CN113532855A - Ground comprehensive test system for verifying joint life of aerospace mechanical arm - Google Patents
Ground comprehensive test system for verifying joint life of aerospace mechanical arm Download PDFInfo
- Publication number
- CN113532855A CN113532855A CN202110837918.1A CN202110837918A CN113532855A CN 113532855 A CN113532855 A CN 113532855A CN 202110837918 A CN202110837918 A CN 202110837918A CN 113532855 A CN113532855 A CN 113532855A
- Authority
- CN
- China
- Prior art keywords
- vacuum
- liquid nitrogen
- vacuum container
- load
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 104
- 230000005540 biological transmission Effects 0.000 claims abstract description 88
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 210000001503 joint Anatomy 0.000 claims abstract description 19
- 238000012795 verification Methods 0.000 claims abstract description 9
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 170
- 229910052757 nitrogen Inorganic materials 0.000 claims description 85
- 239000007788 liquid Substances 0.000 claims description 83
- 239000011553 magnetic fluid Substances 0.000 claims description 50
- 238000007789 sealing Methods 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000005086 pumping Methods 0.000 claims description 19
- 239000006200 vaporizer Substances 0.000 claims description 15
- 230000000149 penetrating effect Effects 0.000 claims description 14
- 238000010438 heat treatment Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000011554 ferrofluid Substances 0.000 claims 2
- 238000004891 communication Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 229910052697 platinum Inorganic materials 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 230000008016 vaporization Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The application discloses a ground comprehensive test system for verifying joint life of an aerospace mechanical arm. The method comprises the following steps: a vacuum system having a vacuum vessel for providing a vacuum testing environment; the tooling system is arranged adjacent to the vacuum system and used for changing the comprehensive stress of the test piece in the vacuum system; the application designs a vacuum system which is provided with a vacuum container and provides a vacuum test environment, and designs a tooling system which is arranged adjacent to the vacuum system and is positioned outside the vacuum system so as to debug and install the tooling system, avoid damaging the vacuum environment in the vacuum container and ensure the verification accuracy of each performance; furthermore, a transmission mechanism of the tool system is in butt joint with the vacuum container, the load mechanism is connected with the transmission mechanism, torque is formed by the load mechanism, the transmission mechanism is used for transmitting the torque to the test piece, the vacuum container and the transmission mechanism are used for transmitting the torque to the inside and the outside so as to control the torque load of the test piece, and the purpose of providing a torque and inertia comprehensive stress test environment is achieved.
Description
Technical Field
The disclosure generally relates to the field of spacecraft environmental tests, in particular to a ground comprehensive test system for verifying the service life of a joint of an aerospace mechanical arm.
Background
Future space stations in China are multi-modular combined space stations, and cabin bodies with different purposes and functional equipment are in butt joint with core cabins through node cabins. The space navigation mechanical arm is one of important space mechanisms in the butt joint operation of the cabin sections, plays a key role in the transposition process of the cabin body of the space station, and can provide services such as on-track maintenance, recovery and the like. The joint is a core product of an aerospace mechanical arm, is the basis for realizing flexible motion of the mechanical arm and realizing various motion functions, and is the key for ensuring motion precision, connection rigidity, output torque and the like of the mechanical arm.
The aerospace mechanical arm is extravehicular equipment, the working environment of the joint of the aerospace mechanical arm is in a vacuum environment, and the aerospace mechanical arm continuously and alternately passes through a sunshine area and a ground shadow area along with a space station, so that the magnitude of heat flow outside a product is changed periodically. Due to the particularity of the vacuum environment, the heat exchange conditions of the joints are greatly different from those of the joints in the normal pressure environment. The service life verification of various functions and performance indexes of the product under the normal pressure environment can cause the deviation of a test result due to the difference of thermal deformation conditions, and the accurate verification of the thermal design of the joints of the aerospace mechanical arm cannot be met.
At present, the devices used by the traditional comprehensive test system are all included in a vacuum container of the system, the requirement of testing and installation can be met only by the vacuum container which is large enough, and the devices in the vacuum container need to be debugged in the test process, so that the devices can be accurately verified aiming at various performances of aerospace mechanical joints, but the vacuum container is frequently opened, on one hand, the vacuum environment is easily damaged, the corresponding performance verification result is deviated, on the other hand, the vacuum container is large, and the container can meet the required vacuum environment only by long-time waiting after debugging. Therefore, improvements are urgently needed in the existing comprehensive test system.
Disclosure of Invention
In view of the above defects or shortcomings in the prior art, it is desirable to provide a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm, which is convenient to install and debug, improves the accuracy of each performance verification, has a simple structure, and is easy to implement.
In a first aspect, the present application provides a ground comprehensive test system for verifying joint life of an aerospace mechanical arm, comprising:
a vacuum system having a vacuum vessel for providing a vacuum testing environment;
the tooling system is arranged adjacent to the vacuum system and used for changing the comprehensive stress of the test piece in the vacuum system; the tooling system comprises: the supporting mechanism, the transmission mechanism and the loading mechanism are arranged on the supporting mechanism;
the transmission mechanism includes: the magnetic fluid seal transmission device is arranged on the supporting mechanism, and the magnetic fluid seal transmission device butt joint device is arranged on the vacuum container; the magnetic fluid seal transmission device is connected with the magnetic fluid seal transmission device butt joint device, and a cabin penetrating shaft of the magnetic fluid seal transmission device is connected with an output shaft of the test piece through a coupler;
the load mechanism includes: the magnetic fluid sealing transmission device comprises a torque loading piece connected with the magnetic fluid sealing transmission device, a reverse driving piece connected with the torque loading piece and an inertia disc assembly connected with the reverse driving piece;
and controlling the moment load of the test piece by matching the moment loading piece, the reverse driving piece and the inertia disc assembly.
According to the technical scheme provided by the embodiment of the application, the moment loading piece comprises: the moment loading device is arranged on the supporting mechanism, and the moment loading shaft is arranged on the moment loading device.
According to the technical scheme provided by the embodiment of the application, the reverse driving piece comprises: a reverse drive load shaft disposed on the support mechanism and a turntable disposed on the reverse drive load shaft; the reverse driving load shaft is connected with the moment load shaft through the coupler; the turntable is wound with a traction steel wire, a hanging basket is arranged at the free end of the traction steel wire, and a balance weight is arranged in the traction steel wire.
According to the technical scheme provided by the embodiment of the application, the inertia disc assembly comprises: the speed reducer is arranged on the supporting mechanism, and the inertia disc group is arranged on an input shaft of the speed reducer; and the output shaft of the speed reducer is connected with the end part of the moment load shaft through the coupler.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: a control system;
the control system includes:
the torque sensor is arranged between the magnetic fluid seal transmission device and the reverse driving load shaft and used for detecting the real-time torque of a transmission shaft of the magnetic fluid seal transmission device;
the upper computer is arranged on one side, far away from the vacuum container, of the tooling system and is used for receiving the real-time torque signal sent by the torque sensor and converting the real-time torque signal into a real-time torque value;
and the controller is used for adjusting the moment load of the moment loading piece, the reverse driving load of the reverse driving piece and the inertia load of the inertia disc group correspondingly according to the real-time moment value.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: the vacuumizing assembly is connected with the vacuum container;
the evacuation assembly includes:
the air inlet of the low vacuum pump is communicated with the vacuum container through a rough pumping pipeline and is used for pumping the air in the vacuum container;
and the rough pumping valve is arranged on the rough pumping pipeline and is used for controlling the working state of the low vacuum pump.
According to the technical scheme provided by the embodiment of the application, a low-temperature mechanism is arranged in the vacuum container;
the cryogenic mechanism comprises: the liquid nitrogen storage tank is independently arranged, the heat sink is arranged on the inner wall of the vacuum container, and the high valve is arranged on the vacuum container;
the liquid nitrogen storage tank is positioned on one side of the vacuum container, which is far away from the tooling system, and the bottom of the liquid nitrogen storage tank is communicated with the heat sink through a liquid nitrogen inlet pipeline; a liquid nitrogen inlet valve is arranged on the liquid nitrogen inlet pipeline; the bottom of the liquid nitrogen storage tank is also provided with a liquid nitrogen vaporizer, and a liquid nitrogen pressure increasing valve is arranged on a connecting pipeline between the liquid nitrogen vaporizer and the liquid nitrogen storage tank; the liquid nitrogen vaporizer is connected with the top of the liquid nitrogen storage tank through a liquid nitrogen pressurization pipeline;
the liquid outlet of the heat sink is connected with a liquid nitrogen emptying pipeline which extends to the outside of the vacuum container; the high valve is connected with a high vacuum pump.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps: a temperature control mechanism;
the temperature control mechanism comprises: the temperature control instrument is arranged adjacent to the vacuum container, and the flange is arranged on the vacuum container; the temperature control instrument is connected with a power supply; and a cabin penetrating plug group is arranged at the flange and is respectively connected with the temperature control instrument and the power supply through transmission cables.
According to the technical scheme provided by the embodiment of the application, a guide rail which is perpendicular to a cabin penetrating shaft of the magnetic fluid sealing transmission device is arranged in the vacuum container; a test piece tool for placing the test piece is arranged on the guide rail;
the test tooling part is provided with a heating device and is connected with the power supply through a power supply cable; and the test piece is provided with a temperature measuring sensor and is connected with the transmission cable.
According to the technical scheme provided by the embodiment of the application, the supporting mechanism comprises: a front platform and a rear platform which are matched for use; the front platform is close to the vacuum container relative to the rear platform, and a gap is formed between the front platform and the rear platform and used for accommodating the balance weight to move freely;
a magnetofluid sealing transmission device support frame, a torque sensor support frame and a reverse driving system front end support frame are sequentially arranged on the front platform, and the magnetofluid sealing transmission device support frame is relatively close to the vacuum container;
the rear platform is sequentially provided with a reverse driving system tail end supporting frame, a moment loading device supporting frame and an inertia loading system supporting frame, and the reverse driving system tail end supporting frame is relatively close to the reverse driving system front end supporting frame.
In conclusion, the technical scheme specifically discloses a specific structure of a ground comprehensive test system for verifying the joint life of an aerospace mechanical arm. The vacuum system is specifically designed, and the vacuum system is provided with a vacuum container, provides a vacuum test environment, is provided with a tooling system which is arranged adjacent to the vacuum system and is positioned outside the vacuum system, so that the tooling system is convenient to debug and install, and the vacuum environment in the vacuum container is prevented from being damaged; furthermore, a magnetic fluid sealing transmission device is arranged on a supporting mechanism of the tooling system, a magnetic fluid sealing transmission device butt joint device on a vacuum container is utilized to be in butt joint with the magnetic fluid sealing transmission device, a torque loading piece is connected with the magnetic fluid sealing transmission device, a reverse driving piece is connected with the torque loading piece, an inertia disc assembly is connected with the reverse driving piece, a cabin penetrating shaft of the magnetic fluid sealing transmission device butt joint device is connected with an output shaft of a test piece through a coupler, the torque loading piece is connected with the magnetic fluid sealing transmission device, the reverse driving piece is connected with the torque loading piece, the inertia disc assembly is connected with the reverse driving piece, a torque is formed through the matching of the torque loading piece, the reverse driving piece and the inertia disc assembly, the magnetic fluid sealing transmission device is utilized to transmit the test piece, the vacuum container is transmitted with the inside and the outside of the transmission mechanism to control the torque load of the test piece, the purpose of providing a moment and inertia comprehensive stress test environment is achieved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic side view structure diagram of a ground comprehensive test system for verifying the service life of a joint of an aerospace mechanical arm.
Fig. 2 is a schematic front view structure diagram of a ground comprehensive test system for verifying the service life of a joint of an aerospace mechanical arm.
Reference numbers in the figures: 1. a liquid nitrogen storage tank; 2. a liquid nitrogen emptying pipeline; 3. a high valve; 4. a flange; 5. a cabin penetrating plug group; 6. a controller; 7. a transmission cable; 8. a power supply cable; 9. a vacuum vessel; 10. a temperature control instrument; 11. a power source; 12. an upper computer; 13. a liquid nitrogen inlet pipeline; 14. a liquid nitrogen inlet valve; 15. a liquid nitrogen pressure increasing valve; 16. a liquid nitrogen vaporizer; 17. a liquid nitrogen pressurization pipeline; 18. a roughing pump; 19. a rough pumping pipeline; 20. a rough pumping valve; 21. a high vacuum pump; 22. a heat sink; 23. a guide rail; 24. a heating device; 25. a test piece; 26. testing a tooling piece; 27. a temperature measuring sensor; 28. a front platform; 29. a rear platform; 30. a coupling; 31. the magnetic fluid seal transmission device is connected with the butt joint device; 32. a magnetic fluid seal transmission device; 33. a magnetofluid seal transmission device support frame; 34. a torque sensor; 35. a torque sensor support frame; 36. a front end support frame of the reverse driving system; 37. a reverse drive system end support frame; 38. a reverse drive load shaft; 39. a turntable; 40. balancing weight; 41. a moment loading device; 42. a moment load shaft; 43. a moment loading device support frame; 44. a speed reducer; 45. an inertia loading system support frame; 46. a set of inertia disks.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
Please refer to fig. 1, which illustrates a schematic structural diagram of a first embodiment of a ground comprehensive testing system for verifying the joint life of an aerospace robot arm, provided by the present application, and includes:
a vacuum system having a vacuum vessel 9 for providing a vacuum test environment;
the tooling system is arranged adjacent to the vacuum system and is used for changing the comprehensive stress of the test piece 25 in the vacuum system; the tooling system comprises: the supporting mechanism, the transmission mechanism and the loading mechanism are arranged on the supporting mechanism;
the transmission mechanism includes: a magnetic fluid seal transmission device 32 arranged on the supporting mechanism and a magnetic fluid seal transmission device docking device 31 arranged on the vacuum container 9; the magnetic fluid seal transmission device 32 is connected with the magnetic fluid seal transmission device butt joint device 31, and a cabin penetrating shaft of the magnetic fluid seal transmission device 32 is connected with an output shaft of the test piece 25 through a coupler 30;
the load mechanism includes: a torque loading piece connected with the magnetic fluid sealing transmission device 32, a reverse driving piece connected with the torque loading piece and an inertia disc assembly connected with the reverse driving piece;
the moment load of the test piece 25 is controlled by the cooperation of the moment loading piece, the counter drive piece and the inertia disc assembly.
In this embodiment, as shown in fig. 1, a vacuum system and a tooling system are designed and used in cooperation, and the tooling system and the vacuum system are arranged adjacently, that is, the tooling system is located outside the vacuum system so as to install and debug equipment, in addition, the number of equipment components in the vacuum container 9 is relatively reduced, so that the total heat capacity of the equipment in the vacuum container 9 and the shielding of the test piece 25 can be effectively reduced, and the temperature control efficiency and precision can be improved;
a vacuum container 9 as a basic component of a vacuum system, which can form a closed space and maintain the vacuum degree in the container to provide a good vacuum test environment; here, the material of the vacuum container 9 is, for example, stainless steel, which ensures that it does not deform when a load is large; the shape of the device is a horizontal cylindrical structure; moreover, the vacuum container 9 can be installed on the ground of a special test site through foundation bolts according to actual requirements;
as shown in fig. 1, the tooling system has a transmission mechanism, a load mechanism and a support mechanism;
the transmission mechanism is arranged on the supporting mechanism; specifically, the magnetic fluid seal transmission device 32 is arranged on the support mechanism and plays a role in sealing the vacuum container 9, and a cabin penetrating shaft of the magnetic fluid seal transmission device 32 is connected with an output shaft of the test piece 25 through a coupler 30 so as to ensure the internal and external transmission of the vacuum container 9 and the transmission mechanism; the magnetic fluid seal transmission device butt joint device 31 is arranged on the vacuum container 9, is in butt joint with the magnetic fluid seal transmission device 32, is used as a connecting medium of the vacuum container 9 and the magnetic fluid seal transmission device 32, and also has a fixing effect on the position of the magnetic fluid seal transmission device 32; here, the coupling 30 can be a diaphragm coupling, so that the mounting difficulty and the damage to the transmission shaft caused by coaxial debugging are reduced;
further, the moment loading part is connected with the magnetic fluid sealing transmission device 32, the reverse driving part is connected with the moment loading part, the inertia disc assembly is connected with the reverse driving part, torque is formed by matching the moment loading part, the reverse driving part and the inertia disc assembly, the magnetic fluid sealing transmission device 32 is used for transmitting the torque to the test piece 25, and then the moment load of the test piece 25 is controlled;
specifically, a torque loading member, as shown in fig. 1, a torque loading device 41 is provided on the support mechanism for applying a torque; here, the torque loading device 41 is of a type such as a magnetic particle brake or a servo motor; a moment load shaft 42 arranged on the moment loading device 41, used for bearing the load applied by the moment loading device 41 and transmitting the load into the transmission system;
specifically, a reverse drive member, as shown in fig. 1, a reverse drive load shaft 38, which is provided on the support mechanism, is used for fixing a turntable 39 of the reverse drive system, bearing the load applied by the turntable, and transmitting the load to the transmission system; a turntable 39 provided on the reverse drive load shaft 38 as a force arm of the reverse drive torque; a counterweight 40 provided in a basket at a free end of the traction wire wound on the turntable 39 for providing gravity; here, one end of the traction steel wire is fixed on the mounting hole at the edge of the turntable 39 through a C-shaped clamp, the other end is connected with a hanging basket through a hook, and the hanging basket bears a balance weight 40 to convert gravity into traction force;
specifically, an inertia disc assembly, as shown in fig. 2, a speed reducer 44 is provided on the support mechanism for providing a required inertia load to the test piece 25, and the speed reducer 44 can reduce the mass required by the inertia disc with a corresponding speed reduction ratio; here, the type of the speed reducer 44, for example, a gear speed reducer, changes the reduction ratio by adjusting the gear combination; the inertia disc set 46 is arranged on an input shaft of the speed reducer 44, required inertia disc load is calculated according to the reduction ratio of the speed reducer 44 and inertia load required by a test, an inertia disc combination meeting requirements is selected from the inertia disc set 46, the inertia disc is installed on the input shaft of the speed reducer 44, the end part of the moment load shaft 42 and the output shaft of the speed reducer 44 are connected through the coupler 30, the coaxiality of the output shaft of the speed reducer 44 and the moment load shaft 42 is adjusted, and then the required inertia load is provided for the test piece 25 through a transmission system;
further, the torque sensor 34 is arranged between the magnetic fluid seal transmission device 32 and the reverse driving load shaft 39, and is used for detecting the real-time torque of the transmission shaft of the magnetic fluid seal transmission device 32 and transmitting the torque data to the upper computer 12 through an electric signal; the upper computer 12 is arranged on one side of the tooling system, which is far away from the vacuum container 9, and is used for receiving the real-time torque signal sent by the torque sensor 34 and converting the real-time torque signal into a real-time torque value; the controller 6 is used for adjusting the moment load of the corresponding moment loading piece, the reverse driving load of the reverse driving piece and the inertia load of the inertia disc group according to the real-time moment value; the tool system is subjected to closed-loop control through the control system so as to adjust the torque load;
further, as shown in fig. 1, the supporting mechanism, a front platform 28 and a rear platform 29, are used in cooperation to perform a supporting function; both can be connected with the ground through the ground feet, and the heights of the front platform 28 and the rear platform 29 can be adjusted, so that the corresponding devices on the front platform and the rear platform can reach the required test height, and the normal operation of the test can be ensured; the table surfaces of the front platform 28 and the rear platform 29 are provided with T-shaped grooves along the direction of a transmission shaft of the magnetic fluid sealing transmission device 32 for installing and fixing corresponding support frames; and, there is a gap between the front and rear landings 28, 29, forming an accommodation space so that the counterweight 40 can move freely therein;
the magnetic fluid sealing transmission device support frame 33, the torque sensor support frame 35 and the reverse driving system front end support frame 36 are sequentially arranged on the front platform 28, and the magnetic fluid sealing transmission device support frame 33 is relatively close to the vacuum container 9; the magnetic fluid seal transmission device support frame 33 is used for supporting the magnetic fluid seal transmission device 32; the torque sensor support 35 is used for supporting the torque sensor 34; the reverse driving system front end support frame 36 is used for supporting a corresponding bearing of a reverse driving load shaft 38 in a matching way with the reverse driving system tail end support frame 37;
the reverse driving system tail end supporting frame 37, the moment loading device supporting frame 43 and the inertia loading system supporting frame 45 are sequentially arranged on the rear platform 29, and the reverse driving system tail end supporting frame 37 is relatively close to the reverse driving system front end supporting frame 36; the moment loading device support frame 43 is used for supporting the moment loading device 41; the inertia loading system support bracket 45 is used to support the speed reducer 44.
Further, as shown in fig. 2, a vacuum pumping assembly is connected to the vacuum container 9, so that the vacuum container 9 forms a vacuum environment required for the test; specifically, a roughing pump 18, an air inlet of which is communicated with the vacuum container 9 through a roughing line 19, for evacuating air in the vacuum container 9; a rough pumping line 19 as an air guide line provided between the roughing pump 18 and the vacuum vessel 9; the rough pumping valve 20 is arranged on the rough pumping pipeline 19 and is used for controlling the working state of the low vacuum pump 18; when the vacuum container 9 needs to be pumped, the rough pumping valve 20 is opened, the rough pumping pipeline 19 is conducted, the rough pumping pipeline 18 pumps air for the vacuum container 9, and when the vacuum degree in the vacuum container 9 meets the test requirement, the rough pumping valve 20 and the rough pumping pipeline 18 are closed, and the operation is stopped.
Further, as shown in fig. 2, the liquid nitrogen storage tank 1 is independently arranged, can be installed on the ground of a special test site through an embedded foundation, and is located on one side of the vacuum container 9 away from the tooling system for storing liquid nitrogen;
the high vacuum pump 21 is connected with the high valve 3, and the high valve 3 is arranged on the vacuum container 9 and used for controlling the pressure in the vacuum container 9; specifically, the cold head assembly with the temperature lower than 10K in the high vacuum pump 21 is used for adsorbing and capturing the residual gas molecules in the vacuum container 9, so that the pressure in the vacuum container 9 reaches the level of 10 & lt-2 & gt Pa; here, the type of the high-vacuum pump 21 is, for example, a cryopump or a molecular pump;
a liquid nitrogen vaporizer 16 which is communicated with the bottom of the liquid nitrogen storage tank 1 and is also connected with the top of the liquid nitrogen storage tank 1 through a liquid nitrogen pressurization pipeline 17 and is used for vaporizing the liquid nitrogen in the liquid nitrogen storage tank 1; a liquid nitrogen pressurizing valve 15 is installed on the liquid nitrogen vaporizer 16, the liquid nitrogen pressurizing valve 15 is opened, so that liquid nitrogen in the liquid nitrogen storage tank 1 flows into the liquid nitrogen vaporizer 16 through a liquid nitrogen pressurizing pipeline 17, the liquid nitrogen is vaporized into nitrogen through full heat exchange with outside air in the liquid nitrogen vaporizer 16, the pressure of the liquid nitrogen vaporizer is increased, and the nitrogen flows back to the top of the liquid nitrogen storage tank 1 through the liquid nitrogen pressurizing pipeline 17, so that the purpose of pressurizing the inside of the liquid nitrogen storage tank 1 is achieved;
further, the bottom of the liquid nitrogen storage tank 1 is communicated with a heat sink 22 through a liquid nitrogen inlet pipeline 13, the heat sink 22 is arranged on the inner wall of the vacuum container 9, and the liquid nitrogen flows fully in the pipeline of the heat sink 22 and is exhausted through the liquid nitrogen emptying pipeline 2 in a gasification mode, so that the heat sink 22 is cooled, and the purpose of establishing a low-temperature cold background in the vacuum container 9 can be achieved; here, the heat sink 22 may be made of a brass material; and, the liquid nitrogen intake valve 14 is installed on the liquid nitrogen intake pipeline 13, and is used for controlling the opening or closing of the liquid nitrogen intake pipeline 13 so as to control the flow of liquid nitrogen in the pipeline.
Further, a temperature control mechanism, as shown in fig. 2, a temperature controller 10, which is disposed adjacent to the vacuum container 9, is used for sending out a control signal; a power supply 11 connected to the temperature controller 10 for supplying electric power; the cabin penetrating plug group 5 is arranged at the flange 4 of the vacuum container 9, is connected with the temperature controller 10 and the power supply 11 through a transmission cable 7, and is used for transmitting a temperature measuring signal of the temperature measuring sensor 27 to the temperature controller 10;
the guide rail 23 is arranged in the vacuum container 9, is perpendicular to a cabin penetrating shaft of the magnetic fluid sealing transmission device 32, and is used for bearing and mounting the test piece 25; here, the guide rail 23 can be made of stainless steel, has strong specific stiffness, and ensures that deformation does not occur when the load is large; the test piece tool 26 is arranged on the guide rail 23 and used for placing the test piece 25; the heating device 24 is arranged on the test tool 26, the power supply cable 8 of the heating device is connected with the power supply 11, and when the heating device 24 is electrified, specific radiation heat flow is output to the surface of the test piece 25 in a cold and black background environment in the vacuum container, so that the surface temperature of the test piece 25 is changed, and the measurement signal of the temperature measurement sensor 27 is changed; here, the type of heating means 24, for example, is an infrared cage, an infrared lamp, or a combination of both; the temperature measuring sensor 27 is arranged on the test piece 25, is connected with the transmission cable 7, and is used for detecting the surface temperature of the test piece 25 and transmitting temperature data to the temperature controller 10 by using a measuring signal; here, the temperature measuring sensor 27 is of a type such as a T-type thermocouple or a platinum resistor.
The specific operation process of the test system is as follows:
under the condition that a gate of the vacuum container 9 is closed and a closed space is formed in the container, a rough-pumping valve 20 and a low-vacuum pump 18 are opened, and air in the vacuum container 9 is pumped outwards by the low-vacuum pump 18, so that the pressure in the vacuum container 9 reaches a level superior to 3 Pa; at this time, the roughing valve 20 and the roughing pump 18 are closed, the high vacuum pump 21 and the high valve 3 are opened, and the remaining gas molecules in the vacuum container 9 are adsorbed and trapped by the cold head assembly having a temperature of less than 10K in the high vacuum pump 21, so that the pressure in the vacuum container 9 reaches 10-2Pa level. On the basis, the liquid nitrogen pressurizing valve 15 is opened, so that the liquid nitrogen in the liquid nitrogen storage tank 1 flows into the liquid nitrogen vaporizer 16 through the liquid nitrogen pressurizing pipeline 17, is vaporized into nitrogen through full heat exchange with the outside air in the liquid nitrogen vaporizer 16, the pressure of the liquid nitrogen vaporizer is increased, and the nitrogen flows back to the top of the liquid nitrogen storage tank 1 through the liquid nitrogen pressurizing pipeline 17, so that the purpose of pressurizing the inside of the liquid nitrogen storage tank 1 is achieved. At the moment, a liquid nitrogen inlet valve 14 is opened, liquid nitrogen in the pressurized liquid nitrogen storage tank 1 flows into the heat sink 22 through a liquid nitrogen inlet pipeline 13 under the action of pressure, and is gasified and discharged through a liquid nitrogen emptying pipeline 2 after fully flowing in a pipeline of the heat sink 22, so that the purposes of cooling the heat sink 22 and establishing a low-temperature cold background in the vacuum container 9 are achieved; meanwhile, the heat sink with the temperature lower than 100K has a certain adsorption effect on gas molecules in the vacuum container 9, so that the pressure in the vacuum container can reach a value better than 1.33 multiplied by 10-3A level of Pa; on the other hand, the inner surfaces of the heat sinks facing the products are sprayed with black paint, and the surface absorption rate is better than 0.9, so that a complete vacuum environment and a cold black background environment are established in the vacuum container 9.
In the vacuum and cold-black background environment, the temperature sensor 27 is used for measuring the temperature value at the specific position of the test piece 25, the measuring signal is transmitted into the temperature controller 10 through a signal path consisting of the transmission cable, the cabin penetrating plug group 5 and the transmission cable 7 in the signal cabin of the temperature sensor 27, the temperature controller 10 compares the measured value of the temperature with a given target value, a control signal is generated after calculation and is transmitted into the power supply 11, so that the power supply 11 generates a certain direct current and voltage output, and then transmitted to the heating device 24 through a complete signal path formed by the power supply cable 8 outside the cabin of the heating device, the cabin penetrating plug group 5 and the power supply cable in the cabin of the heating device 24, so that the heating device 24 is electrified, thereby outputting specific radiant heat flow to the surface of the test piece 25 under the cold and black background environment in the vacuum container, changing the surface temperature of the test piece 25 and further changing the measurement signal of the temperature measurement sensor 27; the control signal of the temperature controller 10 is adjusted in real time along with the measurement signal of the temperature sensor 27, so that closed-loop temperature control is realized, the temperature of the test piece 25 is raised, lowered or kept according to a given temperature value and a temperature change rate, and high-temperature, low-temperature or temperature change environmental loads are provided for the test piece 25.
The target moment value is set through the control program of the upper computer 12, the control program is started, after the test piece 25 runs, the output shaft of the test piece 25 starts to rotate to drive the whole transmission system, the torque sensor 34 generates corresponding electric signals according to real-time torque and transmits the electric signals to the upper computer 12 through a cable, the upper computer 12 processes and converts the signals transmitted by the torque sensor 34 into the real-time moment value, the load of the moment loading device is adjusted through the controller 6 by utilizing PID control according to the set target moment value, the target moment value is achieved, and the required moment load is provided for the test piece 25.
The mass of the required balance weight 40 is calculated according to the radius of the rotary disc 39 and the reverse driving load required by the test, the balance weight is stacked into a basket, the basket is hung at one end of a traction steel wire through a hanging hook, the other end of the traction steel wire is fixed at the edge of the rotary disc 39 through a C-shaped clamp, the gravity of the basket and the balance weight 40 is converted into the traction force to the rotary disc 39, the rotary disc 39 applies the acting force to a reverse driving load shaft 38, and the required reverse driving load is provided for the test piece 25 through a transmission system.
And calculating the required inertia disc load according to the reduction ratio of the speed reducer 44 and the inertia load required by the test, selecting a required inertia disc combination from the inertia disc group 46, mounting the inertia disc on the input shaft of the speed reducer 44, and providing the required inertia load for the test piece 25 through a transmission system.
The vacuum environment load, the temperature load, the moment load, the reverse driving load and the inertia load are controlled independently and can be applied simultaneously, a vacuum + high temperature/low temperature/temperature change + moment + inertia comprehensive stress test environment can be provided for the test piece 25, and the test piece can be used for checking various functions and performance indexes of an aerospace mechanical arm joint and verifying the service life of the aerospace mechanical arm joint.
Test capability of the local comprehensive test system: ambient pressure (vacuum): is better than 1.33 multiplied by 10-3Pa, cold background heat sink temperature: less than 100K, heat sink background surface absorption: greater than 0.9, maximum heating capacity of test piece: above 120 ℃, maximum cooling capacity of the test piece: below-120 ℃, maximum reaction moment load of the test piece: greater than 2000N · m, the maximum backdrive applied moment load of the test piece: greater than 500N · m, maximum inertia load of the test piece: greater than 2000kg m2。
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A ground comprehensive test system for verifying the service life of joints of an aerospace mechanical arm is characterized by comprising:
a vacuum system having a vacuum vessel (9) for providing a vacuum testing environment;
the tooling system is arranged adjacent to the vacuum system and used for changing the comprehensive stress of a test piece (25) in the vacuum system; the tooling system comprises: the supporting mechanism, the transmission mechanism and the loading mechanism are arranged on the supporting mechanism;
the transmission mechanism includes: a magnetic fluid seal transmission device (32) arranged on the supporting mechanism and a magnetic fluid seal transmission device butt joint device (31) arranged on the vacuum container (9); the magnetic fluid seal transmission device (32) is connected with the magnetic fluid seal transmission device butt joint device (31), and a cabin penetrating shaft of the magnetic fluid seal transmission device (32) is connected with an output shaft of the test piece (25) through a coupler (30);
the load mechanism includes: the magnetic fluid sealing transmission device comprises a torque loading piece connected with the magnetic fluid sealing transmission device (32), a reverse driving piece connected with the torque loading piece and an inertia disc assembly connected with the reverse driving piece;
the moment load of the test piece (25) is controlled by the cooperation of the moment load piece, the reverse driving piece and the inertia disc assembly.
2. The ground-based integrated test system for verification of joint life of an aerospace arm of claim 1, wherein the torque loading element comprises: a moment loading device (41) arranged on the supporting mechanism and a moment loading shaft (42) arranged on the moment loading device (41).
3. The ground-based integrated test system for verification of joint life of an aerospace robot of claim 2, wherein the counter drive comprises: a backdrive load shaft (38) disposed on the support mechanism and a turntable (39) disposed on the backdrive load shaft (38); the reverse drive load shaft (38) is connected with the moment load shaft (42) through the coupling (30); the turntable (39) is wound with a traction steel wire, the free end of the traction steel wire is provided with a hanging basket, and a balance weight (40) is installed in the hanging basket.
4. The ground-based integrated test system for verification of joint life of an aerospace arm of claim 3, wherein the inertia disc assembly comprises: a speed reducer (44) arranged on the support mechanism and an inertia disc set (46) arranged on an input shaft of the speed reducer (44); the output shaft of the speed reducer is connected with the end part of the moment load shaft (42) through the coupler (30).
5. The ground comprehensive test system for verifying the joint life of the aerospace mechanical arm as claimed in claim 4, further comprising: a control system;
the control system includes:
a torque sensor (34) disposed between the ferrofluid seal drive (32) and the backdrive load shaft (38) for detecting a real-time torque of the ferrofluid seal drive (32) drive shaft;
the upper computer (12) is arranged on one side, far away from the vacuum container (9), of the tooling system and is used for receiving the real-time torque signal sent by the torque sensor (34) and converting the real-time torque signal into a real-time torque value;
and the controller (6) is used for adjusting the moment load of the moment loading piece, the reverse driving load of the reverse driving piece and the inertia load of the inertia disc group correspondingly according to the real-time moment value.
6. The ground comprehensive test system for verifying the joint life of the aerospace mechanical arm as claimed in claim 1, further comprising: a vacuum pumping assembly connected with the vacuum container (9);
the evacuation assembly includes:
a roughing pump (18) having an inlet in communication with the vacuum vessel (9) via a roughing line (19) for evacuating air from the vacuum vessel (9);
and the rough pumping valve (20) is arranged on the rough pumping pipeline (19) and is used for controlling the working state of the low vacuum pump (18).
7. The ground comprehensive test system for verifying the joint life of the aerospace mechanical arm according to claim 1, wherein a low-temperature mechanism is arranged in the vacuum container (9);
the cryogenic mechanism comprises: the device comprises a liquid nitrogen storage tank (1) which is arranged independently, a heat sink (22) which is arranged on the inner wall of the vacuum container (9) and a high valve (3) which is arranged on the vacuum container (9);
the liquid nitrogen storage tank (1) is positioned on one side of the vacuum container (9) far away from the tooling system, and the bottom of the liquid nitrogen storage tank is communicated with the heat sink (22) through a liquid nitrogen inlet pipeline (13); a liquid nitrogen inlet valve (14) is arranged on the liquid nitrogen inlet pipeline (13); the bottom of the liquid nitrogen storage tank (1) is also provided with a liquid nitrogen vaporizer (16), and a liquid nitrogen pressure increasing valve (15) is arranged on a connecting pipeline between the liquid nitrogen vaporizer and the liquid nitrogen storage tank (1); the liquid nitrogen vaporizer (16) is connected with the top of the liquid nitrogen storage tank (1) through a liquid nitrogen pressurization pipeline (17);
a liquid outlet of the heat sink (22) is connected with a liquid nitrogen emptying pipeline (2) and extends to the outside of the vacuum container (9); the high valve (3) is connected with a high vacuum pump (21).
8. The ground comprehensive test system for verifying the joint life of the aerospace mechanical arm as claimed in claim 1, further comprising: a temperature control mechanism;
the temperature control mechanism comprises: a temperature control instrument (10) arranged adjacent to the vacuum container (9) and a flange (4) arranged on the vacuum container (9); the temperature controller (10) is connected with a power supply (11); and a cabin penetrating plug group (5) is arranged at the flange (4) and is respectively connected with the temperature controller (10) and the power supply (11) through a transmission cable (7).
9. The ground comprehensive test system for verifying the joint life of the aerospace mechanical arm according to claim 8, wherein a guide rail (23) which is perpendicular to a cabin penetrating shaft of the magnetofluid seal transmission device (32) is arranged in the vacuum container (9); a test piece tool (26) for placing the test piece (25) is arranged on the guide rail (23);
a heating device (24) is arranged on the test tool part (26) and is connected with the power supply (11) through a power supply cable (8); and a temperature measuring sensor (27) is arranged on the test piece (25) and is connected with the transmission cable (7).
10. The ground-based integrated test system for verification of joint life of an aerospace arm of claim 1, wherein the support mechanism comprises: a front platform (28) and a rear platform (29) which are matched for use; the front platform (28) is close to the vacuum container (9) relative to the rear platform (29), and a gap is reserved between the front platform (28) and the rear platform (29) for accommodating the counterweight (40) to move freely;
a magnetic fluid sealing transmission device support frame (33), a torque sensor support frame (35) and a reverse driving system front end support frame (36) are sequentially arranged on the front platform (28), and the magnetic fluid sealing transmission device support frame (33) is relatively close to the vacuum container (9);
the rear platform (29) is sequentially provided with a reverse driving system tail end supporting frame (37), a moment loading device supporting frame (43) and an inertia loading system supporting frame (45), and the reverse driving system tail end supporting frame (37) is relatively close to the reverse driving system front end supporting frame (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110837918.1A CN113532855B (en) | 2021-07-23 | 2021-07-23 | Ground comprehensive test system for verifying joint life of aerospace mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110837918.1A CN113532855B (en) | 2021-07-23 | 2021-07-23 | Ground comprehensive test system for verifying joint life of aerospace mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113532855A true CN113532855A (en) | 2021-10-22 |
| CN113532855B CN113532855B (en) | 2024-03-12 |
Family
ID=78089412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110837918.1A Active CN113532855B (en) | 2021-07-23 | 2021-07-23 | Ground comprehensive test system for verifying joint life of aerospace mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113532855B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114112361A (en) * | 2021-11-27 | 2022-03-01 | 中国科学院合肥物质科学研究院 | Space rotating part service life testing device and control method |
Citations (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101067578A (en) * | 2007-06-14 | 2007-11-07 | 上海交通大学 | Micro-bearing friction torgue measuring instrument |
| CN101850549A (en) * | 2010-04-30 | 2010-10-06 | 苏州博实机器人技术有限公司 | Special joint feature detection and parameter regulation device for robot |
| CN101886978A (en) * | 2010-07-07 | 2010-11-17 | 四川大学 | Vacuum high/low temperature environmental simulation electromechanical transmission mechanism comprehensive performance experimental system |
| CN101976521A (en) * | 2010-10-12 | 2011-02-16 | 浙江大学 | Force feedback steering wheel device applied to driving simulator |
| WO2012163253A1 (en) * | 2011-05-27 | 2012-12-06 | 北京配天大富精密机械有限公司 | Load simulation test device, test method, control apparatus and moment of inertia adjustment device |
| CN103091079A (en) * | 2011-10-31 | 2013-05-08 | 北京精密机电控制设备研究所 | High-low temperature vacuum environment of rotation mechanism and load simulation experiment table |
| CN203299005U (en) * | 2013-06-19 | 2013-11-20 | 常州市武进申达电机有限公司 | Micro motor rotating speed moment tester |
| CN104089766A (en) * | 2014-07-16 | 2014-10-08 | 索特传动设备有限公司 | Load test device |
| CN204027748U (en) * | 2014-05-13 | 2014-12-17 | 上海宇航***工程研究所 | A kind of high and low temperature environment O-ring seal frictional resistance torque test device |
| CN104267617A (en) * | 2014-09-28 | 2015-01-07 | 江苏科技大学 | Dynamic load simulation testing test platform and testing method |
| CN205157179U (en) * | 2015-11-09 | 2016-04-13 | 江苏省特种设备安全监督检验研究院 | Take big moment of torsion inertia brake test device of low -speed of reduction gear |
| CN105547695A (en) * | 2016-01-12 | 2016-05-04 | 芜湖赛宝信息产业技术研究院有限公司 | Industrial robot reducer reliability test stand |
| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN106840651A (en) * | 2017-01-16 | 2017-06-13 | 广州汽车集团股份有限公司 | Speed changer heat examination platform |
| CN108168878A (en) * | 2017-12-15 | 2018-06-15 | 北京卫星环境工程研究所 | Spatial rotational mechanism floor synthetic verification test system based on the moment of reaction |
| CN108225424A (en) * | 2018-01-02 | 2018-06-29 | 中科新松有限公司 | Joint of robot test device and method |
| CN108287072A (en) * | 2018-03-07 | 2018-07-17 | 中机生产力促进中心 | A kind of robot precision speed reduction device method for testing fatigue life |
| CN108332966A (en) * | 2017-12-25 | 2018-07-27 | 兰州空间技术物理研究所 | A kind of space mechanism's ball screw assembly, vacuum test device |
| CN108627332A (en) * | 2017-03-21 | 2018-10-09 | 彭伟利 | A kind of automatic mechanical transmission testing stand |
| CN108709684A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The Auto-calibration platform of module oriented approach joint moment sensor |
| CN208206477U (en) * | 2018-05-23 | 2018-12-07 | 中国科学院兰州化学物理研究所 | Space environmental simulation harmonic speed reducer transmission performance test macro |
| CN109668730A (en) * | 2019-01-30 | 2019-04-23 | 成都瑞迪机械科技有限公司 | Life test tooling and life testing method for harmonic wave speed reducing machine |
| CN109799421A (en) * | 2019-03-12 | 2019-05-24 | 北京卫星环境工程研究所 | The combined environment test of aerospace optical connector studies system |
| CN110044648A (en) * | 2019-05-21 | 2019-07-23 | 浙江工业大学 | Vacuum test device equipped with mobile vacuum extract system |
| CN110530636A (en) * | 2018-05-23 | 2019-12-03 | 中国科学院兰州化学物理研究所 | Space environmental simulation harmonic speed reducer transmission performance test macro |
| CN110640791A (en) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | Experimental method for simulating variable load and variable inertia of joint of industrial robot |
| CN110696046A (en) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | Experimental method for simulating variable inertia and variable load of single joint of industrial robot |
| CN112268036A (en) * | 2020-10-16 | 2021-01-26 | 中国直升机设计研究所 | Device for simulating starting load of helicopter APU |
| CN112284590A (en) * | 2020-09-25 | 2021-01-29 | 重庆秋城机电设备制造有限公司 | Spring motor torque measuring device |
| CN112284783A (en) * | 2020-10-20 | 2021-01-29 | 北京卫星环境工程研究所 | Temperature gradient simulation test device and method for aerospace optical fiber cabin penetrating assembly |
| CN112276519A (en) * | 2020-11-10 | 2021-01-29 | 天津航天机电设备研究所 | Be applied to integrative device of assembly and test of space station arm locking mechanism |
| CN213209459U (en) * | 2020-10-15 | 2021-05-14 | 库卡机器人(广东)有限公司 | Testing device with variable inertia flywheel |
| WO2021092970A1 (en) * | 2019-11-11 | 2021-05-20 | 清华大学 | Low-temperature large temperature variation joint bearing test platform and measurement and observation method |
-
2021
- 2021-07-23 CN CN202110837918.1A patent/CN113532855B/en active Active
Patent Citations (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101067578A (en) * | 2007-06-14 | 2007-11-07 | 上海交通大学 | Micro-bearing friction torgue measuring instrument |
| CN101850549A (en) * | 2010-04-30 | 2010-10-06 | 苏州博实机器人技术有限公司 | Special joint feature detection and parameter regulation device for robot |
| CN101886978A (en) * | 2010-07-07 | 2010-11-17 | 四川大学 | Vacuum high/low temperature environmental simulation electromechanical transmission mechanism comprehensive performance experimental system |
| CN101976521A (en) * | 2010-10-12 | 2011-02-16 | 浙江大学 | Force feedback steering wheel device applied to driving simulator |
| WO2012163253A1 (en) * | 2011-05-27 | 2012-12-06 | 北京配天大富精密机械有限公司 | Load simulation test device, test method, control apparatus and moment of inertia adjustment device |
| CN103091079A (en) * | 2011-10-31 | 2013-05-08 | 北京精密机电控制设备研究所 | High-low temperature vacuum environment of rotation mechanism and load simulation experiment table |
| CN203299005U (en) * | 2013-06-19 | 2013-11-20 | 常州市武进申达电机有限公司 | Micro motor rotating speed moment tester |
| CN204027748U (en) * | 2014-05-13 | 2014-12-17 | 上海宇航***工程研究所 | A kind of high and low temperature environment O-ring seal frictional resistance torque test device |
| CN104089766A (en) * | 2014-07-16 | 2014-10-08 | 索特传动设备有限公司 | Load test device |
| CN104267617A (en) * | 2014-09-28 | 2015-01-07 | 江苏科技大学 | Dynamic load simulation testing test platform and testing method |
| CN205157179U (en) * | 2015-11-09 | 2016-04-13 | 江苏省特种设备安全监督检验研究院 | Take big moment of torsion inertia brake test device of low -speed of reduction gear |
| CN105547695A (en) * | 2016-01-12 | 2016-05-04 | 芜湖赛宝信息产业技术研究院有限公司 | Industrial robot reducer reliability test stand |
| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN106840651A (en) * | 2017-01-16 | 2017-06-13 | 广州汽车集团股份有限公司 | Speed changer heat examination platform |
| CN108627332A (en) * | 2017-03-21 | 2018-10-09 | 彭伟利 | A kind of automatic mechanical transmission testing stand |
| CN108168878A (en) * | 2017-12-15 | 2018-06-15 | 北京卫星环境工程研究所 | Spatial rotational mechanism floor synthetic verification test system based on the moment of reaction |
| CN108332966A (en) * | 2017-12-25 | 2018-07-27 | 兰州空间技术物理研究所 | A kind of space mechanism's ball screw assembly, vacuum test device |
| CN108225424A (en) * | 2018-01-02 | 2018-06-29 | 中科新松有限公司 | Joint of robot test device and method |
| CN108287072A (en) * | 2018-03-07 | 2018-07-17 | 中机生产力促进中心 | A kind of robot precision speed reduction device method for testing fatigue life |
| CN208206477U (en) * | 2018-05-23 | 2018-12-07 | 中国科学院兰州化学物理研究所 | Space environmental simulation harmonic speed reducer transmission performance test macro |
| CN110530636A (en) * | 2018-05-23 | 2019-12-03 | 中国科学院兰州化学物理研究所 | Space environmental simulation harmonic speed reducer transmission performance test macro |
| CN108709684A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The Auto-calibration platform of module oriented approach joint moment sensor |
| CN109668730A (en) * | 2019-01-30 | 2019-04-23 | 成都瑞迪机械科技有限公司 | Life test tooling and life testing method for harmonic wave speed reducing machine |
| CN109799421A (en) * | 2019-03-12 | 2019-05-24 | 北京卫星环境工程研究所 | The combined environment test of aerospace optical connector studies system |
| CN110044648A (en) * | 2019-05-21 | 2019-07-23 | 浙江工业大学 | Vacuum test device equipped with mobile vacuum extract system |
| CN110640791A (en) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | Experimental method for simulating variable load and variable inertia of joint of industrial robot |
| CN110696046A (en) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | Experimental method for simulating variable inertia and variable load of single joint of industrial robot |
| WO2021092970A1 (en) * | 2019-11-11 | 2021-05-20 | 清华大学 | Low-temperature large temperature variation joint bearing test platform and measurement and observation method |
| CN112284590A (en) * | 2020-09-25 | 2021-01-29 | 重庆秋城机电设备制造有限公司 | Spring motor torque measuring device |
| CN213209459U (en) * | 2020-10-15 | 2021-05-14 | 库卡机器人(广东)有限公司 | Testing device with variable inertia flywheel |
| CN112268036A (en) * | 2020-10-16 | 2021-01-26 | 中国直升机设计研究所 | Device for simulating starting load of helicopter APU |
| CN112284783A (en) * | 2020-10-20 | 2021-01-29 | 北京卫星环境工程研究所 | Temperature gradient simulation test device and method for aerospace optical fiber cabin penetrating assembly |
| CN112276519A (en) * | 2020-11-10 | 2021-01-29 | 天津航天机电设备研究所 | Be applied to integrative device of assembly and test of space station arm locking mechanism |
Non-Patent Citations (4)
| Title |
|---|
| 刘高同;孙宇;: "小型热真空试验自动流程控制技术研究", 计算机测量与控制, no. 05 * |
| 孙宇;刘高同;***;顾志飞;: "航天器谐波传动机构效率试验测控***设计", 计算机测量与控制, no. 05 * |
| 王浩等: "基于压电模糊控制的2R柔性机械臂主动抑振实验研究", 机械设计与制造, no. 2 * |
| 赵昆: "高低温真空环境谐波减速器性能测试***的研制", 中国优秀硕士学位论文全文数据库工程科技Ⅱ辑, no. 8, pages 029 - 26 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114112361A (en) * | 2021-11-27 | 2022-03-01 | 中国科学院合肥物质科学研究院 | Space rotating part service life testing device and control method |
| CN114112361B (en) * | 2021-11-27 | 2024-06-11 | 中国科学院合肥物质科学研究院 | Device for testing service life of space rotating part and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113532855B (en) | 2024-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109264024B (en) | Comprehensive test platform for dynamic performance of aircraft steering engine | |
| JP6461131B2 (en) | Method for generating a kinetic energy storage system | |
| CN205426497U (en) | Aeroengine high altitude valve test device | |
| CN105372142B (en) | A kind of high-temperature vacuum inching corrosion wear test platform | |
| CN102759489A (en) | Multifunctional vacuum friction and wear testing machine | |
| CN105000199B (en) | A kind of space is with small-sized butt-joint locking device | |
| US9145791B2 (en) | Automatic inspection apparatus for generator turbine and system using the same | |
| CN108168878A (en) | Spatial rotational mechanism floor synthetic verification test system based on the moment of reaction | |
| CN113532855B (en) | Ground comprehensive test system for verifying joint life of aerospace mechanical arm | |
| CN108414260A (en) | Martian surface thermal environment simulation system | |
| CN110823739A (en) | Vacuum high-low temperature ball-disc friction wear test device and method | |
| CN113525733B (en) | Six-degree-of-freedom microgravity test system with double-layer structure | |
| CN108302026A (en) | A kind of high-temperature long-shaft pump for liquid salts performance detection testing bench | |
| CN103604713A (en) | Multidirectional fretting wear device and testing method for heat transmission pipe of steam generator | |
| CN111896258B (en) | Ultra-low temperature vacuum seal structure and full ceramic rolling bearing performance testing device | |
| CN111024375A (en) | Test system for simulating mechanical sealing performance under severe working conditions | |
| CN112525565A (en) | Comprehensive test device for rail wheel | |
| CN114509226B (en) | Metal rubber bearing bending rigidity test device under high and low temperature environment | |
| CN103116086B (en) | Equipment and method of rapid life tests of built-in multihole heater | |
| CN212674401U (en) | Liquid nitrogen bifurcation pipeline double-platform shunt excitation vibration test system | |
| CN109030269B (en) | Wide temperature controllable atmosphere in-situ ball disc friction and wear testing machine | |
| CN111103229B (en) | Annular inspection exposure device outside material cabin | |
| CN210665328U (en) | High-temperature ultrasonic fatigue in-situ test instrument | |
| CN111086659A (en) | Annular inspection driving mechanism outside material cabin and annular inspection mechanism | |
| CN109781367A (en) | A kind of detection device with elasticity regulatory function for drag-line bridge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |