An eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture

Abstract

The present invention discloses an eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture, comprising a frame center base, wherein the four corners of a square cavity above the frame center base are sequentially provided with a vibration table five, a vibration table six, a vibration table seven and a vibration table eight, and a frame side base one is fixedly connected to a side wall of the frame center base. In the present invention, the frame center base, the frame side base and the corner connecting seat adopt a split combination and an annular connection design, which reduces the difficulty of overall transportation, processing and installation, and adopts an annular fastening structure with a high resonance frequency, which can effectively reduce the low-frequency resonance of the device. The use of an auxiliary hinge assembly can control the spatial posture of the working platform, so that the platform is in a static and dynamic centering position, avoiding over-displacement failure or test failure caused by zero offset of the vibration table. The electric vibration table is used as a drive to drive the six-degree-of-freedom vibration table, which has the advantages of wide vibration frequency and small waveform distortion.

Description

Technical Field

[0001] The invention relates to the field of vibration environment test equipment, in particular to an eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture. Background Art

[0002] Vibration is one of the main factors that cause failures in aerospace and transportation equipment. The product is actually in a multi-dimensional vibration environment, but due to the limitations of the test equipment capabilities, the traditional test method is to conduct single-direction vibration tests separately. However, the failure mechanism of some military equipment is unique to the multi-axis environment, and the single-direction vibration test cannot reproduce its multi-dimensional vibration response failure. Some military products such as inertial measurement components, aerospace engines, warhead fuses, communication equipment, and vehicle power supplies have extremely high demands for multi-axis vibration tests.

[0003] There is a great demand for multi-axis vibration test equipment, especially six-degree-of-freedom vibration test equipment, which is mainly manifested in the following aspects: First, the limitations of traditional vibration tests are more prominent, mainly reflected in the fact that some equipment that has passed the single-axis test according to the standard (such as vehicle power supply, communication equipment and missile fuze, etc.) cannot withstand the multi-dimensional vibration environment in the field (transportation) or use (flight) environment; and the simple multi-axis vibration environment test reveals potential faults that cannot be found in the single-axis test. Second, the loads imposed by some launch vehicles on satellites, spacecraft and space shuttles are asymmetric. In order to further reduce the weight of the structure, it is necessary to simulate these multi-dimensional loads realistically. Third, the successful application of inertial measurement combination requires the help of multi-dimensional vibration test; Fourth, when heavy weapons and large launch vehicles, satellites and space stations are subjected to large-thrust vibration tests, when the thrust of a single vibration table cannot meet the requirements, a multi-vibration table joint excitation test is required.

[0004] At present, most three-axis six-degree-of-freedom vibration test devices at home and abroad are implemented by using eight hydraulic vibration tables. This type of equipment has the disadvantages of low vibration frequency and large waveform distortion due to the use of hydraulic vibration tables as excitation sources. There are also six-degree-of-freedom vibration test systems that use eight electric vibration tables. Since the electric vibration table is used, the position control of the working platform by its moving parts is only achieved through the air spring inside the vibration table, and the air spring can only provide driving force but not pull-back force. Therefore, all previous 8-drive six-degree-of-freedom electric vibration table systems cannot achieve arbitrary control and adjustment of the spatial position of the working platform. In this way, the working platform often deviates from the equilibrium position, such as the linear displacement direction is offset by a certain distance, or has a certain inclination angle, which can easily cause the test to fail or the equipment to run to the extreme position, causing damage to the equipment or test piece.

[0005] For this purpose, an eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture was developed. Through the design of auxiliary hinge components, the working platform has 12 driving forces to control the spatial posture of the platform. Summary of the invention

[0006] The purpose of the present invention is to provide an eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A spatially position-adjustable eight-drive six-degree-of-freedom electric vibration test device comprises a frame center base, wherein vibration tables 5, 6, 7 and 8 are sequentially arranged at the four corners of a square cavity above the frame center base, a frame side base 1 is fixedly connected to a wall of the frame center base, a frame side base 2 is fixedly connected to a wall of a side adjacent to the frame center base 1, a frame side base 4 is fixedly connected to another wall of the frame center base 1 adjacent to the frame side base 1, and the frame center base 1 is opposite to the frame side base 1. A rack side base three is fixedly connected to one side wall, and rack side base one, rack side base two, rack side base three and rack side base four are all square structures. The right angle position of rack side base one adjacent to rack side base two is connected with angle connecting seat one by screws, the right angle position of rack side base two adjacent to rack side base three is connected with angle connecting seat two by screws, the right angle position of rack side base three adjacent to rack side base four is connected with angle connecting seat three by screws, and the right angle position of rack side base four adjacent to rack side base one is connected with angle connecting seat four by screws.

[0009] As a further solution of the present invention: vibration isolation devices are installed on both sides of the bottom of the rack side base 1, the rack side base 2, the rack side base 3 and the rack side base 4 by screws, and the vibration isolation devices are vibration isolation air springs.

[0010] As a further scheme of the present invention: a vibration table four is fixedly installed on one side above the frame side base one through a fixing seat, and a hinge assembly four is fixedly installed on one side of the vibration table four on the frame side base one through a mounting frame; a vibration table three is fixedly installed on one side above the frame side base two through a fixing seat, and a hinge assembly three is fixedly installed on one side of the vibration table three on the frame side base two through a mounting frame; a vibration table two is fixedly installed on one side above the frame side base three through a fixing seat, and a hinge assembly two is fixedly installed on one side of the vibration table two on the frame side base three through a mounting frame; a vibration table one is fixedly installed on one side above the frame side base four through a fixing seat, and a hinge assembly one is fixedly installed on one side of the vibration table one on the frame side base four through a mounting frame.

[0011] As a further solution of the present invention: the output end of the hinge component one is connected to the double-ball twist decoupling device eight, and the output end of the vibration table one is connected to the double-ball twist decoupling device one; the output end of the hinge component two is fixedly connected to the double-ball twist decoupling device two, and the output end of the vibration table two is connected to the double-ball twist decoupling device three; the output end of the hinge component three is connected to the double-ball twist decoupling device four, and the output end of the vibration table three is connected to the double-ball twist decoupling device five; the output end of the hinge component four is fixedly connected to the double-ball twist decoupling device six, and the output end of the vibration table four is connected to the double-ball twist decoupling device seven.

[0012] As a further solution of the present invention: the output end of the vibration table five is connected to the double-ball twisted decoupling device nine, the output end of the vibration table six is ​​connected to the double-ball twisted decoupling device ten, the output end of the vibration table seven is connected to the double-ball twisted decoupling device eleven, and the output end of the vibration table eight is connected to the double-ball twisted decoupling device twelve.

[0013] As a further scheme of the present invention: a working platform is fixed between the double-ball twist decoupling device 1, double-ball twist decoupling device 2, double-ball twist decoupling device 3, double-ball twist decoupling device 4, double-ball twist decoupling device 5, double-ball twist decoupling device 6, double-ball twist decoupling device 7, double-ball twist decoupling device 8, double-ball twist decoupling device 9, double-ball twist decoupling device 10, double-ball twist decoupling device 11 and double-ball twist decoupling device 12 through a double hydraulic ball joint seat.

[0014] As a further solution of the present invention: the double hydraulic ball joint seat includes a ball joint seat body, a movable body 1 movably installed inside the ball joint seat body, and a movable body 2 movably installed inside the ball joint seat body.

[0015] As a further solution of the present invention: the hinge assembly one, hinge assembly two, hinge assembly three and hinge assembly four all include a hinge assembly driving airbag, a hinge assembly bearing seat, a hinge assembly guide bearing, a hinge assembly guide bearing cover, a hinge assembly guide shaft and a hinge assembly connecting flange.

[0016] As a further solution of the present invention: the hinge assembly guide shaft is slidably connected to the hinge assembly guide bearing, the hinge assembly guide bearing and the hinge assembly bearing seat are fixedly installed through the hinge assembly guide bearing cover, and the hinge assembly connecting flange is welded and fixed to the hinge assembly guide shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The center base, side base and corner connecting seat of the frame in the present invention adopt a split combination and annular connection design, which reduces the difficulty of overall transportation, processing and installation, and adopts an annular fastening structure with a high resonance frequency, which can effectively reduce the low-frequency resonance of the device. The use of auxiliary hinge components can control the spatial posture of the working platform, so that the platform is in a static and dynamic centering position, avoiding over-displacement failure or test failure caused by zero position offset of the vibration table. The electric vibration table is used as the drive for driving the six-degree-of-freedom vibration table, which has the advantages of wide vibration frequency and small waveform distortion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 It is a structural diagram of the central base portion of the frame in the present invention.

[0021] Figure 3 It is a structural schematic diagram of the vibration table 5 in the present invention.

[0022] Figure 4 It is an exploded view of the central base of the frame in the present invention.

[0023] Figure 5 It is a cross-sectional view of the double hydraulic ball joint seat in the present invention.

[0024] Figure 6 It is a cross-sectional view of the hinge assembly in the present invention.

[0025] Figure 7 It is a bottom view of the central base of the frame in the present invention.

[0026] In the figure: 1, vibration table 1; 2, vibration table 2; 3, vibration table 3; 4, vibration table 4; 5, vibration table 5; 6, vibration table 6; 7, vibration table 7; 8, vibration table 8; 9, double ball twist decoupling device 1; 10, double ball twist decoupling device 2; 11, double ball twist decoupling device 3; 12, double ball twist decoupling device 4; 13, double ball twist decoupling device 5; 14, double ball twist decoupling device 6; 15, double ball twist decoupling device 7; 16, double ball twist decoupling device 8; 17, double ball twist decoupling device 9; 18, double ball twist decoupling device 10; 19, double ball twist decoupling device 11; 20, double ball twist decoupling device 12; 21, working platform; 22, rack center Base; 23, frame side base one; 24, frame side base two; 25, frame side base three; 26, frame side base four; 27, corner connection seat one; 28, corner connection seat two; 29, corner connection seat three; 30, corner connection seat four; 31, hinge assembly one; 32, hinge assembly two; 33, hinge assembly three; 34, hinge assembly four; 35, vibration isolation device; 36, hinge assembly drive airbag; 37, hinge assembly bearing seat; 38, hinge assembly guide bearing; 39, hinge assembly guide bearing cover; 40, hinge assembly guide shaft; 41, hinge assembly connecting flange; 42, movable body one; 43, ball joint seat body; 44, movable body two. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figures 1 to 7In an embodiment of the present invention, an eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture includes a frame center base 22, and vibration tables 5, 6, 7, and 8 are sequentially arranged at the four corners of the square cavity above the frame center base 22. A frame side base 1 23 is fixedly connected to one side wall of the frame center base 22, a frame side base 24 is fixedly connected to one side wall adjacent to the frame center base 22 and the frame side base 1 23, a frame side base 4 26 is fixedly connected to the other side wall adjacent to the frame center base 22 and the frame side base 1 23, and the frame center base 22 and the frame side base 1 23 are opposite to each other. A rack side base three 25 is fixedly connected to one side wall, and the rack side base one 23, the rack side base two 24, the rack side base three 25 and the rack side base four 26 are all square structures. The right angles of the rack side base one 23 and the rack side base two 24 adjacent to each other are connected with an angle connecting seat one 27 by screws, the right angles of the rack side base two 24 and the rack side base three 25 adjacent to each other are connected with an angle connecting seat two 28 by screws, the right angles of the rack side base three 25 and the rack side base four 26 adjacent to each other are connected with an angle connecting seat three 29 by screws, and the right angles of the rack side base four 26 and the rack side base one 23 adjacent to each other are connected with an angle connecting seat four 30 by screws.

[0029] The center base 22 of the frame, the side base of the frame and the corner connector adopt a split combination and annular connection design, which reduces the difficulty of overall transportation, processing and installation, and adopts an annular fastening structure with a high resonance frequency, which can effectively reduce the low-frequency resonance of the device. The vibration table 5 5, the vibration table 6 6, the vibration table 7 7 and the vibration table 8 8 simultaneously vibrate at the same frequency and in the same phase to achieve the linear vibration of the working platform 21 along the vertical z direction, and the vibration table 5 5 and the vibration table 6 6 and the vibration table 7 7 and the vibration table 8 8 simultaneously vibrate at the same frequency and in the opposite phase to achieve the angular vibration around the x-axis; the vibration table 5 5 and the vibration table 8 8 and the vibration table 6 6 and the vibration table 7 7 simultaneously vibrate at the same frequency and in the opposite phase to achieve the angular vibration around the y-axis.

[0030] Among them, the bottom sides of the rack side base 1 23, the rack side base 24, the rack side base 3 25 and the rack side base 4 26 are all installed with vibration isolation devices 35 by screws, and the vibration isolation device 35 is a vibration isolation air spring. The vibration isolation air spring is used to isolate the impact of the vibration generated by the equipment on the test site.

[0031] Among them, a vibration table 4 is fixedly installed on one side of the upper side of the frame side base 23 through a fixed seat, and a hinge assembly 4 34 is fixedly installed on the frame side base 23 at one side of the vibration table 4 4 ​​through a mounting frame; a vibration table 3 3 is fixedly installed on one side of the upper side of the frame side base 24 through a fixed seat, and a hinge assembly 3 33 is fixedly installed on the frame side base 24 at one side of the vibration table 3 3 through a mounting frame; a vibration table 2 2 is fixedly installed on one side of the upper side of the frame side base 3 25 through a fixed seat, and a hinge assembly 2 32 is fixedly installed on the frame side base 3 25 at one side of the vibration table 2 2 through a mounting frame; a vibration table 1 is fixedly installed on one side of the upper side of the frame side base 4 26 through a fixed seat, and a hinge assembly 31 is fixedly installed on the frame side base 4 26 at one side of the vibration table 1 through a mounting frame.

[0032] The simultaneous vibrations of vibration table 1 and vibration table 3 at the same frequency and phase can realize the vibration of the working platform 21 along the y-axis line; the simultaneous vibrations of vibration table 2 2 and vibration table 4 4 ​​at the same frequency and phase can realize the vibration of the working platform 21 along the y-axis line; the four vibration tables arranged in the vertical direction are connected to the cavity of the table top of the central base 22 of the frame. This design can reduce the outer envelope size of the vibration table and improve the vibration transmission rigidity of the vertical vibration table.

[0033] Among them, the output end of the hinged component 31 is connected to the double-ball twisted decoupling device eight 16, and the output end of the vibration table 1 is connected to the double-ball twisted decoupling device one 9; the output end of the hinged component 2 32 is fixedly connected to the double-ball twisted decoupling device two 10, and the output end of the vibration table 2 2 is connected to the double-ball twisted decoupling device three 11; the output end of the hinged component three 33 is connected to the double-ball twisted decoupling device four 12, and the output end of the vibration table three 3 is connected to the double-ball twisted decoupling device five 13; the output end of the hinged component four 34 is fixedly connected to the double-ball twisted decoupling device six 14, and the output end of the vibration table four 4 is connected to the double-ball twisted decoupling device seven 15.

[0034] Among them, the output end of the vibration table five 5 is connected to the double-ball twisted decoupling device nine 17, the output end of the vibration table six 6 is connected to the double-ball twisted decoupling device ten 18, the output end of the vibration table seven 7 is connected to the double-ball twisted decoupling device eleven 19, and the output end of the vibration table eight 8 is connected to the double-ball twisted decoupling device twelve 20.

[0035] Among them, a working platform 21 is fixed between the double-ball twist decoupling device 1 9, the double-ball twist decoupling device 2 10, the double-ball twist decoupling device 3 11, the double-ball twist decoupling device 4 12, the double-ball twist decoupling device 5 13, the double-ball twist decoupling device 6 14, the double-ball twist decoupling device 7 15, the double-ball twist decoupling device 8 16, the double-ball twist decoupling device 9 17, the double-ball twist decoupling device 10 18, the double-ball twist decoupling device 11 19 and the double-ball twist decoupling device 12 20 through a double hydraulic ball joint seat.

[0036] The double hydraulic ball joint seat comprises a ball joint seat body 43 , a movable body 1 42 movably installed inside the ball joint seat body 43 , and a movable body 2 44 movably installed inside the ball joint seat body 43 .

[0037] Among them, the hinge assembly 1 31, the hinge assembly 2 32, the hinge assembly 33 and the hinge assembly 4 34 all include a hinge assembly driving airbag 36, a hinge assembly bearing seat 37, a hinge assembly guide bearing 38, a hinge assembly guide bearing cover 39, a hinge assembly guide shaft 40 and a hinge assembly connecting flange 41.

[0038] Among them, the hinge assembly guide shaft 40 is slidably connected to the hinge assembly guide bearing 38, the hinge assembly guide bearing 38 and the hinge assembly bearing seat 37 are fixedly installed through the hinge assembly guide bearing cover 39, and the hinge assembly connecting flange 41 is welded and fixed to the hinge assembly guide shaft 40.

[0039] The function of the hinge assembly driving airbag 36 is to provide a driving force for position adjustment of the platform. The function of the hinge assembly guide bearing 38 is to provide a guiding stiffness for position adjustment. Arranging two hinge assembly guide bearings 38 can provide an anti-bending torque. Inflation of the twelve air springs can provide a positive driving force, and deflation can reduce the positive driving force. The linear displacement and angular displacement of the working platform 21 can be adjusted by the coordinated inflation and deflation of the twelve air springs.

[0040] In this embodiment, by using an auxiliary hinge assembly, the spatial posture control of the working platform 21 can be performed to place the platform in a static and dynamic center position, thereby avoiding over-displacement failure or test failure caused by zero-position offset of the vibration table.

[0041] In this embodiment, the six-degree-of-freedom vibration table is driven by an electric vibration table, which has the advantages of wide vibration frequency and small waveform distortion.

[0042] In this embodiment, the double-ball twist decoupling device can be a hydraulic lubrication decoupling device or a mechanical lubrication decoupling device, and can also be replaced by a spherical plus flat decoupler. The resonance source of the vibration table can be an electric vibration table or a hydraulic vibration table and a mechanical vibration table. The bottom seismic isolation air spring can be replaced by the form of overall foundation seismic isolation. The hinge assembly guide bearing 38 can be other numbers, such as 1, 2 or more; the hinge assembly guide bearing 38 can be various forms, such as linear ball bearings, self-lubricating linear bearings or hydrostatic linear bearings.

[0043] The method of realizing three-axis vibration in this embodiment is as follows: the x-axis vibration table 1 and the vibration table 3 3 are controlled to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 1 and the vibration table 3 3 are the same frequency and phase at the same time; the y-axis vibration table 2 2 and the vibration table 4 4 ​​are controlled to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 2 2 and the vibration table 4 4 ​​are the same frequency and phase at the same time; the z-axis vibration table 5 5, the vibration table 6, the vibration table 7 7, and the vibration table 8 8 are controlled to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 5 5, the vibration table 6, the vibration table 7 7, and the vibration table are the same frequency and phase at the same time. In this way, the linear vibrations of the three axes of x, y, and z are synthesized into spatial three-axis vibrations at the working platform 21.

[0044] The method of realizing the three-axis angular vibration in this embodiment is as follows: controlling the vibration table 1 and the vibration table 3 to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 1 and the vibration table 3 are simultaneously the same frequency and the same phase, thereby forming an angular vibration around the z-axis; controlling the vibration table 2 and the vibration table 4 to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 2 and the vibration table 4 are simultaneously the same frequency and the same phase, thereby forming an angular vibration around the z-axis; controlling the vibration table 5 and the vibration table 8 to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 5 and the vibration table 8 are simultaneously the same frequency and the same phase, thereby forming an angular vibration around the z-axis. At the same time, the vibration table 6 6 and the vibration table 7 7 are controlled to vibrate according to the specified vibration waveform, and the vibration table 5 5 and the vibration table 8 8 are simultaneously controlled to vibrate at the same frequency and in opposite phase, thereby forming an angular vibration around the y axis; or the vibration table 5 5 and the vibration table 6 6 are controlled to vibrate according to the specified vibration waveform, and the vibration control requirements of the vibration table 5 5 and the vibration table 6 6 are simultaneously controlled to have the same frequency and phase, and the vibration table 7 7 and the vibration table 8 8 are simultaneously controlled to vibrate according to the specified vibration waveform, and the vibration table 5 5 and the vibration table 6 6 are simultaneously controlled to have the same frequency and in opposite phase, thereby forming an angular vibration around the x axis. In this way, the angular vibrations around the three axes of x, y, and z are synthesized into a spatial three-axis angular vibration at the working platform 21.

[0045] The method of six degrees of freedom in space in this example is: superimpose the vibration conditions of the above-mentioned spatial linear vibration and spatial angular vibration to form a six-degree-of-freedom vibration of linear vibration plus angular vibration. The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution and its inventive concept of the present invention, shall be covered within the protection scope of the present invention.

Claims

1. An eight-drive six-degree-of-freedom electric vibration test device with adjustable spatial posture, comprising a frame center base (22), characterized in that: A vibration table five (5), a vibration table six (6), a vibration table seven (7) and a vibration table eight (8) are sequentially arranged at the four corners of the square cavity above the frame center base (22); a frame side base one (23) is fixedly connected to a wall of one side of the frame center base (22); a frame side base two (24) is fixedly connected to a wall of the frame center base (22) adjacent to the frame side base one (23); a frame side base four (26) is fixedly connected to the other wall of the frame center base (22) adjacent to the frame side base one (23); a frame side base three (25) is fixedly connected to a wall of the frame center base (22) opposite to the frame side base one (23); The base 1 (23), the frame side base 2 (24), the frame side base 3 (25) and the frame side base 4 (26) are all square structures. The right angles of the frame side base 1 (23) and the frame side base 2 (24) are connected to the angle connection seat 1 (27) by screws. The right angles of the frame side base 2 (24) and the frame side base 3 (25) are connected to the angle connection seat 2 (28) by screws. The right angles of the frame side base 3 (25) and the frame side base 4 (26) are connected to the angle connection seat 3 (29) by screws. The right angles of the frame side base 4 (26) and the frame side base 1 (23) are connected to the angle connection seat 4 (30) by screws. Both sides of the bottom of the frame side base 1 (23), the frame side base 2 (24), the frame side base 3 (25) and the frame side base 4 (26) are equipped with vibration isolation devices (35) by screws, and the vibration isolation devices (35) are vibration isolation air springs; A vibration table 4 (4) is fixedly mounted on one side of the frame side base 1 (23) via a fixing seat, and a hinge assembly 4 (34) is fixedly mounted on one side of the vibration table 4 (4) on the frame side base 1 (23) via a mounting frame; a vibration table 3 (3) is fixedly mounted on one side of the frame side base 2 (24) via a fixing seat, and a hinge assembly 3 (33) is fixedly mounted on one side of the vibration table 3 (3) on the frame side base 2 (24); a vibration table 2 (2) is fixedly mounted on one side of the frame side base 3 (25) via a fixing seat, and a hinge assembly 2 (32) is fixedly mounted on one side of the vibration table 2 (2) on the frame side base 3 (25); a vibration table 1 (1) is fixedly mounted on one side of the frame side base 4 (26) via a fixing seat, and a hinge assembly 1 (31) is fixedly mounted on one side of the vibration table 1 (1) on the frame side base 4 (26) via a mounting frame; The output end of the hinge assembly 1 (31) is connected to a double ball twist decoupling device 8 (16), and the output end of the vibration table 1 (1) is connected to a double ball twist decoupling device 1 (9); the output end of the hinge assembly 2 (32) is fixedly connected to a double ball twist decoupling device 2 (10), and the output end of the vibration table 2 (2) is connected to a double ball twist decoupling device 3 (11); the output end of the hinge assembly 3 (33) is connected to a double ball twist decoupling device 4 (12), and the output end of the vibration table 3 (3) is connected to a double ball twist decoupling device 5 (13); the output end of the hinge assembly 4 (34) is fixedly connected to a double ball twist decoupling device 6 (14), and the output end of the vibration table 4 (4) is connected to a double ball twist decoupling device 7 (15); The output end of the vibration table five (5) is connected to a double ball twist decoupling device nine (17), the output end of the vibration table six (6) is connected to a double ball twist decoupling device ten (18), the output end of the vibration table seven (7) is connected to a double ball twist decoupling device eleven (19), and the output end of the vibration table eight (8) is connected to a double ball twist decoupling device twelve (20); A working platform (21) is fixed between the double ball twist decoupling device 1 (9), the double ball twist decoupling device 2 (10), the double ball twist decoupling device 3 (11), the double ball twist decoupling device 4 (12), the double ball twist decoupling device 5 (13), the double ball twist decoupling device 6 (14), the double ball twist decoupling device 7 (15), the double ball twist decoupling device 8 (16), the double ball twist decoupling device 9 (17), the double ball twist decoupling device 10 (18), the double ball twist decoupling device 11 (19) and the double ball twist decoupling device 12 (20) via a double hydraulic ball joint seat; The double hydraulic ball joint seat comprises a ball joint seat body (43), a movable body 1 (42) movably mounted inside the ball joint seat body (43), and a movable body 2 (44) movably mounted inside the ball joint seat body (43); The hinge assembly 1 (31), hinge assembly 2 (32), hinge assembly 3 (33) and hinge assembly 4 (34) each include a hinge assembly driving airbag (36), a hinge assembly bearing seat (37), a hinge assembly guide bearing (38), a hinge assembly guide bearing cover (39), a hinge assembly guide shaft (40) and a hinge assembly connecting flange (41); The hinge assembly guide shaft (40) is slidably connected to the hinge assembly guide bearing (38), the hinge assembly guide bearing (38) and the hinge assembly bearing seat (37) are fixedly installed via a hinge assembly guide bearing cover (39), and the hinge assembly connecting flange (41) is welded and fixed to the hinge assembly guide shaft (40).

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