Static balance multi-degree-of-freedom simulation system

Abstract

The invention provides a static balance multi-degree-of-freedom simulation system, and belongs to the technical field of mechanism design. The problem that an existing multi-degree-of-freedom motion simulation experiment system is large in system power consumption due to the fact that the gravity of a platform and a load is balanced is solved. The platform comprises a platform body, actuators, a first base, a static balance device, a second base, upper hinge assemblies and lower hinge assemblies, the six actuators are evenly arranged on the outer side of the lower end face of the platform body, every two actuators on the platform body are hinged to form one upper hinge assembly, and the upper hinge assemblies are used for connecting the platform body with the actuators; every two hinges on the first base form a lower hinge assembly, the lower hinge assemblies are used for being connected with an embedded part and an actuator, three static balance devices are evenly arranged in the center area of the lower end face of the platform, and the bottoms of the static balance devices are connected with the second base. The device is mainly used for a multi-degree-of-freedom motion simulation test.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanism design, and particularly relates to a static balance multi-degree-of-freedom simulation system. Background Art

[0002] In the field of motion environment simulation tests, multi-degree-of-freedom motion simulation tests can more realistically simulate the actual kinematic environment, and can test the performance of large and complex structures under multi-degree-of-freedom motion excitation or expose defects and potential hazards that are not easily discovered. In the fields of ships, automobiles, etc., it can be used to test specimens with requirements for motion response characteristics. The conventional scheme uses an electric or hydraulic actuator to excite, but in the existing motion environment simulation system, when the weight of the load is large, in order to achieve the required motion index, a high-power actuator needs to be selected, thereby increasing the power of the system and increasing the operating cost. Summary of the Invention

[0003] In view of this, the present invention aims to propose a static balance multi-degree-of-freedom simulation system to solve the problem that the existing multi-degree-of-freedom motion simulation experimental system needs to balance the gravity of the balance platform and the load, resulting in large power consumption of the system.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A static balance multi-degree-of-freedom simulation system includes a platform, actuators, a first base, a static balance device, a second base, an upper hinge assembly, and a lower hinge assembly. Six actuators are evenly arranged on the outer side of the lower end surface of the platform. Every two hinges on the platform form an upper hinge assembly, and the upper hinge assembly is used to connect the platform and the actuators. Every two hinges on the first base form a lower hinge assembly, and the lower hinge assembly is used to connect the embedded parts and the actuators. Three static balance devices are evenly arranged in the central area of the lower end surface of the platform, and the bottom of the static balance device is connected to the second base.

[0006] Furthermore, the static balance device includes an upper Hooke hinge, a support cylinder, and a lower Hooke hinge. The two ends of the support cylinder are respectively installed with an upper Hooke hinge and a lower Hooke hinge. The lower Hooke hinge is connected to the second base, and the upper Hooke hinge is connected to the lower end surface of the platform.

[0007] Furthermore, the static balance device adopts hydraulic drive or pneumatic drive.

[0008] Furthermore, when using hydraulic drive, the hydraulic drive structure includes an accumulator and a hydraulic pump station. The hydraulic pump station controls the hydraulic pressure to enter the gravity balance cavity of the accumulator and the support cylinder through a hydraulic valve, and the accumulator is communicated with the gravity balance cavity of the support cylinder.

[0009] Furthermore, an oil collecting tray is arranged at the bottom of the support cylinder.

[0010] Furthermore, when pneumatic drive is adopted, the pneumatic drive structure includes an air tank and an air compressor. The air compressor controls the gas to be input into the gravity balance chambers of the air tank and the support cylinder through a control valve, and the air tank is communicated with the gravity balance chamber of the support cylinder.

[0011] Furthermore, a pressure sensor is arranged in the gravity balance chamber of the static balance device.

[0012] Furthermore, the pressure sensor for collecting pressure is transmitted through the P5 port of the analog conditioning board AG2 by the computer simulation acquisition board LC2-1. The power supply of 24V is provided by pin 3 in the port, and the pressure signal is collected by pin 6 in the port.

[0013] Furthermore, electromagnetic valves are arranged between the accumulator and the support cylinder and between the air tank and the support cylinder. The electromagnetic valve includes a filling valve and a discharging valve.

[0014] Furthermore, the filling valve is controlled through the P5 port of the conditioning board DG3 by the computer IO control board. The power supply of 24V is provided by pin 2 in the corresponding port, and the control signal is controlled by pin 1 in the corresponding port. The discharging valve is controlled through the P8 port of the conditioning board DG3 by the computer IO control board. Its power supply of 24V is provided by pin 2 in the corresponding port, and the control signal is controlled by pin 1 in the corresponding port.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. By introducing the static balance device, the system of the present invention can balance the gravity of the platform and the load, thereby reducing the driving force of the actuator and lowering the power consumption of the system.

[0017] 2. The use of the static balance device of the present invention helps to eliminate the threat of singular postures that may occur during the movement of the platform, and improves the stability and safety of the system.

[0018] 3. Due to the reduction of the power consumption of the system, the present invention reduces the operation cost. Especially in the case of a large load, the need to use a high-power actuator is avoided.

[0019] 4. Through the static balance device, the system of the present invention can maintain the pressure stability in the gravity balance chamber during the reciprocating movement of the platform, and improves the overall efficiency and reliability of the system.

[0020] 5. In the case of hydraulic drive, the present invention designs an oil collecting tray to prevent hydraulic oil leakage from polluting the environment, which reflects the environmental protection design concept.

[0021] 6. The present invention can adopt hydraulic drive or pneumatic drive, providing flexible power options to adapt to different application scenarios and requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a schematic structural diagram of a static balance multi-degree-of-freedom simulation system according to the present invention;

[0024] Figure 2 is a distribution diagram of the upper hinge assembly;

[0025] Figure 3 is a distribution diagram of the lower hinge assembly;

[0026] Figure 4 is a schematic structural diagram of the static balance device;

[0027] Figure 5 is a control structure diagram of the hydraulic static balance device;

[0028] Figure 6 is a control structure diagram of the pneumatic static balance device;

[0029] Figure 7 is a control schematic diagram of the static balance device;

[0030] Figure 8 is an electrical schematic diagram of pressure acquisition;

[0031] Figure 9 is an electrical schematic diagram of solenoid valve control.

[0032] In the figure:

[0033] 1 - platform, 2 - actuator, 3 - first base, 4 - static balance device, 4 - 1: upper Hooke hinge, 4 - 2: support cylinder, 4 - 3: lower Hooke hinge, 5 - oil sump, 7 - second base, 8 - upper hinge assembly, 10 - lower hinge assembly, 11 - accumulator, 12 - hydraulic pump station, 13 - gas tank, 14 - air compressor, 15 - pressure sensor, 16 - filling valve, 17 - draining valve. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0035] Specific implementation mode 1: Refer to Figures 1-9 This implementation mode will be described. A static balance multi-degree-of-freedom simulation system includes a platform 1, actuators 2, a first base 3, a static balance device 4, a second base 7, an upper hinge assembly 8, and a lower hinge assembly 10. Six actuators 2 are evenly arranged on the outer side of the lower end face of the platform 1. Every two hinges on the platform 1 form an upper hinge assembly 8, and the upper hinge assembly 8 is used to connect the platform 1 and the actuators 2. Every two hinges on the first base 3 form a lower hinge assembly 10, and the lower hinge assembly 10 is used to connect the embedded part and the actuators 2. Three static balance devices 4 are evenly arranged in the central area of the lower end face of the platform 1, and the bottom of the static balance device 4 is connected to the second base 7.

[0036] The static balance device 4 includes an upper Hooke's joint 4-1, a support cylinder 4-2, and a lower Hooke's joint 4-3. The two ends of the support cylinder 4-2 are respectively installed with an upper Hooke's joint 4-1 and a lower Hooke's joint 4-3. The lower Hooke's joint 4-3 is connected to the second base 7, and the upper Hooke's joint 4-1 is connected to the lower end face of the platform 1.

[0037] The platform 1 is driven by six actuators 2 to achieve spatial six-degree-of-freedom motion. By introducing the static balance device 4, the system can balance the gravity of the platform 1 and the load, thereby reducing the driving force of the actuators 2 and reducing the power consumption of the system.

[0038] Furthermore, the static balance device 4 adopts hydraulic drive or pneumatic drive, providing flexible power selection to adapt to different application scenarios and requirements.

[0039] Specific implementation mode 2: Refer to Figure 5 This implementation mode will be described. When using hydraulic drive, the hydraulic drive structure includes an accumulator 11 and a hydraulic pump station 12. The hydraulic pump station 12 controls the hydraulic oil to enter the gravity balance cavity of the accumulator 11 and the support cylinder 4-2 through a hydraulic valve. The accumulator 11 is connected to the gravity balance cavity of the support cylinder 4-2. The hydraulic pump station 12 controls the hydraulic oil to be input into the accumulator and the gravity balance cavity of the support cylinder 4-2 to form a driving force. When the platform 1 reciprocates, the accumulator 11 replenishes the oil in the gravity balance cavity, thereby balancing the pressure change in the gravity balance cavity and maintaining the pressure stability of the gravity balance cavity. The support cylinder 4-2, as a key component of the static balance device, is mainly used to balance the gravity of the platform 1 and the load. Its rodless cavity is connected to the pressure oil, and its rod cavity is connected to the air.

[0040] Before the test, the hydraulic pump station 12 is connected through a hydraulic valve to control the input of hydraulic oil into the accumulator 11 and the gravity balance chamber of the support cylinder 4-2, forming a driving force, such that the output force of the three support cylinders 4-2 is basically equal to the sum of the gravity of the platform 1 and the load. During the test, that is, during the reciprocating movement of the platform 1, the hydraulic pump station 12 and the hydraulic valve are always closed, and the accumulator 11 is used to supplement the oil in the gravity balance chamber of the support cylinder 4-2, thereby balancing the pressure change in the gravity balance chamber and maintaining the pressure stability of the working chamber.

[0041] Furthermore, an oil collecting tray 5 is provided at the bottom of the support cylinder 4-2. If the cylinder leaks, the oil flows into the oil collecting tray 5 to prevent environmental pollution.

[0042] Specific Embodiment 3: Refer to Figure 6 To describe this embodiment, when using pneumatic drive, the pneumatic drive structure includes an air tank 13 and an air compressor 14. The air compressor 14 controls the input of gas into the air tank 13 and the gravity balance chamber of the support cylinder 4-2 through a control valve, and the air tank 13 is connected to the gravity balance chamber of the support cylinder 4-2.

[0043] When using gas as the power source of the static balance device 4, the gas source includes two air tanks 13 and one air compressor 14. The function of the air compressor 14 is to provide compressed air for the system, and the function of the air tank 13 is to provide compressed air for the support cylinder 4-2 and reduce the pressure fluctuation of the system during the movement of the cylinder. In the figure, the air compressor 14 controls the input of gas into the air tank 13 and the gravity balance chamber of the support cylinder 4-2 through a control valve to form a driving force. When the platform 1 reciprocates, the air tank 13 is used to supplement the gas in the gravity balance chamber, thereby balancing the pressure change in the gravity balance chamber and maintaining the pressure stability of the gravity balance chamber. The support cylinder 4-2, as a key component of the static balance device 4, is mainly used to balance the gravity of the platform 1 and the load. Its rodless chamber is connected to the air, and its rod chamber is connected to the pressure gas.

[0044] Specific Embodiment 3: Refer to Figures 7-9 To describe this embodiment, a pressure sensor 15 is provided in the gravity balance chamber of the static balance device 4. The pressure in the gravity balance chamber is collected through the pressure sensor 15 and compared with the pressure set value set according to the load before the test. According to the comparison between the pressure difference and the set threshold, the liquid filling is started. If the test ends, the pressure is released through the liquid discharge valve. The pressure sensor 15 that collects the pressure is transmitted through the P5 port of the analog conditioning board AG2 of the computer simulation acquisition board LC2-1. The power supply of 24V is provided by pin 3 in the port, and the pressure signal is collected by pin 6 in the port.

[0045] Specific Embodiment 4: Refer to Figures 7-9In this embodiment, electromagnetic valves are provided between the accumulator 11 and the support cylinder 4-2, and between the gas tank 13 and the support cylinder 4-2. The electromagnetic valve includes a liquid filling valve 16 and a liquid discharging valve 17. The liquid filling valve 16 is controlled by the computer IO control board card through the P5 port of the conditioning board DG3. The power supply of 24V is provided by pin 2 in the corresponding port, and the control signal is controlled by pin 1 in the corresponding port. The liquid discharging valve 17 is controlled by the computer IO control board card through the P8 port of the conditioning board DG3. Its power supply of 24V is provided by pin 2 in the corresponding port, and the control signal is controlled by pin 1 in the corresponding port.

[0046] The specific embodiments of the present invention disclosed above are only used to help explain the present invention. The specific embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the art can understand and utilize the present invention well.

Claims

1. A static balance multi-degree-of-freedom simulation system, characterized by: The invention comprises a platform (1), an actuator (2), a first base (3), a static balancing device (4), a second base (7), an upper hinge assembly (8) and a lower hinge assembly (10); six actuators (2) are evenly arranged on the outer side of the lower end surface of the platform (1); every two hinges on the platform (1) form an upper hinge assembly (8); the upper hinge assembly (8) is used to connect the platform (1) and the actuator (2); every two hinges on the first base (3) form a lower hinge assembly (10); the lower hinge assembly (10) is used to connect the embedded part and the actuator (2); three static balancing devices (4) are evenly arranged in the central area of ​​the lower end surface of the platform (1); the bottom of the static balancing device (4) is connected to the second base (7).

2. A static balance multi-degree-of-freedom simulation system according to claim 1, characterized in that: The static balancing device (4) comprises an upper Hooke's hinge (4-1), a support cylinder (4-2) and a lower Hooke's hinge (4-3); the upper Hooke's hinge (4-1) and the lower Hooke's hinge (4-3) are respectively installed at both ends of the support cylinder (4-2); the lower Hooke's hinge (4-3) is connected to the second base (7); and the upper Hooke's hinge (4-1) is connected to the lower end surface of the platform (1).

3. A static balance multi-degree-of-freedom simulation system according to claim 1, characterized in that: The static balancing device (4) is hydraulically driven or pneumatically driven.

4. A static balance multi-degree-of-freedom simulation system according to claim 3, characterized in that: When hydraulic drive is adopted, the hydraulic drive structure comprises an accumulator (11) and a hydraulic pump station (12); the hydraulic pump station (12) controls hydraulic pressure to enter the accumulator (11) and the gravity balance chamber of the support cylinder (4-2) through a hydraulic valve; the accumulator (11) is connected to the gravity balance chamber of the support cylinder (4-2).

5. A static balance multi-degree-of-freedom simulation system according to claim 4, characterized in that: An oil collecting pan (5) is provided at the bottom of the supporting cylinder (4-2).

6. The static balance multi-degree-of-freedom simulation system according to claim 3, characterized in that: When pneumatic drive is adopted, the pneumatic drive structure comprises a gas tank (13) and an air compressor (14); the air compressor (14) controls the gas input into the gas tank (13) and the gravity balance chamber of the support cylinder (4-2) through a control valve; the gas tank (13) is connected to the gravity balance chamber of the support cylinder (4-2).

7. A static balance multi-degree-of-freedom simulation system according to any one of claims 4 or 6, characterized in that: A pressure sensor (15) is provided in the gravity balance chamber of the static balance device (4).

8. The static balance multi-degree-of-freedom simulation system according to claim 7, characterized in that: The pressure sensor (15) for collecting pressure is transmitted by the computer analog collection board LC2-1 through the P5 port of the analog conditioning board AG2, the power supply 24V is provided by pin 3 in the port, and the pressure signal is collected by pin 6 in the port.

9. A static balance multi-degree-of-freedom simulation system according to claim 8, characterized in that: Electromagnetic valves are provided between the accumulator (11) and the support cylinder (4-2) and between the gas tank (13) and the support cylinder (4-2), and the electromagnetic valves include a liquid filling valve (16) and a liquid discharge valve (17).

10. The static balance multi-degree-of-freedom simulation system according to claim 9, characterized in that: The filling valve (16) is controlled by the computer IO control board via the P5 port of the conditioning board DG3, the power supply 24V is provided by the pin 2 in the corresponding port, and the control signal is controlled by the pin 1 in the corresponding port. The discharge valve (17) is controlled by the computer IO control board via the P8 port of the conditioning board DG3, the power supply 24V is provided by the pin 2 in the corresponding port, and the control signal is controlled by the pin 1 in the corresponding port.

Images