Automatically operated high-precision flexibility matrix test system and use method thereof

Abstract

The invention discloses an automatic operation high-precision flexibility matrix test system and a use method thereof, and belongs to the technical field of aircraft structure flexibility measurement. The problems of large measurement error, low precision and low working efficiency in the prior art are solved. According to the technical key points, a tested piece is fixed, specified plane coordinates are input, a high-precision robot moves according to the specified plane coordinates, and normal coordinate initial values of structural nodes of the tested piece are measured; the electric two-dimensional sliding table and the loading module move according to a specified plane coordinate and are locked after being in place; measuring the normal coordinate of each node of the tested piece again, obtaining the node displacement, and calculating one row of a flexibility coefficient matrix; and repeating to obtain a complete flexibility coefficient matrix of the tested piece. According to the invention, loading and measurement positioning are uniformly controlled through the same upper computer and a control program, so that full automation of a flexibility matrix test flow is realized; positioning and measuring errors caused by manual intervention in the testing process are removed, and the testing precision and the testing efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft structure flexibility measurement, and in particular to an automated high-precision flexibility matrix testing system and a use method thereof. Background Art

[0002] Before conducting aeroelastic wind tunnel tests on elastic models, it is necessary to test the structural characteristics of the test model and obtain the flexibility coefficient matrix of the model. The flexibility coefficient matrix has high-precision measurement capabilities and can support real-time data acquisition in high-frequency vibration scenarios; the test is highly flexible and supports multiple scenario tests such as quasi-static, dynamic, and impact loads, meeting the needs of research on nonlinear characteristics of materials, and is highly practical. The existing flexibility coefficient matrix measurement system usually divides and loads the model structure nodes manually, and then uses a fixed position displacement sensor to measure the deformation of the model as a whole, so as to obtain the flexibility coefficient matrix of the model. Compared with some automated measurement systems, manual measurement methods are less restricted by on-site environmental conditions. In an environment without a stable power supply or with certain electromagnetic interference, the manual measurement system can still work normally, while some automated measurement systems that rely on power and electronic equipment may be affected; the initial investment is low, and there is no need to purchase expensive automated measurement equipment.

[0003] At the same time, the manual flexibility coefficient matrix measurement system also has many limitations. Due to factors such as human operating habits and physical strength, it is difficult to ensure that the loading force is exactly the same each time and the loading speed is uniform, which will lead to large and unstable errors in the measurement results. At the same time, manual readings are also prone to visual errors, further affecting the measurement accuracy. Long-term repetitive operations can easily cause operator fatigue, which in turn affects the accuracy and efficiency of the measurement; data recording and processing are inconvenient, which will delay the project progress; and real-time monitoring of the structural flexibility coefficient matrix cannot be achieved.

[0004] Therefore, it is urgent to propose an automated high-precision flexibility matrix testing system and a method of using the same to solve the problems of large measurement errors, low precision and low work efficiency in the prior art. Summary of the invention

[0005] In view of the above facts, in order to solve the problems of large measurement error, low precision and low working efficiency in the prior art, the present invention further designs an automated high-precision flexibility matrix testing system and a method for using the same.

[0006] To achieve the above object, the present invention adopts the following technical solution: Solution 1: An automated high-precision flexibility matrix test system, including an electric two-dimensional slide, a loading module, a support device, a high-precision robot, and a laser displacement sensor; The first slide rail of the electric two-dimensional slide platform is vertically mounted on the second slide rail and the third slide rail of the electric two-dimensional slide platform; The movable base of the loading module is installed on the first slide rail and slidably cooperates with the first slide rail; The support device is installed at the rear side of the electric two-dimensional slide, the support base of the high-precision robot is installed on the top of the support device, and the laser displacement sensor is installed at the bottom of the load mounting seat of the high-precision robot; The loading module also includes a three-axis force sensor, a linear motor, and a loading head; The linear motor is installed on the moving base, the three-axis force sensor is installed on the linear motor, and the loading head is installed on the three-axis force sensor.

[0007] Further: the high-precision robot also includes a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, a sixth rotary joint, a first connecting rod, and a second connecting rod; The first rotating joint is installed on the supporting base, and the first rotating joint rotates laterally around the supporting base; The first rotary joint is connected to the second rotary joint, the first connecting rod, and the third rotary joint in sequence, and the second rotary joint rotates vertically around the first rotary joint; The third rotation joint is connected to the fourth rotation joint, the second connecting rod, and the fifth rotation joint in sequence, the fourth rotation joint rotates laterally around the third rotation joint, and the fifth rotation joint rotates circumferentially around the second connecting rod; The fifth rotation joint is connected to the sixth rotation joint, and the sixth rotation joint rotates circumferentially around the fifth rotation joint; The load mounting seat is installed at the bottom of the sixth rotation joint.

[0008] Further: the electric two-dimensional slide also includes a slide body; The second slide rail and the third slide rail are installed in parallel on the slide platform body.

[0009] Furthermore: the electric two-dimensional slide, loading module, and high-precision robot are all controlled by the same host computer, and the three-axis force sensor and laser displacement sensor transmit data to the host computer.

[0010] Solution 2: A method for using the automated high-precision flexibility matrix test system described in Solution 1, specifically: Step 1: Install the test piece, which is detachably mounted on the support device and placed between the high-precision robot and the loading module; Step 2: Input the specified plane coordinates into the host computer, and the high-precision robot moves according to the specified plane coordinates, so that the laser displacement sensor is parallel to the normal direction of the tested object. After reaching the position, the robot moves downward step by step along the normal direction until it reaches the effective working area of ​​the laser displacement sensor. The host computer records the normal coordinates of the high-precision robot and the laser displacement sensor data, and obtains the initial value of the normal coordinates of each structural node of the tested object; Step 3: The electric two-dimensional slide and the loading module move according to the specified plane coordinates, and lock the electric two-dimensional slide and the loading module after they are in place; Step 4: Measure the normal coordinates of each node of the test piece again, obtain the node displacement, and calculate one row of the flexibility coefficient matrix; Step 5: Repeat steps 1 to 4 to obtain the complete flexibility coefficient matrix of the test piece.

[0011] Further: After the electric two-dimensional slide and the loading module are in place in step three, the loading module loads the test piece, and the loading force is measured by the loading head and the three-axis force sensor, and the loading force is locked after it stabilizes.

[0012] Furthermore: the three-axis force sensor acquires the loading normal force and lateral force data in real time, and accurately controls the position of the loading module.

[0013] The beneficial effects of the present invention are: 1. The present invention uses a same host computer and control program to uniformly control loading and measurement positioning, thereby achieving full automation of the flexibility matrix test process.

[0014] 2. The present invention adopts automated testing to eliminate positioning and measurement errors caused by manual intervention during the testing process, greatly improves testing accuracy, and improves the accuracy and effectiveness of test data.

[0015] 3. The present invention uses a high-precision robot with high control capability, eliminates the vibration interference of traditional manual loading, and realizes non-contact loading of flexible structures.

[0016] 4. The high-precision robot selected by the present invention has strong dynamic response capability, can achieve seamless switching from static to dynamic multi-modal testing, shorten single-point testing time, and reduce repeatability errors.

[0017] 5. The present invention eliminates the manual loading measurement test link, saves human resources for flexibility matrix testing, and greatly improves test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 is a position relationship diagram of the first slide rail and the loading module in the present invention; Figure 3It is a position relationship diagram of the support device, high-precision robot and laser displacement sensor in the present invention; Figure 4 It is a schematic diagram of the structure of the high-precision robot in the present invention.

[0019] In the figure: 1-electric two-dimensional slide, 2-loading module, 3-support device, 4-high-precision robot, 5-three-axis force sensor, 6-laser displacement sensor, 7-linear motor, 8-loading head, 9-first slide rail, 10-moving base, 11-support base, 12-first rotation joint, 13-second rotation joint, 14-third rotation joint, 15-fourth rotation joint, 16-fifth rotation joint, 17-sixth rotation joint, 18-load mounting seat, 19-first connecting rod, 20-second connecting rod, 21-second slide rail, 22-third slide rail, 23-slide body. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] In the present application, the directions or positional relationships indicated by the terms "upper", "lower", "inner", "middle", "outer", "front", "back", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0023] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0024] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Embodiment 1: An automated high-precision flexibility matrix testing system of this embodiment includes an electric two-dimensional slide 1, a loading module 2, a support device 3, a high-precision robot 4, and a laser displacement sensor 6; The first slide rail 9 of the electric two-dimensional slide platform 1 is vertically mounted on the second slide rail 21 and the third slide rail 22 of the electric two-dimensional slide platform 1; The mobile base 10 of the loading module 2 is installed on the first slide rail 9 and slidably cooperates with the first slide rail 9; The support device 3 is installed at the rear side of the electric two-dimensional slide 1, the support base 11 of the high-precision robot 4 is installed on the top of the support device 3, and the laser displacement sensor 6 is installed at the bottom of the load mounting seat 18 of the high-precision robot 4; The loading module 2 also includes a three-axis force sensor 5, a linear motor 7, and a loading head 8; The linear motor 7 is mounted on the moving base 10 , the three-axis force sensor 5 is mounted on the linear motor 7 , and the loading head 8 is mounted on the three-axis force sensor 5 .

[0028] More specifically: the high-precision robot 4 further includes a first rotary joint 12, a second rotary joint 13, a third rotary joint 14, a fourth rotary joint 15, a fifth rotary joint 16, a sixth rotary joint 17, a first connecting rod 19, and a second connecting rod 20; The first rotating joint 12 is installed on the supporting base 11, and the first rotating joint 12 rotates laterally around the supporting base 11; The first rotary joint 12 is connected to the second rotary joint 13, the first connecting rod 19, and the third rotary joint 14 in sequence, and the second rotary joint 13 rotates vertically around the first rotary joint 12; The third rotation joint 14 is connected to the fourth rotation joint 15, the second connecting rod 20, and the fifth rotation joint 16 in sequence. The fourth rotation joint 15 rotates laterally around the third rotation joint 14, and the fifth rotation joint 16 rotates circumferentially around the second connecting rod 20. The fifth rotation joint 16 is connected to the sixth rotation joint 17, and the sixth rotation joint 17 rotates circumferentially around the fifth rotation joint 16; The load mounting seat 18 is installed at the bottom of the sixth rotary joint 17 .

[0029] More specifically: the electric two-dimensional slide 1 also includes a slide body 23; The second slide rail 21 and the third slide rail 22 are installed in parallel on the slide body 23 .

[0030] More specifically: the electric two-dimensional slide 1, loading module 2, and high-precision robot 4 are all controlled by the same host computer, and the three-axis force sensor 5 and laser displacement sensor 6 transmit data to the host computer.

[0031] Embodiment 2: A method for using the automated high-precision flexibility matrix testing system described in Embodiment 1 is as follows: Step 1: Install the test piece, which is detachably mounted on the support device 3 and placed between the high-precision robot 4 and the loading module 2; Step 2: Input the specified plane coordinates into the host computer, and the high-precision robot 4 moves according to the specified plane coordinates, so that the laser displacement sensor 6 is parallel to the normal direction of the tested object. After reaching the position, it makes a step-by-step downward movement along the normal direction until it reaches the effective working area of ​​the laser displacement sensor 6. The host computer records the normal coordinates of the high-precision robot 4 and the data of the laser displacement sensor 6, and obtains the initial value of the normal coordinates of each structural node of the tested object; Step 3: The electric two-dimensional slide 1 and the loading module 2 move according to the specified plane coordinates, and lock the electric two-dimensional slide 1 and the loading module 2 after they are in place; Step 4: Measure the normal coordinates of each node of the test piece again, obtain the node displacement, and calculate one row of the flexibility coefficient matrix; Step 5: Repeat steps 1 to 4 to obtain the complete flexibility coefficient matrix of the test piece.

[0032] More specifically: After the electric two-dimensional slide 1 and the loading module 2 are in place in step three, the loading module 2 loads the test piece, and the loading force is measured by the loading head 8 and the three-axis force sensor 5, and the loading force is locked after it stabilizes.

[0033] More specifically: the three-axis force sensor 5 acquires the loading normal force and lateral force data in real time, and accurately controls the position of the loading module 2.

[0034] More specifically: the high-precision robot 4 can accurately locate and move according to the specified plane coordinates, measure the longitudinal displacement changes of each node of the test piece before and after loading through the laser displacement sensor 6, and accurately obtain the stiffness coefficient matrix.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. As long as there is no structural conflict, the various features in the specific implementation methods disclosed in this application can be combined with each other in any way, and the essence of the corresponding technical solutions will not deviate from the scope of the technical solutions of the present invention.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automated high-precision flexibility matrix test system, characterized in that: It comprises an electric two-dimensional slide table (1), a loading module (2), a supporting device (3), a high-precision robot (4), and a laser displacement sensor (6); The first slide rail (9) of the electric two-dimensional slide platform (1) is vertically mounted on the second slide rail (21) and the third slide rail (22) of the electric two-dimensional slide platform (1); The movable base (10) of the loading module (2) is mounted on the first slide rail (9) and is slidably matched with the first slide rail (9); The support device (3) is mounted on the rear side of the electric two-dimensional slide (1), the support base (11) of the high-precision robot (4) is mounted on the top of the support device (3), and the laser displacement sensor (6) is mounted on the bottom of the load mounting base (18) of the high-precision robot (4); The loading module (2) further comprises a three-axis force sensor (5), a linear motor (7), and a loading head (8); The linear motor (7) is mounted on a moving base (10), the three-axis force sensor (5) is mounted on the linear motor (7), and the loading head (8) is mounted on the three-axis force sensor (5).

2. The automated high-precision flexibility matrix testing system according to claim 1, characterized in that: The high-precision robot (4) further comprises a first rotary joint (12), a second rotary joint (13), a third rotary joint (14), a fourth rotary joint (15), a fifth rotary joint (16), a sixth rotary joint (17), a first connecting rod (19), and a second connecting rod (20); The first rotating joint (12) is mounted on the supporting base (11), and the first rotating joint (12) rotates laterally around the supporting base (11); The first rotary joint (12) is sequentially connected to the second rotary joint (13), the first connecting rod (19), and the third rotary joint (14), and the second rotary joint (13) rotates vertically around the first rotary joint (12); The third rotary joint (14) is sequentially connected to the fourth rotary joint (15), the second connecting rod (20), and the fifth rotary joint (16); the fourth rotary joint (15) rotates laterally around the third rotary joint (14), and the fifth rotary joint (16) rotates circumferentially around the second connecting rod (20); The fifth rotary joint (16) is connected to the sixth rotary joint (17), and the sixth rotary joint (17) rotates circumferentially around the fifth rotary joint (16); The load mounting seat (18) is mounted at the bottom of the sixth rotary joint (17).

3. The automated high-precision flexibility matrix testing system according to claim 1, characterized in that: The electric two-dimensional slide table (1) further comprises a slide table body (23); The second slide rail (21) and the third slide rail (22) are installed in parallel on the slide platform body (23).

4. The automated high-precision flexibility matrix testing system according to claim 1, characterized in that: The electric two-dimensional slide table (1), the loading module (2), and the high-precision robot (4) are all controlled by the same host computer, and the three-axis force sensor (5) and the laser displacement sensor (6) transmit data to the host computer.

5. The method for using the automated high-precision flexibility matrix test system of claim 1, characterized in that: Specifically: Step 1: installing the test piece, wherein the test piece is detachably mounted on the support device (3) and is placed between the high-precision robot (4) and the loading module (2); Step 2: The designated plane coordinates are input into the host computer, and the high-precision robot (4) moves according to the designated plane coordinates so that the laser displacement sensor (6) is parallel to the normal direction of the test piece. After reaching the position, the robot moves downward step by step along the normal direction until it reaches the effective working area of ​​the laser displacement sensor (6). The host computer records the normal coordinates of the high-precision robot (4) and the data of the laser displacement sensor (6), and obtains the initial value of the normal coordinates of each structural node of the test piece; Step 3: The electric two-dimensional slide (1) and the loading module (2) move according to the specified plane coordinates, and the electric two-dimensional slide (1) and the loading module (2) are locked after they are in place; Step 4: Measure the normal coordinates of each node of the test piece again, obtain the node displacement, and calculate one row of the flexibility coefficient matrix; Step 5: Repeat steps 1 to 4 to obtain the complete flexibility coefficient matrix of the test piece.

6. The method for using the automated high-precision flexibility matrix test system according to claim 5, characterized in that: After the electric two-dimensional slide (1) and the loading module (2) are in place in step three, the loading module (2) loads the test piece, and the loading force is measured by the loading head (8) and the three-axis force sensor (5), and the load is locked after the loading force is stabilized.

7. The method for using the automated high-precision flexibility matrix test system according to claim 5, characterized in that: The three-axis force sensor (5) acquires loading normal force and lateral force data in real time, and accurately controls the position of the loading module (2).

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