Three-axis six-degree-of-freedom vibration table system working platform geometric alignment component and method

Abstract

The present invention discloses a geometric centering component and method for a working platform of a three-axis six-degree-of-freedom vibration table system. The method mainly includes the following steps: opening the test equipment; inflating the first group of airbags; inflating the second group of airbags; inflating the third group of airbags; inflating the fourth group of airbags; inflating the fifth group of airbags; evaluating the geometric centering state; fine-tuning the geometric centering position; and closing the test equipment. The method for geometric centering and debugging the working platform of a three-axis six-degree-of-freedom vibration table system proposed in the present invention aims to solve the problem of geometric centering of the working table during the three-axis six-degree-of-freedom vibration test of spacecraft products, ensure that all movable parts operate within a reasonable controllable area, and ensure the safety of equipment operation and spacecraft products.

Description

Technical Field

[0001] The present invention belongs to the field of spacecraft mechanical environment testing, and in particular relates to a geometric centering component and method for a working platform of a three-axis six-degree-of-freedom vibration table system. Background Art

[0002] Spacecraft three-axis, six-degree-of-freedom vibration testing technology is an advanced vibration testing technique that utilizes omnidirectional loading and excitation. Compared to traditional single-axis vibration testing of spacecraft products, this technology allows for simultaneous loading and excitation along all three axes during a single installation. This more realistically replicates the actual launch environment while reducing the repeated hoisting time of traditional single-axis testing, significantly improving mechanical testing efficiency.

[0003] Internationally, three-axis, six-degree-of-freedom (DOF) shaker test systems primarily utilize layouts such as 4-2-2 same-side, 4-2-2 opposite-side, 4-4-4, and 3-2-1. These systems are complex, difficult to operate, and require high technical requirements. The system primarily consists of a single-axis shaker, a work platform, a hydraulic ball-joint decoupling device, a system base, a horizontal platform base, an amplifier, and a cooling unit. The work platform serves as the mounting platform for spacecraft components in the three-axis, six-degree-of-freedom (DOF) shaker system. It connects to the dynamic coil surface of the single-axis shaker via a hydraulic ball-joint decoupling device. Ultimately, the system achieves combined motion across multiple shaker motion directions through the work platform. Therefore, the work platform plays a crucial role in three-axis, six-degree-of-freedom (DOF) vibration testing and is the core functional component of the three-axis, six-degree-of-freedom (DOF) shaker system.

[0004] The work platform is connected to the corresponding moving coil via a hydraulic ball head decoupling device. Because it is not subject to any lateral rigid constraints, the work platform can easily deviate from its geometric center position. If the work platform is not adjusted to its geometric center position before the three-axis six-degree-of-freedom vibration test, the hydraulic ball head decoupling device can easily deviate significantly during the test excitation, resulting in severe loss of force transmission and potentially causing serious damage to the decoupling device or the moving coil. The patent for a digital vibration table moving component automatic centering device (application number 202110944964.1) primarily discloses a method and implementation for automatically centering a single vibration table moving coil. The patents for a three-axis six-degree-of-freedom vibration test device (application number 201910600843.8) and a three-axis six-degree-of-freedom vibration test device (application number 200810108045.5) disclose three-axis six-degree-of-freedom vibration test systems with a 4-2-2 opposite-side layout and a 2-2-1 layout, respectively. The system components are detailed, but neither patent explains the key technologies for geometric centering the work platform. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention proposes a three-axis six-degree-of-freedom vibration table system working platform geometric alignment component and method based on the practical experience of operating the three-axis six-degree-of-freedom vibration table test system, aiming to solve the geometric alignment problem of the working table during the three-axis six-degree-of-freedom vibration test of spacecraft products, ensuring that all moving parts operate within a reasonable controllable area, and ensuring the safety of equipment operation and spacecraft products.

[0006] To achieve the above object, the present invention adopts the following scheme:

[0007] The present invention provides a three-axis six-degree-of-freedom vibration table system work platform geometric alignment component, comprising a system overall base, four horizontal platform bases and four vertical vibration table bodies arranged on the upper surface of the system overall base, a working platform arranged above the four vertical vibration table bodies, and four horizontal vibration table bodies arranged on the four horizontal platform bases, wherein the side surfaces of the working platform are connected to the four horizontal vibration table bodies respectively through four horizontal hydraulic ball head decoupling devices, and the bottom surface of the working platform is connected to the four vertical vibration table bodies respectively through four vertical hydraulic ball head decoupling devices, and further comprising:

[0008] The system includes an integral base airbag at the bottom of the overall base, a work platform airbag at the bottom of the work platform, a horizontal platform trunnion airbag at the connection between the horizontal vibration table body and the horizontal platform base, an auxiliary hinge assembly airbag between each horizontal vibration table body, and a dynamic coil airbag inside the vertical vibration table body and the horizontal vibration table body. Each auxiliary hinge assembly airbag is connected to the side of the work platform via a linear bearing and a horizontal hydraulic ball head decoupling device. A rigid support is located below the work platform to support the work surface.

[0009] In addition to the above, the three-axis six-degree-of-freedom vibration table system also includes an external circulating water system, a cooling unit, a hydraulic ball head decoupling device oil pump, a power amplifier, and other equipment. The power amplifier filters and amplifies the input signal and transmits it to the vibration table; the hydraulic ball head decoupling device oil pump provides the hydraulic ball head decoupling device with the lubricating oil required for operation; the cooling unit uses distilled water to cool the dynamic coil and excitation inside the vibration table body; and the external circulating water system is used to cool the distilled water in the cooling unit. In some embodiments, the present invention also includes the following technical solutions:

[0010] The integral base airbags are sixteen airbags evenly distributed at the bottom of the system's integral base; there are four working platform airbags; there are four groups of horizontal platform ear axis airbags, which are respectively arranged at the connection between the four horizontal vibration table bodies and the horizontal platform base, and each group includes two ear axis upper airbags and two ear axis lower airbags; there are four groups of auxiliary hinge assembly airbags, and their installation position is coaxial with the horizontal vibration table body; there are eight groups of dynamic coil airbags, and the dynamic coil is located in the vibration table body, and the dynamic coil reciprocates along the axial direction of the table body under the constraints of the guide roller and the linear bearing.

[0011] The present invention also provides a method for geometrically centering a working platform of a three-axis six-degree-of-freedom vibration table system, based on the above-mentioned geometric centering component of the working platform of the three-axis six-degree-of-freedom vibration table system, comprising the following steps:

[0012] (1) Turn on the test equipment: turn on the external circulating water system, cooling unit, hydraulic ball head decoupling device oil pump, power amplifier and other equipment in sequence, and check whether their operating status is normal after turning on the equipment;

[0013] (2) Inflation of the first group of airbags: uniformly inflate the airbags of the integral base, and stop inflating when the integral base of the system leaves the ground steel plate and reaches the predetermined position;

[0014] (3) Inflation of the second set of airbags: Manually inflate the airbags of the working platform slowly. After the working platform leaves the rigid support, move the rigid support to the lowest point and then deflate the airbags to restore the working platform to its pre-inflation position. This step is mainly to facilitate the rotation of the rigid support to the lowest point.

[0015] (4) Inflation of the third group of airbags: Inflate the trunnion airbags of each group of the horizontal platform, and manually inflate the upper trunnion airbag and the lower trunnion airbag of the first horizontal vibration table body at the same time, with the upper airbag pressure inflated to P1MPa and the lower airbag pressure inflated to P2MPa; then, inflate the other three groups of trunnion airbags of the horizontal platform in the same manner to reach the same pressure state;

[0016] (5) Inflation of the fourth group of airbags: manually inflating the auxiliary hinge assembly airbags to a pressure equal to the difference between P1 and P2;

[0017] (6) Inflation of the fifth group of airbags: The automatic centering system of the dynamic coils of the eight vertical and horizontal vibration tables is turned on, and the system begins to inflate and deflate the internal dynamic coils until a balanced state is reached;

[0018] (7) Geometric centering status evaluation: After completing the above steps (1) to (6), observe the geometric centering status of the work platform. If the centering status is normal, the centering debugging is completed.

[0019] (8) Test equipment shutdown: After completing the three-axis six-degree-of-freedom vibration test, rotate the rigid support so that it contacts the bottom surface of the work platform, then close each group of airbags and deflate them. Turn off the cooling unit, power amplifier, hydraulic ball head decoupling device oil pump, external circulating water and other equipment in turn.

[0020] Furthermore, in step (7), if there is a position deviation, the following geometric centering position fine-tuning method is required to make it in the center position:

[0021] Fine-tuning of the geometric center position: If deviations are found in the horizontal direction of several hydraulic ball head decoupling devices, it is necessary to slowly inflate and deflate the third and fourth groups of airbags for adjustment; by finely inflating and deflation of these two groups of airbags, the work platform can eventually be placed in the geometric center position.

[0022] Furthermore, the inflation pressure of the auxiliary hinge assembly airbag is the difference between the upper and lower airbag pressures on the horizontal vibration table, and the pressure is required to be ≥0.1 MPa.

[0023] Furthermore, the work platform's geometric centering and debugging methods are divided into coarse adjustment and fine adjustment. Fine adjustment is mainly completed by operating the third and fourth groups of airbags. Inflating the third group of airbags rotates the work platform clockwise, while inflating the fourth group of airbags rotates the work platform counterclockwise.

[0024] Furthermore, after the test, the order of closing the air source should be from the 5th group of airbags to the 1st group of airbags in reverse order. It is particularly important to note that the 3rd group of airbags and the 4th group of airbags need to be deflated at the same time.

[0025] Furthermore, the predetermined position is 2 mm.

[0026] The present invention provides a method for geometrically centering the working platform of a three-axis six-degree-of-freedom vibration table system. The method adopts both coarse adjustment and fine adjustment methods, which can effectively solve the technical problem of centering the working platform of the three-axis vibration table system, ensure that the working platform is in the geometric center position, ensure that all movable components operate within a reasonable controllable area, and ensure the safety of equipment operation and spacecraft products. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is an overall schematic diagram of a three-axis six-degree-of-freedom vibration table system according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the interior of a vertical / horizontal single vibration table according to an embodiment of the present invention;

[0029] In the figure, 1 is the horizontal vibration table body, 2 is the vertical vibration table body, 3 is the working platform, 4 is the hydraulic ball head decoupling device, 5 is the system overall base, 6 is the horizontal platform base, 7 is the overall base airbag, 8 is the working platform airbag, 9 is the horizontal platform ear shaft airbag, 10 is the auxiliary hinge assembly airbag, 11 is the moving coil airbag, 12 is the upper excitation, 13 is the lower excitation, 14 is the guide roller, and 15 is the linear bearing. DETAILED DESCRIPTION

[0030] To make the technical solutions and advantages of the present invention more clear, the technical solutions of the embodiments of the present invention will be fully described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0032] See also Figure 1 and Figure 2 , Figure 1 The overall schematic diagram of the three-axis six-degree-of-freedom vibration table system is shown. Figure 2 This diagram shows the interior of a single vertical / horizontal vibration table. Spacecraft three-axis, six-degree-of-freedom vibration testing is an extremely complex and challenging dynamic environment test in the field of mechanical testing. Before vibration testing, a proven debugging method must be implemented to ensure that the work platform is geometrically centered before vibration. This ensures the safe operation of key functional components such as the vibration table body and hydraulic ball head decoupling device during excitation. Figure 1 In the three-axis six-degree-of-freedom vibration table system, the integral base airbag 7 is installed under the overall base 5 of the system, which is mainly used to float the system for vibration isolation during the test; the bottom of the working platform 3 is connected to the four vertical vibration table bodies 2 through a hydraulic ball head decoupling device, and the side of the working platform 3 is connected to the four horizontal vibration table bodies 1 through a hydraulic ball head decoupling device. The horizontal platform base 6 is used to support the horizontal vibration table body 1; the working platform airbag 8 is located below the working platform and is used to support the working platform; the horizontal platform ear axis airbag 9 is located on both sides of the horizontal vibration table body 1 and is used to adjust the axial movement of the horizontal vibration table body; the auxiliary hinge assembly airbag 10 is connected to the side of the working platform through a hydraulic ball head decoupling device and is used to perform centering adjustment when the working platform rotates.

[0033] Figure 2In the vertical / horizontal single vibration table, the upper excitation 12 and the lower excitation 13 are used to generate a stable magnetic field; the dynamic coil airbag 11 is used to center and balance the table; the guide roller 14 and the linear bearing 15 provide linear guidance for the dynamic coil movement to prevent the dynamic coil movement from deflecting.

[0034] The three-axis six-degree-of-freedom vibration table system mainly consists of the following five groups of airbags:

[0035] The first group is the integral base airbag 7, which consists of 16 airbags evenly distributed at the bottom of the system's integral base 5. Before the test, they are inflated to float the entire system, reducing the impact of vibration on the surrounding environment and uniformly controlling inflation and deflation.

[0036] The second group is the working platform airbag 8, which consists of four airbags at the bottom of the working platform 3. It is used to float the working platform and the test product, increase the static load-bearing capacity of the system, and perform unified inflation and deflation control;

[0037] The third group is the horizontal platform trunnion airbags 9, which are composed of four groups of four horizontal vibration platforms. For each individual horizontal vibration platform, each group of airbags is composed of two airbags, one upper and one lower, on the trunnion. The upper airbag controls the forward movement of the console, while the lower airbag controls the backward movement of the console. The horizontal platform trunnion airbags 9 have eight groups of inflation and deflation control buttons, which can be individually controlled.

[0038] The fourth group is the auxiliary hinge assembly airbag 11, which consists of four groups and is connected to the work platform through linear bearings and a hydraulic ball head decoupling device. The airbag can be independently controlled for inflation and deflation. The airbag is installed coaxially with the horizontal vibration table, which can effectively solve the problem of table offset and improve system performance.

[0039] The fifth group is the dynamic coil airbag 10, which is located inside each vibration table and consists of 8 groups. Each airbag is connected to the dynamic coil and controls the forward and backward movement of the dynamic coil by independent inflation and deflation.

[0040] With respect to the above-mentioned three-axis six-degree-of-freedom vibration table system, the geometric centering and debugging method of the working platform of the three-axis six-degree-of-freedom vibration table system of the present invention comprises the following steps:

[0041] (1) Turn on the test equipment. Specifically, turn on the external circulating water system, the eight vibration table cooling units, the hydraulic ball head decoupling device oil pump, the power amplifier, and other equipment in sequence. After turning on the equipment, check whether its operating status is normal.

[0042] (2) Inflate the first group of airbags. Specifically, turn on the inflation button for the system base airbag 7 and uniformly inflate all 16 airbags evenly distributed around the bottom of the system base 7. Observe the inflation pressure gauge and the gap between the system base and the ground steel plate at all times. Stop inflation when the system base 7 is about 2 mm away from the ground steel plate.

[0043] (3) Inflate the second set of airbags. Specifically, manually inflate the second set of airbags slowly. After the working platform leaves the rigid support, rotate the screw to move the rigid support to the lowest point. Then slowly deflate the airbags to restore the working platform to its pre-inflation position.

[0044] (4) Inflate the third group of airbags. Specifically, inflate each group of airbags. Manually inflate the upper and lower airbags of the first horizontal platform's trunnion simultaneously, with the upper airbag pressure inflated to P1MPa and the lower airbag pressure inflated to P2MPa (requires ΔP = P1-P2 ≥ 0.1MPa). Then, inflate the other three horizontal platforms in the same manner to achieve the same pressure state.

[0045] (5) Inflation of the fourth group of airbags. Specifically, the auxiliary hinge assembly airbags are inflated manually, and the inflation pressure is controlled at ΔPMPa, which is the difference between the upper and lower airbag pressures on the horizontal vibration table.

[0046] (6) Inflation of the fifth set of airbags. Specifically, the automatic centering system of the eight vertical and horizontal vibration tables is turned on. The system begins to inflate and deflate the internal dynamic coil according to the position of each vibration table body until a balanced state is reached.

[0047] (7) Geometric centering status assessment. Specifically, after completing the above steps (1) to (6), observe the geometric centering status of the work platform. If the center lines of the eight hydraulic ball head decoupling devices in the horizontal direction are perpendicular to the edge lines of the work platform, and the four hydraulic ball head decoupling devices in the vertical direction are perpendicular to the bottom plane of the work platform, then the work platform is in the geometric center position and the centering debugging is completed. If there is a deviation in the position of a hydraulic ball head decoupling device in the horizontal direction, the following geometric centering position fine-tuning method is required to make it in the center position.

[0048] (8) Fine adjustment of the geometric center position. Specifically, if deviations are found in the horizontal direction of several hydraulic ball head decoupling devices, it is necessary to slowly inflate and deflate the third and fourth groups of airbags to make adjustments. Looking from the top down, inflating the third group of airbags will cause the work platform to rotate clockwise, and inflating the fourth group of airbags will cause the work platform to rotate counterclockwise. By finely inflating and defusing these two groups of airbags, the work platform can eventually be placed at the geometric center position.

[0049] (9) Shut down the test equipment. Specifically, after completing the three-axis six-degree-of-freedom vibration test, rotate the four rigid supports so that they are in contact with the ground of the work platform. Then shut down the automatic inflation and deflation system of the fifth group of airbags. Then, deflate the third and fourth groups of airbags at the same time. Then, deflate the second and first groups of airbags in sequence. Turn off the cooling unit, power amplifier, hydraulic ball head decoupling device oil pump, external circulating water and other equipment in turn.

[0050] The present method was used to perform geometric alignment on a large-scale three-axis, six-degree-of-freedom (DOF) shaker test system consisting of eight 10-ton electrodynamic shakers. Field measurements showed that the geometric alignment accuracy of the work platform was controlled within ±1 mm, meeting the requirements for spacecraft three-axis, six-degree-of-freedom mechanical testing and achieving excellent control results.

[0051] In this specification, reference to terms such as "one embodiment" and "example" means that a specific feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the exemplary description of the above terms does not necessarily mean that they are appropriately combined in the corresponding embodiment or example.

[0052] It must be pointed out that the description of the above embodiments is not intended to be limiting but only to help understand the core idea of ​​the present invention. For ordinary technicians in this technical field, any improvements to the present invention and alternatives equivalent to this product, without departing from the principles of the present invention, also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for geometric centering of a working platform of a three-axis six-degree-of-freedom vibration table system, characterized in that: Based on the geometric centering component of the working platform of the three-axis six-degree-of-freedom vibration table system, the centering component includes a system overall base, four horizontal platform bases and four vertical vibration table bodies arranged on the upper surface of the system overall base, a working platform arranged above the four vertical vibration table bodies, and four horizontal vibration table bodies arranged on the four horizontal platform bases, wherein the side surfaces of the working platform are connected to the four horizontal vibration table bodies respectively through four horizontal hydraulic ball head decoupling devices, and the bottom surface of the working platform is connected to the four vertical vibration table bodies respectively through four vertical hydraulic ball head decoupling devices, and also includes: An integral base airbag is arranged at the bottom of the integral base of the system, a working platform airbag is arranged at the bottom of the working platform, a horizontal platform ear axis airbag is arranged at the connection between the horizontal vibration table body and the horizontal platform base, an auxiliary hinge assembly airbag is arranged between each horizontal vibration table body, and a dynamic coil airbag is arranged inside the vertical vibration table body and the horizontal vibration table body, wherein each of the auxiliary hinge assembly airbags is connected to the side of the working platform through a linear bearing and a horizontal hydraulic ball head decoupling device, and the rigid support is located below the working platform for supporting the working platform; the horizontal platform ear axis airbags are four groups, which are respectively arranged at the connection between the four horizontal vibration table bodies and the horizontal platform base, and each group includes two ear axis upper airbags and two ear axis lower airbags; The geometric alignment components of the three-axis, six-degree-of-freedom vibration table system work platform also include an external circulating water system, a cooling unit, an oil pump for the hydraulic ball head decoupling device, and a power amplifier. The power amplifier filters and amplifies the input signal and transmits it to the vibration table body; the oil pump for the hydraulic ball head decoupling device provides the hydraulic ball head decoupling device with the required lubricating oil; the cooling unit uses distilled water to cool the dynamic coil and excitation inside the vibration table body; the external circulating water system is used to cool the distilled water in the cooling unit. The geometric centering method of the working platform of the three-axis six-degree-of-freedom vibration table system includes the following steps: Step 1: Turn on the test equipment: Turn on the external circulating water system, cooling unit, hydraulic ball head decoupling device oil pump, and power amplifier in sequence. After turning on the test equipment, check whether its operating status is normal; Step 2: Inflate the first group of airbags: Inflate the airbags of the entire base uniformly, and stop inflating when the entire base of the system leaves the ground steel plate and reaches the predetermined position; Step 3: Inflate the second set of airbags: Manually inflate the airbags of the work platform slowly. After the work platform leaves the rigid support, move the rigid support to the lowest point and then deflate the airbags to restore the work platform to its pre-inflation position. Step 4: Inflate the third group of airbags: Inflate the trunnion airbags of each group of the horizontal platform. Manually inflate the upper trunnion airbag and the lower trunnion airbag of the first horizontal vibration table body at the same time. The pressure of the upper trunnion airbag is inflated to P1MPa, and the pressure of the lower trunnion airbag is inflated to P2MPa. Then, inflate the other three groups of horizontal platform trunnion airbags in the same way to reach the same pressure state. Step 5: Inflate the fourth set of airbags: manually inflate the auxiliary hinge assembly airbags to a pressure equal to the difference between P1 and P2; Step 6: Inflate the fifth set of airbags: Turn on the automatic centering system of the dynamic coils of the eight vertical and horizontal vibration table bodies. The automatic centering system begins to inflate and deflate the internal dynamic coils until a balanced state is reached. Step 7: Geometric alignment status assessment: After completing steps 1 to 6 above, observe the geometric alignment status of the work platform. If the alignment status is normal, the alignment debugging is complete. If the position is deviated, the following geometric alignment position fine-tuning method is required to restore it to the centered position: Fine adjustment of the geometric center position: If deviations are found in the horizontal direction of several hydraulic ball head decoupling devices, it is necessary to slowly inflate and deflate the third and fourth groups of airbags to make adjustments. By finely inflating and defusing these two groups of airbags, the work platform can eventually be placed at the geometric center position. Step 8: Shut down the test equipment: After completing the three-axis six-degree-of-freedom vibration test, rotate the rigid support so that it contacts the bottom surface of the work platform, then close each group of airbags and deflate them, and turn off the cooling unit, power amplifier, hydraulic ball head decoupling device oil pump, and external circulation water system in turn.

2. The method according to claim 1, characterized in that The integral base airbags are sixteen airbags evenly distributed at the bottom of the system's integral base; the working platform airbags are four; the auxiliary hinge assembly airbags are four groups, and their installation positions are coaxial with the horizontal vibration table body; the dynamic coil airbags are eight groups, and the dynamic coil is located in the vibration table body. The dynamic coil reciprocates along the axial direction of the vibration table body under the constraints of the guide rollers and linear bearings.

3. The method according to claim 1, characterized in that The inflation pressure of the auxiliary hinge assembly airbag is the difference between the pressure of the airbag above the ear shaft and the pressure of the airbag below the ear shaft of the horizontal vibration table body, and the pressure difference is required to be ≥0.1MPa.

4. The method according to claim 1, wherein The geometric alignment and debugging methods of the working platform are divided into coarse adjustment and fine adjustment. Among them, fine adjustment is completed by operating the 3rd and 4th groups of airbags. The inflation of the 3rd group of airbags makes the working platform rotate clockwise, and the inflation of the 4th group of airbags makes the working platform rotate counterclockwise.

5. The method according to claim 1, wherein After the test, the order of closing the air source should be from the 5th group of air bags to the 1st group of air bags in reverse order, and the 3rd and 4th groups of air bags should be deflated at the same time.

6. The method according to claim 1, characterized in that The predetermined position is 2 mm.

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