WO2020164186A1

WO2020164186A1 - Six-degree-of-freedom series-parallel electromagnetic vibration test stand

Info

Publication number: WO2020164186A1
Application number: PCT/CN2019/083420
Authority: WO
Inventors: 沈豫浙; 王成军; 胡海霞; 胡标; 茅卫东; 陶永舒
Original assignee: 安徽理工大学
Priority date: 2019-02-13
Filing date: 2019-04-19
Publication date: 2020-08-20
Also published as: ZA202007410B; AU2019429490A1; CN109682564B; AU2019429490B2; CN109682564A

Abstract

A six-degree-of-freedom series-parallel electromagnetic vibration test stand, comprising a support base (1), a three-degree-of-freedom flexible support (2), an X-direction excitation device (3), a Y-direction excitation device (4), a Z-direction excitation device (5), a parallel linkage platform (6), a rotating device (7), a test workbench (8), and a controller (9). The X-direction excitation device (4) and the Y-direction excitation device (5) are configured to generate reciprocating vibration in an X direction and a Y direction, respectively; the Z-direction excitation device (5) can generate Z-direction reciprocating vibration and reciprocating swing around axes parallel to the X direction and the Y direction; the rotating device (7) is configured to drive the test workbench (8) to generate rotating or centrifugal movement. The test stand can achieve six degrees of freedom of vibration at most which are independent and adjustable, and has vibration test load, and low energy consumption and low equipment gravity center, thereby meeting requirements of more vibration test work.

Description

Six-degree-of-freedom hybrid electromagnetic vibration test bench

Technical field

The invention belongs to the technical field of mechanical environment test equipment, and particularly relates to a six-degree-of-freedom hybrid electromagnetic vibration test bench.

Background technique

The vibration test bench mainly simulates the various shock and vibration environments experienced by the product in the process of manufacturing, loading, unloading, assembly, transportation and use, to determine the product’s adaptability to various environmental vibrations, and to evaluate the integrity of its structural devices for testing The quality of the product provides a basis. The vibration test bench needs to make a series of controllable vibration simulations in the vibration experiment to test whether the product can withstand the test of transportation or vibration environment factors during the life cycle. It can also determine the required standards for the design and function of the vibration test bench. Vibration test benches are widely used in the research, development, quality control and manufacturing of various industries such as aerospace, automotive, power electronics, optoelectronics, optoelectronics, petrochemicals, toys, etc. With the different use environments and the improvement of simulation fidelity requirements, the requirements for the vibration freedom of the test bench are getting higher and higher, and the demand for multi-degree-of-freedom vibration test benches with more than three vibration degrees of freedom is increasing.

The existing vibration test devices are divided into mechanical vibration test benches and electromagnetic vibration test benches. Although the existing mechanical vibration test benches have simple structure and low cost, they have defects such as single vibration mode, low vibration frequency, and low acceleration. At the same time, different vibration frequencies are used, and the safety protection of the vibration device is not strong, which poses a certain safety threat to the vibration test bench and the operators. At the same time, it often affects the test effect because the vibration impact force is difficult to control.

The electromagnetic vibration table is designed based on the principle of electromagnetic induction. The electromagnetic vibration test table has become a widely used mechanical environment test equipment due to its wide frequency range and low waveform distortion. At present, the widely used electromagnetic vibration test bench has a frequency range of up to 2000 Hz, a wide dynamic range, and is easy to realize automatic or manual control. The acceleration waveform is good, suitable for generating random waves, and can obtain larger acceleration.

In view of some technical problems existing in the existing vibration test equipment, the existing patent documents have proposed some solutions. For example, the Chinese patent application number 201820909519.5 discloses a three-axis vibration fatigue test bench, which is composed of a base, an X-direction workbench, a Y-direction workbench, and a Z-direction workbench. The vibration table uses hydraulic actuators as power and loads. High, through the X-direction workbench, Y-direction workbench, Z-direction workbench independent vibration or three-axis linkage, it can simulate more kinds of road conditions. The disadvantage is that the vibration frequency is low and the hydraulic system is prone to leakage. The Chinese patent with application number 201820196523.1 discloses a mechanical vibration test bench, which is composed of components such as a power box, a drive gear, a connector, and a spring. It can use different vibration frequencies at the same time, but the excitation frequency is low and the adjustment range is small. The Chinese patent application number 201810767591.3 discloses an active vibration control test bench, which includes a bottom plate, two optical axes, a door-shaped bracket located between the two optical axes, and an adjustable motor vibration device. The inertial vibration exciter can only be used to achieve Unidirectional vibration cannot simulate vibration and shock in complex environments. The Chinese patent with the application number 201710127751.3 discloses a random vibration test bench. The vibration platform is supported on a bracket by springs. Exciting devices are set in the X, Y, and Z directions of the vibration platform, and a force transmission rod is used. Acting on the vibrating platform to generate random vibrations can only generate three vibration degrees of freedom, and the vibration controllability in all directions is poor. The Chinese patent with application number 201810013953.X discloses a high-frequency excitation grounding device test bench, the core part of which is a mechanical loading mechanism consisting of a gantry frame assembly, a grounding device test box, a high-frequency electromagnetic exciter and a suspension drive motor The system assembly adopts high-frequency electromagnetic exciter to excite, but the vibration freedom is too little. The existing three-degree-of-freedom electromagnetic vibration test bench mostly adopts an integral series structure. The vibration in the three directions of X, Y, and Z is realized by three parts from bottom to top. Not only the height of the test bench is larger, but also Costly. In addition, the existing support methods of electromagnetic vibration test benches mostly use cylindrical spring support, suspension support, or straight spring support.

The existing electromagnetic vibration test bench has technical problems such as less vibration freedom, unreasonable support mode, poor controllability of vibration direction and parameters, and high energy consumption. As the requirements of vibration test objects for vibration parameters of the vibration test bench continue to increase, the existing vibration The test bench has been difficult to meet the needs of product vibration testing and other related multi-degree-of-freedom excitation research. It is urgent to develop a test platform with large test load, multiple vibration degrees of freedom, high vibration frequency, vibration decoupling in all directions, vibration directions and parameters Multi-degree-of-freedom electromagnetic vibration test bench with high controllability.

Summary of the invention

The purpose of the present invention is to address the shortcomings of the prior art and provide a six-degree-of-freedom hybrid electromagnetic vibration test bench that includes centrifugal motion, which can be used for large loads, many vibration degrees of freedom, high vibration frequencies, and vibration decoupling in all directions. , Multi-degree-of-freedom high-frequency vibration testing and research with high vibration direction and parameter controllability can improve the accuracy and reliability of vibration testing, reduce equipment and research and development costs, and overcome the defects of existing technology.

The technical problem to be solved by the present invention is realized by the following technical solutions.

A six-degree-of-freedom hybrid electromagnetic vibration test bench, including a support base, a three-degree-of-freedom flexible support, an X-direction excitation device, a Y-direction excitation device, a Z-direction excitation device, a parallel moving platform, a slewing device, and test work Station and controller. Wherein, the support base includes a base, an X-direction electromagnet support and a Y-direction electromagnet support, which are used to support and install a three-degree-of-freedom flexible support, an X-direction excitation device, a Y-direction excitation device, and a Z-direction excitation device , A counterweight is provided at a middle position above the base, and the counterweight is fixedly connected to the base. There are two X-direction electromagnet supports and Y-direction electromagnet supports, and they are arranged symmetrically on the side of the top of the base. The bottoms of the X-direction electromagnet support and Y-direction electromagnet support are both fixedly connected to the base; There are four three-degree-of-freedom flexible brackets between the linkage platforms for installing and supporting the parallel moving platform, and the three-degree-of-freedom flexible bracket has the ability to produce elastic deformation along the X, Y and Z directions at the same time. The lower end of the three-degree-of-freedom flexible support is fixedly connected to the base, and the upper end is fixedly connected to the parallel movable platform. The X-direction excitation device is located between the parallel moving platform and the base, the number of the X-direction excitation device is two, and the two sets of X-direction excitation devices are symmetrically arranged on both sides of the X direction above the base. To drive the parallel moving platform and the test workbench to produce X-direction reciprocating vibration. The Y-direction excitation device is located between the parallel moving platform and the base, the number of the Y-direction excitation device is two, and the two sets of Y-direction excitation devices are symmetrically arranged on both sides of the Y direction above the base. To drive the parallel moving platform and the test workbench to produce Y reciprocating vibration. The Z-direction excitation device is located between the base and the parallel moving platform, and includes a first Z-direction electromagnet, a second Z-direction electromagnet, a first Z-direction adsorption bracket, and a second Z-direction adsorption support for driving the parallel The linkage platform and the test bench produce Z-direction reciprocating vibration, reciprocating swing around the axis parallel to the X-direction, and reciprocating swing around the axis parallel to the Y-direction. Among them, the bottoms of the two sets of first Z-direction electromagnets are fixedly installed on both sides of the Y direction above the base, and the bottoms of the two sets of second Z-direction electromagnets are fixedly installed on both sides of the X direction above the base. A Z-direction electromagnet is directly above, and its top is fixedly installed below the parallel moving platform, the second Z-direction adsorption bracket is located directly above the second Z-direction electromagnet, and its top is fixedly installed below the parallel moving platform. The lower end of the slewing device is fixedly installed on the parallel moving platform, and is used to drive the test workbench to generate rotation or centrifugal movement. The test bench fixedly installed on the top of the slewing device is the final output end of the present invention that generates vibration, and is used for placing or fixing objects that require vibration testing. The controller is connected with the X-direction vibration excitation device, the Y-direction vibration excitation device, the Z-direction vibration excitation device, and the slewing device through a power cable and a signal cable.

The three-degree-of-freedom flexible support includes a rigid bottom support, an X-direction deforming leaf spring and a Y-direction deforming leaf spring. Wherein, the lower end of the rigid bottom bracket is fixedly installed on the base for fixing and installing the X-direction deformed leaf spring; the lower end of the X-direction deformable leaf spring is fixedly connected with the upper end of the rigid bottom bracket, and the The upper end of the X-direction deforming leaf spring is fixedly connected with the lower end of the X-direction deforming leaf spring, and the upper end of the Y-direction deforming leaf spring is connected with the parallel moving platform by screws. Under the action of the X-direction excitation device, the X-direction deformed leaf spring can make the parallel moving platform and the test workbench move back and forth in the X direction relative to the support base. The Y-direction deformed leaf spring can move back and forth in the X direction of the Y-direction excitation device. Under the action, the parallel moving platform and the test workbench can move back and forth in the Y direction relative to the support base. The X-direction deformed leaf spring and the Y-direction deformed leaf spring can also make the parallel moving platform and the test workbench under the action of the Z-direction excitation device. The relative support base produces Z reciprocating movement. The lower end of the X-direction deformed leaf spring is connected with the rigid bottom bracket by hot riveting or screws, and the joint is reinforced by friction stir welding. The upper end of the X-direction deformed leaf spring is connected to the Y-direction deformable plate. The lower end of the spring is connected by a dual connection of hot riveting and friction stir welding. The structures of the X-direction deformed leaf spring and the Y-direction deformed leaf spring are both bow-shaped.

The X-direction excitation device includes an X-direction adsorption bracket, an X-direction electromagnet, an X-direction reset device and an X-direction reset support. Wherein, the top of the X-direction adsorption bracket is fixedly connected with the parallel moving platform, and the X-direction electromagnet is fixedly installed on one side of the X-direction electromagnet support for adsorbing the X-direction adsorption support, which is a parallel moving platform The X-direction reciprocating vibration of the test workbench provides power; the two ends of the X-direction reset device are respectively fixedly connected with the X-direction adsorption support and the X-direction reset support, which are the resetting of the parallel moving platform and the test workbench in the X direction. Provide motivation. The Y-direction excitation device includes a Y-direction adsorption bracket, a Y-direction electromagnet, a Y-direction reset device and a Y-direction reset support. Wherein, the top of the Y-direction adsorption bracket is fixedly connected to the parallel moving platform, and the Y-direction electromagnet is fixedly installed on one side of the Y-direction electromagnet support for adsorbing the Y-direction adsorption support, which is a parallel moving platform And the Y-direction reciprocating vibration of the test workbench provides power; the two ends of the Y-direction reset device are respectively fixedly connected with the Y-direction adsorption bracket and the Y-direction reset support, which are the reset of the parallel moving platform and the test workbench in the Y direction. Provide motivation. The bottoms of the X-direction reset bracket and the Y-direction reset bracket are fixedly connected with the base.

The X-direction reset device includes an X-direction double universal joint, an X-direction return spring, and an X-direction adjusting screw. Wherein, the X-direction double universal joint is used to connect the X-direction return spring and the X-direction adsorption bracket, and make the X-direction return device have the freedom of movement in the Y and Z directions. One end is connected with the X-direction adsorption bracket by a screw, and the other end is connected with the X-direction return spring by a screw; the X-direction return spring is used to provide power for the X-direction adsorption support and the X-direction reset of the parallel moving platform; One end of the X-direction adjusting screw is connected with the X-direction return spring by a bolt, and the other end of the X-direction adjusting screw is connected with the X-direction return bracket by a bolt, which is used to adjust the return spring force of the X-direction return spring. size.

The Y-direction reset device includes a Y-direction double universal joint, a Y-direction return spring and a Y-direction adjusting screw. Wherein, the Y-direction double universal joint is used to connect the Y-direction return spring and the Y-direction adsorption bracket, and make the Y-direction return device have X-direction and Z-direction freedom of movement. One end is connected with the Y-direction adsorption bracket by screws, and the other end is connected with the Y-direction return spring by screws; the Y-direction return spring is used to provide power for the Y-direction adsorption support and the Y-direction return of the parallel moving platform; One end of the Y-direction adjusting screw is connected with the Y-direction return spring through a bolt, and the other end of the Y-direction adjusting screw is connected with the Y-direction return bracket through a bolt, and is used to adjust the return spring force of the Y-direction return spring. size.

The slewing device includes a slewing seat, a slewing body, an inner gear ring, a driving gear, a transmission shaft, a transmission gear, a driving gear and a slewing motor. Wherein, the lower end of the revolving seat is fixedly installed above the parallel moving platform by screws to support and install the revolving body. A revolving flange is provided on the upper end of the revolving body. The working table is connected by screws, and the revolving body and the revolving seat are connected by supporting bearing sets. The inner gear ring is fixedly installed inside the revolving body by screws, and the driving gear is fixedly installed at the upper end of the transmission shaft and is internally meshed with the inner gear ring for driving the inner gear ring and the revolving body to rotate. The transmission gear is fixedly installed at the lower end of the transmission shaft, and the transmission shaft is placed in the transmission shaft installation hole of the parallel movable platform, and is connected with the parallel movable platform through a bearing. The output shaft of the slewing motor is placed in the motor mounting hole of the parallel moving platform, and the slewing motor is fixedly installed on the parallel moving platform by screws, and is used to provide power for the rotation of the driving gear, and then drive the rotating body relative to The rotating seat rotates. The driving gear is fixedly installed on the output shaft of the slewing motor and kept externally engaged with the transmission gear for driving the transmission gear to rotate with the transmission shaft; the driving gear is connected with the output shaft of the slewing motor through a flat key, The end of the output shaft of the swing motor is also provided with a shaft end retaining ring, and it is fixedly connected with the output shaft of the swing motor to play the role of axial positioning.

An outer cover is provided on the outside of the support base, the three-degree-of-freedom flexible support and the Z-direction vibration excitation device, and handles are also provided on the front, rear, left, and right sides of the outer cover. The controller of the present invention is connected to the X-direction electromagnet, the Y-direction electromagnet, the first Z-direction electromagnet, the second Z-direction electromagnet, and the rotary motor through a power cable and a signal cable.

Preferably, the support bearing set in the above-mentioned slewing device includes a radial bearing and two thrust bearings, and the two thrust bearings are respectively arranged at the upper and lower ends of the radial bearing. The radial bearing Cylindrical roller radial bearings or radial composite bearings are used, and cylindrical roller thrust bearings or axial composite bearings are used as thrust bearings.

Preferably, the slewing motor in the above slewing device adopts a servo deceleration motor, a hydraulic servo motor, or a pneumatic servo motor.

When in use, the object to be tested is placed or fixedly installed in the test bench, the degree of freedom of vibration and the specific vibration mode of the present invention are determined according to the needs of the vibration test work, and then the X-direction excitation device, Y-direction excitation device, The specific combined working mode of Z-direction excitation device and slewing device. Under the action of the X-direction excitation device and the Y-direction excitation device, the test bench realizes linear reciprocating vibration in the X and Y directions respectively. When the two sets of first Z-direction electromagnets and the two sets of second Z-direction electromagnets in the Z-direction excitation device work synchronously, the test workbench produces Z-direction reciprocating vibration; when the two sets of second Z-direction electromagnets alternate When working, the test bench produces reciprocating swings around the axis parallel to the X direction; when the two sets of first Z-direction electromagnets work alternately, the test bench produces reciprocating swings around the axis parallel to the Y direction. Start the slewing motor, and the test table can produce a rotation or centrifugal movement around the axis of the ring gear. The present invention can realize the linear reciprocating vibration in the three directions of X, Y, and Z, the reciprocating swing about the axis parallel to the X and Y directions, and the rotation or centrifugal motion about the axis parallel to the Z direction, a total of six degrees of freedom. The eccentricity of the worktable relative to the slewing device and the parallel moving platform can be adjusted by fixing the test worktable to different connecting bolt holes on the rotating flange of the slewing device. Each vibration degree of freedom of the test workbench of the present invention is relatively independently adjustable, and has complete decoupling.

The beneficial effect of the present invention is that, compared with the prior art, the test workbench of the present invention not only has more vibration degrees of freedom, but also has six degrees of freedom of movement in space, and each vibration degree of freedom is independently adjustable, does not interfere with each other, and can satisfy More need for vibration test work; Compared with the traditional series structure vibration test bench, it also has the significant characteristics of high test bench load, low energy consumption and low equipment center of gravity. In addition, the present invention has the advantages of high vibration frequency, compact structure, small equipment occupation space, low production cost, high safety, simple operation and maintenance, etc., and can overcome the defects of the prior art.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention (without controller);

Figure 2 is a schematic structural view of the bottom of the present invention (without three-degree-of-freedom flexible support);

3 is a schematic diagram of the structure of the X-direction excitation device of the present invention;

4 is a schematic diagram of the structure of the Y-direction excitation device of the present invention;

Figure 5 is a schematic diagram of the structure of the parallel moving platform of the present invention;

Figure 6 is a schematic diagram of the structure of the slewing device of the present invention;

Figure 7 is a schematic diagram of the structure of the test bench of the present invention when it is installed eccentrically;

Fig. 8 is a schematic diagram of the working state of the present invention.

detailed description

In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below with reference to specific embodiments and drawings.

As shown in Figure 1, Figure 2, Figure 5, Figure 7 and Figure 8, a six-degree-of-freedom hybrid electromagnetic vibration test bench includes a support base 1, a three-degree-of-freedom flexible support 2, an X-direction excitation device 3. Y-direction vibration excitation device 4, Z-direction vibration excitation device 5, parallel moving platform 6, slewing device 7, test workbench 8 and controller 9. Wherein, the supporting base 1 includes a base 11, an X-direction electromagnet support 12 and a Y-direction electromagnet support 13, which are used to support and install a three-degree-of-freedom flexible support 2, an X-direction excitation device 3, and a Y-direction excitation device 4 and the Z-direction excitation device 5, a counterweight 14 is provided in the middle position above the base 11, and the counterweight 14 is connected to the base 11 by screws. There are two X-direction electromagnet brackets 12 and Y-direction electromagnet brackets 13 and they are respectively arranged symmetrically on the side surface of the top of the base 11. The bottoms of the X-direction electromagnet support 12 and the Y-direction electromagnet support 13 are welded to the base 11 There are four three-degree-of-freedom flexible supports 2 between the base 11 and the parallel moving platform 6 for installing and supporting the parallel moving platform 6, and the three-degree-of-freedom flexible support 2 also has an edge With the ability to produce elastic deformation in the X, Y and Z directions, the lower end of the three-degree-of-freedom flexible support 2 is fixedly connected to the base 11 by welding or screw connection, and its upper end is connected to the parallel movable platform 6 by screws Phase connection. The X-direction excitation device 3 is located between the parallel moving platform 6 and the base 11, the number of the X-direction excitation device 3 is two, and the two sets of X-direction excitation devices 3 are symmetrically arranged above the base 11 X The two sides of the shaft are used to drive the parallel moving platform 6 and the test table 8 to generate X-direction reciprocating vibration. The Y-direction excitation device 4 is located between the parallel moving platform 6 and the base 11, the number of the Y-direction excitation device 4 is two, and the two sets of Y-direction excitation devices 4 are symmetrically arranged above the base 11. Y The two sides of the shaft are used to drive the parallel moving platform 6 and the test table 8 to produce Y-direction reciprocating vibration. The Z-direction excitation device 5 is located between the base 11 and the parallel moving platform 6, and includes a first Z-direction electromagnet 51, a second Z-direction electromagnet 52, a first Z-direction adsorption bracket 53 and a second Z-direction adsorption The bracket 54 is used to drive the parallel moving platform 6 and the test workbench 8 to generate Z-direction reciprocating vibration, reciprocating swing about an axis parallel to the X direction, and reciprocating swing about an axis parallel to the Y direction. The numbers of the first Z-direction electromagnet 51, the second Z-direction electromagnet 52, the first Z-direction adsorption bracket 53 and the second Z-direction adsorption support 54 are all two. Among them, the bottoms of the two sets of first Z-direction electromagnets 51 are fixedly installed on the upper side of the base 11 in the Y direction, and the bottoms of the two sets of second Z-direction electromagnets 52 are fixedly installed on the upper side of the base 11 on both sides of the X direction. The adsorption bracket 53 is located directly above the first Z-direction electromagnet 51, and its top is fixedly installed under the parallel moving platform 6, and the second Z-direction adsorption bracket 54 is located directly above the second Z-direction electromagnet 52, and its top It is fixedly installed under the parallel moving platform 6. The lower end of the slewing device 7 is fixedly installed on the parallel moving platform 6 and used to drive the test bench 8 to generate rotation or centrifugal movement. The test bench 8 fixedly installed on the top of the rotating device 7 by screws is the final output end of the present invention that generates vibration, and is used to place or fix the objects that need to be subjected to vibration testing. The controller 9 is connected to the X-direction excitation device 3, the Y-direction excitation device 4, the Z-direction excitation device 5, and the slewing device 7 through a power cable 91 and a signal cable 92.

As shown in FIGS. 1, 2, 3, 4 and 7, the three-degree-of-freedom flexible support 2 includes a rigid bottom support 21, an X-direction deforming leaf spring 22 and a Y-direction deforming leaf spring 23. Wherein, the lower end of the rigid bottom bracket 21 is fixedly installed on the base 11, and is fixedly connected to the base 11 by welding or screw connection, and is used to fix and install the X-direction deformable leaf spring 22; the X-direction The lower end of the deformed leaf spring 22 is fixedly connected with the upper end of the rigid bottom bracket 21, the upper end of the X-direction deformed leaf spring 22 is fixedly connected with the lower end of the Y-direction deformed leaf spring 23, and the Y-direction deformed leaf spring 23 The upper end of the parallel moving platform 6 is connected by screws. The X-direction deformed leaf spring 22 can make the parallel moving platform 6 and the test workbench 8 reciprocate in the X direction relative to the support base 1 under the action of the X-direction excitation device 3. The Y-direction deformed leaf spring 23 is Under the action of the Y-direction excitation device 4, the parallel moving platform 6 and the test workbench 8 can reciprocate in the Y direction relative to the support base 1, and the X-direction deformation leaf spring 22 and the Y-direction deformation leaf spring 23 are in the Z-direction excitation device 5. Under the action of, the parallel moving platform 6 and the test workbench 8 can also move back and forth in Z direction relative to the support base 1. The lower end of the X-deformed leaf spring 22 is connected to the rigid bottom bracket 21 by hot riveting or screws, and the joint is reinforced by friction stir welding. The upper end of the X-deformed leaf spring 22 is connected to the Y The lower end of the deformable leaf spring 23 is connected by a dual connection method of hot riveting and friction stir welding. The structures of the X-direction deformed leaf spring 22 and the Y-direction deformed leaf spring 23 are both bow-shaped.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5 and Figure 7, the X-direction excitation device 3 includes an X-direction adsorption bracket 31, an X-direction electromagnet 32, an X-direction reset device 33 and X To the reset bracket 34. Wherein, the top of the X-direction adsorption bracket 31 and the parallel moving platform 6 are fixedly connected by welding, and the X-direction electromagnet 32 is fixedly installed on one side of the X-direction electromagnet bracket 12 for adsorbing X The suction support 31 provides power for the X-direction reciprocating vibration of the parallel moving platform 6 and the test workbench 8; the two ends of the X-direction reset device 33 are respectively fixedly connected to the X-direction adsorption support 31 and the X-direction return support 34, Provide power for the reset of the parallel moving platform 6 and the test workbench 8 in the X direction. The Y-direction excitation device 4 includes a Y-direction adsorption bracket 41, a Y-direction electromagnet 42, a Y-direction reset device 43 and a Y-direction reset support 44. Wherein, the top of the Y-direction adsorption bracket 41 and the parallel moving platform 6 are fixedly connected by welding, and the Y-direction electromagnet 42 is fixedly installed on one side of the Y-direction electromagnet bracket 13 for adsorbing Y The suction bracket 41 provides power for the Y-direction reciprocating vibration of the parallel moving platform 6 and the test workbench 8; the two ends of the Y-direction reset device 43 are respectively fixedly connected to the Y-direction adsorption bracket 41 and the Y-direction reset bracket 44, Provide power for the reset of the parallel moving platform 6 and the test workbench 8 in the Y direction. The bottoms of the X-direction reset bracket 34 and the Y-direction reset bracket 44 are fixedly connected to the base 11 by welding.

As shown in FIGS. 1, 2, 3, 5 and 7, the X-direction reset device 33 includes an X-direction double universal joint 331, an X-direction return spring 332 and an X-direction adjustment screw 333. Wherein, the X-direction double universal joint 331 is used to connect the X-direction return spring 332 and the X-direction adsorption bracket 31, and enable the X-direction return device 33 to have Y-direction and Z-direction freedom of movement. One end of the universal joint 331 is connected with the X-direction adsorption bracket 31 by a screw, and the other end is connected with the X-direction return spring 332 by a screw; the X-direction return spring 332 is used for the X-direction adsorption support 31 and parallel movement The X-direction resetting of the platform 6 provides power; one end of the X-direction adjusting screw 333 is connected with the X-direction return spring 332 by a bolt, and the other end of the X-direction adjusting screw 333 is connected with the X-direction return bracket 34 by a bolt. To adjust the magnitude of the return spring force of the X-direction return spring 332.

As shown in Figure 1, Figure 2, Figure 4, Figure 5 and Figure 7, the Y-direction reset device includes a Y-direction double universal joint, a Y-direction return spring and a Y-direction adjusting screw. Wherein, the Y-direction double universal joint 431 is used to connect the Y-direction return spring 432 and the Y-direction adsorption bracket 41, and make the Y-direction return device 43 have the freedom of movement in the X direction and the Z direction. One end of the universal joint 431 is connected with the Y-direction adsorption bracket 41 by a screw, and the other end is connected with the Y-direction return spring 432 by a screw; the Y-direction return spring 432 is used for the Y-direction adsorption support 41 and parallel movement The Y-direction resetting of the platform 6 provides power; one end of the Y-direction adjusting screw 433 is connected with the Y-return spring 432 by a bolt, and the other end of the Y-direction adjusting screw 433 is connected to the Y-reset bracket 44 by a bolt. The connection is used to adjust the return spring force of the Y-direction return spring 432.

As shown in Figure 1, Figure 5, Figure 6, Figure 7 and Figure 8, the slewing device 7 includes a slewing seat 71, a slewing body 72, an inner ring gear 73, a drive gear 74, a drive shaft 75, a drive gear 76, Driving gear 77 and swing motor 78. Wherein, the lower end of the slewing seat 71 is fixedly installed above the parallel moving platform 6 by screws to support and install the slewing body 72. A slewing flange 721 is provided on the upper end of the slewing body 72. The slewing flange 721 is connected with the test table 8 by screws, and the slewing body 72 is connected with the slewing seat 71 by a supporting bearing set. The inner gear 73 is fixedly installed inside the revolving body 72 by screws, and the drive gear 74 is fixedly installed on the upper end of the transmission shaft 75 and keeps internal meshing with the inner gear 73 for driving the inner gear 73 And the revolving body 72 rotates. The transmission gear 76 is fixedly installed at the lower end of the transmission shaft 75, and the transmission shaft 75 is placed in the transmission shaft mounting hole 61 of the parallel movable platform 6 and is connected with the parallel movable platform 6 through bearings. The output shaft of the slewing motor 78 is placed in the motor mounting hole 62 of the parallel moving platform 6, and the slewing motor 78 is fixedly installed on the parallel moving platform 6 by screws to provide power for the rotation of the driving gear 77 , Thereby driving the revolving body 72 to rotate relative to the revolving base 71. The driving gear 77 is fixedly installed on the output shaft of the slewing motor 78, and is kept externally meshed with the transmission gear 76, for driving the transmission gear 76 and the transmission shaft 75 to rotate; the driving gear 77 and the output of the slewing motor 78 The shafts are connected by a flat key, and a shaft end retaining ring is also provided at the end of the output shaft of the rotary motor 78, and is fixedly connected with the output shaft of the rotary motor 78 to act as an axial positioning.

As shown in Figure 1, Figure 2, Figure 7 and Figure 8, an outer cover 15 is provided on the outside of the support base 1, the three-degree-of-freedom flexible support 2 and the Z-direction excitation device 5. There are handles 16 on the four sides. The controller 9 of the present invention is connected to the X-direction electromagnet 32, the Y-direction electromagnet 42, the first Z-direction electromagnet 51, the second Z-direction electromagnet 52, and the swing motor 78 through a power cable 91 and a signal cable 92. .

In a further technical solution, the support bearing set described in the above-mentioned slewing device 7 includes a radial bearing and two thrust bearings, and the two thrust bearings are respectively arranged at the upper and lower ends of the radial bearing, so The radial bearings mentioned above adopt cylindrical roller radial bearings or radial composite bearings, and the thrust bearings adopt cylindrical roller thrust bearings or axial composite bearings.

In a further technical solution, the slewing motor 78 described in the slewing device 7 adopts a servo deceleration motor, a hydraulic servo motor, or a pneumatic servo motor.

When in use, the object to be tested is placed or fixedly installed in the test workbench 8, the degree of freedom of vibration and the specific vibration mode of the present invention are determined according to the needs of the vibration test work, and then the X-direction excitation device 3 and Y-direction excitation are selected. The specific combined working mode of the device 4, the Z-direction vibration excitation device 5 and the slewing device 7. The test workbench 8 realizes the linear reciprocating vibration in the X and Y directions under the action of the X-direction vibration excitation device 3 and the Y-direction vibration excitation device 4, respectively. When the two sets of first Z-direction electromagnets 51 and the two sets of second Z-direction electromagnets 52 in the Z-direction excitation device 5 work simultaneously and synchronously, the test bench 8 generates Z-direction reciprocating vibration; When the electromagnets 52 alternately work, the test bench 8 reciprocates around the axis parallel to the X direction; when the two sets of first Z electromagnets 51 work alternately, the test bench 8 generates reciprocating swings about the axis parallel to the Y direction. swing. The rotary motor 78 is activated, and the test table 8 can generate a rotation or centrifugal movement around the axis of the ring gear 73. The present invention can realize the linear reciprocating vibration in the three directions of X, Y, and Z, the reciprocating swing about the axis parallel to the X and Y directions, and the rotation or centrifugal motion about the axis parallel to the Z direction, a total of six degrees of freedom. The eccentricity of the workbench 8 relative to the rotating device 7 and the parallel moving platform 6 can be adjusted by fixing the test workbench 8 to different connecting bolt holes on the rotating flange 721 of the rotating device 7. Each vibration degree of freedom of the test bench 8 of the present invention is relatively independently adjustable, and has complete decoupling.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", and "outer" are based on the drawings shown The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the industry should understand that the present invention is not limited by the foregoing embodiments. The foregoing embodiments and descriptions only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and improvements, these changes and improvements all fall within the scope of the claimed invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

A six-degree-of-freedom hybrid electromagnetic vibration test bench, including a support base, a three-degree-of-freedom flexible support, an X-direction excitation device, a Y-direction excitation device, a Z-direction excitation device, a parallel moving platform, a slewing device, and test work The table and the controller are characterized in that: the support base includes a base, an X-direction electromagnet support and a Y-direction electromagnet support, a counterweight is provided in the middle position above the base, the X-direction electromagnet support and the Y There are two electromagnet brackets, and they are arranged symmetrically on the side of the top of the base. The bottoms of the X-directional electromagnet bracket and the Y-directional electromagnet bracket are both fixed to the base; there are four between the base and the parallel moving platform. A three-degree-of-freedom flexible support that can be elastically deformed along the X, Y, and Z directions at the same time. The lower end of the three-degree-of-freedom flexible support is fixedly connected to the base, and the upper end is fixedly connected to the parallel movable platform; the X The X-direction excitation device is located between the parallel moving platform and the base. The number of the X-direction excitation devices is two, and the two sets of X-direction excitation devices are symmetrically arranged on both sides of the X-direction above the base; the Y-direction The excitation device is located between the parallel moving platform and the base, the number of the Y-direction excitation device is two, and the two sets of Y-direction excitation devices are symmetrically arranged on both sides of the Y-direction above the base; The lower end is fixedly installed on the parallel moving platform, and the test workbench is fixedly installed on the top of the slewing device by screws; the controller is connected to the X-direction excitation device and the Y-direction vibration device through the power cable and the signal cable. , Z-direction excitation device and slewing device are connected;

The X-direction excitation device includes an X-direction adsorption bracket, an X-direction electromagnet, an X-direction reset device, and an X-direction reset support. The top of the X-direction adsorption support is fixedly connected to the parallel moving platform. The electromagnet is fixedly installed on one side of the X-direction electromagnet support, and the two ends of the X-direction resetting device are respectively fixedly connected with the X-direction adsorption support and the X-direction return support; the Y-direction excitation device includes Y-direction adsorption Bracket, Y-direction electromagnet, Y-direction reset device and Y-direction reset bracket, the top of the Y-direction adsorption bracket is fixedly connected to the parallel moving platform, and the Y-direction electromagnet is fixedly installed on one of the Y-direction electromagnet bracket On the side, the two ends of the Y-direction resetting device are respectively fixedly connected to the Y-direction adsorption support and the Y-direction reduction support; the bottoms of the X-direction reduction support and the Y-direction reduction support are both fixedly connected to the base;

The Z-direction excitation device is located between the base and the parallel moving platform, and includes a first Z-direction electromagnet, a second Z-direction electromagnet, a first Z-direction adsorption bracket and a second Z-direction adsorption support, and the number of them is equal. Two, the bottom of the two sets of first Z-direction electromagnets are fixedly installed on both sides of the Y direction above the base, the bottom of the two sets of second Z-direction electromagnets are fixedly installed on both sides of the X direction above the base, and the first Z-direction adsorption bracket is located Directly above the first Z-direction electromagnet, and its top is fixedly installed under the parallel moving platform, and the second Z-direction adsorption bracket is located directly above the second Z-direction electromagnet, and its top is fixedly installed under the parallel moving platform ；

The slewing device includes a slewing seat, a slewing body, an inner gear, a driving gear, a transmission shaft, a transmission gear, a driving gear, and a slewing motor. The lower end of the slewing seat is fixedly installed above the parallel movable platform, and The upper end of the slewing body is provided with a slewing flange, the slewing flange is connected with the test table by screws, and the slewing body and the slewing seat are connected by a supporting bearing set; the inner gear ring passes The screw is fixedly installed inside the revolving body, the drive gear is fixedly installed on the upper end of the transmission shaft, and is internally meshed with the ring gear; the transmission gear is fixedly installed on the lower end of the transmission shaft, and the transmission shaft is set In the drive shaft mounting hole of the parallel moving platform, and connected with the parallel moving platform through a bearing; the output shaft of the swing motor is placed in the motor mounting hole of the parallel moving platform, and the swing motor is fixedly installed by screws On the parallel moving platform; the driving gear is fixedly installed on the output shaft of the slewing motor, and keeps external meshing with the transmission gear; the driving gear is connected with the output shaft of the slewing motor through a flat key, and is connected to the output shaft of the slewing motor. The end of the output shaft is also provided with a shaft end retaining ring, which is fixedly connected with the output shaft of the rotary motor.
The six-degree-of-freedom hybrid electromagnetic vibration test bench according to claim 1, wherein the three-degree-of-freedom flexible support includes a rigid bottom support, an X-direction deforming leaf spring and a Y-direction deforming leaf spring, so The lower end of the rigid bottom bracket is fixedly installed on the base, the lower end of the X-direction deformed leaf spring is fixedly connected to the upper end of the rigid bottom bracket, the upper end of the X-direction deformed leaf spring and the lower end of the Y-direction deformable leaf spring The upper end of the Y-direction deforming leaf spring is connected to the parallel moving platform by bolts; the structures of the X-direction deforming leaf spring and the Y-direction deforming leaf spring are both bow-shaped.
The six-degree-of-freedom hybrid electromagnetic vibration test bench according to claim 2, characterized in that: the lower end of the X-direction deformed leaf spring and the rigid bottom bracket are connected by hot riveting or screws, and are connected at the joint The surroundings are reinforced by friction stir welding, and the upper end of the X-direction deformed leaf spring and the lower end of the Y-direction deformed leaf spring are connected by a dual connection of hot riveting and friction stir welding.
The six-degree-of-freedom hybrid electromagnetic vibration test bench according to claim 1, wherein the supporting bearing group includes a radial bearing and two thrust bearings, and the two thrust bearings are respectively Arranged at the upper and lower ends of the radial bearing, the radial bearing adopts a cylindrical roller radial bearing or a radial composite bearing, and the thrust bearing adopts a cylindrical roller thrust bearing or an axial composite bearing.
The six-degree-of-freedom hybrid electromagnetic vibration test bench according to claim 1, wherein the rotary motor adopts a servo deceleration motor, a hydraulic servo motor, or a pneumatic servo motor.
A six-degree-of-freedom hybrid electromagnetic vibration test bench according to claim 1, wherein the X-direction reset device includes an X-direction double universal joint, an X-direction return spring, and an X-direction adjusting screw. One end of the X-direction double universal joint is connected with the X-direction adsorption bracket by a screw, the other end of the X-direction double universal joint is connected with the X-direction return spring by a screw, and the X-direction adjustment screw One end is connected with the X-direction return spring by a bolt, and the other end of the X-direction adjusting screw is connected with the X-direction return bracket by a bolt; the Y-direction return device includes a Y-direction double universal joint and a Y-direction return spring , Y-direction adjusting screw, one end of the Y-direction double universal joint is connected with the Y-direction adsorption bracket by a screw, and the other end of the Y-direction double universal joint is connected with the Y-direction return spring by a screw, so One end of the Y-direction adjusting screw is connected with the Y-return spring by a bolt, and the other end of the Y-direction adjusting screw is connected with the Y-return bracket by a bolt.