Reproduction lifting test device

Abstract

The invention provides a reproduction lifting and diving test device, and belongs to the technical field of mechanical control. The problems that a guide rail needs to bear large lateral force for achieving the working conditions of large load mass, large reproduction acceleration and long stroke of existing equipment, and particularly when the stroke is large, the lateral force enables the guide rail to deform greatly are solved. The device comprises lifting actuator assemblies, a cross beam assembly, a motion platform, stand columns, a base and a moment balance assembly, the stand columns are installed at the four corners of the lower end face of the cross beam assembly, the bottoms of the stand columns are connected with the base, the motion platform is installed on the stand columns in a sliding mode, and the four lifting actuator assemblies penetrate through the cross beam assembly to be connected with the motion platform; a moment balance assembly is installed at the joint of the motion platform and the stand column, and an energy accumulator assembly used for supplying energy to the lifting actuator assembly is installed on the cross beam assembly. The device is mainly used for testing the working conditions of large load mass, large reproduction acceleration and long stroke.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical control, and in particular relates to a reproducing lifting test device. Background Art

[0002] For vertical reciprocating motion, the traditional design method is to complete the test requirements through several vertical guide rails, design vertical brackets, arrange a set of guide rails for each bracket, and complete the test requirements through the drive of hydraulic actuators. In order to achieve a working condition with large load mass, large acceleration, and long stroke, the guide rail needs to withstand a large lateral force, especially when the stroke is large, the lateral force will cause the guide rail to deform significantly. In addition, in order to balance the overturning force of the entire system, the guide rail mechanism is also required to have a small thermal deformation caused by heat under long-term test conditions. In addition, multiple guide rail systems complete a unified vertical motion. If the motion characteristics of each guide rail are inconsistent, a large internal force will be generated, which will further aggravate the heating and deformation of the guide rail. Summary of the invention

[0003] In view of this, the present invention aims to propose a reproducing lifting test device to solve the problem that the existing equipment needs to withstand a large lateral force when realizing a working condition with a large load mass, a large reproducing acceleration and a long stroke, and the lateral force will cause the guide rail to deform significantly, especially when the stroke is large.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A device for reproducing lifting tests comprises a lifting actuator assembly, a crossbeam assembly, a motion platform, a column, a base and a torque balancing assembly, wherein columns are installed at the four corners of the lower end surface of the crossbeam assembly, the bottom of the column is connected to the base, the motion platform is slidably installed on the column, four lifting actuator assemblies penetrate the crossbeam assembly and are connected to the motion platform, and a torque balancing assembly is installed at the connection between the motion platform and the column.

[0006] Furthermore, an accumulator assembly for supplying energy to the lifting actuator assembly is installed on the crossbeam assembly.

[0007] Furthermore, the bottom of the base is connected to the embedded pull rod.

[0008] Furthermore, the base is in a cross shape.

[0009] Furthermore, the column is a box structure, and guide plates are installed on two mutually parallel sides of the column.

[0010] Furthermore, the torque balancing assembly includes a torque cylinder and an oil film disk, the oil film disk is installed at the front end of the plunger rod of the torque cylinder, and the torque cylinder is connected to the column.

[0011] Furthermore, the oil film disk is connected to the plunger rod through a ball joint.

[0012] Furthermore, a disc spring is installed on the outer side of the torque cylinder.

[0013] Furthermore, a pipeline assembly is installed on the column.

[0014] Furthermore, the lifting actuator assembly is controlled using a hyperstatic freedom control method.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The base of the present invention is connected to the foundation embedded parts cast in the foundation pit in advance, and the whole device frame is supported by 4 columns. Each column serves as the moving base surface of the torque balance component on the one hand, and as the vertical support of the beam component on the other hand. At the same time, the oil supply on the beam component is transported through the pipeline component on each column. The upper surface of the motion platform is used for heavy load fixation through the mounting holes. The motion platform moves up and down on the column through the torque balance component attached to the four corner brackets. The up and down movement of the motion platform is realized by the lifting actuator assembly invertedly fixed on a pair of frames of the beam, and its peak pipeline flow is supplemented by the accumulator assembly fixed on the other pair of frames of the beam. The motion platform adopts an over-static freedom control strategy to control three degrees of freedom to realize the up and down movement of the motion platform, avoiding the motion platform from generating an overturning moment, ensuring the flatness of the motion platform, and preventing multiple guide rails from completing a unified vertical movement. If the motion characteristics of each guide rail are inconsistent, a large internal force will be generated, thereby further aggravating the heating and deformation problems of the guide rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 It is a structural schematic diagram of a reproducing lifting test device according to the present invention;

[0019] Figure 2 It is a structural schematic diagram of the base of the present invention;

[0020] Figure 3 is a stress diagram of the column of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the motion platform of the present invention;

[0022] Figure 5 is a stress diagram of the motion platform of the present invention;

[0023] Figure 6 The structure of the torque balance assembly of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 7 The structure of the torque balance assembly of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 8 Degree of freedom control strategy Figure 1 ;

[0026] Fig. 9 Degree of freedom control strategy Figure 2 .

[0027] 1-lifting actuator assembly, 2-accumulator assembly, 3-beam assembly, 4-motion platform, 5-column, 6-base, 7-pipeline assembly, 8-torque balance assembly, 9-oil film disk, 10-torque cylinder, 11-ball joint, 12-disc spring. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0029] See also Figure 1-9 To illustrate the present embodiment, a device for reproducing a lifting test includes a lifting actuator assembly 1, a beam assembly 3, a motion platform 4, a column 5, a base 6 and a torque balance assembly 8. Columns 5 are installed at the four corners of the lower end surface of the beam assembly 3. The bottom of the column 5 is connected to the base 6. The motion platform 4 is slidably installed on the column 5. Four lifting actuator assemblies 1 pass through the beam assembly 3 and are connected to the motion platform 4. The torque balance assembly 8 is installed at the connection between the motion platform 4 and the column 5. The bottom of the base 6 is connected to the embedded pull rod. A pipeline assembly 7 is installed on the column 5.

[0030] The entire device is installed on a base 6, which is connected to the foundation embedded parts cast in the foundation pit in advance. The entire device frame is supported by four columns 5. Each column 5 serves as a moving base surface for the torque balancing component 8 on the one hand, and as a vertical support for the beam component 3 on the other hand. At the same time, the oil supply on the beam component 3 is transported through the pipeline component 7 on each column 5. The upper surface of the motion platform 4 is used for fixing heavy loads through mounting holes. The motion platform 4 moves up and down on the column 5 through the torque balancing component 8 attached to the four corner brackets.

[0031] Furthermore, an inspection platform is installed on the outer side of the beam assembly 3. The base 6 serves as the installation base of the entire frame. The column 5 is the supporting base of the beam assembly 3 and guides the motion platform 4. The beam assembly 3 is the installation base of the lifting actuator assembly 1 and is also a connector of the column 5.

[0032] Furthermore, an accumulator assembly 2 for supplying energy to the lifting actuator assembly 1 is installed on the beam assembly 3. The up and down movement of the motion platform 4 is achieved by the lifting actuator assembly 1 which is inverted and fixed on a pair of frames of the beam assembly 3, and its peak pipeline flow is supplemented by the accumulator assembly 2.

[0033] Furthermore, the base 6 is in the shape of a cross. The base 6 is an important component of the test equipment and is the installation foundation for the entire equipment. The flatness and parallelism of the mounting surfaces of the four columns 5 and the relative dimensional accuracy of the mounting surfaces must be ensured. There are mounting holes underneath for connection with the pre-buried tie rods of the foundation. The base 6 adopts a welded structure. The cross-shaped structure ensures the required rigidity while also ensuring a smaller mass. The base 6 has reserved grouting holes as a whole for secondary grouting with the foundation.

[0034] Furthermore, the column 5 is a box structure, and guide plates are installed on two mutually parallel sides of the column 5.

[0035] The column 5 is installed on the four corners of the base 6 and is welded from steel plates. The box structure has sufficient rigidity and strength. The planes are milled on the two parallel sides of the column 5, and the guide plates are installed. They are used in conjunction with the torque cylinders installed at the four corners of the motion platform 4 to form a balancing torque between each other. The guide plates guide the lifting and lowering motion of the motion platform and the load 4, and overcome the overturning torque generated by the system when the system is out of control. A flange plate is welded below the column 5, which is connected to the base 6, and a bracket is welded above it, which serves as a support for the crossbeam assembly 3 and is connected to it. When designing the column 5, special consideration is given to the pressure of the torque cylinder 10 when the single-side hydraulic cylinder is out of control, which generates an overturning torque on the column 5. In order to verify the strength of the contact surface between the column 5 monomer and the torque balance assembly 8, the column 5 is analyzed as a monomer, and the mounting surface of the fixed constraint column and the base 6, the contact surface of the oil film plate 9 and the guide plate of the column 5 apply the maximum force and minimum force of the torque cylinder 20, that is, the maximum output of the torque cylinder when the system is out of control.

[0036] The crossbeam assembly 3 is welded with steel plates and has a box structure. One of the crossbeams has two groups of cylinders arranged in the middle for placing the upper ball joint of the lifting actuator assembly 1. The crossbeam assembly 3 has sufficient rigidity and strength and is installed on the brackets above the four columns 5 to connect the four columns into one. The crossbeam assembly 3 is used to install the lifting actuator assembly 1 and the accumulator assembly 12, and improve the stability of the entire mechanical frame.

[0037] Furthermore, the torque balancing assembly 8 includes a torque cylinder 10 and an oil film disk 9 . The oil film disk 9 is installed at the front end of the plunger rod of the torque cylinder 10 . The torque cylinder 10 is connected to the column 5 .

[0038] The motion platform 4 is an important component. It is the installation base of the test piece and the installation base of the torque cylinder 10 in the torque balance assembly 8. It should have sufficient rigidity and natural frequency, as well as a small mass. To ensure the rigidity and strength of the installation surface of the 16-stage cylinder 12, the flatness of the installation surface and the relative dimensional accuracy should be considered. There are mounting flanges on both sides of the motion platform 4, which are used to connect with the lower hinge of the lifting actuator 1. The middle area is used for the installation of the test piece. The motion platform 4 is welded as a whole, and the mesh structure ensures the required rigidity and also ensures a small mass. Among them, the four corner brackets of the motion platform 4 cooperate with the torque cylinder 10 and the column 5 to form a structure that resists overturning torque.

[0039] The oil film disk 9 is connected to the plunger rod via a ball joint 11 .

[0040] A disc spring 12 is installed on the outer side of the torque cylinder 10 .

[0041] The torque balancing assembly 8 includes a torque cylinder 10, a ball joint 11 and an oil film disk 9 installed on the four corner brackets of the platform, a guide plate on the surface of the column 5 and an oil film disk installed at the front end of the plunger rod of the torque cylinder 10, which provide guidance for the reciprocating motion of the motion platform 3. At the same time, the adaptive disc spring automatic expansion and contraction of the torque cylinder 10 can overcome the defects caused by the large system stroke, high speed and inconsistent gap of the guide device, and balance the overturning moment generated when the system loses control. The piston rod of the torque cylinder 10 and the spherical bearing seat of the ball joint are designed as one piece. The middle of the front end of the piston rod is a spherical cavity, which tightly wraps the ball joint 11. When the platform flips at a small angle, the ball joint swings when the torque cylinder is stationary, ensuring the parallel contact between the oil film disk 9 and the guide plate plane, thereby supporting the load-bearing platform.

[0042] The lifting actuator assembly 1 is controlled by adopting a hyperstatic freedom control method.

[0043] In order to prevent the platform from generating overturning moment and to reduce the internal force of the four lifting actuators 1 during the lifting process, compared with the traditional method of only controlling the vertical degree of freedom, an over-static freedom control strategy is proposed to control three degrees of freedom, such as Figure 8As shown, the three degrees of freedom controlled here are the upward and downward translation along the Z axis, the angle of rotation around the X axis, and the angle of rotation around the Y axis. The translation command is the given control command, and the commands for rotation around the X axis and the Y axis are both zero. In this way, from the control angle, it can be ensured that no excessive angle is generated around the X axis and the Y axis, and the corresponding overturning moment is small. In terms of control structure, the degree of freedom synthesis module and the degree of freedom decomposition module are respectively used. Among them, the degree of freedom synthesis module mainly converts the displacement of the four lifting actuators into three degree of freedom values, and the degree of freedom decomposition module decomposes the driving command adjusted by the controller into the excitation values ​​of the four lifting actuators, thereby controlling the movement of the actuators. The degree of freedom synthesis module D and the degree of freedom decomposition module C are expressed as follows

[0044]

[0045] It avoids the motion platform 4 from generating an overturning moment, ensures the flatness of the motion platform 4, and prevents multiple guide rails from completing a unified vertical motion. If the motion characteristics of each guide rail are inconsistent, a large internal force will be generated, further aggravating the heating and deformation problems of the guide rails.

[0046] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A reproducible lifting test device, characterized in that: The invention comprises a lifting actuator assembly (1), a crossbeam assembly (3), a moving platform (4), a column (5), a base (6) and a torque balancing assembly (8). The four corners of the lower end surface of the crossbeam assembly (3) are each provided with a column (5). The bottom of the column (5) is connected to the base (6). The moving platform (4) is slidably mounted on the column (5). Four lifting actuator assemblies (1) penetrate the crossbeam assembly (3) and are connected to the moving platform (4). The torque balancing assembly (8) is installed at the connection between the moving platform (4) and the column (5).

2. A reproducible lifting test device according to claim 1, characterized in that: An accumulator assembly (2) for supplying energy to the lifting actuator assembly (1) is installed on the crossbeam assembly (3).

3. A reproducible lifting test device according to claim 1, characterized in that: The bottom of the base (6) is connected to the embedded pull rod.

4. A reproducible lifting test device according to claim 1, characterized in that: The base (6) is in the shape of a cross.

5. A reproducible lifting test device according to claim 1, characterized in that: The column (5) is a box structure, and guide plates are installed on two mutually parallel side surfaces of the column (5).

6. A reproducible lifting test device according to claim 5, characterized in that: The torque balancing assembly (8) comprises a torque cylinder (10) and an oil film disk (9), wherein the oil film disk (9) is mounted on the front end of the plunger rod of the torque cylinder (10), and the torque cylinder (10) is connected to the column (5).

7. A reproducible lifting test device according to claim 6, characterized in that: The oil film disk (9) is connected to the plunger rod via a ball joint (11).

8. A reproducible lifting test device according to claim 6, characterized in that: A disc spring (12) is installed on the outer side of the torque cylinder (10).

9. A reproducible lifting test device according to claim 1, characterized in that: A pipeline assembly (7) is installed on the column (5).

10. The reproducible lifting test device according to claim 1, characterized in that: The lifting actuator assembly (1) is controlled by adopting a hyperstatic freedom control method.

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