A double-track permanent magnet suspension module three-dimensional force measuring device and measuring method

Abstract

The application relates to the technical field of measuring devices, in particular to a double-track permanent magnetic suspension module three-dimensional force measuring device and a measuring method. The device comprises a frame, a hydraulic machine, a three-dimensional force sensor, a connecting seat, a rotating seat I, a swing seat and the like. The hydraulic machine is connected to the frame, the three-dimensional force sensor is connected to the telescopic rod of the hydraulic machine, the connecting seat is connected to the bottom end of the three-dimensional force sensor, the rotating seat I is rotationally connected to the connecting seat, and the swing seat is rotationally connected to the bottom end of the rotating seat I. The hydraulic machine, the three-dimensional force sensor, the translation mechanism, the nodding mechanism, the tilting mechanism, the side deviation mechanism, the rotating mechanism and the eight-shaped structure are matched, the working conditions of the face-to-face, side deviation, nodding, tilting, rotation, eight-shaped and inverted eight-shaped between the vehicle-mounted magnet and the track magnet can be simulated, the actual force of the suspension module under different heights and relative motion speeds in each working condition can be measured by the tester, the device is simple to operate, and time and labor are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measuring devices, in particular to a double-track permanent magnetic suspension module three-dimensional force measuring device and a measuring method. BACKGROUND

[0002] In recent years, permanent magnetic suspension technology has been applied in the rail transit industry, and a permanent magnetic suspension rail transit system has been formed by combining with the air track.

[0003] In the permanent magnetic suspension transportation system "Red Rail" test line constructed by Jiangxi University of Technology, the Tianliang is in an open structure, and symmetrical track magnets are installed at the bottom thereof, and symmetrical vehicle-mounted magnets are installed at the lower part of the bogie, and the vehicle-mounted magnets and the track magnets form a permanent magnetic suspension module to generate a suspension force; however, due to processing and installation errors and the influence of dynamic load in actual operation, the actual working conditions of the bogie are complex, mainly including head-on, side deviation, nodding, tilting, rotation, eight-shaped, inverted eight-shaped and the like, and the existing technology is difficult to measure the actual force of the suspension module under different heights and relative motion speeds in each working condition, therefore, in order to measure the actual force of the suspension module under different heights and relative motion speeds in each working condition, the present application develops a double-track permanent magnetic suspension module three-dimensional force measuring device and a measuring method for measuring the actual force in three directions of the suspension module. SUMMARY

[0004] Therefore, the present application provides a double-track permanent magnetic suspension module three-dimensional force measuring device and a measuring method, which can solve the problem that the existing technology is difficult to measure the actual force of the suspension module under different heights and relative motion speeds in each working condition.

[0005] Technical solution: a three-dimensional force measuring device of a double-track permanent magnet suspension module, comprising a rack and an operating table, further comprising a hydraulic machine, a three-dimensional force sensor, a connecting seat, a rotating seat I, a swinging seat, a sliding seat, a rotating seat II, a mounting seat I, a translation mechanism, a nodding mechanism, an inclination mechanism, a side deviation mechanism, a rotating mechanism and an eight-shaped structure, the hydraulic machine is connected to the rack, the three-dimensional force sensor is connected to the telescopic rod of the hydraulic machine, the connecting seat is connected to the bottom end of the three-dimensional force sensor, the rotating seat I is rotatably connected to the connecting seat, the swinging seat is rotatably connected to the bottom end of the rotating seat I, the sliding seat is slidably connected to the bottom end of the swinging seat, the rotating seat II is rotatably connected to the bottom end of the sliding seat, the mounting seat I is rotatably connected to the bottom end of the rotating seat II, and the mounting seat I is used for mounting the vehicle-mounted magnet, the translation mechanism is used for driving the track magnet to translate, the nodding mechanism is used for driving the rotating seat I to rotate, so that the vehicle-mounted magnet and the track magnet present a nodding working condition, the inclination mechanism is used for driving the swinging seat to swing, so that the vehicle-mounted magnet and the track magnet present an inclination working condition, the side deviation mechanism is used for driving the sliding seat to slide, so that the vehicle-mounted magnet and the track magnet present a side deviation working condition, the rotating mechanism is used for driving the rotating seat II to rotate, so that the vehicle-mounted magnet and the track magnet present a rotating working condition, and the eight-shaped structure is used for driving the vehicle-mounted magnet and the track magnet to swing, so that the vehicle-mounted magnet and the track magnet present an eight-shaped working condition.

[0006] In a preferred embodiment of the present application, the translation mechanism comprises a guide rail, a sliding seat, a linear motor and a mounting seat II, the guide rail is connected to the rack, the sliding seat is slidably connected to the guide rail, the linear motor is connected to the rack, and the sliding block of the linear motor is connected to the sliding seat, and the mounting seat II is rotatably connected to the sliding seat, and the mounting seat II is used for mounting the track magnet, so that the linear motor drives the sliding seat to move to drive the track magnet to translate.

[0007] In a preferred embodiment of the present application, the nodding mechanism comprises a rotating block, a cylinder I and a sleeve, the rotating block is rotatably connected to the rotating seat I, the cylinder I is connected to the rotating block, the sleeve is rotatably connected to the connecting seat, and the sleeve is connected to the telescopic rod of the cylinder I, so that the telescopic rod of the cylinder I can push the rotating seat I to rotate on the connecting seat when the telescopic rod is elongated.

[0008] In a preferred embodiment of the present application, the inclination mechanism comprises a double-shaft motor and a full gear, the double-shaft motor is connected to the bottom end of the rotating seat I, the full gear is connected to the output shaft of the double-shaft motor, and the swinging seat is provided with tooth grooves matched with the full gear at intervals, so that the double-shaft motor can drive the swinging seat to swing when driving the full gear to rotate.

[0009] In a preferred embodiment of the present application, the side deviation mechanism comprises a cylinder II and a connecting rod, the cylinder II is connected to the swinging seat, and the connecting rod is connected to the telescopic rod of the cylinder II and the sliding seat at two ends, so that the cylinder II can drive the sliding seat to slide.

[0010] In a preferred embodiment of the present application, the rotating mechanism comprises a servo motor I, a bevel gear box I, a screw rod, a fixed rod and a movable block, the servo motor I and the bevel gear box I are connected to the sliding seat, the input end of the bevel gear box I is connected to the output shaft of the servo motor I, the screw rod is connected to the output end of the bevel gear box I, so that the servo motor I can drive the screw rod to rotate through the bevel gear box I, the sliding seat is provided with an arc-shaped groove, the fixed rod is connected to the rotating seat II and moves in the arc-shaped groove, the movable block is threadedly connected to the screw rod and movably sleeved on the fixed rod, so that when the screw rod rotates to drive the movable block to move, the movable block can pull the fixed rod to move in the arc-shaped groove and drive the rotating seat II to rotate.

[0011] In a preferred embodiment of the present application, the eight-shaped structure comprises a servo motor II, a worm I, a turbine I, a servo motor III, a bevel gear box II, a worm II and a turbine II, the servo motor II is connected to the rotating seat II, the worm I is connected to the output shaft of the servo motor II, the turbine I is connected to the mounting seat I and meshes with the worm I, so that the servo motor II can drive the worm I to rotate to drive the mounting seat I to swing and thus drive the vehicle-mounted magnet to swing, the servo motor III and the bevel gear box II are connected to the sliding seat, the input end of the bevel gear box II is connected to the output shaft of the servo motor III, the worm II is connected to the output end of the bevel gear box II, so that the servo motor III can drive the worm II to rotate through the bevel gear box II, the turbine II is connected to the mounting seat II and meshes with the worm II, so that the servo motor III can drive the worm II to rotate to drive the mounting seat II to swing and thus drive the track magnet to swing, and then the vehicle-mounted magnet and the track magnet present an eight-shaped working condition.

[0012] In a preferred embodiment of the present application, the three-dimensional force measuring device of the double-track permanent magnetic suspension module further comprises a constant temperature mechanism, the constant temperature mechanism comprises a heat preservation box, a box door, a temperature controller, a magnetic block I and a magnetic block II, the heat preservation box is connected to the rack, the box door is slidably connected to the heat preservation box, the temperature controller is connected to the heat preservation box and is used for controlling the temperature in the heat preservation box, the magnetic block I is connected to the heat preservation box, and the magnetic block II is connected to the box door, so that the box door is fixed to the heat preservation box through the magnetic attraction between the magnetic block I and the magnetic block II.

[0013] The application further provides a measuring method of the double-track permanent magnetic suspension module three-dimensional force measuring device, which comprises the following steps: firstly, installing the track magnet and the vehicle-mounted magnet on the mounting seat I and the mounting seat II respectively, then driving the vehicle-mounted magnet to lift by the hydraulic machine, so as to adjust the height difference between the vehicle-mounted magnet and the track magnet, then making the track magnet translate by the translation mechanism, so that the magnetic field between the vehicle-mounted magnet and the track magnet changes, and then the three-dimensional force sensor measures the actual force between the vehicle-mounted magnet and the track magnet in the facing condition, after the measurement, making the track magnet translate by the translation mechanism to reset, then making the vehicle-mounted magnet and the track magnet be in the nodding, tilting, side deviation, rotating, eight-shaped and inverted eight-shaped conditions by the nodding mechanism, the tilting mechanism, the side deviation mechanism, the rotating mechanism and the eight-shaped structure in sequence according to the requirement, and measuring the actual force of the suspension module at different heights and relative motion speeds in each condition in sequence.

[0014] Compared with the prior art, the application has the following advantages: 1. The hydraulic machine, the three-dimensional force sensor, the translation mechanism, the nodding mechanism, the tilting mechanism, the side deviation mechanism, the rotating mechanism and the eight-shaped structure cooperate to simulate the facing, side deviation, nodding, tilting, rotating, eight-shaped and inverted eight-shaped conditions between the vehicle-mounted magnet and the track magnet, so that the tester can measure the actual force of the suspension module at different heights and relative motion speeds in each condition, which is simple and time-saving and labor-saving.

[0015] 2. The heat preservation box, the box door and the temperature controller cooperate to control the temperature in the heat preservation box, so that the temperature in the heat preservation box is within the specified temperature range, thereby preventing the abnormal temperature from affecting the magnetic field between the track magnet and the vehicle-mounted magnet, and improving the accuracy of the measurement data. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective structural schematic view of the application.

[0017] Figure 2 It is a perspective structural schematic view of the guide rail, the slide and the linear motor.

[0018] Figure 3 It is a perspective structural schematic view of the connecting seat, the rotating seat I and the swing seat.

[0019] Figure 4 It is a perspective structural schematic view of the nodding mechanism.

[0020] Figure 5 It is a perspective structural schematic view of the tilting mechanism.

[0021] Figure 6 It is a perspective structural schematic view of the rotating mechanism.

[0022] Figure 7 Figure 1 is a perspective view of the bevel gear box I, screw rod and movable block of the present application.

[0023] Figure 8 Figure 2 is a perspective view of the servo motor III, bevel gear box II and turbine II of the present application.

[0024] Figure 9 Figure 3 is a perspective view of the bevel gear box II, worm II and turbine II of the present application.

[0025] Figure 10 Figure 4 is a perspective view of the constant temperature mechanism of the present application.

[0026] Figure 11 Figure 5 is a structure separation view of the heat preservation box and box door of the present application.

[0027] Figure 12 Figure 6 is a structure view of the present application in the normal working condition.

[0028] Figure 13 Figure 7 is a structure view of the present application in the nodding working condition.

[0029] Figure 14 Figure 8 is a structure view of the present application in the first side deviation working condition.

[0030] Figure 15 Figure 9 is a structure view of the present application in the second side deviation working condition.

[0031] Figure 16 Figure 10 is a structure view of the present application in the first tilting working condition.

[0032] Figure 17 Figure 11 is a structure view of the present application in the second tilting working condition.

[0033] Figure 18 Figure 12 is a structure view of the present application in the first rotating working condition.

[0034] Figure 19 Figure 13 is a structure view of the present application in the second rotating working condition.

[0035] Figure 20 Figure 14 is a structure view of the present application in the eight-shaped working condition.

[0036] Figure 21 Figure 15 is a structure view of the present application in the inverted eight-shaped working condition.

[0037] The reference signs of the parts in the drawings are as follows: 1, frame, 101, track magnet, 102, vehicle-mounted magnet, 2, operation table, 3, hydraulic machine, 4, three-dimensional force sensor, 5, connecting seat, 51, rotating seat I, 6, swing seat, 7, sliding seat, 8, rotating seat II, 9, mounting seat I, 10, guide rail, 11, sliding seat, 12, linear motor, 13, mounting seat II, 14, rotating block, 15, air cylinder I, 16, sleeve, 17, double-shaft motor, 18, full gear, 19, gear slot, 20, air cylinder II, 21, connecting rod, 22, servo motor I, 23, bevel gear box I, 24, screw rod, 25, arc-shaped slot, 26, fixed rod, 27, movable block, 28, servo motor II, 29, worm I, 30, turbine I, 31, servo motor III, 32, bevel gear box II, 33, worm II, 34, turbine II, 35, incubator, 36, box door, 37, temperature controller, 38, magnetic block I, 39, magnetic block II. DETAILED DESCRIPTION

[0038] Although the present application can be described in relation to a particular application or industry, those skilled in the art will recognize a broader applicability of the present application. Those of ordinary skill in the art will recognize that terms such as: above, below, upper, lower, etc., are used as descriptions of the orientation of the figures and are not meant to limit the scope of the application as defined by the appended claims. Any numerical designations such as: first or second are merely illustrative and are not intended to limit the scope of the application in any way.

[0039] Embodiment: A dual-track permanent magnetic suspension module three-dimensional force measuring device and measuring method, refer to Figures 1-9 and Figures 12-21As shown, it comprises a rack 1 and an operating table 2; the operating table 2 is connected to the right side of the rack 1; it also comprises a hydraulic machine 3, a three-dimensional force sensor 4, a connecting seat 5, a rotating seat I 51, a swing seat 6, a sliding seat 7, a rotating seat II 8, a mounting seat I 9, a translation mechanism, a nodding mechanism, an inclination mechanism, a side deviation mechanism, a rotating mechanism and an eight-shaped structure; the hydraulic machine 3 is connected to the rack 1; the three-dimensional force sensor 4 is connected to the telescopic rod of the hydraulic machine 3, and the three-dimensional force sensor 4 is electrically connected with the operating table 2; the connecting seat 5 is connected to the bottom end of the three-dimensional force sensor 4; the rotating seat I 51 is rotationally connected to the connecting seat 5; the swing seat 6 is rotationally connected to the bottom end of the rotating seat I 51; the sliding seat 7 is slidingly connected to the bottom end of the swing seat 6; two rotating seat II 8 are symmetrically rotationally connected to the bottom end of the sliding seat 7; the mounting seat I 9 is rotationally connected to the bottom end of the rotating seat II 8, and the mounting seat I 9 is used for mounting the vehicle-mounted magnet 102; the translation mechanism is used for driving the track magnet 101 to translate, so as to simulate the working condition that the vehicle-mounted magnet 102 directly faces the track magnet 101; the nodding mechanism is used for driving the rotating seat I 51 to rotate, so that the vehicle-mounted magnet 102 and the track magnet 101 present the nodding working condition; the inclination mechanism is used for driving the swing seat 6 to swing, so that the vehicle-mounted magnet 102 and the track magnet 101 present the inclination working condition; the side deviation mechanism is used for driving the sliding seat 7 to slide, so that the vehicle-mounted magnet 102 and the track magnet 101 present the side deviation working condition; the rotating mechanism is used for driving the rotating seat II 8 to rotate, so that the vehicle-mounted magnet 102 and the track magnet 101 present the rotating working condition; the eight-shaped structure is used for driving the vehicle-mounted magnet 102 and the track magnet 101 to swing, so that the vehicle-mounted magnet 102 and the track magnet 101 present the eight-shaped working condition, so as to realize the simulation of the actual stress of the suspension module under different heights and relative motion speeds in each working condition, and measure the actual stress of the suspension module under different heights and relative motion speeds in each working condition.

[0040] Referring to Figure 2 and Figure 3 As shown, the translation mechanism comprises a guide rail 10, a sliding seat 11, a linear motor 12 and a mounting seat II 13; two guide rails 10 are symmetrically connected to the rack 1; the sliding seat 11 is slidingly connected between the two guide rails 10; the linear motor 12 is connected to the rack 1, and the linear motor 12 is located between the two guide rails 10; the sliding block of the linear motor 12 is connected with the sliding seat 11, so that the linear motor 12 can drive the sliding seat 11 to move; the linear motor 12 is electrically connected with the operating table 2, and an isolation cover is installed outside the linear motor 12, so as to prevent the magnetic field in the linear motor 12 from affecting the measurement of the actual stress of the suspension module; two mounting seats II 13 are symmetrically rotationally connected to the sliding seat 11, and the mounting seat II 13 is used for mounting the track magnet 101, so that the sliding seat 11 can drive the track magnet 101 to translate when translating.

[0041] Referring to Figure 4As shown, the nodding mechanism comprises rotating block 14, cylinder I 15 and sleeve 16; rotating block 14 is rotatably connected to the left side of rotating seat I 51; two cylinders I 15 are connected to rotating block 14; sleeve 16 is rotatably connected to the left side of the upper side of connecting seat 5, and sleeve 16 is connected with the telescopic rod of cylinder I 15, so that the telescopic rod of cylinder I 15 can push rotating seat I 51 to rotate on connecting seat 5 when it is elongated.

[0042] Referring to Figure 5 As shown, the tilting mechanism comprises double-shaft motor 17 and full gear 18; double-shaft motor 17 is connected to the bottom end of rotating seat I 51, and double-shaft motor 17 is electrically connected with operation table 2, and an isolation cover is installed on the outer side of double-shaft motor 17 to prevent the magnetic field in double-shaft motor 17 from affecting the actual force measurement of the suspension module; two full gears 18 are respectively connected to the output shafts on the two sides of double-shaft motor 17; swing seat 6 is spaced apart with tooth groove 19 adapted to full gear 18, so that double-shaft motor 17 can drive swing seat 6 to swing through tooth groove 19 when driving full gear 18 to rotate.

[0043] Referring to Figure 4 and Figure 5 As shown, the side deviation mechanism comprises cylinder II 20 and connecting rod 21; two cylinders II 20 are symmetrically connected to swing seat 6; connecting rod 21 is respectively connected to the telescopic rod of cylinder II 20 and sliding seat 7 at both ends, so that cylinder II 20 can drive sliding seat 7 to slide through connecting rod 21.

[0044] Referring to Figure 6 and Figure 7 As shown, the rotating mechanism comprises servo motor I 22, bevel gear box I 23, screw rod 24, fixed rod 26 and movable block 27; servo motor I 22 is connected to the middle of sliding seat 7, and servo motor I 22 is electrically connected with operation table 2, and an isolation cover is installed on the outer side of servo motor I 22 to prevent the magnetic field in servo motor I 22 from affecting the actual force measurement of the suspension module; bevel gear box I 23 is connected to the inside of sliding seat 7, and the input end of bevel gear box I 23 is connected with the output shaft of servo motor I 22; two screw rods 24 are respectively connected to the two output ends of bevel gear box I 23, so that servo motor I 22 can drive two screw rods 24 to rotate through bevel gear box I 23; four arc-shaped grooves 25 are symmetrically formed in sliding seat 7; two fixed rods 26 are connected to the top of rotating seat II 8 on the front and back sides, and four fixed rods 26 are respectively movably arranged in four arc-shaped grooves 25; two movable blocks 27 are respectively threadedly connected to two screw rods 24, and two movable blocks 27 are respectively movably sleeved on two fixed rods 26 on the left side, so that when screw rod 24 rotates to drive movable block 27 to move, movable block 27 can pull fixed rod 26 to move in arc-shaped groove 25 and drive rotating seat II 8 to rotate.

[0045] Referring to Figures 7-9As shown in the figure, the eight-shaped structure comprises servo motor II 28, worm I 29, turbine I 130, servo motor III 31, bevel gear box II 32, worm II 33 and turbine II 34; the servo motor II 28 is connected to the side of the rotating seat II 8 close to each other, the servo motor II 28 is electrically connected with the operation platform 2, and the outer side of the servo motor II 28 is provided with an isolation cover to prevent the magnetic field in the servo motor II 28 from affecting the actual stress measurement of the suspension module; the worm I 29 is connected to the output shaft of the servo motor II 28; the turbine I 130 is connected to the mounting seat I 9, and the turbine I 130 is engaged with the worm I 29, so that the servo motor II 28 drives the worm I 29 to rotate to drive the mounting seat I 9 to swing, thereby driving the vehicle magnet 102 to swing; two servo motors III 31 are symmetrically connected to the sliding seat 11, the servo motor III 31 is electrically connected with the operation platform 2, and the outer side of the servo motor III 31 is provided with an isolation cover to prevent the magnetic field in the servo motor II 28 from affecting the actual stress measurement of the suspension module; two bevel gear boxes II 32 are symmetrically connected to the sliding seat 11, and the input end of the bevel gear box II 32 is connected with the output shaft of the servo motor III 31; the two output ends of the bevel gear box II 32 are both connected with the worm II 33, so that the servo motor III 31 can drive the worm II 33 to rotate through the bevel gear box II 32; the left and right sides of the mounting seat II 13 are both connected with the turbine II 34, and the turbine II 34 is engaged with the worm II 33, so that the servo motor III 31 drives the worm II 33 to rotate to drive the mounting seat II 13 to swing, thereby driving the track magnet 101 to swing, and further making the vehicle magnet 102 and the track magnet 101 present an eight-shaped working condition.

[0046] In use, the track magnet 101 and the vehicle magnet 102 are respectively installed on the mounting seat I 9 and the mounting seat II 13, so that the track magnet 101 is directly below the vehicle magnet 102, thereby making the vehicle magnet 102 and the track magnet 101 present a directly opposite working condition, then the three-dimensional force sensor 4, the connecting seat 5, the rotating seat I 51, the swinging seat 6, the sliding seat 7, the rotating seat II 8, the mounting seat I 9 and the vehicle magnet 102 are driven upward or downward by the hydraulic machine 3, so as to adjust the height difference between the vehicle magnet 102 and the track magnet 101, after adjustment, the sliding seat 11 is driven to move rightward by the linear motor 12, thereby driving the mounting seat II 13 and the track magnet 101 to move rightward, and further simulating the actual stress condition of the track magnet 101 and the vehicle magnet 102 under the relative motion speed in the directly opposite working condition, as shown in the figure. Figure 12 During the period, the three-dimensional force sensor 4 measures the actual stress between the track magnet 101 and the vehicle magnet 102 in the directly opposite working condition, and displays the measurement data on the operation platform 2 for the tester to watch, after the measurement is completed, the sliding seat 11 is driven to move leftward to reset by the linear motor 12, thereby driving the mounting seat II 13 and the track magnet 101 to move leftward to reset, so that the track magnet 101 is again directly below the vehicle magnet 102.

[0047] When the actual force between the track magnet 101 and the vehicle-mounted magnet 102 at the relative motion speed in the nodding working condition needs to be simulated, the telescopic rod of the air cylinder 115 is controlled to be elongated, so that the air cylinder 115 drives the rotating seat 151 to rotate counterclockwise on the connecting seat 5, thereby driving the swing seat 6, the sliding seat 7, the rotating seat 8, the mounting seat 9 and the vehicle-mounted magnet 102 to rotate counterclockwise, so that the vehicle-mounted magnet 102 is in a left-low and right-high inclined state, and the vehicle-mounted magnet 102 and the track magnet 101 are in the nodding working condition, as shown in FIG. 5; Figure 13 After that, the above operation can be repeated to measure the actual force between the track magnet 101 and the vehicle-mounted magnet 102 in the nodding working condition. After the measurement is completed, the telescopic rod of the air cylinder 115 is controlled to be shortened, so that the air cylinder 115 drives the rotating seat 151 to rotate clockwise on the connecting seat 5 to reset, thereby driving the swing seat 6, the sliding seat 7, the rotating seat 8, the mounting seat 9 and the vehicle-mounted magnet 102 to rotate clockwise to reset, so that the vehicle-mounted magnet 102 is in a horizontal state;

[0048] When the actual force between the track magnet 101 and the vehicle-mounted magnet 102 at the relative motion speed in the side deviation working condition needs to be simulated, the air cylinder 220 is controlled to drive the connecting rod 21 to drive the sliding seat 7 to move forward or backward, thereby driving the rotating seat 8, the mounting seat 9 and the vehicle-mounted magnet 102 to move forward or backward, so that the vehicle-mounted magnet 102 is no longer aligned with the track magnet 101, and the vehicle-mounted magnet 102 and the track magnet 101 are in the side deviation working condition, as shown in FIG. 6; Figure 14 Figure 15 After that, the above operation can be repeated to measure the actual force between the track magnet 101 and the vehicle-mounted magnet 102 in the side deviation working condition. After the measurement is completed, the air cylinder 220 is controlled to drive the connecting rod 21 to drive the sliding seat 7 to move to reset, thereby driving the rotating seat 8, the mounting seat 9 and the vehicle-mounted magnet 102 to move to reset, so that the vehicle-mounted magnet 102 is aligned with the track magnet 101;

[0049] When the actual force between the track magnet 101 and the vehicle-mounted magnet 102 at the relative motion speed in the inclined working condition needs to be simulated, the biaxial motor 17 is controlled to drive the full gear 18 to rotate or reverse, thereby driving the swing seat 6, the sliding seat 7, the rotating seat 8, the mounting seat 9 and the vehicle-mounted magnet 102 to swing forward or backward, so that the vehicle-mounted magnet 102 is in a front-high and rear-low or front-low and rear-high inclined state, and the vehicle-mounted magnet 102 and the track magnet 101 are in the inclined working condition, as shown in FIG. 7; Figure 16 Figure 17 ​​As shown; then the above operation can be repeated to measure the actual force between the track magnet 101 and the vehicle magnet 102 when in the tilted condition. After the measurement is completed, the dual-axis motor 17 is controlled by the operating panel 2 to drive the full gear 18 to rotate and reset, thereby driving the swing seat 6, sliding seat 7, rotating seat II 8, mounting seat I 9 and vehicle magnet 102 to swing and reset, so that the vehicle magnet 102 is in a horizontal state;

[0050] When it is necessary to simulate the actual force conditions of the track magnet 101 and the vehicle-mounted magnet 102 under relative motion speeds during rotation, the servo motor I 22 can be controlled by the control panel 2 to drive the lead screw 24 to rotate or reverse, thereby causing the movable block 27 to move towards or away from each other. This, in turn, causes the movable block 27 to pull the fixed rod 26, causing the rotating seat II 8 to rotate or reverse, thereby causing the mounting seat I 9 and the vehicle-mounted magnet 102 to rotate or reverse. This results in the vehicle-mounted magnet 102 and the track magnet 101 no longer being aligned, thus presenting a rotating condition for both. Figure 18 and Figure 19 As shown; then the above operation can be repeated to measure the actual force between the track magnet 101 and the vehicle magnet 102 when in the rotating condition. After the measurement is completed, the servo motor I 22 is controlled by the operating panel 2 to drive the lead screw 24 to rotate and reset, thereby driving the movable block 27 to move and reset, and then the movable block 27 pulls the fixed rod 26 to drive the rotating seat II 8 to rotate and reset, thereby driving the mounting seat I 9 and the vehicle magnet 102 to rotate and reset, so that the vehicle magnet 102 is aligned with the track magnet 101;

[0051] When it is necessary to simulate the actual force conditions of the track magnet 101 and the vehicle magnet 102 under relative motion speeds in a figure-eight or inverted figure-eight configuration, the servo motor II 28 can be controlled by the control panel 2 to drive the worm gear I 29 to rotate or reverse, thereby causing the turbine I 30, mounting base I 9, and vehicle magnet 102 to swing towards or away from each other. Then, the servo motor III 31 can be controlled by the control panel 2 to drive the worm gear II 33 to rotate or reverse, thereby causing the turbine II 34, mounting base II 13, and track magnet 101 to swing towards or away from each other, thus creating a figure-eight or inverted figure-eight configuration between the track magnet 101 and the vehicle magnet 102. Figure 20 and Figure 21As shown; after that, the above operation can be repeated to measure the actual force between the track magnet 101 and the vehicle-mounted magnet 102 in the eight-shaped or inverted eight-shaped working condition, and after the measurement is completed, the servo motor II 28 is controlled by the operation platform 2 to drive the worm I 29 to rotate and reset, thereby driving the turbine I 30, the mounting seat I 9 and the vehicle-mounted magnet 102 to swing and reset, and then the servo motor III 31 is controlled by the operation platform 2 to drive the worm II 33 to rotate and reset, thereby driving the turbine II 34, the mounting seat II 13 and the track magnet 101 to swing and reset.

[0052] In this way, the actual force of the suspension module in different heights and relative motion speeds under each working condition can be measured by the above operation, and after all the measurements are completed, the track magnet 101 and the vehicle-mounted magnet 102 can be removed from the mounting seat I 9 and the mounting seat II 13, respectively.

[0053] Referring to Figure 10 and Figure 11 As shown, the three-dimensional force measuring device of the double-track permanent magnet suspension module further comprises a constant temperature mechanism, and the constant temperature mechanism comprises a heat preservation box 35, a box door 36, a temperature controller 37, a magnetic block I 38 and a magnetic block II 39. The heat preservation box 35 is connected to the top of the rack 1, and the heat preservation box 35 is made of glass material so that the tester can see the inside of the heat preservation box 35. The box door 36 is slidingly connected to the heat preservation box 35, and the box door 36 is made of glass material so that the tester can see the inside of the heat preservation box 35. The temperature controller 37 is connected to the top of the heat preservation box 35, and the temperature controller 37 is used for temperature control in the heat preservation box 35. Two magnetic blocks I 38 are connected to the left and right sides of the heat preservation box 35. Two magnetic blocks II 39 are connected to the left and right sides of the box door 36. The magnetic force of the magnetic block I 38 and the magnetic block II 39 can attract each other to fix the box door 36 on the heat preservation box 35.

[0054] In use, first pull the box door 36 to move downward to open, so that the upper magnetic block II 39 is separated from the upper magnetic block I 38, the lower magnetic block II 39 is separated from the lower magnetic block I 38, and the upper magnetic block II 39 is in contact with the lower magnetic block I 38, so that the lower magnetic block I 38 and the upper magnetic block II 39 are attracted by magnetic force to fix the box door 36, then the track magnet 101 and the vehicle-mounted magnet 102 are installed on the mounting seat I 9 and the mounting seat II 13 respectively, after the track magnet 101 and the vehicle-mounted magnet 102 are installed, pull the box door 36 to move upward to close, so that the upper magnetic block II 39 is separated from the lower magnetic block I 38, and the upper magnetic block II 39 is in contact with the upper magnetic block I 38, and the lower magnetic block II 39 is in contact with the lower magnetic block I 38, so that the magnetic block II 39 and the magnetic block I 38 are fixed to the box door 36 by magnetic force, then the temperature of the inside of the heat preservation box 35 is controlled by the temperature controller 37, so that the inside of the heat preservation box 35 is in a specified temperature range, thereby preventing temperature anomalies from affecting the magnetic field between the track magnet 101 and the vehicle-mounted magnet 102; then when the track magnet 101 and the vehicle-mounted magnet 102 need to be removed from the mounting seat I 9 and the mounting seat II 13 respectively, the above operation is repeated.

[0055] Referring to Figures 1-9 As shown in the drawings, the application also provides a measuring method of a double-track permanent magnetic suspension module three-dimensional force measuring device, comprising the following steps: first, the track magnet 101 and the vehicle-mounted magnet 102 are installed on the mounting seat I 9 and the mounting seat II 13 respectively, then the vehicle-mounted magnet 102 is driven to rise and fall by the hydraulic machine 3, so as to adjust the height difference between the vehicle-mounted magnet 102 and the track magnet 101, then the track magnet 101 is translated by the translation mechanism, so that the magnetic field between the vehicle-mounted magnet 102 and the track magnet 101 changes, and then the three-dimensional force sensor 4 measures the actual force between the track magnet 101 and the vehicle-mounted magnet 102 in the directly opposite working condition, after the measurement, the track magnet 101 is translated to reset by the translation mechanism, then the vehicle-mounted magnet 102 and the track magnet 101 are in the nodding, tilting, side deviation, rotating, eight-shaped and inverted eight-shaped working conditions in turn by the nodding mechanism, tilting mechanism, side deviation mechanism, rotating mechanism and eight-shaped structure according to the requirements, and the actual force of the suspension module in different heights and relative motion speeds in each working condition is measured in turn.

[0056] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A double-track permanent magnetic levitation module three-dimensional force measuring device, comprising a frame (1) and an operating table (2), characterized in that, The hydraulic machine (3) is connected to the rack (1), the three-dimensional force sensor (4) is connected to the telescopic rod of the hydraulic machine (3), the connecting seat (5) is connected to the bottom end of the three-dimensional force sensor (4), the rotary seat I (51) is rotatably connected to the connecting seat (5), the swing seat (6) is rotatably connected to the bottom end of the rotary seat I (51), the sliding seat (7) is slidably connected to the bottom end of the swing seat (6), the rotary seat II (8) is rotatably connected to the bottom end of the sliding seat (7), the mounting seat I (9) is rotatably connected to the bottom end of the rotary seat II (8), and the mounting seat I (9) is used for mounting the vehicle-mounted magnet (102), the translation mechanism is used for driving the track magnet (101) to translate, the nodding mechanism is used for driving the rotary seat I (51) to rotate, so that the vehicle-mounted magnet (102) and the track magnet (101) present a nodding working condition, the tilting mechanism is used for driving the swing seat (6) to swing, so that the vehicle-mounted magnet (102) and the track magnet (101) present a tilting working condition, the side deviation mechanism is used for driving the sliding seat (7) to slide, so that the vehicle-mounted magnet (102) and the track magnet (101) present a side deviation working condition, the rotating mechanism is used for driving the rotary seat II (8) to rotate, so that the vehicle-mounted magnet (102) and the track magnet (101) present a rotating working condition, and the eight-shaped structure is used for driving the vehicle-mounted magnet (102) and the track magnet (101) to swing, so that the vehicle-mounted magnet (102) and the track magnet (101) present an eight-shaped working condition.

2. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 1, characterised in that, The translation mechanism comprises a guide rail (10), a sliding seat (11), a linear motor (12) and a mounting seat II (13), the guide rail (10) is connected to the rack (1), the sliding seat (11) is slidably connected to the guide rail (10), the linear motor (12) is connected to the rack (1), and the sliding block of the linear motor (12) is connected with the sliding seat (11), the mounting seat II (13) is rotatably connected to the sliding seat (11), and the mounting seat II (13) is used for mounting the track magnet (101), so that the linear motor (12) drives the sliding seat (11) to move to drive the track magnet (101) to translate.

3. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 2, characterised in that, The nodding mechanism comprises a rotating block (14), a cylinder I (15) and a sleeve (16), the rotating block (14) is rotatably connected to the rotary seat I (51), the cylinder I (15) is connected to the rotating block (14), the sleeve (16) is rotatably connected to the connecting seat (5), and the sleeve (16) is connected with the telescopic rod of the cylinder I (15), so that the telescopic rod of the cylinder I (15) can push the rotary seat I (51) to rotate on the connecting seat (5) when the telescopic rod is elongated.

4. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 3, characterised in that, The tilting mechanism comprises a double-shaft motor (17) connected to the bottom end of the rotating seat I (51) and a full gear (18) connected to the output shaft of the double-shaft motor (17), and the swing seat (6) is provided with tooth grooves (19) adapted to the full gear (18) at intervals, so that the double-shaft motor (17) can drive the swing seat (6) to swing when driving the full gear (18) to rotate.

5. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 4, characterised in that, The side deviation mechanism comprises a cylinder II (20) connected to the swing seat (6) and a connecting rod (21) connected to the telescopic rod of the cylinder II (20) and the sliding seat (7) at both ends, so that the cylinder II (20) can drive the sliding seat (7) to slide.

6. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 5, characterised in that, The rotating mechanism comprises a servo motor I (22), a bevel gear box I (23), a lead screw (24), a fixed rod (26) and a movable block (27), wherein the servo motor I (22) and the bevel gear box I (23) are both connected to the sliding seat (7), the input end of the bevel gear box I (23) is connected to the output shaft of the servo motor I (22), the lead screw (24) is connected to the output end of the bevel gear box I (23), so that the servo motor I (22) can drive the lead screw (24) to rotate through the bevel gear box I (23), the sliding seat (7) is provided with an arc-shaped groove (25), the fixed rod (26) is connected to the rotating seat II (8) and moves in the arc-shaped groove (25), and the movable block (27) is threadedly connected to the lead screw (24) and movably sleeved on the fixed rod (26), so that when the lead screw (24) rotates to drive the movable block (27) to move, the movable block (27) can pull the fixed rod (26) to move in the arc-shaped groove (25) and drive the rotating seat II (8) to rotate.

7. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 6, characterised in that, The eight-shaped structure comprises a servo motor II (28), a worm I (29), a turbine I (30), a servo motor III (31), a bevel gear box II (32), a worm II (33) and a turbine II (34), the servo motor II (28) is connected to the rotating seat II (8), the worm I (29) is connected to the output shaft of the servo motor II (28), the turbine I (30) is connected to the mounting seat I (9), and the turbine I (30) is engaged with the worm I (29), so that the servo motor II (28) drives the worm I (29) to rotate to drive the mounting seat I (9) to swing, thereby driving the vehicle-mounted magnet (102) to swing, the servo motor III (31) and the bevel gear box II (32) are connected to the sliding seat (11), and the input end of the bevel gear box II (32) is connected with the output shaft of the servo motor III (31), the worm II (33) is connected to the output end of the bevel gear box II (32), so that the servo motor III (31) can drive the worm II (33) to rotate through the bevel gear box II (32), the turbine II (34) is connected to the mounting seat II (13), and the turbine II (34) is engaged with the worm II (33), so that the servo motor III (31) drives the worm II (33) to rotate to drive the mounting seat II (13) to swing, thereby driving the track magnet (101) to swing, and further enabling the vehicle-mounted magnet (102) and the track magnet (101) to present an eight-shaped working condition.

8. A dual track permanent magnetic levitation module three dimensional force measurement device according to claim 7, characterised in that, The three-dimensional force measuring device of the double-track permanent magnet suspension module further comprises a constant temperature mechanism, the constant temperature mechanism comprises a heat preservation box (35), a box door (36), a temperature controller (37), a magnetic block I (38) and a magnetic block II (39), the heat preservation box (35) is connected to the rack (1), the box door (36) is slidingly connected to the heat preservation box (35), the temperature controller (37) is connected to the heat preservation box (35), and the temperature controller (37) is used for temperature control in the heat preservation box (35), the magnetic block I (38) is connected to the heat preservation box (35), the magnetic block II (39) is connected to the box door (36), and the magnetic force of the magnetic block I (38) and the magnetic block II (39) is attracted, so that the box door (36) is fixed on the heat preservation box (35).

9. A measurement method for a three-dimensional force measurement device for a dual-track permanent magnet levitation module according to any one of claims 1-8, characterized in that, It comprises the following steps: firstly, installing the track magnet (101) and the vehicle-mounted magnet (102) on the mounting seat I (9) and the mounting seat II (13) respectively, then driving the vehicle-mounted magnet (102) to lift by the hydraulic machine (3), so as to adjust the height difference between the vehicle-mounted magnet (102) and the track magnet (101), then making the track magnet (101) translate by the translation mechanism, so as to make the magnetic field between the vehicle-mounted magnet (102) and the track magnet (101) change, and then make the three-dimensional force sensor (4) measure the actual force between the track magnet (101) and the vehicle-mounted magnet (102) in the facing working condition, after the measurement, making the track magnet (101) translate and reset by the translation mechanism, then making the vehicle-mounted magnet (102) and the track magnet (101) be in the nodding, tilting, side deviation, rotation and eight-shaped working condition by the nodding mechanism, tilting mechanism, side deviation mechanism, rotating mechanism and eight-shaped structure in turn according to the requirement, and measuring the actual force of the suspension module under different heights and relative motion speeds in each working condition in turn; driving the sliding seat (11) to move to the right by the linear motor (12), so as to drive the mounting seat II (13) and the track magnet (101) to move to the right, and then simulate the actual force of the track magnet (101) and the vehicle-mounted magnet (102) under the relative motion speed in the facing working condition.

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