CN219870117U - Multi-shaft parallel combined type force source and moment source device - Google Patents
Multi-shaft parallel combined type force source and moment source device Download PDFInfo
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Abstract
The multi-axis parallel combined force source and moment source device is used for detecting or calibrating a multi-component force sensor and comprises a fixed frame, a loading device and a movable beam device; the movable beam device is in sliding connection with the fixed frame, and the loading device is fixedly connected with the movable beam device; the fixing frame is used for enabling the whole force source and moment source device to be stably placed on the surface of a stable object, such as the ground or the surface of a supporting frame; the movable beam device is used for bearing a loading device so as to load force values or moments on the multi-component force sensor; the loading device comprises a vertical force value loading device, a vertical moment loading device and a horizontal force value loading device; the utility model realizes the loading of force values or moment in different directions by using one set of devices, reduces the complexity of the force source and the moment source device, and has the advantages of improving the coincidence and coaxiality of the moment central axis and the moment central axis corresponding to the force sensor and the detected equipment and the detection precision.
Description
Technical Field
The utility model relates to the field of force sensor detection or calibration, in particular to a multi-axis parallel combined type force source and moment source device.
Background
According to mechanical definition, force vectors acting on one point in space are generally decomposed into three independent force value components and three moment components on an X axis, a Y axis and a Z axis, and the multi-component force sensor is a force sensor capable of detecting at least two components on the X axis, the Y axis and the Z axis at the same time and has the advantages of small size, strong adaptability and the like, is increasingly widely applied in the industries of automobile, motorcycle industry, robots and the like, and is required to trace the source through a standard force source device periodically in order to ensure the accuracy and stability of the sensor.
The coordinate system described in the background art is defined as the positive vertical upward direction of the Z axis, and the X axis and the Y axis form a horizontal plane, satisfying the right hand rule, as shown in fig. 1.
For the force source device, the force value vector is defined by the gravity acceleration of the earth, the force vector is loaded (pulled or pressed) in the vertical direction in a single axial direction, and the force value vector in the non-vertical direction cannot be provided by the conventional force source device, so that the multi-component force sensor cannot be detected in the non-vertical direction.
In order to solve the problem of force value vectors in the non-vertical direction, related designs are developed to improve a force source device, and the method adopted by the method is that the loading direction is adjusted by changing the position of detected equipment to realize the loading of the force value vectors in the non-vertical direction, but the method has the following defects: 1) The preparation work is very complicated (tool replacement, station adjustment and the like); 2) After the installation position is changed, the reproducibility of the data is poor, and erroneous judgment is easy to cause.
Based on the above-mentioned drawbacks, the related person improves and uses the weight gravity as the reference force value, and uses a load transmission mechanism such as a cable, a pulley and a lever to apply the reference force value to the detected force sensor, so that the mechanism device and the method have the following drawbacks: 1) The loading mechanism has a complex structure, and factors influencing the reference force value in the mechanism are more, such as friction, eccentricity, length measurement precision and the like, so that the influence on the measurement uncertainty cannot be effectively distinguished; 2) The weight gravity is used as a standard force source and is limited by a load transmission mechanism, for example, the horizontal maximum force value is not more than 10kN; 3) The number of the reference force value points to be selected is fixed and cannot be covered in the whole range due to the limitation of weight combination.
Based on the defects, at present, related measurement and test technical research institutes and the like commonly adopt a method based on superposition type force source loading, wherein independent single-shaft force sources are respectively arranged on an X axis, a Y axis and a Z axis, the force source and the moment source of the Z axis are taken as examples, the moment source is loaded in a couple mode, the influence of parasitic force and other loads is avoided, the arrangement schematic diagram is shown in figure 2, and Fx in the figure i (i=0, 1,2,3, 4) is a force source arranged parallel to the X-axis, fx 0 Is a force source of the X axis, and other force sources are symmetrically arranged relative to the X axis in the XY plane; fy 0 Is a force source on the Y-axis; fz i (i=0, 1,2,3, 4) force source arranged parallel to the Z-axis, fz 0 Is a force source of a Z axis, other force sources are symmetrically arranged relative to the Z axis in an XY plane, moment is reproduced in a couple form, and the moment source of an X axis is a couple (Fz 2 ，Fz 4 ) The moment source of the Y-axis is a couple (Fz 1 ，Fz 3 ) The moment source of the Z axis is a couple (Fx 1 ，Fx 3 ) Or couple (Fx) 2 ，Fx 4 )。
However, in order to ensure that six force components are covered, the above-mentioned stacked force source-based loading device at least needs 10 force source mechanisms, and the number of force source mechanisms is large, so that the overall arrangement of the whole force source and moment source device is complex, and meanwhile, the force source-based loading device is influenced by machining, assembling and the like, so that the influence factors on the force source recurrence force value are large, and the searching and analyzing of relevant influence factors are quite difficult.
Disclosure of Invention
The utility model aims to provide a multi-axis parallel combined type force source and moment source device, which aims to solve the technical problems that the total arrangement of the whole force source and moment source device is complex because of the large number of force source mechanisms based on a superposition type force source loading device, and the influence factors aiming at the force value of the force source are large, so that the influence factors related to searching and analyzing are difficult.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the multi-axis parallel combined force source and moment source device is used for detecting or calibrating a multi-component force sensor and comprises a fixed frame, a loading device and a movable beam device; the movable beam device is in sliding connection with the fixed frame, and the loading device is fixedly connected with the movable beam device;
the fixing frame comprises a base and an installation table, wherein a plurality of stand columns extend upwards from the edge of the top end of the base, the stand columns are fixedly connected with the base, and the installation table is arranged at the center position of the top end of the base and is used for installing a detected or calibrated multicomponent force sensor;
the movable beam device comprises an upper movable beam and a lower movable beam, the bottom of the upper movable beam is provided with a horizontal mounting surface, the lower movable beam is of a hollow frame structure, the inner side wall of the hollow frame is provided with a vertical mounting surface, the lower movable beam is positioned between the upper movable beam and the base, and the upper movable beam and the lower movable beam are respectively connected with the upright post in a sliding manner;
the loading device comprises a vertical force value loading device, a vertical moment loading device and a horizontal force value loading device; the vertical force value loading device and the vertical moment loading device are fixed on the horizontal installation surface at the bottom of the upper movable beam, the vertical force value loading device can perform vertical telescopic displacement, the vertical moment loading device can rotate around the central shaft of the horizontal installation surface, the horizontal force value loading device is fixedly connected with the installation surface of the inner side wall of the hollow frame of the lower movable beam, and the vertical force value loading device can perform telescopic displacement along the horizontal direction.
In the present utility model, for clarity and intuition, a coordinate system is defined, wherein the coordinate system comprises an X axis, a Y axis and a Z axis, the Z axis is defined to pass through the center point of the cross section of the upper movable beam and is perpendicular to the cross section of the upper movable beam, and the origin O of the coordinate system is defined 0 The X-axis, the Y-axis and the Z-axis are defined as the right-hand rule, the right-hand rule is that the right-hand fist is held, then the thumb, the index finger and the index finger of the right hand are sequentially extended to form a plane, then the middle finger is extended to enable the extending direction of the middle finger to be perpendicular to the plane formed by the thumb and the index finger, the pointing direction of the finger tip of the thumb is the positive axis of the X-axis, the pointing direction of the finger tip of the index finger is the positive axis of the Y-axis, and the pointing direction of the finger tip of the middle finger is the positive axis of the Z-axis.
The working principle of the utility model is as follows: the detected or calibrated multicomponent force sensor is arranged on the mounting table, the relative position of the multicomponent force sensor is unchanged, the upper movable beam and the lower movable beam are moved to be in proper positions, when the upper movable beam slides along the upright post, the vertical force value loading device and the vertical moment loading device can synchronously move along with the upper movable beam, and when the lower movable beam slides along the upright post, the horizontal force value loading device can synchronously move along with the lower movable beam; when the force value or the moment of the multi-component force sensor is detected or calibrated, the force value and the moment of the multi-component force sensor in the X-axis, Y-axis and Z-axis directions in the coordinate system defined by the file of the utility model are loaded by the extension and the contraction of the vertical force value loading device, the rotation of the vertical moment loading device and the extension and the contraction of the horizontal force value loading device, so that the force value and the moment of the multi-component force sensor in the X-axis, Y-axis and Z-axis directions are detected or calibrated.
Preferably, the number of the vertical force value loading devices is multiple, each vertical force value loading device is uniformly distributed along the horizontal transverse center line and the horizontal longitudinal center line of the horizontal mounting surface, the horizontal transverse center line and the horizontal longitudinal center line are mutually perpendicular on the horizontal plane, and each vertical force value loading device is symmetrically distributed in a center by taking the center point of the bottom horizontal mounting surface of the movable beam as the center.
The vertical force value loading devices are identical in structure, force values parallel to the Z axis can be loaded along the Z axis negative direction, the telescopic motion of each vertical force value loading device is mutually independent, and all the vertical force value loading devices can synchronously and synchronously telescopic, and can independently telescopic.
Preferably, the number of the vertical force value loading devices is four, two vertical force value loading devices are uniformly distributed along the horizontal and transverse central lines of the horizontal installation surface, the other two vertical force value loading devices are uniformly distributed along the horizontal and longitudinal central lines of the horizontal installation surface, and the four vertical force value loading devices are symmetrically distributed in a central manner by taking the central point of the horizontal installation surface at the bottom of the movable beam as the center.
The four vertical force value loading devices are identical in structure and can load force values parallel to the Z axis along the Z axis negative direction, the telescopic motion of each vertical force value loading device is mutually independent, and all the vertical force value loading devices can synchronously telescopic at the same time and can independently telescopic.
Preferably, the vertical force value loading device comprises a vertical force value driving module and a vertical force sensor, wherein the vertical force value driving module is fixedly arranged on the horizontal installation surface at the bottom of the movable beam, the vertical force value driving module comprises a first telescopic part, the first telescopic part can be driven by external force to do telescopic motion, the first telescopic part is fixedly connected with the vertical force sensor, and the first telescopic part is in telescopic displacement to drive the vertical force sensor to do telescopic motion in the vertical direction.
Preferably, the vertical torque loading device comprises a torque driving module and a torque sensor, wherein the torque driving module is fixed on the horizontal installation surface at the bottom of the upper movable beam, the torque driving module comprises a second telescopic part, a stator and a rotor, the second telescopic part can do telescopic motion under the driving of external force, the stator is fixed at the central position of the horizontal installation surface at the bottom of the upper movable beam, the stator is rotationally connected with the rotor, the second telescopic part is fixedly connected with the rotor in the horizontal direction, the rotor is fixedly connected with the torque sensor in the vertical direction, and the rotor can drive the rotor to rotate around the central shaft of the horizontal installation surface when the second telescopic part horizontally stretches.
Specifically, the central axis of the vertical moment loading device coincides with the Z axis in the coordinate system defined by the document of the application, and the horizontal projection of the central axis of the vertical moment loading device coincides with the center point of the horizontal installation surface of the bottom surface of the upper movable beam.
Preferably, the number of the horizontal force value loading devices is at least two, and each horizontal force value loading device is respectively arranged along the horizontal direction and faces to the center position of the hollow frame of the lower movable beam; the horizontal force value loading device comprises a horizontal force value driving module and a horizontal force sensor, wherein the horizontal force value driving module is fixedly arranged on the inner side wall mounting surface of the hollow frame of the lower movable beam, the horizontal force value driving module comprises a third telescopic part, the third telescopic part can be driven by external force to do telescopic motion, the third telescopic part is fixedly connected with the horizontal force sensor, and the third telescopic part is in telescopic displacement to drive the horizontal force sensor to do telescopic motion in the horizontal direction.
Preferably, each vertical force value loading device or each horizontal force value loading device is provided with an independent extensometer, and the extensometer can identify or read the extension and contraction of the vertical force value loading device or the horizontal force value loading device in the vertical direction or the horizontal direction.
By the arrangement, the extension or contraction value of each vertical force value loading device can be monitored and observed, synchronous extension or contraction of each vertical force value loading device can be maintained, the extension or contraction value of each horizontal force value loading device can be monitored and observed, and synchronous extension or contraction of each horizontal force value loading device can be maintained.
Preferably, the vertical force value loading device, the vertical moment loading device and the horizontal force value loading device respectively adopt hydraulic cylinders as power driving devices, the hydraulic cylinders comprise oil cylinders, pistons are arranged in the oil cylinders, a connecting rod is fixed on each piston and extends out of each piston, the pistons are in sliding connection with the inner walls of the oil cylinders, a first oil inlet and a second oil inlet are respectively arranged at the positions of two sides of each piston on each oil cylinder, and the first oil inlet and the second oil inlet are respectively connected with a first oil pump and a second oil pump; the connecting rod is used as a specific implementation mode of the first telescopic part, the second telescopic part and the third telescopic part.
In this way, specifically, each vertical force value driving module, each horizontal force value driving module and the moment driving module respectively adopt a hydraulic cylinder as a power driving device, when the first oil pump pumps oil into the first oil inlet, the piston slides towards the side with the connecting rod, and when the second oil pump pumps oil into the second oil inlet, the piston slides towards the side deviating from the connecting rod, so that telescopic movement is realized; the first oil pump and the second oil pump are arranged at positions which are relatively fixed with the base.
Preferably, the upright post is fixedly provided with an outwards-protruding linear guide rail, guide rail grooves are formed in the positions, corresponding to the guide rails, of the upper movable beam and the lower movable beam, and the linear guide rail is matched with the grooves in size so as to realize vertical movement guiding of the vertical moment loading device or the horizontal force value loading device.
Preferably, the upper moving beam and the lower moving beam are driven by a machine, and mechanical driving devices are respectively arranged on the upper moving beam and the lower moving beam and driven by a motor.
The upper movable beam and the lower movable beam are enabled to vertically slide through external force, so that manpower can be saved.
The technical scheme of the utility model has the following beneficial effects: the utility model adopts the vertical moment loading device connected in series with the central shaft of the multicomponent force sensor to be detected or calibrated, and the combination of a plurality of vertical force loading devices arranged in parallel and the combination of force loading devices of the X axis and the Y axis, realizes the force loading and moment loading in different directions by one set of device, reduces the complexity of the force source and the moment source device, saves space for installing and using the moment device, and has the advantages of improving the moment central axis, coincidence and coaxiality of the moment central axis corresponding to the force sensor and the detected equipment and detection precision.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in further detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a coordinate system according to the present utility model.
Fig. 2 is a schematic diagram of a prior art force source arrangement of the present utility model.
Fig. 3 is a schematic structural diagram of a multi-axis parallel combined force source and moment source device according to the present utility model.
Fig. 4 is a schematic top view of the upper movable beam structure of the present utility model.
Fig. 5 is a schematic top view of the lower movable beam of the present utility model.
Fig. 6 is a schematic structural diagram of a base structure according to an embodiment of the present utility model.
Fig. 7 is a schematic structural diagram of a base structure according to a second embodiment of the present utility model.
FIG. 8 is a schematic view of the partial structure of the area A in FIG. 3 according to the present utility model.
Fig. 9 is a schematic structural view of an embodiment of the locking device of the present utility model.
Fig. 10 is a schematic view of a vertical force loading device according to the present utility model.
Fig. 11 is a schematic view of a moment loading device according to the present utility model.
FIG. 12 is a schematic diagram of a horizontal force loading device according to the present utility model.
Fig. 13 is a schematic view of the force source arrangement of the present utility model.
FIG. 14 is a schematic view of the upper beam force and moment arm of the present utility model.
Fig. 15 is a schematic diagram of the moment arrangement of the present utility model.
Fig. 16 is a second torque layout schematic of the present utility model.
Fig. 17 is a third torque layout schematic of the present utility model.
Fig. 18 is a schematic view of a first tooling installation of the present utility model.
Fig. 19 is a second tooling installation schematic of the present utility model.
Reference numerals illustrate:
11. a base; 111. a horizontal beam; 112. a vertical beam; 113. a cross beam; 114. a longitudinal beam; 115. a mounting frame; 116. a flat plate structure; 12. a mounting table; 13. a column; 131. a linear guide rail; 132. a groove; 133. a bolt through hole; 134. a jack bolt; 14. a top beam; 21. a vertical force value loading device; 22. a vertical moment loading device; 23. horizontal force value loading means; 24. a vertical force value driving module; 241. a first telescopic part; 25. a vertical force sensor; 26. a torque driving module; 261. a second telescopic part; 27. a torque sensor; 28. a horizontal force value driving module; 281. a third telescopic part; 29. a horizontal force sensor; 3. a hydraulic cylinder; 31. an oil cylinder; 32. an oil inlet; 321. a first oil inlet; 322. a second oil inlet; 33. a piston; 34. a connecting rod; 35. a stator; 36. a rotor; 37. a dowel bar; 41. an upper movable beam; 411. a horizontal mounting surface; 42. a lower movable beam; 421. a vertical mounting surface; 43. a mechanical drive; 5. a first tool; 6. and a second tool.
Detailed Description
For a better understanding of the objects, structures and functions of the present utility model, a multi-axis parallel combined force source and torque source device of the present utility model will be described in further detail with reference to the accompanying drawings.
The utility model solves the technical problems that the total arrangement of the whole force source and moment source devices is complex because of more force source mechanisms based on the superposition type force source loading device and the influence factors aiming at the force source reproduction force values are more and the searching and analysis of relevant influence factors are difficult by carrying out structural improvement on the force source and moment source devices, reduces the number of the force source mechanisms and reduces the number of the influence factors while realizing the reproduction of six force components and moments.
In the present document, the coordinate system is defined as the positive vertical upward direction of the Z axis, and the X axis and the Y axis form a horizontal plane, so as to satisfy the right-hand rule, as shown in fig. 1;
in the present document, the force source (F) is defined as a force output as a load, expressed as a linear movement along an axis (in +)
Shrink), a power mechanism is used as a drive, and a force sensor is used for feeding back a precise force loading mechanism for precise control;
in the present document, a torque source (M) is defined to be a precise torque loading mechanism in which torque is outputted as a load, rotation (forward rotation or reverse rotation) along an axis is expressed, a power mechanism is driven, and precise control is performed by force sensor feedback.
Based on the technical problems to be solved, as shown in fig. 3 to 5, the utility model discloses a multi-axis parallel combined type force source and moment source device which is used for detecting or calibrating a multi-component force sensor and comprises a fixed frame, a loading device and a movable beam device; the movable beam device is in sliding connection with the fixed frame, and the loading device is fixedly connected with the movable beam device;
the fixing frame is used for enabling the whole force source and moment source device to be stably placed on the surface of a stable object, such as the ground or the surface of a supporting frame;
the fixing frame comprises a base 11 and an installation table 12, wherein a plurality of upright posts 13 extend upwards from the edge of the top end of the base 11, the upright posts 13 are fixedly connected with the base 11, and the installation table 12 is arranged at the center position of the top end of the base 11 and is used for installing a detected or calibrated multicomponent force sensor; specifically, the mounting table 12 is fixed on the base 11 through bolts, and the detected or calibrated multi-component force sensor is fixed on the mounting table 12;
the movable beam device comprises an upper movable beam 41 and a lower movable beam 42, wherein the bottom of the upper movable beam 41 is provided with a horizontal mounting surface 411, the lower movable beam 42 is of a hollow frame structure, the inner side wall of the hollow frame is provided with a vertical mounting surface 421, the lower movable beam 42 is positioned between the upper movable beam 41 and the base 11, and the upper movable beam 41 and the lower movable beam 42 are respectively connected with the upright post 13 in a sliding manner;
The loading device comprises a vertical force value loading device 21, a vertical moment loading device 22 and a horizontal force value loading device 23;
the vertical force value loading device 21 and the vertical moment loading device 22 are fixed on the horizontal mounting surface 411 at the bottom of the upper movable beam 41, and the vertical force value loading device 21 can perform vertical telescopic displacement and is used for loading a vertical force value to a detected or calibrated multi-component force sensor, so that the detection of the vertical force value is realized, and the detection of the moment in the horizontal direction is also realized; the vertical moment loading device 22 can rotate around a central shaft of a horizontal installation surface, the central shaft of the horizontal installation surface extends vertically and is vertical to a horizontal plane, and the vertical moment loading device is used for loading vertical moment of a vertical force value to a detected or calibrated multi-component force sensor so as to realize detection of the vertical moment;
the horizontal force value loading device 23 is fixedly connected with the mounting surface of the inner side wall of the hollow frame of the lower movable beam 42, can perform telescopic displacement along the horizontal direction, and is used for loading horizontal force to the detected or calibrated multi-component force sensor to realize the detection of the horizontal force value.
In the present application, for clarity and intuition, a coordinate system is defined, wherein the coordinate system comprises an X axis, a Y axis and a Z axis, the Z axis is defined to pass through the center point of the cross section of the upper movable beam and is perpendicular to the cross section of the upper movable beam, and the origin O of the coordinate system is defined 0 The X-axis, the Y-axis and the Z-axis are defined as the right-hand rule, the right-hand rule is that the right-hand fist is held, then the thumb, the index finger and the index finger of the right hand are sequentially extended to form a plane, then the middle finger is extended to enable the extending direction of the middle finger to be perpendicular to the plane formed by the thumb and the index finger, the pointing direction of the finger tip of the thumb is the positive axis of the X-axis, the pointing direction of the finger tip of the index finger is the positive axis of the Y-axis, and the pointing direction of the finger tip of the middle finger is the positive axis of the Z-axis.
The working principle of the utility model is as follows: the detected or calibrated multicomponent force sensor is arranged on the mounting table 12, the relative positions of the multicomponent force sensor are unchanged, the upper movable beam 41 and the lower movable beam 42 are moved to be in proper positions, when the upper movable beam 41 slides along the upright post 13, the vertical force value loading device 21 and the vertical moment loading device 22 can synchronously move along with the upper movable beam 41, and when the lower movable beam 42 slides along the upright post 13, the horizontal force value loading device 23 can synchronously move along with the lower movable beam 42; when the force value or the moment of the multi-component force sensor is detected or calibrated, the force value and the moment of the multi-component force sensor in the X-axis, Y-axis and Z-axis directions in the coordinate system defined by the file of the utility model are loaded by the extension and the contraction of the vertical force value loading device 21, the rotation of the vertical moment loading device 22 and the extension and contraction of the horizontal force value loading device 23, so that the force value and the moment of the multi-component force sensor in the X-axis, Y-axis and Z-axis directions are detected or calibrated.
As a specific embodiment of the structure of the base 11, as shown in fig. 6, the base 11 is a frame structure formed by enclosing a plurality of horizontal beams 111 and a plurality of vertical beams 112, the overall appearance is a cube, the horizontal beams 111 are horizontally arranged, and the vertical beams 112 are vertically arranged; the top end of the base 11 is formed by enclosing two cross beams 113 and two longitudinal beams 114 in the horizontal direction to form a square frame structure, an installation frame 115 is fixed in an inner space formed by enclosing the square frame structure, and the installation frame 115 is fixedly connected with the frame edge of the square frame structure, namely, fixedly connected with the cross beams 113 or the longitudinal beams 114.
As a second embodiment of the base structure, as shown in fig. 7, a flat plate structure 116 is laid on the top surface of the square frame structure at the top end of the base on the basis of the first embodiment of the base structure, so that the top end of the base has a top surface parallel to the horizontal plane, and the mounting table is mounted at the center position of the top surface.
According to the first embodiment and the second embodiment of the base structure, the mounting mode of the mounting table on the top end of the base can be selected to be fixed or be connected to the center position of the top end of the base, the fixed connection mode is welding or bonding, and the detachable connection mode is bolting or clamping.
As the column is fixed in the base top edge's preferred scheme, the column quantity is four, is fixed in the four corners at base top edge respectively and upwards vertical extension, the column is the cylinder structure.
As a specific embodiment of sliding connection between the upper movable beam 41 and the lower movable beam 42 and the upright 13, as shown in fig. 8, linear guide rails 131 protruding outwards are fixed on the upright 13, and guide rail grooves 132 are formed at positions corresponding to the guide rails on the upper movable beam 41 and the lower movable beam 42, and the linear guide rails 131 are matched with the grooves 132 in size, so as to realize vertical movement guiding of the vertical moment loading device or the horizontal force loading device 23.
As a concrete implementation mode of sliding connection of the upper movable beam and the lower movable beam with the upright post, the upright post is of a cylindrical structure, the corresponding parts of the upper movable beam and the lower movable beam sleeved on the upright post are cylindrical channels, and bearings are arranged at the parts of the channels, which are in contact with the upright post, so that the vertical movement guiding of the vertical moment loading device or the horizontal force value loading device is realized.
In order to adapt to different multi-component force sensors to be detected or calibrated, the positions of the upper moving beam or the lower moving beam may need to be adjusted, and the adjusted relative positions are kept unchanged, so that as a specific implementation mode of keeping the relative positions of the upper moving beam and the lower moving beam on the upright, locking devices are arranged on the upper moving beam and the lower moving beam and used for locking or unlocking the relative sliding positions of the upper moving beam and the lower moving beam on the upright.
As a specific embodiment of the locking device, the locking device adopts a tightening bolt 134, specifically, as shown in fig. 9, a bolt through hole 133 is formed at a position where the upper movable beam 41 and the lower movable beam 42 are contacted with each upright post 13, the bolt hole is provided with an internal thread, the tightening bolt 134 with an external thread is screwed into the bolt through hole 133, the screwing end of the bolt is contacted with the upright post 13 and is abutted with the upright post 13, and the screwing degree of each bolt is adjusted, so that the relative position of the upper movable beam 41 and the lower movable beam 42 is kept unchanged.
As a specific embodiment of the vertical moment loading device 22, as shown in fig. 4, the vertical moment loading device 22 is fixed at the center position of the bottom horizontal mounting surface 411 of the upper movable beam 41, specifically, the central axis of the vertical moment loading device 22 coincides with the Z axis, and the horizontal projection of the central axis of the vertical moment loading device 22 coincides with the center point of the bottom horizontal mounting surface 411 of the upper movable beam 41.
When the vertical moment of the multi-component force sensor needs to be identified and detected, the vertical moment loading device 22 is enabled to rotate around the central shaft of the horizontal installation surface at the bottom of the movable beam, so that the detected or calibrated multi-component force sensor can be loaded with the vertical moment.
As a specific embodiment of the vertical force loading device 21, as shown in fig. 4, the vertical force loading device 21 is fixed on the bottom horizontal mounting surface 411 of the upper movable beam 41, and the number of the vertical force loading devices 21 is plural, each vertical force loading device 21 is uniformly arranged along the horizontal transverse center line and the horizontal longitudinal center line of the horizontal mounting surface 411, wherein the horizontal transverse center line and the horizontal longitudinal center line are mutually perpendicular on the horizontal mounting surface, and each vertical force loading device is centrally and symmetrically distributed with the center point of the bottom horizontal mounting surface 411 of the upper movable beam 41 as the center.
Specifically, in the coordinate system defined in the present disclosure, the horizontal transverse center line and the horizontal longitudinal center line of the horizontal mounting surface 411 are respectively defined as positive projection lines of the X axis and the Y axis on the horizontal mounting surface in the coordinate system, and each vertical force value loading device 21 has the same structure and can load a force value parallel to the Z axis along the negative direction of the Z axis, and the telescopic movement of each vertical force value loading device 21 is mutually independent, so that all the vertical force value loading devices 21 can synchronously and simultaneously telescope or can independently telescope;
in the coordinate system defined by the file, when the vertical force value of the multi-component force sensor is required to be identified and detected, each vertical force value loading device is enabled to simultaneously perform telescopic displacement along the direction parallel to the Z axis, and the detected or calibrated multi-component force sensor can be loaded with the vertical force value;
In the coordinate system defined by the document, when the moment of the X axis of the multi-component force sensor is required to be identified and detected, the vertical force value loading devices which are uniformly distributed on the projection line of the Y axis positive axis on the horizontal installation surface are lengthened, the vertical force value loading devices which are uniformly distributed on the projection line of the Y axis negative axis on the horizontal installation surface are contracted, namely the detected or calibrated multi-component force sensor can be loaded with the positive moment of the X axis, and the vertical force value loading devices which are uniformly distributed on the projection line of the Y axis positive axis on the horizontal installation surface are contracted, and the vertical force value loading devices which are uniformly distributed on the projection line of the Y axis negative axis on the horizontal installation surface are lengthened, so that the detected or calibrated multi-component force sensor can be loaded with the negative moment of the X axis. Similarly, the vertical force value loading devices which are uniformly distributed on the projection line of the horizontal installation surface and positioned on the positive axis of the X-axis are contracted, the vertical force value loading devices which are uniformly distributed on the projection line of the horizontal installation surface and positioned on the negative axis of the X-axis are lengthened, namely, the positive moment of the Y-axis can be loaded on the detected or calibrated multi-component force sensor, the vertical force value loading devices which are uniformly distributed on the projection line of the horizontal installation surface and positioned on the positive axis of the X-axis are lengthened, and the vertical force value loading devices which are uniformly distributed on the projection line of the horizontal installation surface and positioned on the negative axis of the X-axis are contracted, namely, the negative moment of the Y-axis can be loaded on the detected or calibrated multi-component force sensor.
As a preferable arrangement scheme of the vertical force value loading devices 21, the number of the vertical force value loading devices 21 is four, two vertical force value loading devices 21 are uniformly arranged along the horizontal and transverse central line of the horizontal mounting surface 411, the other two vertical force value loading devices 21 are uniformly arranged along the horizontal and longitudinal central line of the horizontal mounting surface 411, and the four vertical force value loading devices are symmetrically distributed with the central point of the bottom horizontal mounting surface 411 of the movable beam 41 as the center;
in the coordinate system defined by the document of the application, the four vertical force value loading devices 21 have the same structure and can load force values parallel to the Z axis along the negative direction of the Z axis, the telescopic movement of each vertical force value loading device 21 is mutually independent, and the four vertical force value loading devices 21 can synchronously and simultaneously telescopic or independently telescopic.
Specifically, as shown in fig. 18, the first telescopic portion 241 is fixedly connected with the vertical force sensor 25 through the first tool 5, a plane is formed on a surface of the first tool 5 facing the upper movable beam 41, a cambered surface is formed on a surface of the first tool 5 facing the mounting table 12, the vertical force value loading devices 21 are abutted to the plane, the four vertical force value loading devices 21 are symmetrically distributed on the plane, and a center of the cambered surface facing one side of the mounting table 12 coincides with a center of the detected or calibrated multicomponent force sensor.
As one specific arrangement mode of the horizontal force value loading device, as known from the description above, the lower movable beam is of a hollow frame structure, the inner side wall of the hollow frame is provided with a vertical mounting surface, the horizontal force value loading device is fixedly connected with the inner side wall mounting surface of the hollow frame of the lower movable beam, and can perform telescopic displacement along the horizontal direction, so that the horizontal force is loaded on the detected or calibrated multi-component force sensor, and the detection of the horizontal force value is realized.
The number of the horizontal force value loading devices 23 is at least two, and each horizontal force value loading device is respectively arranged along the horizontal direction and faces to the center position of the hollow frame of the lower movable beam 42, so that the force value center line of each horizontal force value loading device 23 is respectively parallel to the X axis or the Y axis in the coordinate system defined by the file of the application.
As shown in fig. 5, in order to simplify the overall structure, the preferred number of the horizontal force value loading devices is two, the two horizontal force value loading devices have the same self structure, the two horizontal force value loading devices are respectively arranged along the horizontal direction, the central lines of the two horizontal force value loading devices are mutually perpendicular on the horizontal plane, and simultaneously, the two horizontal force value loading devices face to the central position of the hollow frame of the lower movable beam 42, so that the force value central lines of the respective horizontal force value loading devices 23 are respectively parallel to the X axis and the Y axis in the coordinate system defined by the file of the present application; in particular, in the coordinate system defined in the present document, the two horizontal force value loading means 23 are capable of providing force values loaded in the X-axis negative direction and the Y-axis negative direction, respectively.
When the force value of the multi-component force sensor in the X axis or the Y axis is required to be identified and detected, the horizontal force value loading device is enabled to perform telescopic displacement along the X axis or the Y axis, and the horizontal force value loading device is used for loading the detected or calibrated multi-component force sensor with the force value of the X axis or the Y axis.
As a specific embodiment of the structure of the vertical force value loading device 21, as shown in fig. 10, the vertical force value loading device 21 includes a vertical force value driving module 24 and a vertical force sensor 25, the vertical force value driving module 24 is fixedly mounted on a horizontal mounting surface at the bottom of the upper movable beam, the vertical force value driving module 24 includes a first telescopic portion 241, the first telescopic portion 241 can perform telescopic movement under the driving of an external force, the first telescopic portion 241 is fixedly connected with the vertical force sensor 25, and the first telescopic portion 241 performs telescopic displacement so as to drive the vertical force sensor 25 to perform telescopic movement in the vertical direction.
Preferably, each vertical force value loading device 21 is provided with an extensometer (not shown in the drawing) in a vertical direction, which is independent of each other, and the extension and retraction amount of the vertical force value loading device 21 can be identified or read, so that the extension and retraction values of each vertical force value loading device 21 can be monitored and observed, and synchronous extension and retraction of each vertical force value loading device 21 can be maintained.
Preferably, each horizontal force value loading device 23 is provided with an extensometer (not shown in the drawing) in a horizontal direction, which is independent of each other, and the extension and retraction amount of the horizontal force value loading device 23 can be identified or read, so that the extension and retraction values of each horizontal force value loading device 23 can be monitored and observed, and synchronous extension and retraction of each horizontal force value loading device 23 can be maintained.
As a specific embodiment of the structure of the vertical torque loading device 22, as shown in fig. 11, the vertical torque loading device 22 includes a torque driving module 26 and a torque sensor 27, the torque driving module 26 is fixed on the horizontal mounting surface at the bottom of the upper movable beam, the torque driving module 26 includes a second telescopic portion 261, a stator 35 and a rotor 36, the second telescopic portion 261 can perform telescopic movement under the driving of an external force, the stator 35 is fixed at the central position of the horizontal mounting surface at the bottom of the upper movable beam, the stator 35 is rotationally connected with the rotor 36, the second telescopic portion 261 is fixedly connected with the rotor 36 in the horizontal direction, the rotor 36 is fixedly connected with the torque sensor 27 in the vertical direction, and the rotor 36 can drive the rotor 36 to rotate around the central axis of the horizontal mounting surface when the second telescopic portion 261 performs horizontal telescopic operation.
Specifically, because the installation space is limited, in order to facilitate the fixed connection between the rotor 36 and the second telescopic portion 261, a dowel bar 37 is fixed between the second telescopic portion 261 and the rotor 36, and when the second telescopic portion 261 stretches, the rotor 36 is driven to rotate by the dowel bar 37.
Specifically, as shown in fig. 19, the moment sensor 27 is fixedly connected with the multi-component force sensor to be detected or calibrated in the vertical direction through a second tool 6, the side of the second tool 6 facing the upper movable beam 41 and the side facing the mounting table 12 are both planes, and the center of the side of the second tool 6 facing the mounting table 12 coincides with the center of the multi-component force sensor to be detected or calibrated.
When the second telescopic part drives the rotor to rotate anticlockwise, the moment sensor can load moment to the multicomponent force sensor to be detected or calibrated; when the second telescopic part drives the rotor to rotate clockwise, reverse moment can be loaded on the multi-component force sensor to be detected or calibrated through the moment sensor.
As a specific embodiment of the structure of the horizontal force value loading device 23, as shown in fig. 12, the horizontal force value loading device 23 includes a horizontal force value driving module 28 and a horizontal force sensor 29, the horizontal force value driving module 28 is fixedly mounted on the inner side wall mounting surface of the hollow frame of the lower movable beam, the horizontal force value driving module 28 includes a third telescopic portion 281, the third telescopic portion 281 can perform telescopic movement under the driving of an external force, the third telescopic portion 281 is fixedly connected with the horizontal force sensor 29, the third telescopic portion 281 performs telescopic displacement so as to drive the horizontal force sensor 29 to perform telescopic movement in the horizontal direction, and the horizontal force value driving module 28 can drive the horizontal force sensor 29 to perform telescopic movement in the direction of the X axis or the Y axis in the coordinate system defined in the document of the present application.
As shown in fig. 10 to 12, each vertical force value driving module 24, each horizontal force value driving module 28 and the moment driving module 26 respectively adopt a hydraulic cylinder 3 as a power driving device, the hydraulic cylinder 3 adopts the structure of the hydraulic cylinder 3 existing in the prior art, and is illustrated by taking the hydraulic cylinder in fig. 9 as an example, the hydraulic cylinder 3 comprises an oil cylinder 31, a piston 33 is arranged in the oil cylinder 31, a connecting rod is fixed on and extends out of the piston 33, the piston 33 is in sliding connection with the inner wall of the oil cylinder 31, a first oil inlet 321 and a second oil inlet 322 are respectively arranged on the oil cylinder 31 at two sides of the piston 33, and the first oil inlet 321 and the second oil inlet 322 are respectively connected with a first oil pump and a second oil pump (not shown in the figure) which are arranged at positions relatively fixed with the base; the connecting rod is a specific embodiment of the first telescopic portion 241, the second telescopic portion 261 and the third telescopic portion 281.
Thus, when the first oil pump pumps oil into the first oil inlet 321, the piston 33 slides towards the side with the connecting rod, and when the second oil pump pumps oil into the second oil inlet 322, the piston 33 slides towards the side away from the connecting rod, so that telescopic movement is realized.
Specifically, as shown in fig. 10, in the working process of the vertical force value driving module, the specific implementation of the first telescopic part is a connecting rod, the connecting rod on the piston 33 is driven to extend by feeding oil in the first oil inlet 321 through the first oil pump, and then a force value parallel to the Z axis in the coordinate system defined in the document and in the negative direction is loaded to the multicomponent force sensor to be detected or calibrated through the vertical force sensor 25, and the applied force value is measured by the vertical force sensor 25; and when the second oil inlet 322 is filled with oil, the piston 33 drives the connecting rod to retract, so that the force value loaded on the multi-component force sensor to be measured or calibrated is unloaded.
Specifically, as shown in fig. 11, the moment driving module is operated by taking oil into account in the first oil inlet 321, driving the connecting rod on the piston 33 to extend, and then driving the dowel bar 37 to move, the dowel bar 37 then driving the rotor 36 to rotate counterclockwise relative to the stator 35, taking oil into account in the second oil inlet 322, driving the connecting rod on the piston 33 to retract, and then driving the dowel bar 37 to move reversely, and the dowel bar 37 then driving the rotor 36 to rotate clockwise relative to the stator 35.
Specifically, as shown in fig. 12, the horizontal force value driving module is operated by taking oil into the first oil inlet 321, driving the connecting rod on the piston 33 to extend, further loading the force value along the negative X-axis direction or the negative Y-axis direction to the multi-component force sensor to be tested or calibrated through the horizontal force sensor 29, and measuring the applied force value through the horizontal force sensor 29; and when the second oil inlet 322 is filled with oil, the piston 33 drives the connecting rod to retract, so that the force value in the X axis or Y axis direction loaded on the multi-component force sensor to be tested or calibrated is unloaded.
As a preferable mode of driving the upper moving beam 41 and the lower moving beam 42, the upper moving beam 41 and the lower moving beam 42 are mechanically driven, and a mechanical driving device 43 is mounted on each of the upper moving beam 41 and the lower moving beam 42, and the mechanical driving device 43 is driven by a motor.
The upper movable beam 41 and the lower movable beam 42 are vertically slid by an external force, so that labor can be saved.
The mechanical driving mode of the upper movable beam 41 and the lower movable beam 42 is improved, the top beams 14 are fixed at the top ends of the upright posts 13 of the fixing frame, the top beams 14 are fixedly connected with the top ends of the upright posts 13, the upright posts 13 and the top beams 14 form a frame supporting structure together, a driving mechanism for driving the upper movable beam 41 is arranged on the top beams 14, and a driving mechanism for driving the lower movable beam 42 is arranged in the base 11 of the fixing frame, so that the mechanical driving device 43, a force source and a moment source device can be integrated integrally, the occupied area is reduced, and the using convenience of the device is improved.
Taking a force source and a moment source device provided with four vertical force value loading devices, one vertical moment loading device and two horizontal force value loading devices as an example, the measuring principle of the utility model is further elaborated.
The force source arrangement of the multi-axis parallel combined force source and moment source device disclosed by the document is shown in fig. 13, a coordinate system in fig. 13 is defined as a positive vertical upward direction of a Z axis, an X axis and a Y axis form a horizontal plane, the right hand rule is met, and the force source arrangement is divided into six components according to the projection of force values on the coordinate system, namely force values along the X axis, the Y axis and the Z axis and moment values along the X axis, the Y axis and the Z axis respectively. F as shown in FIG. 13 x0 Is a force source of the X axis, and the direction is coincident with the axis of the X axis; f (F) y0 Is a force source on the Y-axis; fz i (i=0, 1,2,3, 4) a force source arranged parallel to the Z-axis, F z0 Is a Z-axis force source, and the rest force sources are symmetrically arranged relative to the Z axis in the XY plane.
The force sources are arranged by taking coordinate axes as references and are mutually independent, and the specific arrangement is as follows:
x-axis force source (Fx) 0 ): a force source (Fx 0 ) The X-axis stretching/shrinking loading is realized by stretching the horizontal force loading device;
y-axis force source (Fy) 0 ): a force source (Fy is arranged 0 ) The telescopic loading along the Y axis is realized by the telescopic loading of a horizontal force value loading device;
z-axis force source Fz 0 Consisting of four force sources, i.e. Fz i (i=1, 2,3, 4), the four force sources can be synchronously output (extend/retract) or can be independently output (extend/retract), and when the four force sources are synchronously output, the Z-axis force source Fz is obtained, and the four vertical force value loading devices synchronously extend and retract.
The moment sources are divided into a couple form and a moment form, and the moment sources are specifically arranged as follows: a, a
X-axis torque source (Mx): is realized by the expansion and contraction of two vertical force value loading devices which are uniformly distributed along the projection line of the Y axis on the horizontal installation surface, namely, a couple (Fz) 2 ，Fz 4 ) Symmetrically arranged relative to the XZ plane, according to the right hand rule of the couple, the axis of the couple is coincident with the X axis, fz 2 ，Fz 4 The value and the elongation of (2) are used as feedback, and the moment Mx is Fz 2 ，Fz 4 And a function of its couple arm;
y-axis torque source (My): is realized by telescoping two vertical force value loading devices which are uniformly distributed along the projection line of the X-axis on the horizontal installation surface, namely a couple (Fz) 1 ，Fz 3 ) Symmetrically arranged relative to the YZ plane, and according to the right hand rule of the couple, the axis of the couple is coincident with the Y axis, fz 1 ，Fz 3 The value and the elongation of (a) are used as feedback, and the moment My is Fz 1 ，Fz 3 And a function of its couple arm;
z-axis torque source (Mz): mz is arranged on the Z axis, and the output moment is rotated along the Z axis and is realized by the rotation of the vertical moment loading device.
The couple in the document refers to a pair of parallel forces which act on the same rigid body and have equal magnitude, opposite directions and are not collinear, and the couple can enable an object to generate a pure rotation effect; the moment refers to a physical quantity of force which generates a rotation action on an object, and can be divided into moment of force to shaft and moment of force to point, and the unit is Newton-meters.
The working process of the multi-axis parallel combined type force source and moment source device disclosed by the application is as follows:
the multi-component force sensor to be detected or calibrated is fixed on the mounting table, the positions of the upper movable beam and the lower movable beam are adjusted to proper heights, and the locking device is started to fix the upper movable beam and the lower movable beam on the upright post so as to keep the relative positions unchanged;
arranging the vertical moment loading device at an origin O defining a coordinate system 0 At the origin O 0 At the sensing center of the multi-component force sensor being detected or calibrated.
At the moment, each loading device starts to work, and the horizontal force value loading device can generate force in the X-axis or Y-axis direction and load the force on the multicomponent force sensor to be detected or calibrated;
as shown in fig. 14 to 17, the Z-axis force values are force values Fz respectively output by the vertical force value loading means i (i=1, 2,3, 4) and loading or unloading of force values is achieved by simultaneous extension or simultaneous retraction of a plurality of vertical force value loading means, and Fz i Moment arm relative to point O is lz i (i＝1，2，3，4)。
The XY plane is taken as the horizontal plane, and the central axes (m i ) Intersection point with XY plane is O i (i=1, 2,3, 4), on the XY plane, the central axis m of the vertical moment loading device 0 Intersection point O with XY plane 0 By O 0 As the center of a circle, O i Evenly distributed on the circle of radius R is the intersection of the X-axis, Y-axis and the circle.
The central axis (m i I=0, 1,2,3, 4) are parallel to each other, and the vertical force loading means is arranged along the central axis (m i I=1, 2,3, 4) is extended or contracted to load or unload, and the central axis (m) of the moment output by the moment value loading device 0 ) And the force value (F) output by the force value loading device i I=1, 2,3, 4) central axis (m i I=1, 2,3, 4) is perpendicular to the XY plane, parallel to each other; in m 0 Central axis m 1 And m 3 In m 0 Is parallel and symmetrically distributed with a central axis m 2 And m 4 In m 0 Is parallel to the axis and symmetrically distributed,
as shown in fig. 16 and 17, the force value parallel to the Z-axis direction is relative to O 0 Moment arm lz of (2) i (i＝1，2，3，4)。
The force value of each coordinate axis is calculated as follows:
(1) Each vertical force loading device is arranged along a respective central axis (m i I=1, 2,3, 4) are synchronously extended or contracted, the total output force value being the sum of the individual force value means.
Force value of Z axis (Fz 0 ) Is a function of the plurality of force values loaded by the plurality of vertical force value loading means, then the force value of the Z-axis (Fz 0 ) The expression of (2) is shown as the formula (1):
Fz 0 ＝∑F i ＝Fz 1 + Fz 2 + Fz 3 + Fz 4 (1)
(2) Force value of X-axis or Y-axis (Fx 0 Or Fy 0 ) I.e. the force value of the force applied by the horizontal force value applying means in the X-axis or Y-axis direction.
The vertical force loading devices are controlled independently, take (No. 1, no. 3) or (No. 2, no. 4) as a combination, output the moment of the Y axis or the X axis according to the couple type, and the moment calculation mode of each coordinate axis is as follows:
(1) The moment (Mz) of the Z axis is collected by a series-connected moment sensor and returned to a control system to form closed-loop control, and the moment and the precision are adjusted. When outputting the moment value along the Z axis, the vertical moment loading device is used for loading the moment value at O 0 Output (M) 0 )。
(2) Moment (Mx) of X-axis by force unit Fz 2 And Fz 4 And controlling, wherein the moment is as shown in formula (2):
Mx＝ Fz 2 ×lz 2 + Fz 4 ×lz 4 (2)
wherein lz 2 Is Fz 2 Arm of force to X axis; lz 4 Is Fz 4 Moment arm to X axis.
(3) Moment (My) of Y-axis is determined by force unit Fz 1 And Fz 3 And controlling, wherein the moment is as shown in formula (3):
My＝ Fz 1 ×lz 1 + Fz 3 ×lz 3 (3)
wherein lz 1 Is Fz 1 Arm of force to X axis; lz 2 Is Fz 2 Moment arm to X axis.
The multi-axis parallel combined type force source and moment source device disclosed by the utility model has the following technical effects:
the utility model adopts the vertical moment loading device connected in series with the central shaft of the multicomponent force sensor to be detected or calibrated, and the combination of a plurality of vertical force loading devices arranged in parallel and the combination of force loading devices of the X axis and the Y axis, realizes the force loading and moment loading in different directions by one set of device, reduces the complexity of the force source and the moment source device, saves space for installing and using the moment device, and has the advantages of improving the moment central axis, coincidence and coaxiality of the moment central axis corresponding to the force sensor and the detected equipment and detection precision.
It will be understood that the utility model has been described in terms of specific embodiments/examples, and that various changes in and equivalents to these features and embodiments/examples may be made by those skilled in the art without departing from the spirit and scope of the utility model. Modifications to these features and embodiments/examples may be made within the teachings of the present utility model to adapt a particular situation or material to the teachings of the utility model without departing from the essential scope thereof. The embodiments/examples described herein are some, but not all embodiments/examples of the utility model. The components of the embodiments/embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of specific embodiments/examples of the utility model provided in the accompanying drawings is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected specific embodiments/examples of the utility model. Therefore, it is intended that the utility model not be limited to the particular embodiments/examples disclosed herein, but that the particular embodiments/examples disclosed herein will include all other embodiments/examples disclosed herein as would be apparent to one skilled in the art without the benefit of this disclosure.
Claims (10)
1. The multi-axis parallel combined type force source and moment source device is used for detecting or calibrating a multi-component force sensor and is characterized by comprising a fixed frame, a loading device and a movable beam device; the movable beam device is in sliding connection with the fixed frame, and the loading device is fixedly connected with the movable beam device;
the fixing frame comprises a base (11) and a mounting table (12), wherein a plurality of stand columns (13) extend upwards from the edge of the top end of the base (11), the stand columns (13) are fixedly connected with the base (11), and the mounting table (12) is arranged at the central position of the top end of the base (11) and is used for mounting a detected or calibrated multicomponent force sensor;
the movable beam device comprises an upper movable beam (41) and a lower movable beam (42), wherein the bottom of the upper movable beam (41) is provided with a horizontal mounting surface (411), the lower movable beam (42) is of a hollow frame structure, the inner side wall of the hollow frame is provided with a vertical mounting surface (421), the lower movable beam (42) is positioned between the upper movable beam (41) and the base (11), and the upper movable beam (41) and the lower movable beam (42) are respectively connected with the upright post (13) in a sliding manner;
the loading device comprises a vertical force value loading device (21), a vertical moment loading device (22) and a horizontal force value loading device (23); the vertical force value loading device (21) and the vertical moment loading device (22) are fixed on a horizontal installation surface (411) at the bottom of the upper movable beam (41), the vertical force value loading device (21) can perform vertical telescopic displacement, the vertical moment loading device (22) can rotate around a central shaft of the horizontal installation surface (411), and the horizontal force value loading device (23) is fixedly connected with an installation surface of the inner side wall of the hollow frame of the lower movable beam (42) and can perform telescopic displacement in the horizontal direction.
2. The multi-axis parallel combined type force source and moment source device according to claim 1, wherein the number of the vertical force value loading devices (21) is plural, each vertical force value loading device (21) is uniformly distributed along a horizontal transverse center line and a horizontal longitudinal center line of the horizontal mounting surface (411), the horizontal transverse center line and the horizontal longitudinal center line are mutually perpendicular on a horizontal plane, and each vertical force value loading device (21) is distributed in a central symmetry manner by taking a central point of the bottom horizontal mounting surface (411) of the upper movable beam (41) as a center.
3. The multi-axis parallel combined type force source and moment source device according to claim 2, wherein the number of the vertical force value loading devices (21) is four, two vertical force value loading devices (21) are uniformly distributed along the horizontal transverse center line of the horizontal mounting surface (411), the other two vertical force value loading devices (21) are uniformly distributed along the horizontal longitudinal center line of the horizontal mounting surface (411), and the four vertical force value loading devices (21) are symmetrically distributed with the center point of the bottom horizontal mounting surface (411) of the movable beam (41) as the center.
4. A multi-axis parallel combined force source and moment source device according to claim 3, wherein the vertical force value loading device (21) comprises a vertical force value driving module (24) and a vertical force sensor (25), the vertical force value driving module (24) is fixedly installed on a horizontal installation surface (411) at the bottom of the upper movable beam (41), the vertical force value driving module (24) comprises a first telescopic part (241), the first telescopic part (241) can be driven by external force to perform telescopic motion, the first telescopic part (241) is fixedly connected with the vertical force sensor (25), and the first telescopic part (241) performs telescopic displacement to drive the vertical force sensor (25) to perform telescopic motion in the vertical direction.
5. The multi-axis parallel combined force source and moment source device according to claim 1, wherein the vertical moment loading device (22) comprises a moment driving module (26) and a moment sensor (27), the moment driving module (26) is fixed on a horizontal mounting surface (411) at the bottom of the upper movable beam (41), the moment driving module (26) comprises a second telescopic part (261), a stator (35) and a rotor (36), the second telescopic part (261) can perform telescopic movement under the driving of an external force, the stator (35) is fixed at the central position of the horizontal mounting surface (411) at the bottom of the upper movable beam (41), the stator (35) is in rotary connection with the rotor (36), the second telescopic part (261) is in fixed connection with the rotor (36) in the horizontal direction, the rotor (36) is in fixed connection with the moment sensor (27) in the vertical direction, and the rotor (36) can be driven to rotate around a central axis of the horizontal mounting surface (411) when the second telescopic part (261) performs horizontal telescopic movement.
6. The multi-axis parallel combined force source and moment source device according to claim 1, wherein the number of the horizontal force value loading devices (23) is at least two, and each horizontal force value loading device (23) is respectively arranged along the horizontal direction and faces to the center position of the hollow frame of the lower movable beam (42); the horizontal force value loading device (23) comprises a horizontal force value driving module (28) and a horizontal force sensor (29), the horizontal force value driving module (28) is fixedly arranged on the inner side wall mounting surface of the hollow frame of the lower movable beam (42), the horizontal force value driving module (28) comprises a third telescopic part (281), the third telescopic part (281) can be driven by external force to do telescopic motion, the third telescopic part (281) is fixedly connected with the horizontal force sensor (29), and the third telescopic part (281) is in telescopic displacement so as to drive the horizontal force sensor (29) to do telescopic motion in the horizontal direction.
7. Multiaxial side-by-side combined force and moment source devices according to any of claims 1-6 where each vertical force loading device (21) or each horizontal force loading device (23) is equipped with an extensometer independent of each other, which is capable of identifying or reading the amount of extension of the vertical force loading device (21) or the horizontal force loading device (23) in the vertical or horizontal direction.
8. The multi-axis parallel combined type force source and moment source device according to claim 7, wherein the vertical force value loading device (21), the vertical moment loading device (22) and the horizontal force value loading device (23) respectively adopt a hydraulic cylinder (3) as a power driving device, the hydraulic cylinder (3) comprises an oil cylinder (31), a piston (33) is arranged in the oil cylinder (31), a connecting rod is fixed on and extends out of the piston (33), the piston (33) is in sliding connection with the inner wall of the oil cylinder (31), a first oil inlet (321) and a second oil inlet (322) are respectively arranged at two side positions of the piston (33) on the oil cylinder (31), and the first oil inlet (321) and the second oil inlet (322) are respectively connected with a first oil pump and a second oil pump; the connecting rod is used as a specific embodiment of the first telescopic part (241), the second telescopic part (261) and the third telescopic part (281).
9. The multi-axis parallel combined type force source and moment source device according to claim 8, wherein a linear guide rail (131) protruding outwards is fixed on the upright post (13), guide rail grooves (132) are formed in positions corresponding to the guide rails on the upper moving beam (41) and the lower moving beam (42), and the linear guide rail (131) is matched with the grooves (132) in size so as to realize vertical movement guiding of the vertical moment loading device (22) or the horizontal force value loading device (23).
10. The multi-axis parallel combined type force source and moment source device according to claim 9, wherein the upper moving beam (41) and the lower moving beam (42) are mechanically driven, and mechanical driving devices are respectively installed on the upper moving beam (41) and the lower moving beam (42) and are driven by a motor.
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| CN202320369047.XU CN219870117U (en) | 2023-03-02 | 2023-03-02 | Multi-shaft parallel combined type force source and moment source device |
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