CN119935535A - An automated high-precision flexibility matrix testing system and its use method - Google Patents
An automated high-precision flexibility matrix testing system and its use method Download PDFInfo
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- CN119935535A CN119935535A CN202510436295.5A CN202510436295A CN119935535A CN 119935535 A CN119935535 A CN 119935535A CN 202510436295 A CN202510436295 A CN 202510436295A CN 119935535 A CN119935535 A CN 119935535A
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Abstract
An automatic operation high-precision flexibility matrix test system and a use method thereof belong to the technical field of aircraft structure flexibility measurement. The problems of large measurement error, low precision and low working efficiency in the prior art are solved. The method comprises the steps of fixing a tested piece, inputting specified plane coordinates, enabling a high-precision robot to move according to the specified plane coordinates, measuring normal coordinate initial values of nodes of each structure of the tested piece, enabling an electric two-dimensional sliding table and a loading module to move in place according to the specified plane coordinates and then locking, measuring normal coordinates of each node of the tested piece again, obtaining node displacement, calculating 1 row of a flexibility coefficient matrix, and circularly and reciprocally obtaining the complete flexibility coefficient matrix of the tested piece. The invention realizes the full automation of the flexibility matrix test flow by uniformly controlling loading and measuring positioning through the same upper computer and control program, removes positioning and measuring errors caused by manual intervention in the test process, and greatly improves the test precision and the test efficiency.
Description
Technical Field
The invention relates to the technical field of aircraft structure flexibility measurement, in particular to an automatic operation high-precision flexibility matrix test system and a use method thereof.
Background
Before the static pneumatic elastic wind tunnel test of the elastic model is carried out, the structural characteristics of the test model are required to be detected, and a flexibility coefficient matrix of the model is obtained. The flexibility coefficient matrix has high-precision measurement capability, can support real-time data acquisition in a high-frequency vibration scene, has strong test flexibility, supports multi-scene tests such as quasi-static, dynamic and impact loads, meets the research requirements of nonlinear characteristics of materials, and has strong practicability. A
The existing flexibility coefficient matrix measurement system generally adopts a manual mode to divide and load nodes of a model structure, and then uses a displacement sensor with a fixed position to perform deformation measurement on the whole model, so as to obtain a flexibility coefficient matrix of the model. Compared with some automatic measurement systems, the manual measurement mode is less limited by the field environmental condition, the manual measurement system can still work normally in the environment without stable power supply or certain electromagnetic interference, and some automatic measurement systems which rely on electric power and electronic equipment can be affected, and the early investment is low without purchasing expensive automatic measurement equipment.
Meanwhile, the manual flexibility coefficient matrix measurement system has a plurality of limitations, due to factors such as operation habits and physical strength of people, the force of each loading is difficult to be guaranteed to be identical, the loading speed is uniform, the error of a measurement result is large and unstable, meanwhile, visual errors are easy to occur in manual reading, the measurement precision is further influenced, the fatigue of operators is easy to be caused due to long-time repeated operation, the measurement accuracy and efficiency are further influenced, the project progress can be delayed due to inconvenient data recording and processing, and the real-time monitoring of the structure flexibility coefficient matrix cannot be realized.
Therefore, it is needed to provide an automatic operation high-precision flexibility matrix test system and a use method thereof, so as to solve the problems of large measurement error, low precision and low working efficiency in the prior art.
Disclosure of Invention
In view of the facts, the invention aims to solve the problems of large measurement error, low precision and low working efficiency in the prior art, and further designs an automatic operation high-precision compliance matrix test system and a use method thereof.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The high-precision flexibility matrix test system comprises an electric two-dimensional slipway, a loading module, a supporting device, a high-precision robot and a laser displacement sensor;
the first sliding rail of the electric two-dimensional sliding table is vertically arranged on the second sliding rail and the third sliding rail of the electric two-dimensional sliding table;
the movable base of the loading module is arranged on the first sliding rail and is in sliding fit with the first sliding rail;
the support device is arranged at the rear side of the electric two-dimensional sliding table, the support base of the high-precision robot is arranged at the top of the support device, and the laser displacement sensor is arranged at the bottom of the load mounting seat of the high-precision robot;
the loading module further comprises a triaxial force sensor, a linear motor and a loading head;
the linear motor is arranged on the movable base, the triaxial force sensor is arranged on the linear motor, and the loading head is arranged on the triaxial force sensor.
The high-precision robot further comprises a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, a sixth rotary joint, a first connecting rod and a second connecting rod;
the first rotary joint is arranged on the support base and transversely rotates around the support base;
The first rotary joint is sequentially connected with the second rotary joint, the first connecting rod and the third rotary joint, and the second rotary joint vertically rotates around the first rotary joint;
The third rotary joint is sequentially connected with a fourth rotary joint, a second connecting rod and a fifth rotary joint, the fourth rotary joint transversely rotates around the third rotary joint, and the fifth rotary joint circumferentially rotates around the second connecting rod;
The fifth rotary joint is connected with a sixth rotary joint, and the sixth rotary joint circumferentially rotates around the fifth rotary joint;
the load mounting seat is arranged at the bottom of the sixth rotary joint.
The electric two-dimensional sliding table further comprises a sliding table main body;
the second sliding rail and the third sliding rail are arranged on the sliding table main body in parallel.
The electric two-dimensional sliding table, the loading module and the high-precision robot are controlled by the same upper computer, and the triaxial force sensor and the laser displacement sensor transmit data to the upper computer.
The method for using the high-precision flexibility matrix test system for automatic operation in the scheme I comprises the following steps of:
The method comprises the steps that firstly, a tested piece is installed, the tested piece is detachably installed on a supporting device and is arranged between a high-precision robot and a loading module;
Inputting appointed plane coordinates into an upper computer, enabling the high-precision robot to move according to the appointed plane coordinates, enabling the laser displacement sensor to be parallel to the normal direction of the tested piece, enabling the laser displacement sensor to perform progressive downward detection along the normal direction after the laser displacement sensor is in place until the laser displacement sensor reaches the effective working area of the laser displacement sensor, and recording the normal coordinates of the high-precision robot and the laser displacement sensor data by the upper computer to obtain the normal coordinate initial values of all structural nodes of the tested piece;
step three, the electric two-dimensional sliding table and the loading module move according to the appointed plane coordinates, and then the electric two-dimensional sliding table and the loading module are locked in place;
measuring normal coordinates of each node of the tested piece again, obtaining node displacement, and calculating 1 row of the flexibility coefficient matrix;
And fifthly, circularly reciprocating the first step to the fourth step to obtain a complete flexibility coefficient matrix of the tested piece.
And in the third step, after the electric two-dimensional sliding table and the loading module are in place, the loading module loads the tested piece, the loading force is measured through the loading head and the triaxial force sensor, and the locking is performed after the loading force is stable.
The triaxial force sensor acquires loading normal force and lateral force data in real time and accurately controls the position of the loading module.
The invention has the beneficial effects that:
1. the invention realizes the full automation of the flexibility matrix test flow by uniformly controlling the loading, the measurement and the positioning through the same upper computer and the control program.
2. The invention adopts automatic test, removes positioning and measuring errors caused by manual intervention in the test process, greatly improves the test precision, and improves the accuracy and the effectiveness of test data.
3. The invention selects the high-precision robot, has high control capability, eliminates tremble interference of traditional manual loading, and realizes non-contact loading of the flexible structure.
4. The high-precision robot selected by the invention has strong dynamic response capability, can realize seamless switching from static to dynamic multi-mode test, shortens single-point test time and reduces repeatability errors.
5. According to the invention, a manual loading measurement test link is removed, the human resources of a compliance matrix test are saved, and the test efficiency is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
FIG. 2 is a diagram showing the positional relationship between a first slide rail and a loading module according to the present invention;
FIG. 3 is a diagram showing the positional relationship of the support device, the high-precision robot, and the laser displacement sensor in the present invention;
fig. 4 is a schematic structural view of the high-precision robot according to the present invention.
In the figure, the device comprises a 1-electric two-dimensional sliding table, a 2-loading module, a 3-supporting device, a 4-high-precision robot, a 5-triaxial force sensor, a 6-laser displacement sensor, a 7-linear motor, an 8-loading head, a 9-first sliding rail, a 10-moving base, an 11-supporting base, a 12-first rotating joint, a 13-second rotating joint, a 14-third rotating joint, a 15-fourth rotating joint, a 16-fifth rotating joint, a 17-sixth rotating joint, a 18-load mounting seat, a 19-first connecting rod, a 20-second connecting rod, a 21-second sliding rail, a 22-third sliding rail and a 23-sliding table main body.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, the term "coupled" may be a fixed connection, a removable connection, or a unitary construction, may be a mechanical connection, or an electrical connection, may be a direct connection, or may be an indirect connection via an intermediary, or may be an internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiment 1 is an automatic operation high-precision flexibility matrix test system, which comprises an electric two-dimensional sliding table 1, a loading module 2, a supporting device 3, a high-precision robot 4 and a laser displacement sensor 6;
the first sliding rail 9 of the electric two-dimensional sliding table 1 is vertically arranged on the second sliding rail 21 and the third sliding rail 22 of the electric two-dimensional sliding table 1;
The movable base 10 of the loading module 2 is arranged on the first sliding rail 9 and is in sliding fit with the first sliding rail 9;
the supporting device 3 is arranged at the rear side of the electric two-dimensional sliding table 1, the supporting base 11 of the high-precision robot 4 is arranged at the top of the supporting device 3, and the laser displacement sensor 6 is arranged at the bottom of the load mounting seat 18 of the high-precision robot 4;
the loading module 2 further comprises a triaxial force sensor 5, a linear motor 7 and a loading head 8;
the linear motor 7 is arranged on the movable base 10, the triaxial force sensor 5 is arranged on the linear motor 7, and the loading head 8 is arranged on the triaxial force sensor 5.
More specifically, the high-precision robot 4 further comprises a first rotary joint 12, a second rotary joint 13, a third rotary joint 14, a fourth rotary joint 15, a fifth rotary joint 16, a sixth rotary joint 17, a first connecting rod 19 and a second connecting rod 20;
The first rotary joint 12 is mounted on the support base 11, and the first rotary joint 12 transversely rotates around the support base 11;
The first rotary joint 12 is sequentially connected with a second rotary joint 13, a first connecting rod 19 and a third rotary joint 14, and the second rotary joint 13 vertically rotates around the first rotary joint 12;
The third rotary joint 14 is sequentially connected with a fourth rotary joint 15, a second connecting rod 20 and a fifth rotary joint 16, the fourth rotary joint 15 transversely rotates around the third rotary joint 14, and the fifth rotary joint 16 circumferentially rotates around the second connecting rod 20;
the fifth rotary joint 16 is connected with a sixth rotary joint 17, and the sixth rotary joint 17 circumferentially rotates around the fifth rotary joint 16;
the load mount 18 is mounted at the bottom of the sixth rotary joint 17.
More specifically, the electric two-dimensional sliding table 1 further comprises a sliding table main body 23;
The second slide rail 21 and the third slide rail 22 are mounted in parallel on the slide table main body 23.
More specifically, the electric two-dimensional sliding table 1, the loading module 2 and the high-precision robot 4 are controlled by the same upper computer, and the triaxial force sensor 5 and the laser displacement sensor 6 transmit data to the upper computer.
Embodiment 2 a method for using the high-precision compliance matrix test system for automated operation as described in embodiment 1, specifically:
Firstly, installing a tested piece, wherein the tested piece is detachably installed on a supporting device 3 and is arranged between a high-precision robot 4 and a loading module 2;
Inputting appointed plane coordinates into an upper computer, enabling the high-precision robot 4 to move according to the appointed plane coordinates, enabling the laser displacement sensor 6 to be parallel to the normal direction of a tested piece, and performing step-by-step downward detection along the normal direction after the laser displacement sensor 6 is in place until the laser displacement sensor 6 reaches the effective working area, and recording the normal coordinates of the high-precision robot 4 and the data of the laser displacement sensor 6 by the upper computer to obtain the normal coordinate initial values of all structural nodes of the tested piece;
Step three, the electric two-dimensional sliding table 1 and the loading module 2 move according to the appointed plane coordinates, and then the electric two-dimensional sliding table 1 and the loading module 2 are locked in place;
measuring normal coordinates of each node of the tested piece again, obtaining node displacement, and calculating 1 row of the flexibility coefficient matrix;
And fifthly, circularly reciprocating the first step to the fourth step to obtain a complete flexibility coefficient matrix of the tested piece.
More specifically, in the third step, after the electric two-dimensional sliding table 1 and the loading module 2 are in place, the loading module 2 loads the tested piece, and the loading force is measured through the loading head 8 and the triaxial force sensor 5 and locked after the loading force is stable.
More specifically, the triaxial force sensor 5 acquires loading normal force and lateral force data in real time, and accurately controls the position of the loading module 2.
More specifically, the high-precision robot 4 can precisely position and move according to the specified plane coordinates, and the laser displacement sensor 6 is used for measuring longitudinal displacement changes of each node of the tested piece before and after loading, so that the rigidity coefficient matrix is accurately obtained.
Finally, it should be noted that the foregoing embodiments are merely illustrative of the technical solutions of the present application, and not restrictive, and although the present application has been described in detail with reference to the foregoing embodiments, it is possible to modify the technical solutions described in the foregoing embodiments, or to substitute some or all of the technical features thereof, so long as there is no structural conflict, each feature in the specific embodiments disclosed in the present application may be combined with each other in any way, and the essence of the corresponding technical solutions will not deviate from the scope of the technical solutions of the present application.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
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| CN202510436295.5A CN119935535A (en) | 2025-04-09 | 2025-04-09 | An automated high-precision flexibility matrix testing system and its use method |
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| CN202510436295.5A CN119935535A (en) | 2025-04-09 | 2025-04-09 | An automated high-precision flexibility matrix testing system and its use method |
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| CN119304931A (en) * | 2024-11-27 | 2025-01-14 | 山东大学 | Robot stiffness identification method and system based on parallel rope drive loading multi-directional forces |
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| CN101862223A (en) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | surgical robot |
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