under the control of a hydraulic system, the sum of the push-pull force simulates shearing force borne by a joint model machine, the sum of the torque of the two simulates bending moment borne by the joint model machine, and the shearing force and the bending moment act on the output end of the joint model machine 15 through the first loading shaft 11. When torque is loaded, the first hydraulic cylinder 29 for loading the torque and the second hydraulic cylinder 30 for loading the torque generate push-pull force under the control of a hydraulic system, and the formed torque acts on the output end of the joint prototype 15 through the loading shaft B3, the loading shaft A7 and the loading shaft I11 to simulate the torque borne by the joint prototype 15. The two hydraulic cylinders for torque loading and the second support arm form a crank-slider mechanism, linear motion of a piston of the hydraulic cylinder is converted into circular motion of the first loading shaft and the second loading shaft, and the first loading shaft and the second loading shaft transmit motion and torque to a joint sample machine to be tested. When the test is carried out, the front end (the end connected with the third joint) of the joint prototype 15 is installed on the second support 24 through the connecting pin 16, and the rear end is connected to the load simulation system through the first loading shaft 11. The torque sensor 8 is used for acquiring a torque value at the loading shaft B so as to adjust the pressure and flow of a torque loading part of the hydraulic system and realize the closed-loop control of torque loading. The load cell 23 collects the push-pull force values of the hydraulic cylinder I22 for loading the shearing force and the bending moment and the hydraulic cylinder II 28 for loading the shearing force and the bending moment so as to adjust the pressure of the shearing force and bending moment loading part of the hydraulic system and realize the closed-loop control of the shearing force and bending moment loading. The photoelectric encoder is used for acquiring the rotating speed of the loading shaft B3 and compensating the torsional deformation of the loading shaft system during dynamic torque loading. The hydraulic loading device takes the hydraulic cylinder as a prime motor, and the loading shaft and the support arm are designed to perform motion conversion, so that the shear force, the bending moment and the torque of a joint model machine are loaded.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a multi-functional high accuracy heavy load arm joint model machine test platform which characterized in that: the load simulation system comprises a load simulation system, a supporting structure and a sensor unit; the load simulation system comprises a first loading shaft, a second loading shaft, a hydraulic cylinder for shearing force and bending moment loading and a hydraulic cylinder for torque loading which are sequentially connected; the supporting structure comprises a base, a first support and a second support, wherein the first support and the second support are respectively arranged above the left end and the right end of the base; the left end of the loading shaft I is connected with the right end of the loading shaft II, the right end of the loading shaft I is connected with the left end of the joint prototype machine, the right end of the joint prototype machine is connected with the support II, the left end of the loading shaft II is connected with a piston rod of a hydraulic cylinder for torque loading, and a cylinder barrel of the hydraulic cylinder for torque loading is connected with the support I; the sensor unit comprises a torque sensor connected between the first loading shaft and the second loading shaft and a force measuring sensor arranged at the bottom of the hydraulic cylinder for loading shearing force and bending moment.

2. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 1, wherein: the number of the hydraulic cylinders for shearing force and bending moment loading is two, and the two hydraulic cylinders are respectively a first hydraulic cylinder for shearing force and bending moment loading and a second hydraulic cylinder for shearing force and bending moment loading; the load simulation system also comprises a first support arm and a second support arm; the hydraulic cylinder for shearing force and bending moment loading is arranged below the first loading shaft and is connected with the first loading shaft through the first support arm; the upper end of the support arm I is sleeved on the loading shaft I, and the lower end of the support arm I is connected with a piston rod of a hydraulic cylinder for loading shearing force and bending moment; the upper end of the first support arm is rotatably connected with a first loading shaft through a joint bearing.

3. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 2, wherein: the number of the hydraulic cylinders for torque loading is two, and the two hydraulic cylinders are respectively a first hydraulic cylinder for torque loading and a second hydraulic cylinder for torque loading; the first hydraulic cylinder for torque loading and the second hydraulic cylinder for torque loading are both connected with the loading shaft through a second support arm; one end of the second support arm is connected with a piston rod of the first hydraulic cylinder for torque loading, the other end of the second support arm is connected with a piston rod of the second hydraulic cylinder for torque loading, a mounting hole is formed in the middle of the second support arm, and the second support arm is mounted in the mounting hole and is in running fit with the mounting hole.

4. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 3, wherein: the loading shaft II comprises a loading shaft A and a loading shaft B which are connected through a coupler; one end of the loading shaft A is connected with the first loading shaft, the other end of the loading shaft A is connected with one end of the loading shaft B, and the other end of the loading shaft B is connected with the middle section of the second support arm; the shaft coupling is an Oldham coupling.

5. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 2, wherein: the first support comprises a first support, a second support and a third support which are sequentially arranged above the left end of the base; the cylinder body of the hydraulic cylinder for shearing force and bending moment loading is fixedly connected above the middle section of the base; and the other end of the loading shaft II is rotatably connected with the second support.

6. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 1, wherein: one end of the torque sensor is connected with the second loading shaft, and the other end of the torque sensor is connected with the first loading shaft.

7. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 1, wherein: one end of the force measuring sensor is connected with the bottom of a cylinder barrel of the hydraulic cylinder for loading the shearing force and the bending moment, and the other end of the force measuring sensor is connected with the base.

8. The multifunctional high-precision heavy-duty mechanical arm joint prototype testing platform of claim 4, wherein: the sensor unit further includes a photoelectric encoder provided at an outer end portion of the loading shaft B.