A multifunctional test platform and its usage method

Abstract

This application relates to a multifunctional test platform and its usage method, belonging to the field of bridge engineering equipment technology. The platform includes a base plate; a mounting base disposed on the base plate, with a detachable mounting interface for fixed or rotatable connection to one end of the test piece; and a movable platform including a movable connecting plate and an actuating mechanism. The fixed end of the actuating mechanism is connected to the mounting base, and the movable end is connected to the movable connecting plate, which is used to connect to the other end of the test piece. Based on the expected test type, both ends of the test piece are connected to the movable connecting plate and the mounting base respectively, and test parameters are determined. According to the test parameters, the actuating mechanism drives the movable connecting plate to displacement. Because the displacement of the movable connecting plate can be determined according to the expected test type, multiple different tests can be performed on the same platform, allowing for a better and more realistic simulation of the test piece's usage state.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering equipment technology, specifically to a multifunctional testing platform and its usage method. Background Technology

[0002] With the development of civil engineering design, research, and construction technologies, the civil engineering construction industry is flourishing. Civil engineering design is trending towards lighter structures and larger spans. Such civil engineering projects are prone to large deformations and vibrations under dynamic loads, especially moving loads. Excessive deformation and vibration can increase the internal stress of bridges, reducing their durability. Related technologies require testing of various civil engineering specimens, including damper specimens and bearing specimens.

[0003] In the existing technology, the tests of damper specimens are mostly axial tension and compression tests, while the tests of support specimens are mostly compression and shear tests (the support specimen is subjected to a certain pressure in the axial direction, and then a shear force in the lateral direction is applied).

[0004] However, in field use, the actual stress boundaries of the specimens are quite complex, often involving more than just tension, compression, or shear. This makes it difficult for the reliability of the specimens in practical applications to effectively correspond with existing test results, posing certain potential risks in their use. Summary of the Invention

[0005] This application provides a multifunctional testing platform and its usage method, which can solve the problem that in the field use of the prior art, the actual stress boundary of the specimen is relatively complex, often not just tension or compression or compression and shear, making it difficult for the reliability of the specimen in actual application to effectively correspond with the existing test results, and posing certain potential risks in use.

[0006] In a first aspect, embodiments of this application provide a multifunctional testing platform, which includes:

[0007] Platform base plate;

[0008] A mounting base is provided on the platform base plate, and the mounting base is provided with a detachable mounting interface for fixed or rotatable connection to one end of the test piece;

[0009] The active platform includes a movable connecting plate and an actuating mechanism. The fixed end of the actuating mechanism is connected to the mounting base, and the movable end is connected to the movable connecting plate. The movable connecting plate is used to connect to the other end of the test piece.

[0010] In one embodiment, the actuating mechanism includes multiple sets of actuating units, each set of actuating units having one end spaced apart circumferentially along the movable connecting plate and the other end connected to the mounting base. Each actuating unit includes:

[0011] Two sets of actuators, one end of which is rotatably connected to the mounting base and the other end of which is rotatably connected to the movable connecting plate. The distance between the ends of the two sets of actuators connected to the mounting base is less than the distance between the ends connected to the movable connecting plate.

[0012] A drive unit is used to drive the actuator to move in order to adjust the spatial position of the movable connecting plate.

[0013] In one embodiment, both the movable connecting plate and the mounting base are provided with Hooke's hinges matching the number of the actuating units. The Hooke's hinges are rotatably connected to two sets of actuators. The Hooke's hinges on the mounting base are correspondingly arranged with the actuating units. The Hooke's hinges on the movable connecting plate are rotatably connected to two sets of actuators that are close to each other in two adjacent actuating units.

[0014] In one embodiment, the Hooke's hinge includes:

[0015] The mounting base has two mounting holes spaced apart on it.

[0016] Two rotating columns are rotatably disposed within the mounting holes, with their ends extending out of the mounting holes;

[0017] A hinge seat corresponding to the rotating column is disposed at one end of the rotating column that extends out of the mounting hole and is rotatably connected to the actuator.

[0018] In one embodiment, the actuator is a telescopic rod, and the drive unit includes a controller correspondingly disposed on the actuator. The controller is used to drive the actuator to extend, retract, and rotate in order to adjust the spatial position of the movable connecting plate.

[0019] In one embodiment, the mounting base includes:

[0020] An installation platform is provided on the platform base plate, and the installation platform is provided with a sliding groove.

[0021] A sliding crossbeam is slidably mounted on the slide groove, and the sliding crossbeam is provided with the mounting interface.

[0022] In one embodiment, the mounting platform has a mounting plate on the side near the movable platform, and the longitudinal cross-sectional area of ​​the mounting plate is larger than the longitudinal cross-sectional area of ​​the mounting platform.

[0023] Secondly, embodiments of this application also provide a method for using a multifunctional testing platform, which is implemented using the aforementioned multifunctional testing platform, including:

[0024] According to the expected test type, connect both ends of the test piece to the movable connecting plate and the mounting base respectively, and determine the test parameters;

[0025] Based on the test parameters, the movable connecting plate was displaced using an actuation mechanism.

[0026] In one embodiment, the step of driving the movable connecting plate to displacement using an actuating mechanism according to test parameters includes:

[0027] Based on the test parameters, determine the desired spatial position of the movable connecting plate;

[0028] The theoretical adjustment amount of the actuator is obtained based on the desired spatial position of the movable connecting plate;

[0029] Based on the theoretical adjustment amount of the actuator and the actual spatial position of the movable connecting plate, the motion deviation value of the actuator is obtained;

[0030] Based on the theoretical adjustment amount of the actuator and the motion deviation value of the actuator, the actual adjustment amount of the actuator is obtained and adjusted accordingly.

[0031] In one embodiment, the step of driving the movable connecting plate to displacement using an actuating mechanism according to test parameters includes:

[0032] Based on the test parameters, determine the desired force and / or desired displacement for adjusting the movable connecting plate to the desired spatial position;

[0033] Obtain the detected deviation from stress and / or displacement, and based on the desired force and / or desired displacement, and the deviation from stress and / or displacement, obtain the actual input force and / or actual input displacement.

[0034] The beneficial effects of the technical solutions provided in this application include:

[0035] When installing this multifunctional testing platform, the mounting base is placed on the platform's base plate. The mounting base has a detachable mounting interface for fixed or rotatable connection to one end of the test piece. The movable platform includes a movable connecting plate and an actuating mechanism. The fixed end of the actuating mechanism is connected to the mounting base, and the movable end is connected to the movable connecting plate, which is used to connect to the other end of the test piece. Based on the expected test type, both ends of the test piece are connected to the movable connecting plate and the mounting base respectively, and the test parameters are determined. According to the test parameters, the actuating mechanism drives the movable connecting plate to displacement. Because the displacement of the movable connecting plate can be determined according to the expected test type, multiple different tests can be performed on the same platform. This allows for a better and more realistic simulation of the test piece's usage state, solving the problem in existing technologies where the actual stress boundaries of the test piece in field use are complex, often not limited to tension / compression or compression / shear, making it difficult to effectively correlate the reliability of the test piece in practical applications with existing test results, thus posing certain potential usage risks. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of an embodiment of a multifunctional test platform according to the present invention.

[0038] Figure 2 This is a front view structural diagram of an embodiment of a multifunctional test platform according to the present invention.

[0039] Figure 3 This is a schematic diagram of the structure from the left side of an embodiment of a multifunctional test platform according to the present invention.

[0040] Figure 4 This is a schematic diagram of the structure from the right side of an embodiment of a multifunctional test platform according to the present invention.

[0041] Figure 5 This is a schematic diagram of the Hooke's hinge structure on the movable connecting plate in an embodiment of a multifunctional test platform of the present invention.

[0042] Figure 6 This is a schematic diagram of the actuation mechanism in an embodiment of a multifunctional test platform according to the present invention.

[0043] Figure 7 This is a schematic diagram of the Hooke's hinge in an embodiment of a multifunctional test platform of the present invention.

[0044] Figure 8 This is a schematic diagram of the first control method in an embodiment of the usage method of a multifunctional test platform of the present invention.

[0045] Figure 9 This is a schematic diagram of the second control method in an embodiment of the usage method of a multifunctional test platform of the present invention.

[0046] Figure 10 This is a schematic diagram of the third control method in an embodiment of the usage method of a multifunctional test platform of the present invention.

[0047] In the diagram: 1. Platform base plate; 2. Mounting seat; 21. Mounting interface; 22. Sliding crossbeam; 23. Mounting platform; 231. Slide groove; 24. Mounting plate; 3. Test piece; 4. Movable platform; 41. Movable connecting plate; 42. Actuating mechanism; 421. Actuator; 422. Controller; 5. Hooke hinge; 51. Fixed seat; 52. Rotating column; 53. Hinge seat; 6. Extended mounting plate. Detailed Implementation

[0048] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0049] This application provides a multifunctional testing platform and its usage method, which can solve the problem that in the field use of the prior art, the actual stress boundary of the specimen is relatively complex, often not just tension or compression or compression and shear, making it difficult for the reliability of the specimen in actual application to effectively correspond with the existing test results, and posing certain potential risks in use.

[0050] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application provides a multifunctional test platform, which includes:

[0051] Platform base plate 1;

[0052] Mounting base 2 is set on platform base plate 1. Mounting base 2 is provided with detachable mounting interface 21, which is used to fix or rotatably connect to one end of the test piece 3.

[0053] The active platform 4 includes an active connecting plate 41 and an actuating mechanism 42. The fixed end of the actuating mechanism 42 is connected to the mounting base 2, and the active end is connected to the active connecting plate 41. The active connecting plate 41 is used to connect to the other end of the test piece 3.

[0054] When installing this multifunctional test platform, the mounting base 2 is set on the platform base plate 1. The mounting base 2 is equipped with a detachable mounting interface 21, which is used to fix or rotatably connect to one end of the test piece 3. The movable platform 4 includes a movable connecting plate 41 and an actuating mechanism 42. The fixed end of the actuating mechanism 42 is connected to the mounting base 2, and the movable end is connected to the movable connecting plate 41. The movable connecting plate 41 is used to connect to the other end of the test piece 3. According to the expected test type, both ends of the test piece 3 are connected to the movable connecting plate 41 and the mounting base 2 respectively, and the test parameters are determined. According to the test parameters, the actuating mechanism 42 drives the movable connecting plate 41 to move. Since the displacement of the movable connecting plate 41 can be determined according to the expected test type, multiple different tests can be carried out on the same platform. This can better and more realistically simulate the usage state of the test piece 3, solving the problem that in the field use of the prior art, the actual stress boundary of the test piece is relatively complex, often not just tension or compression or shear, making it difficult for the reliability of the test piece in actual application to effectively correspond with the existing test results, and posing certain potential risks in use.

[0055] In this example, the multi-functional testing platform can perform tests on the tensile, compressive, bending, shear, and torsional properties of structural components with multiple degrees of freedom. It has the ability to accurately reproduce waveforms such as sine waves, random waves, and seismic waves. It can perform performance tests on mid-span dampers, conventional viscous dampers, metal damper coupling tests, horizontal unidirectional vibration tests, horizontal bidirectional vibration tests, six-degree-of-freedom excitation tests, expansion joint wheel load tests, and bridge orthotropic plate performance tests.

[0056] In this example, the movable connecting plate 41 is at a set distance from the end of the platform base plate 1 away from the mounting base 2, which can reserve a position for temporary installation work.

[0057] like Figure 1 , Figure 2 and Figure 6 As shown, in some optional embodiments, the actuation mechanism 42 includes multiple sets of actuation units. One end of each set of actuation units is spaced apart circumferentially along the movable connecting plate 41, and the other end is connected to the mounting base 2. Each actuation unit includes:

[0058] Two sets of actuators 421, one end of which is rotatably connected to the mounting base 2 and the other end of which is rotatably connected to the movable connecting plate 41. The distance between the ends of the two sets of actuators 421 connected to the mounting base 2 is less than the distance between the ends of which are connected to the movable connecting plate 41.

[0059] A drive unit is used to drive the actuator 421 to move in order to adjust the spatial position of the movable connecting plate 41.

[0060] In this embodiment, the specific structure of the actuation mechanism 42 is described. The actuation mechanism 42 includes multiple sets of actuation units. One end of each set of actuation units is spaced apart around the movable connecting plate 41, and the other end is connected to the mounting base 2. Each actuation unit includes two sets of actuators 421 and a drive unit. One end of each actuator 421 is rotatably connected to the mounting base 2, and the other end is rotatably connected to the movable connecting plate 41. The distance between the ends of the two sets of actuators 421 connected to the mounting base 2 is smaller than the distance between the ends connected to the movable connecting plate 41. The drive unit is used to drive the actuators 421 to move in order to adjust the spatial position of the movable connecting plate 41. The structure is simple and easy to manufacture.

[0061] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, in some optional embodiments, both the movable connecting plate 41 and the mounting base 2 are provided with Hooke hinges 5 matching the number of actuation units. The Hooke hinges 5 are rotatably connected to two sets of actuators 421. The Hooke hinges 5 on the mounting base 2 are correspondingly arranged with the actuation units. The Hooke hinges 5 on the movable connecting plate 41 are rotatably connected to two sets of actuators 421 that are close to each other in two adjacent actuation units.

[0062] In this embodiment, both the movable connecting plate 41 and the mounting base 2 are provided with Hooke hinges 5 that match the number of actuation units. The Hooke hinges 5 are rotatably connected to two sets of actuators 421. The Hooke hinges 5 on the mounting base 2 are correspondingly arranged with the actuation units. The Hooke hinges 5 on the movable connecting plate 41 are rotatably connected to two sets of actuators 421 that are close to each other in two adjacent actuation units. The connection structure is stable and the movement process is safer.

[0063] In this example, the actuation mechanism 42 includes three sets of actuation units, and two sets of actuators 421 that are close to each other in two adjacent actuation units are connected to one of the Hooke hinges 5 on the movable connecting plate 41.

[0064] like Figure 6 and Figure 7 As shown, in some optional embodiments, the Hooke hinge 5 includes:

[0065] The mounting base 51 has two mounting holes spaced apart on it;

[0066] Two rotating posts 52 are rotatably disposed in the mounting holes, with their ends extending out of the mounting holes;

[0067] The hinge seat 53, which is provided corresponding to the rotating column 52, is located at the end of the rotating column 52 that extends out of the mounting hole and is rotatably connected to the actuator 421.

[0068] In this embodiment, the structure of the Hooke hinge 5 is specifically described. The Hooke hinge 5 includes a fixed base 51, two rotating columns 52, and two hinge seats 53. The fixed base 51 has two mounting holes spaced apart. The rotating columns 52 are rotatably disposed in the mounting holes and their ends extend out of the mounting holes. The hinge seats 53 are disposed corresponding to the rotating columns 52 and are disposed at the ends of the rotating columns 52 that extend out of the mounting holes. They are rotatably connected to the actuator 421, resulting in a better connection effect. Compared with the Hooke hinge 5, the ball joint is less stable. Its own weight may cause torsion around the axis. Torsion around the axis may cause the oil circuit of the drive unit to be subjected to tensile force, which may lead to structural damage.

[0069] like Figure 2 and Figure 6 As shown, in some optional embodiments, the actuator 421 is a telescopic rod, and the drive unit includes a controller 422 correspondingly disposed on the actuator 421. The controller 422 is used to drive the actuator 421 to extend, retract and rotate in order to adjust the spatial position of the movable connecting plate 41.

[0070] In this embodiment, the actuator 421 is a telescopic rod, and the driving unit includes a controller 422 correspondingly disposed on the actuator 421. The controller 422 is used to drive the actuator 421 to extend, retract and rotate in order to adjust the spatial position of the movable connecting plate 41. The structure is simple and easy to manufacture.

[0071] like Figure 1 , Figure 2 and Figure 4 As shown, in some optional embodiments, the mounting base 2 includes:

[0072] Mounting platform 23 is set on platform base plate 1, and mounting platform 23 is provided with sliding groove 231;

[0073] A sliding crossbeam 22 is slidably mounted on a slide groove 231, and an installation interface 21 is provided on the sliding crossbeam 22.

[0074] In this embodiment, the specific structure of the mounting base 2 is described. The mounting base 2 includes a mounting platform 23 and a sliding crossbeam 22. The mounting platform 23 is set on the platform base plate 1 and has a sliding groove 231. The sliding crossbeam 22 is slidably set on the sliding groove 231 and has an installation interface 21. The position of the sliding crossbeam 22 can be changed to accommodate test pieces 3 of different lengths, thereby improving the applicability of the multifunctional test platform.

[0075] like Figure 1 , Figure 2 and Figure 3 As shown, in some optional embodiments, the mounting platform 23 is provided with a mounting plate 24 on the side near the movable platform 4, and the longitudinal cross-sectional area of ​​the mounting plate 24 is larger than the longitudinal cross-sectional area of ​​the mounting platform 23.

[0076] In this embodiment, a mounting plate 24 is provided on the side of the mounting platform 23 near the movable platform 4. The longitudinal cross-sectional area of ​​the mounting plate 24 is larger than that of the mounting platform 23, which facilitates the installation of the actuator 421.

[0077] In this example, an extended mounting plate 6 is also provided on the mounting plate 24 to further increase the available mounting area and facilitate the installation of the actuator 421.

[0078] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, on the other hand, this application also provides a method for using a multifunctional test platform, which is implemented using the aforementioned multifunctional test platform, including:

[0079] According to the expected test type, connect both ends of the test piece 3 to the movable connecting plate 41 and the mounting base 2 respectively, and determine the test parameters;

[0080] Based on the test parameters, the movable connecting plate 41 is displaced by the actuating mechanism 42.

[0081] When installing this multifunctional test platform, the mounting base 2 is set on the platform base plate 1. The mounting base 2 is equipped with a detachable mounting interface 21, which is used to fix or rotatably connect to one end of the test piece 3. The movable platform 4 includes a movable connecting plate 41 and an actuating mechanism 42. The fixed end of the actuating mechanism 42 is connected to the mounting base 2, and the movable end is connected to the movable connecting plate 41. The movable connecting plate 41 is used to connect to the other end of the test piece 3. According to the expected test type, both ends of the test piece 3 are connected to the movable connecting plate 41 and the mounting base 2 respectively, and the test parameters are determined. According to the test parameters, the actuating mechanism 42 drives the movable connecting plate 41 to move. Since the displacement of the movable connecting plate 41 can be determined according to the expected test type, multiple different tests can be carried out on the same platform. This can better and more realistically simulate the usage state of the test piece 3, solving the problem that in the field use of the prior art, the actual stress boundary of the test piece is relatively complex, often not just tension or compression or shear, making it difficult for the reliability of the test piece in actual application to effectively correspond with the existing test results, and posing certain potential risks in use.

[0082] In some optional embodiments, the description of driving the movable connecting plate 41 to displacement using the actuating mechanism 42 according to test parameters includes:

[0083] Based on the test parameters, determine the desired spatial position of the movable connecting plate 41;

[0084] The theoretical adjustment amount of the actuating mechanism 42 is obtained based on the desired spatial position of the movable connecting plate 41;

[0085] Based on the theoretical adjustment amount of the actuator 42 and the actual spatial position of the movable connecting plate 41, the motion deviation value of the actuator 42 is obtained;

[0086] Based on the theoretical adjustment amount of the actuator 42 and the motion deviation value of the actuator 42, the actual adjustment amount of the actuator 42 is obtained and adjusted.

[0087] In this embodiment, the desired spatial position of the movable connecting plate 41 is determined according to the test parameters. The theoretical adjustment amount of the actuating mechanism 42 is obtained based on the desired spatial position of the movable connecting plate 41. The motion deviation value of the actuating mechanism 42 is obtained based on the theoretical adjustment amount of the actuating mechanism 42 and the actual spatial position of the movable connecting plate 41. The actual adjustment amount of the actuating mechanism 42 is obtained based on the theoretical adjustment amount of the actuating mechanism 42 and the motion deviation value of the actuating mechanism 42, and then adjusted. In this way, the deviation value in motion can be easily eliminated, and the accuracy of the test can be improved.

[0088] In some optional embodiments, the description of driving the movable connecting plate 41 to displacement using the actuating mechanism 42 according to test parameters includes:

[0089] Based on the test parameters, determine the desired force and / or desired displacement for adjusting the movable connecting plate 41 to the desired spatial position;

[0090] Obtain the detected deviation from stress and / or displacement, and based on the desired force and / or desired displacement, and the deviation from stress and / or displacement, obtain the actual input force and / or actual input displacement.

[0091] In this embodiment, based on the test parameters, the desired force and / or desired displacement for adjusting the movable connecting plate 41 to the desired spatial position is determined, the detected deviation of stress and / or displacement is obtained, and based on the desired force and / or desired displacement, and the deviation of stress and / or displacement, the actual input force and / or actual input displacement is obtained, the type of input parameter is determined, and the adjustment method is more accurate.

[0092] like Figure 8 , Figure 9 and Figure 10 As shown, in this example, the control method can be divided into three types. The first type is pose control, where the user inputs the desired displacement parameters (motion pose), such as sinusoidal motion in the X direction. These motion parameters are transmitted to the motion control computer, which calculates the motion displacement of the six actuators 421 through inverse kinematics. Then, based on the desired displacement and actual displacement feedback of the six actuators 421, the motion control computer drives six servo valves to achieve closed-loop position control of the six sets of actuators 421, enabling the six sets of actuators 421 to reach the required displacement and achieve the desired motion posture.

[0093] The second method is force control, which adds a force outer loop to the pose control. It uses feedback signals from force sensors to correct the input of the position servo loop to achieve force tracking control. The control process involves the user inputting the desired force signal, such as a sinusoidal force curve. This motion parameter is transmitted to the motion control computer, which then calculates the relative center pose correction of the loading platform based on the loading force data collected by the force sensor. This correction is used as the new desired pose for pose control. The pose loop then controls the platform to the new pose, ensuring the power platform achieves the desired motion posture, eliminating force deviations, and thus enabling the power platform to track the force signal.

[0094] The third type is force / displacement hybrid control. Based on the actual working environment of the test piece 3, one or more degrees of freedom can be selected from the six degrees of freedom for pose control, while the other degrees of freedom are controlled by force. Its basic principle is the same as the aforementioned pose control and force control principles. Here, S and IS are selection matrices with opposite values, determining whether each degree of freedom uses position or force control. The transformation matrix above includes the degree-of-freedom selection matrix, i.e., selecting the degrees of freedom for pose control and force control. Essentially, force control can include pose control. When the desired force signal is set to a constant value of 0, if the test piece 3 is not in contact with the environment, the force control system will degenerate into a pose control system. Therefore, these two control strategies can switch smoothly without shock.

[0095] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0096] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0097] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for using a multifunctional experimental platform, characterized in that, The utility model is implemented by using a multifunctional test platform, which comprises: a platform base plate (1); a mounting seat (2) provided on the platform base plate (1), wherein a detachable mounting interface (21) is arranged on the mounting seat (2), and the mounting interface (21) is used for fixedly or rotatably connecting one end of a test piece (3); a movable platform (4) comprising a movable connecting plate (41) and an actuating mechanism (42), wherein a fixed end of the actuating mechanism (42) is connected to the mounting seat (2), and a movable end of the actuating mechanism (42) is connected to the movable connecting plate (41), and the movable connecting plate (41) is used for connecting the other end of the test piece (3); the actuating mechanism (42) comprises a plurality of actuating units, and each actuating unit comprises two actuators (421), wherein one end of each actuator (421) is rotatably connected to the mounting seat (2), and the other end of each actuator (421) is rotatably connected to the movable connecting plate (41); the use method comprises the following steps: according to the expected test type, connecting both ends of the test piece (3) to the movable connecting plate (41) and the mounting seat (2) respectively, and determining test parameters; according to the test parameters, driving the movable connecting plate (41) to displace by using the actuating mechanism (42); the control mode comprises three types, the first type is pose control, the user inputs an expected displacement parameter, the expected displacement parameter is a motion pose, the displacement parameter is transmitted to a motion control computer, the motion control computer calculates the motion displacement amount of the six actuators (421) through kinematic inverse solution, then, the motion control computer drives six servo valves according to the expected displacement of the six actuators (421) and the actual displacement feedback amount, realizes closed-loop position control of the six sets of actuators (421), and makes the six sets of actuators (421) reach the required displacement amount, thereby reaching the expected motion pose; the second type is force control, which is based on the pose control and adds a force outer loop, and the force tracking control is completed by using the feedback signal of a force sensor to correct the input amount of the position servo loop, the control process is that the user inputs an expected force signal, the parameter is transmitted to the motion control computer, the relative central pose correction amount of the loading table is calculated by the force controller of the servo control software according to the loading force data collected by the force sensor, and the relative central pose correction amount is used as the new expected pose of the pose control, then, the pose ring controls the platform to the new pose, so that the dynamic platform reaches the expected motion pose and eliminates the force deviation, and then the dynamic platform realizes the tracking of the force signal; the third type is force / displacement hybrid control, one or more degrees of freedom are selected from the six degrees of freedom for pose control according to the actual working environment of the test piece (3), and the other degrees of freedom are selected for force control, the principle is the same as the above-mentioned pose control and force control principles, wherein S and I-S are selection matrices with opposite values, which determine whether each degree of freedom adopts pose control or force control, the above conversion matrix comprises a degree of freedom selection matrix, i.e., the degrees of freedom selected for pose control and the degrees of freedom selected for force control, when the expected force signal is set to be a constant 0, if the test piece (3) is not in contact with the environment, the force control system degenerates into a pose control system.

2. The method of using a multi-functional test platform of claim 1, wherein, A plurality of said actuator units are arranged at intervals along the circumference of said movable connecting plate (41), and the other ends of said actuator units are connected to said mounting base (2), said actuator unit further comprises a driving unit, the distance between the ends of said two groups of said actuators (421) connected to said mounting base (2) is smaller than the distance between the ends of said two groups of said actuators (421) connected to said movable connecting plate (41), said driving unit is used to drive said actuators (421) to move, so as to adjust the spatial position of said movable connecting plate (41).

3. The method of using a multi-functional test platform of claim 2, wherein, Said movable connecting plate (41) and mounting base (2) are provided with a number of hooke hinges (5) matched with the number of said actuator units, said hooke hinges (5) are rotatably connected to said two groups of said actuators (421), said hooke hinges (5) on said mounting base (2) are arranged correspondingly to said actuator units, and said hooke hinges (5) on said movable connecting plate (41) are rotatably connected to said two groups of said actuators (421) of said adjacent two actuator units.

4. The method of using a multi-functional test platform of claim 3, wherein, Said hooke hinge (5) comprises: A fixed seat (51) is provided with two mounting holes at intervals; Two rotating columns (52) are rotatably arranged in said mounting holes, and the end portions of said rotating columns (52) extend out of said mounting holes; A hinged seat (53) is arranged correspondingly to said rotating column (52), and said hinged seat (53) is rotatably connected to said actuator (421).

5. The method of using a multi-functional test platform of claim 2, wherein, Said actuator (421) is a telescopic rod, and said driving unit comprises a controller (422) arranged correspondingly to said actuator (421), said controller (422) is used to drive said actuator (421) to extend and retract and rotate, so as to adjust the spatial position of said movable connecting plate (41).

6. The method of using a multi-functional test platform of claim 1, wherein, Said mounting base (2) comprises: A mounting table (23) is arranged on said platform bottom plate (1), and said mounting table (23) is provided with a sliding groove (231); A sliding cross beam (22) is slidably arranged on said sliding groove (231), and said sliding cross beam (22) is provided with said mounting interface (21).

7. The method of using a multi-functional test platform of claim 6, wherein, The side of said mounting table (23) close to said movable platform (4) is provided with a mounting plate (24), and the longitudinal cross-sectional area of said mounting plate (24) is larger than the longitudinal cross-sectional area of said mounting table (23).

8. The method of using a multi-functional test platform of claim 1, wherein, According to the test parameters, the displacement of the movable connecting plate (41) is driven by the actuating mechanism (42), which comprises: According to the test parameters, the expected spatial position of the movable connecting plate (41) is determined; According to the expected spatial position of the movable connecting plate (41), the theoretical adjustment amount of the actuating mechanism (42) is obtained; According to the theoretical adjustment amount of the actuating mechanism (42) and the actual spatial position of the movable connecting plate (41), the movement deviation value of the actuating mechanism (42) is obtained; According to the theoretical adjustment amount of the actuating mechanism (42) and the movement deviation value of the actuating mechanism (42), the actual adjustment amount of the actuating mechanism (42) is obtained, and the adjustment is performed.

9. The method of using a multi-functional test platform of claim 1, wherein, According to the test parameters, the displacement of the movable connecting plate (41) is driven by the actuating mechanism (42), which comprises: According to the test parameters, the expected force and / or expected displacement for adjusting the movable connecting plate (41) to the expected spatial position are determined; obtaining a deviation of the corresponding force and / or displacement of the detection, and obtaining an actual input force and / or an actual input displacement according to the expected force and / or the expected displacement, and the deviation of the corresponding force and / or displacement.

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