CN101055221A - Parallel device multiple-dimensional vibration platform - Google Patents
Parallel device multiple-dimensional vibration platform Download PDFInfo
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- CN101055221A CN101055221A CN 200710022938 CN200710022938A CN101055221A CN 101055221 A CN101055221 A CN 101055221A CN 200710022938 CN200710022938 CN 200710022938 CN 200710022938 A CN200710022938 A CN 200710022938A CN 101055221 A CN101055221 A CN 101055221A
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- 238000010586 diagram Methods 0.000 description 4
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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Abstract
一类多维并联机构振动台涉及中、小型机械的振动测试领域，由3～6条支链、一个动平台及一个静平台组成多自由度并联机构，每条支链可由转动副(用符号R表示)、移动副(用符号P表示)、圆柱副(用符号C表示)、球副(用符号S表示)或螺旋副(用符号H表示)中选取一种或几种运动副，运动副之间采用连杆连接，运动副间的轴线配置可以为重合、平行、垂直、相交或共面，每条支链的一端与动平台相连，另一段与静平台相连。本发明优点是：结构简单、成本低、刚度大、运动精度高、控制容易、能实现任意波形的输出。
A kind of multi-dimensional parallel mechanism vibration table involves the field of vibration testing of small and medium-sized machinery. It consists of 3 to 6 branch chains, a dynamic platform and a static platform to form a multi-degree-of-freedom parallel mechanism. Each branch chain can be composed of a rotating pair (with symbol R One or several kinematic pairs are selected from among the moving pair (shown by symbol P), cylindrical pair (shown by symbol C), spherical pair (shown by symbol S) or helical pair (shown by symbol H), and the kinematic pair Connecting rods are used between them, and the axis configuration between kinematic pairs can be coincident, parallel, vertical, intersecting or coplanar. One end of each branch chain is connected to the dynamic platform, and the other is connected to the static platform. The invention has the advantages of simple structure, low cost, high rigidity, high motion precision, easy control and the ability to output arbitrary waveforms.
Description
Technical field
The present invention relates to parallel device multiple-dimensional vibration platform, multiple dimension vibration exciting table is made up of many side chains, moving platform and silent flatform, unidirectional vibrator is housed as drive source respectively in each side chain,, makes moving platform produce space multidimensional exciting by controlling the motion of each unidirectional vibrator.The present invention can be applicable to medium and small mechanical vibration field tests, also can be used for the detection of multi-dimensional damping platform damping property.
Background technology
Along with to product, especially the raising of Aerospace Products reliability requirement, development as the vibration experiment of fail-test key equipment seems more and more important, and the vibration test technology now has been widely used in all trades and professions such as automobile, electric power, building, electronics, lathe, shipbuilding.Shaketalle test has been widely used in the performance examination and fatigue resistance evaluation of test products as a kind of effective means of checking product reliability, fatigue resistance, as:
1, in architectural design, use the shaking table simulated earthquake to carry out relevant rudimentary and applied research, improve constantly understanding to the engineering structure failure mechanism, set up more rational design theory and method, improve structure and resist the ability of disaster, thereby reduce life and property loss to greatest extent.
2, be used for the performance test of exact instrument.As: micromachines such as micro-satellite, micro gyroscope, microaccelerometer generally are that physical dimension is little, rigidity is poor, and processing is very difficult with measurement, and the overall performance test after their assemblings is difficulty more.Because the static state of these devices, the performance that dynamic many characteristics directly influence product are so it is carried out measuring mechanical property is a very important job.
At present domestic also is not very ripe in the research to shaking platform, the patent that inquires, as: CN87210629 adopts hydraulic pressure for driving, and its frequency is confined to low frequency, and the amplitude of its vibration can not be realized problems such as accurate control in real time.The multi-dimensional vibration platform is very ripe abroad, can realize the vibration of multidimensional simultaneously, but all China is imposed embargo, prohibits the policy of selling abroad, and in addition on the home market more existing multiple dimension vibration exciting tables all can not really realize multi-direction while excited vibration, can only folk prescription to doing vibration test.And many testpieces, as Aero-Space, the testpieces of boats and ships and automobile, residing vibration environment is not a single-degree-of-freedom, but multivariant, so pressing for now very much, we develop the shaking table that can realize that multidimensional is excited at the same time, break external blockade to China.
The present invention adopts the parallel institution platform to add vibrator as drive source, only just can realize the vibration that a plurality of directions encourage simultaneously with the individual layer platform, and can export the excited vibration of random waveform simultaneously.Domestic research to the parallel institution actuating vibration table at present is also considerably less, the patent that inquires as: CN1526483 is only applicable to the vibration test of flexible miniature machinery, does not also have the scholar to remove in the research small-sized parallel institution shaking platform.Patent of the present invention has solved medium and small mechanical vibration test problem.
Summary of the invention
But the objective of the invention is to provide the excitation platform of a class implementation space multi-dimensional vibration, can effectively realize multi-dimensional vibration, satisfy medium and small mechanical vibration test problem with individual layer mechanism.
Realize that technical scheme of the present invention is:
Form multiple freedom parallel mechanism by 3～6 side chains, a moving platform and a silent flatform, every side chain can be by choosing one or more kinematic pairs in revolute pair (R represents with symbol), moving sets (P represents with symbol), cylindrical pair (C represents with symbol), ball pair (S represents with symbol) or the screw pair (H represents with symbol), adopt connecting rod to connect between the kinematic pair, axis configuration between kinematic pair can be coincidence, parallel, vertical, crossing or coplane, one end of every side chain links to each other with moving platform, and another section links to each other with silent flatform.
The invention has the advantages that:
(1) such mechanism have that rigidity is big, control easily, advantages such as work space is big, dynamic property good, unbranched interference.
(2) such mechanism can realize that multidimensional is excited at the same time, the more real vibration environment of real simulated.
(3) such actuating vibration table kinematic accuracy height in parallel can be realized the output of random waveform, is easy to control.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the structure diagram of embodiments of the invention 1, and the symbol implication is respectively among the figure: 1---silent flatform, and 2---moving platform, A
0, B
0, C
0---moving sets (P), A
1, B
1, C
1---universal joint (U), A
2, B
2, C
2---revolute pair (R).
Fig. 2 is the structure diagram of embodiments of the invention 2, and the symbol implication is respectively among the figure: 1---silent flatform, and 2---moving platform, symbol S represents the ball pair, and symbol R represents revolute pair, and symbol P represents moving sets.
Fig. 3 is the structure diagram of embodiments of the invention 3, the symbol implication is respectively among the figure: 1---silent flatform, 2---moving platform, A, B, C, D, E, F, A ', B ', C ', D ', E ', F ' they are the ball pair, A ", B ", C ", D ", E ", F " they are moving sets.
Fig. 4 is the structure diagram of embodiments of the invention 4, and the symbol implication is respectively among the figure: 1---silent flatform, and 2---moving platform, A, B, C, D, E, F, A ', B ', C ' they are the ball pair, A ", B ", C ", D ", E ", F " they are moving sets.
Embodiment
As shown in Figure 2, embodiment 1 is made up of three identical side chain SOC{-C-U-R} and two platforms (moving platform, a silent flatform), and every side chain is formed by a cylindrical pair (C), a universal joint (U) and a revolute pair (R).The concrete layout of each kinematic pair is as follows in every side chain: an end of cylindrical pair and silent flatform connect, and the other end is by connecting rod and universal joint necklace, and the other end of universal joint links to each other with revolute pair by connecting rod, and the other end of revolute pair then links to each other with moving platform.The pivot center of cylindrical pair is parallel to each other with the pivot center of revolute pair in every side chain.Article three, side chain is to be perpendicular quadrature to arrange when initial position.By the translation output movement that can know that to this motion of mechanism specificity analysis this mechanism can three directions in implementation space, and positive and negative the separating of its motion all have analytic solution, and control is easier to.
Moving platform is the actuating vibration table work top in the patent of the present invention, and table surface is of a size of 500 * 500mm, and thickness is 50mm.Have T type groove on the table top, so that test specimen is fixed on the worktable.The worktable material can select for use general industry with steel as No. 45 steel etc., also can select for use aluminum alloy materials to do the actuating vibration table table top, the aluminium alloy material can reduce the weight of worktable, improves the load capacity of actuating vibration table.The driving of actuating vibration table also has multiple scheme optional, and as driving with the eccentric roller of motor drives, unidirectional vibrator drives, linear motor driving etc.Wherein best as the effect of drive source with unidirectional vibrator, because the vibration frequency of unidirectional vibrator can reach 5～4000Hz, maximum displacement can reach 50mm, this is that other drive scheme institutes are inaccessiable.When the vibration regularity of known required moving platform, utilize the anti-motion output rule that can solve moving sets in three side chains (being the push rod of unidirectional actuating vibration table) of separating of motion of this parallel institution, the push rod of controlling unidirectional vibrator then vibrates by certain characteristics of motion, can make the table surface of actuating vibration table realize one dimension, two dimension or three-dimensional exciting.
As shown in Figure 2, embodiment 2 is made up of 4 side chains and two platforms (moving platform, a silent flatform), and wherein the structure of two side chains is all SOC{-R-R-R-P-} mutually, and the structure of two other side chain is all SOC{-S-S-P-} mutually.Embodiment 2 has 4 degree of freedom, and 4 moving sets are secondary as driving, and during actual the use, use 4 unidirectional vibrators to drive 4 moving sets on the side chain respectively.It can not only make moving platform realize the translation exciting of Y and Z direction as can be known by kinematic analysis of mechanisms, can also realize around X to Y to the swing exciting, therefore can be used for the vibration that is subjected to when simulated automotive travels on the road surface.Specific implementation method is as follows: (1) worktable is identical with embodiment 1, and test specimen is fixed on the worktable; (2) drive 4 vibrators respectively and move according to certain rules, can make the suffered vibration when road traveling of moving platform real simulated automobile.(3) under certain frequency and amplitude, test specimen is taken off and test specimen is detected after test a period of time.Whether part and other parts of working under the vibration situation that embodiment 2 can be used on the testing automobile reach safety indexes.
As shown in Figure 3, embodiment 3 is made up of 6 side chains and two platforms (moving platform, a silent flatform), and wherein the structure of 6 side chains all is all SOC{-S-P-S-} mutually.This mechanism is carried out kinetic characteristic to be analyzed the moving platform of embodiment 3 as can be known and has 6 the degree of freedom motions in space with respect to silent flatform, drive 6 moving sets on the side chain respectively with 6 unidirectional vibrators, embodiment 3 implementation space X, three directions of Y, Z translation simultaneously exciting can be made, swing exciting can also be realized around X, Y, z axis.And for example shown in Figure 4, embodiment 4 also is made up of 6 side chains and two platforms, and its branched structure is identical with embodiment 3, but both side chains are different with the connected mode of moving platform.The moving platform of embodiment 3 is a regular hexagon, and 6 side chains are connected on orthohexagonal 6 angles, and the moving platform of embodiment 4 is an equilateral triangle, and 6 side chains are connected on 3 angles.The motion that the moving platform of embodiment 4 has 6 degree of freedom with respect to silent flatform, energy implementation space X, Y, three directions of Z translation simultaneously exciting can also be realized the swing exciting around X, Y, z axis equally.Embodiment 3 and embodiment 4 are owing to all vibrations that have in the space 6DOF motion simulating reality life completely.For example can simulated aircraft, the vibrations when work such as guided missile, steamer.
An above-described class parallel institution actuating vibration table all is to be the actuating vibration table table top with its moving platform, when the vibration regularity of known required moving platform, utilize the anti-motion output rule that can solve moving sets in each side chain of separating of motion of this parallel institution, signal by programming Control input vibrator makes moving platform vibrate by the required characteristics of motion then, thereby realizes the multidimensional exciting.
Claims (2)
1, parallel device multiple-dimensional vibration platform, it is characterized in that: form multiple freedom parallel mechanism by 3～6 side chains, a moving platform (2) and a silent flatform (1), every side chain can be by choosing one or more kinematic pairs in revolute pair (R), moving sets (P), cylindrical pair (C), ball pair (S) or the screw pair (H), adopt connecting rod to connect between the kinematic pair, axis configuration between kinematic pair can be coincidence, parallel, vertical, crossing or coplane, one end of every side chain links to each other with moving platform, and another section links to each other with silent flatform.
2, according to right 1 described parallel device multiple-dimensional vibration platform, it is characterized in that: in the side chain with moving sets (P) as driving pair, adopt the drive source of unidirectional vibrator, make moving platform realize multi-dimensional vibration by the input signal of controlling each vibrator as driving pair.
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| CN 200710022938 CN101055221A (en) | 2007-05-25 | 2007-05-25 | Parallel device multiple-dimensional vibration platform |
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| CN 200710022938 CN101055221A (en) | 2007-05-25 | 2007-05-25 | Parallel device multiple-dimensional vibration platform |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101908787A (en) * | 2010-07-16 | 2010-12-08 | 广西大学 | A multi-degree-of-freedom vibration aging device |
| CN102071309A (en) * | 2010-12-31 | 2011-05-25 | 广西大学 | Six-degree-of-freedom vibratory stress relief device |
| CN102252813A (en) * | 2011-04-28 | 2011-11-23 | 上海交通大学 | Large heavy-duty vibration simulator having mechanical fault tolerance function |
| CN102445319A (en) * | 2011-09-26 | 2012-05-09 | 江苏大学 | Parallel workbench for realizing space three-translation high-frequency excitation |
| CN102962836A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetric two-rotation one-movement parallel mechanism |
| CN103389195A (en) * | 2013-08-02 | 2013-11-13 | 北京航空航天大学 | Additional-stiffness-free shock excitation rod for modal test |
| CN103548070A (en) * | 2011-03-08 | 2014-01-29 | 丹奥包装物流运输创新研发中心 | A machine that simulates the movements created during transport |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN108441665A (en) * | 2018-02-28 | 2018-08-24 | 江苏大学 | Multi-dimensional vibration assists the method for being synthetically prepared nanodispersed granular materials |
| WO2018178571A1 (en) * | 2017-03-30 | 2018-10-04 | Philoptere | Device and method for setting an object in motion |
| CN109100106A (en) * | 2018-09-04 | 2018-12-28 | 上海莫戈纳机电科技有限公司 | A kind of electric linear shaking platform |
| CN114088327A (en) * | 2021-11-23 | 2022-02-25 | 哈尔滨工程大学 | Two-degree-of-freedom X-shaped structure experimental device with internal resonance |
| CN118809564A (en) * | 2024-09-20 | 2024-10-22 | 中国科学院长春光学精密机械与物理研究所 | A six-degree-of-freedom parallel robot |
-
2007
- 2007-05-25 CN CN 200710022938 patent/CN101055221A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101908787A (en) * | 2010-07-16 | 2010-12-08 | 广西大学 | A multi-degree-of-freedom vibration aging device |
| CN102071309A (en) * | 2010-12-31 | 2011-05-25 | 广西大学 | Six-degree-of-freedom vibratory stress relief device |
| CN103548070B (en) * | 2011-03-08 | 2016-08-17 | 丹奥包装物流运输创新研发中心 | The machine of the motion that simulation produces in transportation |
| CN103548070A (en) * | 2011-03-08 | 2014-01-29 | 丹奥包装物流运输创新研发中心 | A machine that simulates the movements created during transport |
| CN102252813A (en) * | 2011-04-28 | 2011-11-23 | 上海交通大学 | Large heavy-duty vibration simulator having mechanical fault tolerance function |
| CN102252813B (en) * | 2011-04-28 | 2013-01-09 | 上海交通大学 | Large heavy-duty vibration simulator having mechanical fault tolerance function |
| CN102445319A (en) * | 2011-09-26 | 2012-05-09 | 江苏大学 | Parallel workbench for realizing space three-translation high-frequency excitation |
| CN102445319B (en) * | 2011-09-26 | 2014-02-12 | 江苏大学 | Parallel Workbench Realizing Spatial Triple-Translation High-Frequency Excitation |
| CN102962836A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetric two-rotation one-movement parallel mechanism |
| CN103389195B (en) * | 2013-08-02 | 2016-06-08 | 北京航空航天大学 | A kind of for the exciting rod without additional stiffness in mould measurement |
| CN103389195A (en) * | 2013-08-02 | 2013-11-13 | 北京航空航天大学 | Additional-stiffness-free shock excitation rod for modal test |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| WO2018178571A1 (en) * | 2017-03-30 | 2018-10-04 | Philoptere | Device and method for setting an object in motion |
| FR3064743A1 (en) * | 2017-03-30 | 2018-10-05 | Philoptere | DEVICE AND METHOD FOR MOVING AN OBJECT |
| US11441966B2 (en) | 2017-03-30 | 2022-09-13 | Philoptere | Device and method for moving an object in motion in hexapod positioning head, has actuation device connected to supports |
| CN108441665A (en) * | 2018-02-28 | 2018-08-24 | 江苏大学 | Multi-dimensional vibration assists the method for being synthetically prepared nanodispersed granular materials |
| CN108441665B (en) * | 2018-02-28 | 2020-04-03 | 江苏大学 | Method for preparing nano particle reinforced composite material by multidimensional vibration-assisted synthesis |
| CN109100106A (en) * | 2018-09-04 | 2018-12-28 | 上海莫戈纳机电科技有限公司 | A kind of electric linear shaking platform |
| CN109100106B (en) * | 2018-09-04 | 2024-04-19 | 苏州盛拓半导体科技有限公司 | Electric linear vibration platform |
| CN114088327A (en) * | 2021-11-23 | 2022-02-25 | 哈尔滨工程大学 | Two-degree-of-freedom X-shaped structure experimental device with internal resonance |
| CN114088327B (en) * | 2021-11-23 | 2022-06-21 | 哈尔滨工程大学 | Two-degree-of-freedom X-shaped structure experimental device with internal resonance |
| CN118809564A (en) * | 2024-09-20 | 2024-10-22 | 中国科学院长春光学精密机械与物理研究所 | A six-degree-of-freedom parallel robot |
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