CN204479281U - A kind of six-degree-of-freedom parallel connection mechanism loading system - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism loading system Download PDFInfo
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- CN204479281U CN204479281U CN201520035901.4U CN201520035901U CN204479281U CN 204479281 U CN204479281 U CN 204479281U CN 201520035901 U CN201520035901 U CN 201520035901U CN 204479281 U CN204479281 U CN 204479281U
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Abstract
The utility model discloses a kind of six-degree-of-freedom parallel connection mechanism loading system, comprise portal frame, servo actuator (3), six degree of freedom load maintainer and servo actuator control system; Six degree of freedom load maintainer comprises movable platform, upper hinge component, lower hinge component, six platform servo actuators (6) in parallel and stationary platform thereof, the stationary platform of six degree of freedom load maintainer is fixedly mounted on ground, at the upper installing force sensor of each platform servo actuator (6), to measure each platform servo actuator (6) power output in loading system; In the vertical direction installed by servo actuator (3), and one end of servo actuator is hinged with the base being fixed on portal frame by connector, the other end be loaded object and be connected; Servo actuator (3) is built-in with displacement transducer, is used for the displacement of the hydraulic cylinder measuring servo actuator in real time, and then determines to be loaded the pose of object and realize closed-loop control.
Description
Technical field
The utility model relates to mechanism's loading system, particularly a kind of loading system of six-degree-of-freedom parallel connection mechanism.
Background technology
Parallel institution has that rigidity is large, load-bearing capacity is strong, relatively simple for structure, precision is high, do not have error accumulation, is easy to the advantages such as control, in modern national defense and industrial circle, has important applied environment.And six-degree-of-freedom parallel connection mechanism loading system is a typical apply of parallel institution, can reappear in laboratory environments by test specimen in use the various load of bearing, the true stress performance of bulk loads structure can be reproduced, examination is kept the ability of original performance under loading force effect by test specimen, popularization for new technology provides reliable test figure, and then designed and developed and experimental study by test specimen, solve the experimental test problem of key member and material in heavy construction, will significance be played to raising engineering structure resisting nature disaster weight bearing power.
In view of the vital role that six-degree-of-freedom parallel connection mechanism loading system plays in national defence and civil area, extensively carry out the research to six-degree-of-freedom parallel connection mechanism loading system both at home and abroad.But loading system is when carrying out high precision load test, and need to follow carrying object rapid movement, the motion of carrying object will cause the redundant force of loading system, and the existence of redundant force will have a strong impact on dynamic load precision and the system responses frequency range of loading system.
Utility model content
For above-mentioned prior art Problems existing, the purpose of this utility model to provide a kind of six-degree-of-freedom parallel connection mechanism loading system, a kind of stability that can ensure system, true stressing conditions is reappeared, for better checking the six-degree-of-freedom parallel connection mechanism loading system being provided experimental enviroment by test specimen performance with more accurate loading accuracy.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of six-degree-of-freedom parallel connection mechanism loading system, comprise portal frame, servo actuator (3), six degree of freedom load maintainer and servo actuator control system, described servo actuator control system comprises force snesor and displacement transducer; In the space that portal frame forms, six degree of freedom load maintainer is installed; Six degree of freedom load maintainer comprises movable platform, upper hinge component, lower hinge component, six platform servo actuators (6) in parallel and stationary platform thereof, the stationary platform of six degree of freedom load maintainer is fixedly mounted on ground, at the upper installing force sensor of each platform servo actuator (6); In the vertical direction installed by servo actuator (3), and one end of servo actuator is hinged with the base being fixed on portal frame by connector, the other end be loaded object and be connected; Servo actuator (3) is built-in with displacement transducer.
Described six-degree-of-freedom parallel connection mechanism loading system, comprise two portal frames, four servo actuators (3), wherein, two portal frames are orthogonal to be fixed on ground by foot bolt, symmetrically on each portal frame vertically installs two servo actuators (3).
Described six-degree-of-freedom parallel connection mechanism loading system, described servo actuator control system also comprises AD board PCI1716, DA board PCL6126 and servo controller; AD board PCI1716 and DA board PCL6126 carries out data communication; The input end of AD board PCI1716 is connected with conditioning board, and the output terminal of AD board PCI1716 is connected with servo controller, and the output terminal of servo controller is connected with the input end of DA board PCL6126, and the output terminal of DA board PCL6126 is connected with electrohydraulic servo valve; Force snesor is connected conditioning board with displacement transducer.
The utility model utilizes six degree of freedom electrohydraudic servomechanism output action power in parallel to the loading being loaded object and carrying out multiple degrees of freedom force and moment, and while exporting given acting force, high-precision servocontrol is carried out to the pose loading 6-dof parallel mechanism, accurate synchronous loading can be realized.
At four hydraulic servo actuators that the vertical direction of six degree of freedom load maintainer is symmetrical, can the stroke of hydraulic servo actuator be regulated adjust by servo hydraulic system the pose that is loaded needed for object and be fixed, and realize being loaded object coordinated loading control by the motion of the movable platform of six degree of freedom load maintainer; Simulate by controlling four servo actuators be fixed on portal frame the motion state be loaded in object actual condition, six degree of freedom load maintainer movable platform is accurately followed and is loaded object motion, exports multi-dimensional force simultaneously, carries out coordination and loads.
Use the beneficial effects of the utility model: the utility model load maintainer adopts 6-dof parallel mechanism, the loading of multidimensional force and moment can be realized, due to the effect of the servo actuator of four on portal frame, can better solve redundant force problem when dynamic load.The utility model detects six degree of freedom load maintainer by the force snesor be arranged on platform servo actuator 6 and is applied to the multi-dimensional force be loaded on object, carries out the servocontrol of power.And measured the displacement of each actuator by the inbuilt displacement sensor of the servo actuator 3 be connected with portal frame in real time, and then can determine the pose being loaded object in real time, to form the large closed loop of pose, the synchronous coordination realized being loaded object loads.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present utility model;
Fig. 2 is servo actuator control system schematic diagram of the present utility model;
1-portal frame; 2-force snesor; 3-servo actuator; 4-movable platform; The upper hinge component of 5-; 6-platform servo actuator; Hinge component under 7-; 8-stationary platform; 9-ground; 10-servo controller.
Embodiment
Below in conjunction with specific embodiment, the utility model is described in detail.
As shown in Figure 1, six-degree-of-freedom parallel connection mechanism loading system of the present utility model comprises portal frame 1, four servo actuators 3, six degree of freedom load maintainer and servo actuator control system.Wherein portal frame 1 is orthogonal is fixed on ground 9 by foot bolt for two covers, installs six degree of freedom load maintainer in the centers in the space that two cover portal frames 1 form; Six degree of freedom load maintainer comprises movable platform 4, upper hinge component 5, lower hinge component 7, six platform servo actuator 6 in parallel and stationary platform 8, the stationary platform 8 of six degree of freedom load maintainer is arranged on ground 9 by foot bolt, at each platform servo actuator 6 upper joint place installing force sensor 2, to measure each actuator power output in loading system.On the top of movable platform 4, vertically symmetrical four servo actuators 3 (also have in Fig. 1 two not shown) are installed, a set of portal frame is installed two servo actuators, 3, four servo actuators 3 and be loaded object to determine to be loaded the pose of object from the top connection being loaded object.One end of servo actuator 3 is hinged with the base being fixed on portal frame by connector, the other end be loaded object and pass through Flange joint.Four servo actuators 3 are built-in with displacement transducer, are used for measuring in real time the displacement of the hydraulic cylinder of four servo actuators, are used for determining to be loaded the pose of object.
As shown in Figure 2, servo actuator control system comprises force snesor, displacement transducer, AD board PCI1716, DA board PCL6126 and servo controller.AD board PCI1716 and DA board PCL6126 carries out data communication, force snesor, displacement transducer carry out signals collecting, the force signal collected and displacement signal are transferred to conditioning board by displacement transducer, force snesor respectively, the input end of AD board PCI1716 is connected with conditioning board, the output terminal of AD board PCI1716 is connected with servo controller, the output terminal of servo controller is connected with the input end of DA board PCL6126, and the output terminal of DA board PCL6126 is connected with electrohydraulic servo valve, the force signal of the platform servo actuator 6 collected and the displacement signal of servo actuator 3 are transferred to AD board PCI1716 through conditioning board with the displacement transducer being built in servo actuator 3 by the force snesor be arranged on platform servo actuator 6, the signal that transmission comes is fed back to servo controller by AD board PCI1716 after A/D conversion process, servo controller is transferred to DA board PCL6126 after being processed by signal, by DA switching signal, and then pass to electrohydraulic servo valve, realize the closed-loop control of the servo hydraulic cylinder to platform servo actuator 6 and servo actuator 3.Specifically, servo controller is by comparing judgement to the force signal of input with the force signal fed back, pass through DA board PCL6126 again by signal transmission to servo-valve, and then the servocontrol realized the servo hydraulic cylinder of platform servo actuator 6, guarantee that the power exported is required power.Servo controller is by comparing judgement to the displacement signal of input with the displacement signal fed back, pass through DA board PCL6126 again by signal transmission to servo-valve, and then the servocontrol realized the servo hydraulic cylinder of servo actuator 3, the pose guaranteeing to be loaded object is required position and posture.Sensor signal is sent to each board by cable, and board is arranged in the industrial computer of servo-control system.
Principle of work of the present utility model is as follows:
To object will be loaded be fixed on the bottom of four servo actuators 3 on portal frame 1, six degree of freedom load maintainer moves to by six movable platforms 4 of overlapping platform servo actuator 6 drive load mechanism in parallel that joint hinge is installed in parallel the pose adapted with the carrying acting surface being loaded object, the carrying acting surface being loaded object is connected by additional lock device with the movable platform of load maintainer, the movable platform 4 of the platform servo actuator 6 parallel drive load maintainer that six covers are in parallel, exports multi-dimensional force.Six degree of freedom load maintainer can carry out multidimensional loading for during free-position to being loaded object keeping the movable platform 4 of load maintainer, and can while exporting given multi-dimensional force, the pose of four servo actuators, 3 pairs of load maintainer movable platforms 4 is utilized to carry out high-precision servocontrol, accurately follow the motion being loaded object, realize dynamic synchronization and load.The force snesor be arranged on platform servo actuator 6 detects six degree of freedom load maintainer and is applied to the multi-dimensional force be loaded on object, carries out force servo control.And measured the displacement of each actuator by the inbuilt displacement sensor of the servo actuator 3 be connected with portal frame in real time, and then can determine the pose being loaded object in real time, to form the large closed loop of pose, the synchronous coordination realized being loaded object loads.
During static loading, in using according to reality, the appointment six degree of freedom load maintainer movable platform 4 that needs of measured piece moves to a certain position and posture, then export given multi-dimensional force and carry out load test to being loaded object, now measured piece is stationary state, and servo actuator 3 only plays fixation; When dynamic synchronization loads, be loaded object and simulated motion state in actual condition by the servo actuator 3 that four are fixed on portal frame, six degree of freedom load maintainer movable platform 4 is accurately followed and is loaded object motion, exports multi-dimensional force simultaneously, carries out coordination and loads.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to the utility model claims.
Claims (3)
1. a six-degree-of-freedom parallel connection mechanism loading system, it is characterized in that, comprise portal frame, servo actuator (3), six degree of freedom load maintainer and servo actuator control system, described servo actuator control system comprises force snesor and displacement transducer; In the space that portal frame forms, six degree of freedom load maintainer is installed; Six degree of freedom load maintainer comprises movable platform, upper hinge component, lower hinge component, six platform servo actuators (6) in parallel and stationary platform thereof, the stationary platform of six degree of freedom load maintainer is fixedly mounted on ground, at the upper installing force sensor of each platform servo actuator (6); In the vertical direction installed by servo actuator (3), and one end of servo actuator is hinged with the base being fixed on portal frame by connector, the other end be loaded object and be connected; Servo actuator (3) is built-in with displacement transducer.
2. six-degree-of-freedom parallel connection mechanism loading system according to claim 1, it is characterized in that, comprise two portal frames, four servo actuators (3), wherein, two portal frames are orthogonal to be fixed on ground by foot bolt, symmetrically on each portal frame vertically installs two servo actuators (3).
3. six-degree-of-freedom parallel connection mechanism loading system according to claim 1, is characterized in that, described servo actuator control system also comprises AD board PCI1716, DA board PCL6126 and servo controller; AD board PCI1716 and DA board PCL6126 carries out data communication; The input end of AD board PCI1716 is connected with conditioning board, and the output terminal of AD board PCI1716 is connected with servo controller, and the output terminal of servo controller is connected with the input end of DA board PCL6126, and the output terminal of DA board PCL6126 is connected with electrohydraulic servo valve; Force snesor is connected conditioning board with displacement transducer.
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| CN201520035901.4U CN204479281U (en) | 2015-01-20 | 2015-01-20 | A kind of six-degree-of-freedom parallel connection mechanism loading system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547827A (en) * | 2015-12-08 | 2016-05-04 | 中国海洋大学 | Fluid-solid-soil multi-phase coupled six-freedom degree unidirectional/bidirectional static/dynamic loading instrument |
| CN105758714A (en) * | 2016-05-17 | 2016-07-13 | 重庆大学 | Stress loading device |
| CN106018104A (en) * | 2016-05-17 | 2016-10-12 | 重庆大学 | Sealing structure of stress loading device |
| CN108871746A (en) * | 2018-05-16 | 2018-11-23 | 东北大学 | A kind of train sleeper beam structure fatigue test system and method |
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2015
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547827A (en) * | 2015-12-08 | 2016-05-04 | 中国海洋大学 | Fluid-solid-soil multi-phase coupled six-freedom degree unidirectional/bidirectional static/dynamic loading instrument |
| CN105547827B (en) * | 2015-12-08 | 2018-07-27 | 中国海洋大学 | Gu the multinomial coupling six degree of freedom of stream-- soil is single, double to quiet dynamic load instrument |
| CN105758714A (en) * | 2016-05-17 | 2016-07-13 | 重庆大学 | Stress loading device |
| CN106018104A (en) * | 2016-05-17 | 2016-10-12 | 重庆大学 | Sealing structure of stress loading device |
| CN105758714B (en) * | 2016-05-17 | 2018-04-03 | 重庆大学 | A kind of stress loading device |
| CN108871746A (en) * | 2018-05-16 | 2018-11-23 | 东北大学 | A kind of train sleeper beam structure fatigue test system and method |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 Termination date: 20180120 |