CN115096594A - A device for loading and measuring six-dimensional forces in space using a cable-drive mechanism - Google Patents

Abstract

The invention discloses a device for loading and measuring a spatial six-dimensional force by adopting a cable drive mechanism, belongs to the field of crossing of cable drive mechanisms and force measurement technologies, and relates to a device for loading or measuring a spatial six-dimensional force by adopting a symmetrically-distributed eight-cable drive parallel mechanism. The device adopts a symmetrically distributed eight-cable driving parallel mechanism to load or measure spatial six-dimensional force, and a loading measuring component is suspended inside the cable driving spatial six-dimensional force loading and measuring mechanism by using a steel wire rope. The device consists of a rack assembly, a driving assembly and a loading measuring assembly. The device has simple structure, can be assembled into a plurality of components in advance, and is convenient to assemble and disassemble before and after the test. The pose of the spatial six-dimensional force action point is controllable, and the working space is large. The method has the advantages of simple operation, accurate measurement, high efficiency, and high measurement and loading accuracy and repeatability. The position and the angle of the movable simulation platform in the controllable working space are adjusted during loading or measurement test, so that accurate loading and measurement of spatial six-dimensional force are realized.

Description

A device for loading and measuring six-dimensional forces in space using a cable-drive mechanism

technical field

The invention belongs to the cross field of cable drive mechanism and force measurement technology, and relates to a device for loading and measuring six-dimensional force in space by using symmetrically distributed eight-cable-driven parallel mechanism.

Background technique

In tests such as aero-engine, rocket propulsion or satellite thrust vectoring, it is often necessary to load, test and calibrate the thrust in different directions on the ground test rig. Ensure the safe operation of aircraft, rockets or satellites. At present, when performing multi-degree-of-freedom coupling spatial six-dimensional force measurement in aero-engines, a rigid structure is generally used, and multiple force sensors are set in different positions of the force measuring platform for each direction to measure the spatial six-dimensional force. Each component value is then combined with the six-component force measurement value to synthesize the measured six-dimensional force value. Such a measurement method will be affected by various factors such as the structural characteristics of the force measuring bench, the interaction of each component force, and the six-dimensional force measurement system needs to be corrected many times, and the direction and position of the six-dimensional force that can be measured in space are limited. This affects the accuracy, efficiency and real-time performance of spatial six-dimensional force measurement to a certain extent.

The patent number is CN106595935A, the inventor Zhang You et al.'s invention patent "aero-engine vector force measurement bench with self-decoupling", aiming at the problem of coupling output error in the force measurement results of different directions of the existing vector thrust measurement bench, provides A self-decoupling aero-engine vector force measurement bench is proposed. The self-decoupling force-measuring component layout can reduce the coupling effect between the force-measuring components and keep the lateral stiffness of the force-measuring components constant. High-precision measurement of vector forces. However, it is still an improvement on the basis of the existing vector thrust measurement technology. The overall structure and principle of the force measuring bench have not changed, and it cannot effectively solve the problem of the installation form of the moving frame and the fixed frame of the force measuring bench. Influenced by the error of the force measurement result.

The patent number is CN108225778B, and the inventor is the invention patent "A Space Vector Force Simulation Loading Device" by Song Zijun and others. This device can better simulate the magnitude and direction of the engine vector thrust, as well as the transmission route on the bench, and the vector force The load range can completely cover the range of the engine vector force. However, when the vector force is applied multiple times in the three-dimensional space, the installation position of the guide rail needs to be manually adjusted, which will involve the adjustment of multiple parts, resulting in a cumbersome operation.

The cable-driven parallel robot, also known as the cable-driven parallel mechanism, is a combination of a cable-driven mechanism and a parallel robot. It can use a rope and a driving device instead of a rigid rod to transmit motion and force to the moving platform in the parallel mechanism, with good motion Due to the advantages of performance, high load capacity, simple structure, small inertia and large working space, the rigidity of its mechanism system can also be changed by adjusting the cable force on the rope and the length of the rope. Combined with its unique advantages, it is possible to establish the mapping relationship between the six-dimensional force in space and each cable force by studying the static equilibrium conditions of the institution; it can also use the dynamic model of the research institution to make the six-dimensional force in space bear the end. The mechanism moves the platform to the ideal measured pose state. Due to its simple structure, the loading and unloading before and after the loading measurement test is also very convenient. Therefore, using the various advantages of the cable-drive parallel mechanism can accurately and efficiently load or measure the spatial six-dimensional force within a certain controllable working space, which can improve the limitations of the existing loading measurement mechanism and method.

SUMMARY OF THE INVENTION

In order to overcome the complex force measurement structure and limited working space in the existing six-dimensional force loading measurement in space, the invention invented a device for measuring the six-dimensional force in space by using a cable-driven mechanism. Or measure the space six-dimensional force, and use the wire rope to suspend the loading measurement component inside the cable-driven space six-dimensional force loading measuring mechanism. The device combines the advantages and disadvantages of different cable-driven parallel mechanisms, such as redundancy, structural characteristics, working space, etc., to carry out a new design. The structure is simple and the working space is moderate. The number of cables, that is, the redundancy is appropriate, and the calculation of cable force is convenient. By studying the dynamic relationship of the mechanism, the position and attitude adjustment of the loading and measuring components in a reasonable working space can be realized, so as to load or measure the spatial six-dimensional force in different directions and different action points. The position and posture of the action point of the six-dimensional force in space are controllable and the working space is large; the operation is simple and the measurement is accurate. The structure is simple and the assembly and disassembly are convenient; it is more conducive to the measurement or simulated loading of the engine thrust.

The technical scheme adopted in the present invention is a device for loading and real-time measurement of space six-dimensional force by using a cable-driven mechanism. The component is suspended inside the six-dimensional force loading measuring mechanism in the cable drive space by using the wire rope; the device consists of three parts: the frame component, the driving component, and the loading measuring component;

In the frame assembly, the overall structural frame of the device is in the shape of a cuboid, and the square hollow steel frame 4 is composed of eight cross beams 4a, four vertical beams 4b, and two upper and lower cross hollow steel frames 14. Beam 4b adopts square hollow section steel; square bottom plate 8 is welded on each end face of cross beam 4a and vertical beam 4b, square bottom plate 8 is welded on each end face of upper and lower cross hollow section steel frame 14, and cross hollow section steel frame connecting plate 20 is installed; The upper and lower four corners of the hollow steel frame 4 are respectively equipped with an upper adapter block 3 and a lower adapter block 9; four rib plates 2 with reinforcing ribs are respectively installed on the upper adapter block 3; the beam 4a, the vertical beam The square bottom plate 8 on 4b is respectively installed on the upper adapter block 3 and the lower adapter block 9 through bolts; Installed at 45° with the two cross beams 4a; each rib plate 2 with reinforcing ribs is welded on the upper adapter block 3 respectively; the servo drive module base 13 is respectively connected with the cross hollow steel frame 14 through double-ended studs , the guide pulley support 21 is installed on the bottom plate of the upper adapter block 3 and the lower adapter block 9 through bolts, a total of eight groups;

The drive system in the drive assembly consists of wire rope 6, guide pulley 7, servo drive module 10, eye bolt 11, servo drive module base 13, servo motor 15, coupling 16, lead screw 17, servo system support base 18 and The screw nut slider 19 is composed of; the screw nut slider 19 is installed with eye bolts 11, and the guide pulley 7 in the drive assembly is installed on the guide pulley support 21 through the hexagon socket head screw, a total of eight groups; Servo motor 15 Installed on the servo system support base 18, one end of the coupling 16 is connected to the servo motor 15, and the other end is connected to the lead screw 17. The lead screw 17 is installed on the servo system support base 18 and is connected with the lead screw nut slider 19. ; Servo system support base 18 is connected with servo drive module base 13 through bolts, a total of eight groups;

The loading measurement assembly is composed of a dynamic simulation platform 1, an S-type tension sensor 5, a wire rope 6, an eye bolt 11, and a six-dimensional force sensor 12; The support beam 1b of the dynamic simulation platform is connected and fixed to form the dynamic simulation platform 1; the two six-dimensional force sensors 12 are respectively connected with the front and rear flange panels 1a of the dynamic simulation platform through bolts, and the six-dimensional force sensor 12 can also be connected for loading space six. For the simulation push rod of the dimension force or the force-bearing structure when measuring the six-dimensional force in space, the structure and scale of the two parts should be designed according to the actual test conditions; the ends of the eight S-type tension sensors 5 are respectively connected with eyebolts , each eye bolt 11 is respectively connected with the wire rope 6; wherein, one wire rope 6 is connected with the vertex of the dynamic simulation platform 1, and the other wire rope 6 passes through the guide pulley 7 and the eye bolt 11 on the screw nut slider 19 There are eight sets of wire rope assemblies in total; the moving simulation platform 1 is suspended in the interior of the six-dimensional force loading and measuring mechanism in the cable drive space through the wire rope assemblies.

The beneficial effects of the present invention are that: the space six-dimensional force loading and measuring device adopts a symmetrically distributed eight-cable-driven parallel mechanism, which can realize real-time continuous measurement and loading of the space six-dimensional force. The structure of the device is simple, and it can be assembled into multiple components in advance, so the loading and unloading operations before and after the test are very convenient. The pose of the six-dimensional force action point in the measured space is controllable, and the working space is large. The loading and measuring components can be controlled in the controllable working space, and the position and angle of loading or measuring can be adjusted by the movement of the moving platform in the controllable working space, so as to adapt to the changeable test environment, which is more conducive to the control of engine thrust. Measure and load calibration.

Description of drawings

Figure 1 is a three-dimensional axonometric view of the six-dimensional force loading and measuring device in an eight-cable drive space; Figure 2 is a schematic diagram of a local single-cable drive; Figure 3 is a three-dimensional structure axonometric view of a dynamic simulation platform.

Among them: 1- Dynamic simulation platform, 1a- Dynamic simulation platform flange panel, 1b- Dynamic simulation platform support beam, 2- Rib plate, 3- Upper adapter block, 4- Square hollow steel frame, 4a- Beam, 4b -Vertical beam, 5-S type tension sensor, 6-wire rope, 7-guide pulley, 8-square bottom plate, 9-lower adapter block, 10-servo drive module, 11-eye bolt, 12-six-dimensional force sensor, 13- Servo drive module base, 14- Cross hollow steel frame, 15- Servo motor, 16- Coupling, 17- Lead screw, 18- Servo system support seat, 19- Lead screw nut slider, 20- Cross hollow Steel frame connecting plate, 21-guide pulley support.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings and technical solutions.

The present invention is a symmetrical distribution eight-cable-driven parallel mechanism device for loading or measuring space six-dimensional force, and the three-dimensional structure axonometric view of the device is shown in FIG. 1 . During the specific design of the mechanism, the overall scale can be adjusted according to different application occasions, the size and direction of the measured object, etc., to improve the accuracy and effectiveness of the six-dimensional force loading or measurement in space.

The device assembles the upper adapter block 3, the square hollow steel frame 4, the lower adapter block 9, the frame assembly and the drive assembly into an overall cable drive space six-dimensional force measurement mechanism frame by bolting, and loads the measurement assembly. The wire rope 6 is used to hang inside the six-dimensional force measurement mechanism of the cable drive space. The rigidity of the mechanism is large, the system is stable, and the range of six-dimensional force values that can be loaded or measured is large. In different application occasions, the direction and action point of the six-dimensional force in space may be very different, and the device can realize the pose control of the loading measurement component in a large controllable working space.

A six-dimensional force measurement device for symmetrically distributed eight-cable drive space is composed of a frame assembly, a drive assembly, and a load measurement assembly. The installation steps are as follows:

1. Install the rack assembly in the six-dimensional force loading and measuring device

The square bottom plate 8 is symmetrically welded at both ends of the eight transverse beams 4a and the four vertical beams 4b of the cut square hollow section steel to form a rectangular steel frame 4 . Then, the upper and lower two pieces of the cross hollow steel frame 14 with the square bottom plate 8 welded symmetrically at the four ends are respectively fixed with the two cross beams 4a at an angle of 45°, and the cross hollow steel frame connecting plate 20 is installed on the bolts. On the cross hollow steel frame 14 , the guide pulley support 21 is installed on the corresponding positions of the upper adapter block 3 and the lower adapter block 9 through bolt connection. A rib plate 2 with reinforcing ribs is welded on each upper adapter block 3 to increase the rigidity of the mechanism. Eight pieces of servo drive module bases 13 are respectively connected with the cross hollow steel frame 14 through double-ended studs for installing servo drive system components, see FIGS. 1 and 2 .

2. Install the drive components in the six-dimensional force measurement device

The eight groups of guide pulleys 7 are respectively connected to the guide pulley support 21 along the inner side of each vertex of the overall frame of the device through hexagon socket head screws, and the position offset of the contact point between the wire rope 6 and the inner surface of the guide pulley 7 is reduced as much as possible. the effect of friction. Eight sets of symmetrically distributed servo drive modules 10 are respectively connected to the base 13 of the servo drive module by bolts. The servo drive module 10 consists of eye bolts 11, servo motors 15, couplings 16, lead screws and guide rails 17, and servo system support bases. 18. The screw nut slider is composed of 19. The eyebolt 11 is connected to the lead screw nut slider 19, and one end of the eight groups of wire ropes 6 is connected to it respectively and passes through the guide pulley. The other end is connected with the lifting ring bolt at one end of the S-type tension sensor 5 in the loading measurement assembly; the servo motor 15 is installed on the servo system support base 18, one end of the coupling 16 is connected with the servo motor 15, and the other end is connected with the lead screw 17. The rod 17 is mounted on the servo system support base 18 and is connected with the lead screw nut slider 19 . The servo system support base 18 is connected with the servo drive module base 13 through bolts, and there are eight groups in total, see FIG. 1 and FIG. 2 .

3. Install the load measurement component in the six-dimensional force measurement device

The front and rear two flange panels 1a on the dynamic simulation platform 1 are connected and fixed with the four-piece dynamic simulation platform support beam 1b by using eight eyebolts 11 to form the dynamic simulation platform 1 . The six-dimensional force sensor 12 can be connected to the front and rear flange panels 1a of the dynamic simulation platform through bolts. The six-dimensional force sensor 12 can also be connected with an analog push rod for loading the six-dimensional force in space or a force-bearing structure when measuring the six-dimensional force in space. The two parts should be designed according to the actual test situation. Both ends of the S-shaped tension sensor 5 are respectively connected with eyebolts 11 , and each eyebolt 11 is connected with the wire rope 6 . Among them, one end of a wire rope 6 is connected to the eye bolt 11 on the dynamic simulation platform 1, and one end of the other wire rope 6 is connected to the eye bolt 11 on the lead screw nut slider 19 through the guide pulley 7. There are eight sets of wire rope assemblies in total. . The dynamic simulation platform 1 is suspended at the inner geometric center of the six-dimensional force loading and measuring mechanism in the cable-drive space, see Figure 1, Figure 2, and Figure 3.

The invention reasonably utilizes the redundant cable-driven parallel mechanism, which has good motion performance, high load capacity, simple structure, small inertia and large working space. The six-dimensional force loading of the eight-cable driving space is symmetrical in structure with the measuring device, and the form is simple. It can be assembled into multiple components in advance, which further improves the convenience of loading and unloading before and after the loading or measurement test, and the controllable working space of the mechanism is large. It can realize the adjustment of the six-dimensional force action point in the measured space, that is, a certain orientation of the force point of the loading measurement component, which is beneficial to the measurement and loading calibration of the six-dimensional force in different applications such as engine thrust.

Claims (1)

1. a device that adopts cable drive mechanism to carry out six-dimensional force loading in space and real-time measurement, it is characterized in that, this device adopts symmetrical distribution eight-cable-driven parallel mechanism to output loading or measuring six-dimensional force in space, and the load measuring assembly is utilized wire rope. It is suspended inside the six-dimensional force loading and measuring mechanism in the cable drive space; the device consists of three parts: the frame assembly, the driving assembly, and the loading and measuring assembly; In the rack assembly, the overall structural frame of the device is in the shape of a cuboid, and the square hollow steel frame (4) consists of eight transverse beams (4a), four vertical beams (4b), and two upper and lower cross hollow steel frames (14) The cross beam (4a) and the vertical beam (4b) are made of square hollow steel; the square bottom plate (8) is welded on each end face of the horizontal beam (4a) and the vertical beam (4b), and the upper and lower cross hollow steel frames (14) are welded. A square bottom plate (8) is welded on each end face, and a cross hollow steel frame connecting plate (20) is installed on the upper and lower cross hollow steel frames (14); the upper and lower four corners of the square hollow steel frame (4) are respectively equipped with The upper adapter block (3) and the lower adapter block (9); four rib plates (2) with reinforcing ribs are respectively installed on the upper adapter block (3); on the cross beam (4a) and the vertical beam (4b) The square bottom plate (8) is respectively installed on the upper adapter block (3) and the lower adapter block (9) by bolts; each cross hollow steel frame connecting plate (20) is connected to the guide pulley support (21) by bolts Connection, each cross hollow steel frame 14 is installed at 45° with two cross beams (4a); each rib plate (2) with reinforcing ribs is welded on the upper adapter block (3) respectively; guide pulley support (21) Installed on the bottom plate of the upper adapter block (3) and the lower adapter block (9) by bolts, the servo drive module base (13) is respectively connected with the cross hollow steel frame (14) by double-ended studs , a total of eight groups; The drive system in the drive assembly consists of a wire rope (6), a guide pulley (7), a servo drive module (10), an eye bolt (11), a servo drive module base (13), a servo motor (15), a coupling (16), a lead screw (17), a servo system support base (18), and a lead screw nut slider (19); each group of symmetrically distributed servo drive modules (10) are respectively connected to the servo drive module base (10) by bolts. 13), a total of eight groups; the eye bolts (11) are connected to the lead screw nut slider (19), and one end of each group of wire ropes (6) is connected to the eye bolts (11) respectively, and passes through the guide pulley (7) , the other end is connected with the eyebolt (11) on the upper end of the S-type tension sensor (5) in the loading measurement assembly, there are eight sets of wire rope assemblies in total; On the support (21), there are eight groups in total; the servo motor (15) is installed on the servo system support base (18), one end of the coupling (16) is connected with the servo motor (15), and the other end is connected with the lead screw (17) Connection, the lead screw (17) is installed on the servo system support base (18), and is connected with the lead screw nut slider (19); the servo system support base (18) is connected with the servo drive module base (13) through bolts, A total of eight groups; The loading measurement component is composed of a dynamic simulation platform (1), an S-type tension sensor (5), a steel wire rope (6), an eye bolt (11), and a six-dimensional force sensor (12); the dynamic simulation platform (1) consists of eight The eye bolts (11) are formed by fixedly connecting the front and rear two dynamic simulation platform flange panels (1a) with the four-piece dynamic simulation platform support beams (1b); the six-dimensional force sensor (12) is connected to the front and rear two dynamic simulation platforms through bolts. The flange panel (1a) is fixedly connected; the six-dimensional force sensor (13) can also be connected to a simulated push rod for loading the six-dimensional force in space or a force-bearing structure when measuring the six-dimensional force in space. The structure, scale, etc. are designed for the test conditions; both ends of each S-type tension sensor (5) are connected with eyebolts (11) respectively, and each eyebolt (11) is connected with the wire rope (6); among them, a wire rope One end of (6) is connected to the eyebolt (11) on the dynamic simulation platform (1), and one end of the other wire rope (6) passes through the guide pulley (7) and the eyebolt (11) on the lead screw nut slider (19). 11) Connected, there are eight groups of wire rope assemblies in total; the simulation platform 1 is suspended in the interior of the six-dimensional force loading and measuring mechanism in the cable drive space through the wire rope.

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