Rappelling rope life test platform

Abstract

The invention discloses a descent rope life test platform, which simulates human hands grasping the descent rope and descents through a manipulator, and uses a cylinder as a power source to complete the grasping action of the manipulator and drive the manipulator to slide frictionally on the descent rope. One end of the rope is connected to a frame, and the other end passes through the manipulator and then bypasses the pulley of the frame and is connected to a counterweight; the manipulator's movable part is connected to the gripping cylinder, and the fixed part is fastened to the mounting platform by screws; the gripping cylinder is fastened to the mounting platform by screws; the mounting platform is mounted on the driving cylinder by screws; the driving cylinder is fastened to the frame by screws; the industrial control integrated machine controls the reversing valve in the air supply circuit of the driving cylinder and the gripping cylinder to control the action of the driving cylinder and the gripping cylinder, and the manipulator can grip and relax the rope under the drive of the gripping cylinder; the manipulator can slide frictionally relative to the rope under the drive of the driving cylinder.

Description

Technical Field

[0001] The invention belongs to a rope testing device, in particular to a descent rope life test platform, which is used for testing the life of a descent rope of a descent device. Background Art

[0002] The rappelling device is used for soldiers to slide down from helicopters to the ground. The service life of the rappelling rope is an important performance indicator, so exploring the service life of the rappelling rope is an indispensable task. Summary of the invention

[0003] The purpose of the present invention is to provide a descent rope life test platform which can simulate a soldier grasping a descent rope and descent, and accurately judge the number of times the descent rope is used.

[0004] The technical solution of the present invention is: a descent rope life test platform, including a rope, a manipulator, a frame, an industrial control all-in-one computer, a force sensor, a driving cylinder, a gripping cylinder, and a mounting platform, characterized in that one end of the rope is connected to one end of the force sensor, the other end of the force sensor is connected to the frame, the other end of the rope passes through the manipulator and then bypasses the pulley of the frame and is connected to the counterweight; the manipulator includes a fixed component and a movable component, the movable component is movably connected to the fixed component, the movable component is connected to the gripping cylinder, and the fixed component is fastened to the mounting platform by screws; the gripping cylinder is fastened to the mounting platform by screws; the mounting platform is mounted on the driving cylinder by screws; the driving cylinder is fastened to the frame by screws; the industrial control all-in-one computer controls the reversing valve in the air supply circuit of the driving cylinder and the gripping cylinder to control the movement of the driving cylinder and the gripping cylinder, and the manipulator can grip and relax the rope under the drive of the gripping cylinder; the manipulator can slide relative to the rope by friction under the drive of the driving cylinder.

[0005] Furthermore, the manipulator includes an upper arc part, a lower arc part, and a hinge. The upper arc part is fixed on the mounting platform, and the lower arc part is hinged to the lower arc part through the hinge. The upper arc part can rotate around the center of the hinge axis to tighten and loosen the rope between the upper and lower arcs.

[0006] Furthermore, the gripping cylinder is connected to the manipulator through a connecting mechanism, and the gripping cylinder can realize the driving of the gripping and releasing of the manipulator through the connecting mechanism; the connecting mechanism can limit the rotational freedom of the driving cylinder rod; the mechanism is composed of a slideway, a slider, and a gripping cylinder connecting piece, the cylinder rod of the gripping cylinder is connected to the gripping cylinder connecting piece by a threaded connection, the gripping cylinder connecting piece is hinged to the slider by a pin shaft, the gripping cylinder connecting piece can rotate around the pin shaft relative to the slider, and its rotational freedom around the cylinder rod of the gripping cylinder is limited, thereby limiting the rotational freedom of the cylinder rod, the slider can slide back and forth in a straight line in the slideway, and the slideway is fastened to the manipulator by screws.

[0007] Furthermore, the manipulator can grip the rope and slide frictionally relative to it to simulate a human hand gripping a rope and rappelling. The driving cylinder is a rodless cylinder, and its piston interacts with the mounting block cylinder and the load mounting interface through magnetic force. The mounting platform is fastened to the mounting block of the driving cylinder by screws, and the fixed part of the manipulator is fastened to the mounting platform, so that the manipulator can slide frictionally relative to the rope under the action of the driving cylinder.

[0008] Furthermore, the friction stroke of the manipulator holding the rope is adjustable. Two travel switches are installed on the driving cylinder. When the piston moves to the travel switch, it stops moving, and moves in the opposite direction to the travel switch at the other end according to the program set by the industrial control integrated computer and stops moving. The stroke size is determined by the distance between the two travel switches, and the distance is adjustable.

[0009] Furthermore, the rappelling rope life test platform also includes the control of the manipulator's gripping and loosening, and the relative axial sliding back and forth of the rope. When the manipulator moves to the corresponding travel switch position, the travel switch transmits a signal to the industrial control integrated computer, and the industrial control integrated computer controls the corresponding solenoid valve to change direction, thereby realizing the control of the manipulator's gripping and loosening, and the relative axial sliding back and forth of the rope.

[0010] Furthermore, the rappelling rope life test platform can measure the friction force exerted on the rope during the test. One end of the force sensor is connected to the rope, and the other end is connected to the frame 3. The friction force exerted by the manipulator on the rope can be measured by the force sensor.

[0011] Furthermore, the rappelling rope life test platform can adjust the friction sliding speed of the manipulator relative to the rope. A throttle valve is installed in the air supply circuit of the driving cylinder, and the flow rate of the throttle valve can be adjusted to control the movement speed of the driving cylinder piston, thereby changing the friction sliding speed of the manipulator relative to the rope.

[0012] Furthermore, the number of tests and the pause time between each group of tests can be set. Each time the two travel switches sense, the industrial computer counts once. When the set number of tests is reached, the device stops running and the test ends. Each time the count reaches an integer multiple of the set value, it pauses for a certain period of time. The pause time is determined according to the specific heat dissipation of the rope, which ensures both the test efficiency and the rope does not generate too much heat to affect the test results.

[0013] Furthermore, the test driving force of the driving cylinder is obtained by adjusting the output pressure of the pressure reducing valve.

[0014] Furthermore, the contact length between a single manipulator and the rappelling rope is similar to that of a human hand.

[0015] Furthermore, the driving cylinder and the gripping cylinder drive control air circuits are:

[0016] The incoming gas source is divided into two circulations. One circulation passes through the driving gas circuit pressure reducing valve, the driving gas circuit reversing valve, and the driving gas circuit throttle valve, and then enters the two parallel driving cylinders; the other circulation passes through the gripping gas circuit pressure reducing valve, the gripping gas circuit reversing valve, and the gripping cylinder throttle valve, and then enters the two parallel gripping cylinders.

[0017] The technical effect of the present invention is: the present invention converts the vertical sliding into the horizontal relative friction sliding, drives the manipulator to grasp the rope and slide through the cylinder, and accurately measures the number of times the rope is used. The main technical effects are:

[0018] 1. The designed manipulator can simulate a soldier's hands grasping and releasing the rope. The hands are connected by a fixed part and a movable part through a hinge. The hinge rotation points are distributed on the left and right sides of the rappelling rope, and the grasping force is adjustable and controllable.

[0019] 2. The sliding of the manipulator is driven by two driving cylinders at the same time. The two cylinders are symmetrically distributed on both sides of the rope. The structure is simple and the force is stable. The cylinders and the manipulator are not subject to torsional loads.

[0020] 3. The cylinder rod holding the cylinder can slide and rotate back and forth relative to the manipulator, and the rotational freedom of the cylinder rod can be limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the test process of the present invention.

[0022] Figure 2 It is a schematic diagram of the overall framework of the present invention.

[0023] Figure 3 It is the gas path principle diagram of the present invention.

[0024] Figure 4 It is a schematic cross-sectional view of the robot arm of the present invention.

[0025] Figure 5 It is a schematic diagram of the mechanical hand of the present invention gripping and releasing.

[0026] Figure 6 It is a lever diagram of the cylinder pulling force and the gripping force of the manipulator of the present invention.

[0027] Figure 7 It is a schematic diagram of the connection mechanism between the gripping cylinder and the manipulator of the present invention.

[0028] In the figure, 1. rope; 2. manipulator; 3. frame; 4. industrial control integrated machine; 5. force sensor; 6. driving cylinder; 7. holding cylinder; 8. mounting platform; 9. counterweight; 10. air source; 11. driving air circuit pressure reducing valve; 12. driving air circuit reversing valve; 13. driving cylinder throttle valve; 14. holding air circuit pressure reducing valve; 15. holding air circuit reversing valve; 16. holding cylinder throttle valve; 17. slideway; 18. slider; 19. holding cylinder connector. DETAILED DESCRIPTION

[0029] The implementation of the novel device is further described below in conjunction with the accompanying drawings.

[0030] The test diagram is as follows Figure 1 As shown. During the descent, the soldier holds the rope 1 with both hands. The device needs to design two manipulators 2 to simulate the soldier holding the rope 1. The descent motion can be regarded as uniform linear motion. The friction force it is subjected to is balanced with the total weight of itself and the equipment. The friction force is determined by the gripping force of the soldier holding the rope 1 and the friction coefficient between the soldier's gloves and the descent rope 1. The device needs to provide the driving force to drive the manipulator 2 to move and the gripping force of the manipulator 2 to hold the rope 1. The preload force simulates the force exerted on the rope 1 by another soldier when descent.

[0031] Figure 2 The manipulator 2, the gripping power device of the manipulator 2, the sliding power device of the manipulator 2, the mounting platform 8, the industrial control integrated machine 4, the test piece, the force measuring unit, the counterweight 9, etc. are assembled into one through the frame 3.

[0032] Figure 4 , Figure 5 As shown, the manipulator 2 needs to grasp and release the rope 1, and the contact length between the single manipulator 2 and the rope 1 is similar to the width of a human hand.

[0033] The manipulator 2 is composed of upper and lower gripping parts with arc surfaces. The lower arc part is an integral whole, and there are two upper arc parts, which simulate two hands gripping the rope 1 respectively. The lower arc part is fixed on the mounting platform 8; the upper and lower arc parts are hinged by hinges, and the driving device drives the upper arc part to rotate up and down around the hinge axis to loosen and grip the rope 1.

[0034] Figure 6 As shown in the figure, during the descent, the manipulator 2 is always in a gripping state, and the gripping force can be considered constant. Common driving sources include motors, hydraulics, and air pressure. When the motor is powered on and does not move, the current will increase and it is easy to burn out. Hydraulics require oil sources and hydraulic cylinders, and the action is not sensitive enough and the cost is high. It is suitable for working conditions with large loads. Air pressure has the advantages of sensitive action, low cost and cleanliness. This device uses a cylinder as a driving device.

[0035] Figure 7The gripping force is applied to the manipulator 2 by the gripping cylinder 7 through the connecting mechanism, and the gripping force and the cylinder pulling force can be simplified into a lever.

[0036] The cylinder rod connector of the gripping cylinder 7 is connected to the cylinder rod through threads, the cylinder rod connector is connected to the slider through pins, the slider cooperates with the slideway, and the slideway is connected to the manipulator 2 through screws.

[0037] During the test, the gripping force is adjusted by adjusting the output pressure of the pressure reducing valve, and the required test gripping force is obtained by repeatedly adjusting the output pressure of the pressure reducing valve.

[0038] The device needs to drive the manipulator 2 to slide back and forth along the axial straight line of the rope 1, and the driving force must not be less than the total weight of the soldier and the equipment.

[0039] During the test, the friction force of the manipulator 2 on the descent rope 1 needs to be monitored at all times, and the force sensor 5 is used to measure the friction force on the rope 1 during the test.

[0040] The driving force is provided by the driving cylinder 6. The device uses two rodless cylinders to work synchronously, and the cylinders, manipulator 2, and mounting platform 8 are symmetrically distributed relative to the axis of the rope 1, so the two cylinders are subjected to the same load. During the test, the test driving force of the driving cylinder 6 is obtained by adjusting the output pressure of the pressure reducing valve.

[0041] The driving control air circuits of the driving cylinder 6 and the gripping cylinder 7 are as follows: the air source 10 is connected to two circulations, one of which passes through a driving air circuit pressure reducing valve 11, a driving air circuit reversing valve 12, and a driving air circuit throttle valve 13, and then enters the two parallel driving cylinders 6; the other passes through a gripping air circuit pressure reducing valve 14, a gripping air circuit reversing valve 15, and a gripping cylinder throttle valve 16, and then enters the two parallel gripping cylinders 7.

[0042] The test principle of the present invention:

[0043] First, adjust the output pressure of the pressure reducing valve of the driving gas circuit and the gripping gas circuit to achieve the required driving force and gripping force, and adjust the travel switch position to meet the required descent travel of the test. Turn on the power, enter the test number and pause time in the human-machine exchange interface, press the start button, and the test begins.

[0044] 1) Stroke control

[0045] Two travel switches are installed at appropriate positions of the cylinder, and the stroke size is determined by the distance between the installation positions of the two travel switches.

[0046] 2) Reciprocating motion and gripping and releasing control of robot 2

[0047] When the manipulator 2 moves to the corresponding travel switch position, the travel switch transmits a signal to the industrial control integrated machine 4, and the industrial control integrated machine 4 controls the reversal of the cylinder solenoid valve, thereby controlling the driving cylinder 6 and the gripping cylinder 7 to move in the opposite direction, and finally realizing the reciprocating motion of the manipulator 2 relative to the rope 1 and the gripping and releasing of the rope 1.

[0048] 3) Sliding speed control

[0049] The sliding speed is adjusted by adjusting the throttle valve of the driving cylinder.

[0050] 4) Setting and recording the number of tests and controlling the time interval between each set of tests

[0051] Each time the travel switch senses, the main control unit counts once. When the set number of tests is reached, the device stops running and the test ends. Each time the count reaches an integer multiple of the set value, it pauses for a certain period of time. The pause time is determined according to the specific heat dissipation of the rope 1, which ensures both the test efficiency and the rope 1 does not generate excessive heat to affect the test results.

[0052] 5) Start, stop, emergency stop, reset functions

[0053] Open the gas source 10, press the start button, the device starts working and conducts the test; press the stop button, the device stops working, and the manipulator 2 is released; press the emergency stop switch, the manipulator 2 is released and stops moving;

[0054] Press the reset switch to clear the count.

[0055] The above only expresses the implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A descent rope life test platform, comprising a rope (1), a manipulator (2), a frame (3), an industrial control integrated machine (4), a force sensor (5), a driving cylinder (6), a gripping cylinder (7), and a mounting platform (8), characterized in that: One end of the rope (1) is connected to one end of the force sensor (5), the other end of the force sensor (5) is connected to the frame (3), the other end of the rope (1) passes through the manipulator (2), passes around the pulley of the frame (3), and is connected to the counterweight (9); the manipulator (2) comprises a fixed part and a movable part, the movable part is movably connected to the fixed part, the movable part is connected to the gripping cylinder (7), the fixed part is fastened to the mounting platform (8) by screws; the gripping cylinder (7) is fastened to the mounting platform (8) by screws; the mounting platform (8) is provided with a plurality of movable parts, and the movable part is connected to the fixed part by screws. The mounting platform (8) is mounted on the driving cylinder (6) by means of screws; the driving cylinder (6) is fastened to the frame (3) by means of screws; the industrial control integrated machine (4) controls the reversing valve in the air supply circuit of the driving cylinder (6) and the gripping cylinder (7) to control the movement of the driving cylinder (6) and the gripping cylinder (7); the manipulator (2) can grip and release the rope (1) under the drive of the gripping cylinder (7); the manipulator (2) comprises an upper arc part, a lower arc part, and a hinge, and the lower arc part is fixed on the mounting platform (8) The upper arc part is hinged to the lower arc part through a hinge, and the upper arc part can rotate around the center of the hinge axis to achieve the gripping and loosening of the rope (1) between the upper and lower arc parts. The manipulator (2) can achieve friction sliding relative to the rope (1) under the drive of the driving cylinder (6). The gripping cylinder (7) and the manipulator (2) are connected through a connecting mechanism, and the connecting mechanism includes a slideway (17), a slider (18), and a gripping cylinder connecting member (19). The cylinder rod of the gripping cylinder (7) and the gripping cylinder connecting member (19) The gripping cylinder connecting piece (19) is connected to the slider (18) by a threaded connection through a pin hinge. The gripping cylinder connecting piece (19) can rotate around the pin relative to the slider (18). The rotational freedom of the gripping cylinder connecting piece (19) around the cylinder rod of the gripping cylinder (7) is restricted, thereby restricting the rotational freedom of the cylinder rod. The slider (18) can slide back and forth in a straight line in the slideway (17). The slideway (17) is fastened to the manipulator (2) by screws, so that the gripping cylinder (7) can drive the manipulator (2) to grip and release through the connection mechanism.

2. The descent rope life test platform according to claim 1, characterized in that: The driving cylinder (6) is a rodless cylinder, comprising a piston and a mounting block, the piston and the mounting block interacting with each other through magnetic force, the mounting platform (8) is fastened to the mounting block of the driving cylinder (6) by screws, and the fixed component of the manipulator (2) is fastened to the mounting platform (8), so that the manipulator (2) can slide frictionally relative to the rope (1) according to a predetermined stroke under the action of the driving cylinder (6).

3. The descent rope life test platform according to claim 2, characterized in that: Two travel switches are installed on the driving cylinder (6), and its piston moves back and forth between the two travel switches, and the travel size is determined by the distance between the two travel switches; the industrial control integrated machine (4) sets a program for the piston to move from one switch to another switch and then move in the opposite direction.

4. The descent rope life test platform according to claim 3, characterized in that: When the manipulator (2) moves to the corresponding travel switch position, the travel switch transmits a signal to the industrial control integrated machine (4), and the industrial control integrated machine (4) controls the corresponding electromagnetic valve to switch direction, thereby realizing the control of the manipulator (2) gripping and loosening, and axially sliding back and forth relative to the rope (1).

5. The descent rope life test platform according to claim 4, characterized in that: The number of tests and the pause time between each group of tests are set: each time the two travel switches sense, the industrial computer counts once. After the set number of tests is reached, the device stops running and the test ends; each time the count reaches an integer multiple of the set value, it pauses for a certain period of time.

6. The descent rope life test platform according to claim 1, characterized in that: The test driving force of the driving cylinder is obtained by adjusting the output pressure of the pressure reducing valve.

7. The descent rope life test platform according to claim 1, characterized in that: The contact length between a single manipulator and the descent rope is similar to that of a human hand. The manipulator (2) can tightly grasp the rope (1) and slide relative to it by friction to simulate a human hand grasping the rope for descent.

8. The descent rope life test platform according to claim 1, characterized in that: Throttle valves for controlling the operating speed are installed in the air supply circuits of the driving cylinder (6) and the gripping cylinder (7); The control air circuits of the driving cylinder (6) and the gripping cylinder (7) are as follows: the air is connected to an air source (10) and circulated in two paths, one path passes through a driving air path pressure reducing valve (11), a driving air path reversing valve (12), and a driving air path throttle valve (13), and then enters two parallel driving cylinders (6); the other path passes through a gripping air path pressure reducing valve (14), a gripping air path reversing valve (15), and a gripping cylinder throttle valve (16), and then enters two parallel gripping cylinders (7). The rappelling rope life test platform can adjust the friction sliding speed of the manipulator (2) relative to the rope (1).

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