Heavy-load rigid-flexible coupling molded surface forming device with self-locking function and control method thereof

Abstract

The invention belongs to the technical field of wind tunnel structure state health monitoring, and discloses a heavy-load rigid-flexible coupling molded surface forming device with a self-locking function and a control method of the heavy-load rigid-flexible coupling molded surface forming device. The device comprises a rigid body and a flexible plate which are sequentially connected from front to back, a plurality of hydraulic driving devices which are sequentially arranged from front to back are arranged on the upper surface of the device, and the hydraulic driving devices are fixed to a supporting frame through hydraulic driving device supporting bases; the rigid body performs up-down translational motion and rotational motion around the rear end of the rigid body; the lower surface of the flexible plate is a variable molded surface and is molded according to a preset two-dimensional molded surface; the rigid body and the flexible plate are tangent at the interface so as to keep smooth transition. According to the control method, real-time space positioning of the rigid body is achieved through three sets of hydraulic driving mechanisms; the hydraulic driving mechanism has a self-locking function, so that the stability is improved, and the operation cost is reduced; and the hydraulic driving mechanism has two functions of driving and locking, so that the reliability and the high efficiency of the heavy-load rigid-flexible coupling molded surface forming device are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of wind tunnel structure health monitoring, and in particular relates to a heavy-load rigid-flexible coupling profile forming device with a self-locking function and a control method thereof. Background Art

[0002] Heavy-load rigid-flexible coupling surface forming devices are widely used in aerospace, shipbuilding, water conservancy, robotics and many other fields. Because heavy-load rigid-flexible coupling surface forming devices are often in a complex environment of multi-physical field coupling such as force, heat, vibration, etc., under the combined effects of heavy-load complex and variable working conditions, strong impact, frequent start and stop and other factors, its structural safety margin is difficult to estimate. If the safety margin is low, local deformation and stress concentration are prone to occur, which will lead to structural damage or failure, and even affect the overall performance and safe operation.

[0003] At the same time, the heavy-load, complex and changeable working conditions pose a severe challenge to the drive control of the heavy-load rigid-flexible coupling profile forming device. On the one hand, during the profile forming process, due to the weak rigidity of the flexible plate, under the action of the external heavy load, the force of the rigid body is often transmitted to the flexible plate. The flexible plate is not only difficult to achieve the predetermined profile, but may even be damaged or destroyed due to excessive stress; on the other hand, hydraulic drive is usually adopted, and the driving force continuously acts on the rigid body and the flexible plate. Due to the pressure fluctuation of the hydraulic system and the closed-loop control of the push rod displacement, the driving force has a certain fluctuation, and the rigid body and the flexible plate will fluctuate accordingly, resulting in the profile formed by the flexible plate being in an unstable state with slight fluctuations. Therefore, it is of great significance to optimize the design and drive control of the heavy-load rigid-flexible coupling profile forming device to achieve precise rigid-flexible coupling profile forming, which is of great significance to ensure and improve the performance of the heavy-load rigid-flexible coupling profile forming device.

[0004] Currently, there is an urgent need to develop a heavy-load rigid-flexible coupling surface forming device with a self-locking function and a control method thereof. Summary of the invention

[0005] One technical problem to be solved by the present invention is to provide a heavy-loaded rigid-flexible coupling surface forming device with a self-locking function. Another technical problem to be solved by the present invention is to provide a control method for a heavy-loaded rigid-flexible coupling surface forming device with a self-locking function to overcome the defects of the prior art.

[0006] The heavy-duty rigid-flexible coupling profile forming device with a self-locking function of the present invention comprises a rigid body and a flexible plate connected sequentially from front to back, and the upper surfaces of the rigid body and the flexible plate are respectively provided with a plurality of hydraulic drive devices sequentially arranged from front to back, and each hydraulic drive device is fixed on a support frame through a hydraulic drive device support seat; The support frame includes a rigid body support frame corresponding to the rigid body, and a flexible board support frame corresponding to the flexible board. The rigid body support frame and the flexible board support frame are connected by a connecting frame, and the rigid body support frame and the flexible board support frame are parallel. The lower surface of the rigid body is a fixed profile surface, the lower surface of the flexible board is a variable profile surface, and the interface between the rigid body and the flexible board is tangent to maintain a smooth transition.

[0007] Furthermore, the hydraulic drive device has a set of upper beams and lower beams parallel to each other; the lower beams are placed above the rigid body or the flexible plate from left to right, and the lower surface of the lower beams is connected to the upper surface of the corresponding rigid body or the flexible plate through a plurality of hinges connected in series from left to right; the upper beams and the lower beams of each hydraulic drive device are parallel to each other; The guide mechanism and the hydraulic drive mechanism are passed through and fixed between the upper crossbeam and the lower crossbeam from top to bottom; the two sides are guide mechanisms, and the middle is the hydraulic drive mechanism and the guide mechanism arranged at intervals from left to right; a number of linear displacement sensors are also installed between the upper crossbeam and the lower crossbeam; The upper section of the guide push rod of the guide mechanism is fitted with a guide cylinder, and the guide cylinder slides up and down along the guide push rod; the upper end of the guide cylinder passes through the upper crossbeam upward and is fixed; the upper end of the guide push rod passes through the guide cylinder upward and is installed with a locking mechanism; the lower end of the guide push rod passes through the guide cylinder downward and is fixed on the upper surface of the lower crossbeam; The upper section of the hydraulic push rod of the hydraulic drive mechanism is sleeved with a cylinder body, and the cylinder body slides up and down along the hydraulic push rod; the upper end of the cylinder body passes through the upper cross beam upward and is fixed; the lower end of the hydraulic push rod passes through the cylinder body downward and is fixed on the cylinder push rod hinge seat through a ball joint lifting ring head, and the cylinder push rod hinge seat is fixed on the upper surface of the lower cross beam; The locking mechanism adopts mechanical locking. Through control instructions, the guide cylinder clamps or releases the guide push rod to respectively realize the locking and unlocking of the hydraulic drive device; the default state of the locking mechanism is the locking state.

[0008] Furthermore, the rigid body has three hydraulic drive devices; two hydraulic drive devices are arranged at the front section of the rigid body, and one hydraulic drive device is arranged at the rear section.

[0009] Furthermore, the number and position distribution of the hydraulic drive devices corresponding to the flexible plate are optimally configured through digital simulation according to the external load on the flexible plate and the driving force of the hydraulic drive mechanism.

[0010] The control method of the heavy-load rigid-flexible coupling profile forming device with a self-locking function of the present invention comprises the following process: The rigid body and the flexible plate are in their original profiles, and the locking mechanism is in a locked state; When the profile curve needs to be changed, the locking mechanism automatically opens under the drive motion command; The hydraulic drive device corresponding to the rigid body drives the rigid body to perform up-and-down translation motion and rotational motion around the rear end of the rigid body; the hydraulic drive device corresponding to the flexible plate drives the flexible plate to be formed into a preset two-dimensional profile; during the forming process, the interfaces of the rigid body and the flexible plate are tangent to maintain a smooth transition; The feedback signal of the linear displacement sensor is used to judge in real time whether each hydraulic drive mechanism drives the rigid body and the flexible plate to reach the corresponding positions of the target profile. After each hydraulic drive mechanism reaches the corresponding positions of the target profile, the target profile is obtained and the locking mechanism is locked.

[0011] The heavy-duty rigid-flexible coupling profile forming device with a self-locking function and its control method of the present invention have three groups of hydraulic drive mechanisms, which can balance the heavy-duty acting forces received by the rigid body, realize the real-time spatial positioning of the rigid body, prevent the driving force from being transmitted to the flexible plate, and avoid the situation of excessive structural stress on the flexible plate; the hydraulic drive mechanism has a self-locking function, and even if the hydraulic drive mechanism is turned off, the heavy-duty rigid-flexible coupling profile forming device can be locked at the required forming position for a long time, improving the stability of the heavy-duty rigid-flexible coupling profile forming device and reducing the operation cost; at the same time, the hydraulic drive mechanism adopts a modular design, integrating the two functions of driving and locking, with a simple and compact structure, expanding the use functions of the heavy-duty rigid-flexible coupling profile forming device, and improving the reliability and efficiency of the heavy-duty rigid-flexible coupling profile forming device. Description of the Drawings

[0012] Figure 1 It is a structural schematic diagram (original profile) of the heavy-duty rigid-flexible coupling profile forming device with a self-locking function and its control method of the present invention; Figure 2 It is a structural schematic diagram of the hydraulic drive mechanism in the heavy-duty rigid-flexible coupling profile forming device with a self-locking function and its control method of the present invention; Figure 3 It is a structural schematic diagram (target profile) of the heavy-duty rigid-flexible coupling profile forming device with a self-locking function and its control method of the present invention.

[0013] In the figure, 1. Hydraulic drive device; 2. Hydraulic drive device support seat; 3. Rigid body; 4. Flexible plate; 5. Support frame; 101. Lower crossbeam; 102. Upper crossbeam; 103. Hydraulic drive mechanism; 104. Locking mechanism; 105. Guide mechanism; 106. Ball hinge hanging head; 107. Cylinder push rod hinge seat; 108. Hinge; 109. Linear displacement sensor; 103A. Cylinder block; 103B. Hydraulic push rod; 105A. Guide tube; 105B. Guide push rod. Detailed Embodiments

[0014] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0015] Embodiment: As Figure 1 shown, the heavy-duty rigid-flexible coupled profile forming device with a self-locking function in this embodiment includes a rigid body arranged in sequence from front to back 3 arranged in sequence from front to back and a flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back. The upper surfaces of the rigid body arranged in sequence from front to back 3 arranged in sequence from front to back and the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back are respectively provided with a number of hydraulic driving devices arranged in sequence from front to back 1 arranged in sequence from front to back. Each hydraulic driving device arranged in sequence from front to back 1 arranged in sequence from front to back is fixed on the support frame arranged in sequence from front to back 5 arranged in sequence from front to back through a hydraulic driving device support seat arranged in sequence from front to back 2 arranged in sequence from front to back; The support frame arranged in sequence from front to back 5 arranged in sequence from front to back includes a rigid body support frame corresponding to the rigid body arranged in sequence from front to back 3 arranged in sequence from front to back, a flexible plate support frame corresponding to the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back. The rigid body support frame and the flexible plate support frame are connected by a connecting frame, and the rigid body support frame and the flexible plate support frame are parallel; The lower surface of the rigid body arranged in sequence from front to back 3 arranged in sequence from front to back is a fixed profile, the lower surface of the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back is a variable profile, and the interfaces of the rigid body arranged in sequence from front to back 3 arranged in sequence from front to back and the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back are tangent to maintain a smooth transition.

[0016] Further, as Figure 2 shown, the hydraulic driving device arranged in sequence from front to back 1 arranged in sequence from front to back has a set of upper and lower parallel upper cross beams arranged in sequence from front to back 102 arranged in sequence from front to back and lower cross beams arranged in sequence from front to back 101 arranged in sequence from front to back; The lower cross beam arranged in sequence from front to back 101 arranged in sequence from front to back is placed above the rigid body arranged in sequence from front to back 3 arranged in sequence from front to back or the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back from left to right. The lower surface of the lower cross beam arranged in sequence from front to back 101 arranged in sequence from front to back is connected to the upper surface of the corresponding rigid body arranged in sequence from front to back 3 arranged in sequence from front to back or the flexible plate arranged in sequence from front to back 4 arranged in sequence from front to back through a number of hinges arranged in sequence from left to right 108 arranged in sequence from front to back; The upper cross beams arranged in sequence from front to back 102 arranged in sequence from front to back and the lower cross beams arranged in sequence from front to back 101 arranged in sequence from front to back of each hydraulic driving device arranged in sequence from front to back 1 arranged in sequence from front to back are parallel to each other; The guiding mechanism is arranged in sequence from front to back 105 arranged in sequence from front to back, and the hydraulic driving mechanism is arranged in sequence from front to back 103 arranged in sequence from front to back, running through from top to bottom and fixed on the upper crossbeam arranged in sequence from front to back 102 arranged in sequence from front to back and the lower crossbeam arranged in sequence from front to back 101 arranged in sequence from front to back; On both sides is the guiding mechanism arranged in sequence from front to back 105 arranged in sequence from front to back, and in the middle are the hydraulic driving mechanisms arranged in sequence from front to back 103 arranged in sequence from front to back and the guiding mechanisms arranged in sequence from front to back 105 arranged in sequence from front to back arranged at intervals from left to right; Between the upper crossbeam arranged in sequence from front to back 102 arranged in sequence from front to back and the lower crossbeam arranged in sequence from front to back 101 arranged in sequence from front to back, several linear displacement sensors arranged in sequence from front to back 109 arranged in sequence from front to back are also installed; The guiding push rod 105B arranged in sequence from front to back of the guiding mechanism arranged in sequence from front to back 105 has its upper section sleeved with the guiding cylinder 105A arranged in sequence from front to back, and the guiding cylinder 105A arranged in sequence from front to back slides up and down along the guiding push rod 105B arranged in sequence from front to back; The upper end of the guiding cylinder 105A arranged in sequence from front to back passes upward through the upper crossbeam arranged in sequence from front to back 102 arranged in sequence from front to back and is fixed; The upper end of the guiding push rod 105B arranged in sequence from front to back passes upward through the guiding cylinder 105A arranged in sequence from front to back and the locking mechanism 104 arranged in sequence from front to back is installed; The lower end of the guiding push rod 105B arranged in sequence from front to back passes downward through the guiding cylinder 105A arranged in sequence from front to back and is fixed on the upper surface of the lower crossbeam arranged in sequence from front to back 101 arranged in sequence from front to back; The hydraulic drive mechanism is arranged in sequence from front to back 103. The hydraulic push rods are arranged in sequence from front to back 103B. The upper sleeve cylinder body is arranged in sequence from front to back 103A. The cylinder body is arranged in sequence from front to back 103A and slides up and down along the hydraulic push rods arranged in sequence from front to back 103B. The upper end of the cylinder body is arranged in sequence from front to back 103A and passes through the upper cross beam upwards. The cylinder body is arranged in sequence from front to back 103A and passes through the upper cross beam upwards. The hydraulic push rod is arranged in sequence from front to back 103B and is arranged in sequence from front to back. The lower end of the hydraulic push rod is arranged in sequence from front to back 103A and is arranged in sequence from front to back, and is fixed on the cylinder push rod hinge seat 107 arranged in sequence from front to back through the ball joint lifting eye head, and the cylinder push rod hinge seat 107 arranged in sequence from front to back is arranged in sequence from front to back and is fixed on the upper surface of the lower cross beam 101 arranged in sequence from front to back; The locking mechanism is arranged from front to back in sequence 104 and adopts mechanical locking. Through control instructions, the guide cylinder is arranged from front to back in sequence 105A and clamps or releases the guide push rod is arranged from front to back in sequence 105B and realizes the locking and unlocking of the hydraulic drive device 1 and arranged from front to back in sequence respectively; the default state of the locking mechanism is arranged from front to back in sequence 104 and arranged from front to back in sequence is the locked state.

[0017] Furthermore, the rigid body arranged from front to back 3 arranged from front to back has 3 hydraulic drive devices arranged from front to back 1 arranged from front to back; the front section of the rigid body arranged from front to back 3 arranged from front to back is provided with 2 hydraulic drive devices arranged from front to back 1 arranged from front to back, and the rear section is provided with 1 hydraulic drive device arranged from front to back 1 arranged from front to back. According to the three-point positioning principle of the spatial planar mechanism, less than 3 hydraulic drive devices arranged from front to back 1 arranged from front to back cannot realize the spatial real-time positioning of the rigid body arranged from front to back 3 arranged from front to back, and more than 3 hydraulic drive devices arranged from front to back 1 arranged from front to back will produce over-constraint, which is not conducive to the posture adjustment of the rigid body arranged from front to back 3 arranged from front to back, and it is easy to get stuck.

[0018] Furthermore, the number and position distribution of the flexible plates arranged from front to back 4 and the corresponding hydraulic drive devices arranged from front to back 1 are optimized through digital simulation according to the external loads received by the flexible plates arranged from front to back 4 and the driving force of the hydraulic drive mechanisms arranged from front to back 103.

[0019] The control method of the heavy-duty rigid-flexible coupling profiled forming device with a self-locking function in this embodiment includes the following processes: The rigid bodies are arranged in sequence from front to back 3 and the flexible plates are arranged in sequence from front to back 4 in the Figure 1 original profile shown, and the locking mechanism is arranged in sequence from front to back 104 and is in the locked state; When the profile curve needs to be changed, the locking mechanism arranged in sequence from front to back 104 automatically opens under the driving motion instruction; The corresponding hydraulic driving devices of the rigid bodies arranged in sequence from front to back 3 drive the rigid bodies arranged in sequence from front to back 3 to perform up-and-down translation motion and rotational motion around the rear end of the rigid bodies arranged in sequence from front to back 3; the corresponding hydraulic driving devices of the flexible plates arranged in sequence from front to back 4 drive the flexible plates arranged in sequence from front to back 4 to form a two-dimensional profile according to the pre-set; during the forming process, the interfaces of the rigid bodies arranged in sequence from front to back 3 and the flexible plates arranged in sequence from front to back 4 are tangent to maintain a smooth transition; the profile curve curvature of the flexible plates arranged in sequence from front to back 4 at the interface is as close to zero as possible to prevent stress concentration phenomena from occurring in the flexible plates arranged in sequence from front to back 4; The feedback signals of the linear displacement sensors arranged in sequence from front to back 109 are used to judge in real time whether the hydraulic driving mechanisms arranged in sequence from front to back 103 drive the rigid bodies arranged in sequence from front to back 3 and the flexible plates arranged in sequence from front to back 4 to reach the corresponding positions of the target profile. After all the hydraulic driving mechanisms arranged in sequence from front to back 103 reach the corresponding positions of the target profile, Figure 3 the target profile shown is obtained, and the locking mechanism arranged in sequence from front to back 104 locks.

[0020] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. For those familiar with the art, without departing from the principle of the present invention, all the features disclosed in the present invention, or all the steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any way. The present invention is not limited to the specific details and the illustrated examples here.

Claims

1. A heavy-duty rigid-flexible coupled surface forming device with a self-locking function, characterized in that The heavy-load rigid-flexible coupling profile forming device comprises a rigid body (3) and a flexible plate (4) connected in sequence from front to back, and the upper surfaces of the rigid body (3) and the flexible plate (4) are respectively provided with a plurality of hydraulic drive devices (1) arranged in sequence from front to back, and each hydraulic drive device (1) is fixed to a support frame (5) via a hydraulic drive device support seat (2); The support frame (5) comprises a rigid body support frame corresponding to the rigid body (3), and a flexible board support frame corresponding to the flexible board (4), the rigid body support frame and the flexible board support frame being connected via a connecting frame, and the rigid body support frame and the flexible board support frame being parallel; The lower surface of the rigid body (3) is a fixed profile surface, the lower surface of the flexible plate (4) is a variable profile surface, and the interface between the rigid body (3) and the flexible plate (4) is tangent to each other to maintain a smooth transition.

2. The heavy-duty rigid-flexible coupling surface forming device with a self-locking function according to claim 1, characterized in that, The hydraulic drive device (1) comprises a group of upper crossbeams (102) and lower crossbeams (101) which are parallel to each other. The lower crossbeams (101) are placed above the rigid body (3) or the flexible plate (4) from left to right, and the lower surface of the lower crossbeam (101) is connected to the upper surface of the corresponding rigid body (3) or the flexible plate (4) via a plurality of hinges (108) which are connected in series from left to right. The upper crossbeams (102) and the lower crossbeams (101) of each hydraulic drive device (1) are parallel to each other. The guide mechanism (105) and the hydraulic drive mechanism (103) penetrate from top to bottom and are fixed between the upper crossbeam (102) and the lower crossbeam (101); the guide mechanisms (105) are on both sides, and the hydraulic drive mechanism (103) and the guide mechanism (105) are arranged in intervals from left to right in the middle; a plurality of linear displacement sensors (109) are also installed between the upper crossbeam (102) and the lower crossbeam (101); The upper section of the guide push rod (105B) of the guide mechanism (105) is sleeved with the guide cylinder (105A), and the guide cylinder (105A) slides up and down along the guide push rod (105B); the upper end of the guide cylinder (105A) passes through the upper crossbeam (102) upward and is fixed; the upper end of the guide push rod (105B) passes through the guide cylinder (105A) upward and is installed with a locking mechanism (104); the lower end of the guide push rod (105B) passes through the guide cylinder (105A) downward and is fixed to the upper surface of the lower crossbeam (101); The upper section of the hydraulic push rod (103B) of the hydraulic drive mechanism (103) is sleeved on the cylinder body (103A), and the cylinder body (103A) slides up and down along the hydraulic push rod (103B); the upper end of the cylinder body (103A) passes through the upper cross beam (102) upward and is fixed; the lower end of the hydraulic push rod (103B) passes through the cylinder body (103A) downward and is fixed to the cylinder push rod hinge seat (107) through a ball joint lifting eye head (106); and the cylinder push rod hinge seat (107) is fixed to the upper surface of the lower cross beam (101); The locking mechanism (104) adopts mechanical locking. Through control instructions, the guide cylinder (105A) holds or releases the guide push rod (105B), thereby respectively achieving locking and unlocking of the hydraulic drive device (1); the default state of the locking mechanism (104) is the locked state.

3. The heavy-duty rigid-flexible coupling profile forming device with a self-locking function according to claim 1, characterized in that, The rigid body (3) is provided with three hydraulic driving devices (1); two hydraulic driving devices (1) are arranged at the front section of the rigid body (3), and one hydraulic driving device (1) is arranged at the rear section of the rigid body (3).

4. The heavy-duty rigid-flexible coupling surface forming device with a self-locking function according to claim 1, characterized in that, The quantity and position distribution of the corresponding hydraulic driving devices (1) of the flexible plate (4) are optimized and configured through digital simulation according to the external load received by the flexible plate (4) and the driving force of the hydraulic driving mechanism (103).

5. Control method of a heavy-duty rigid-flexible coupling surface forming device with a self-locking function, which is used for the heavy-duty rigid-flexible coupling surface forming device with a self-locking function described in any one of claims 1 to 4, characterized in that, It includes the following processes: The rigid body (3) and the flexible plate (4) are in the original surface, and the locking mechanism (104) is in the locked state; When the surface curve needs to be changed, the locking mechanism (104) automatically opens under the driving motion instruction; The hydraulic driving device (1) corresponding to the rigid body (3) drives the rigid body (3) to perform vertical translation motion and rotational motion around the rear end of the rigid body (3); the hydraulic driving device (1) corresponding to the flexible plate (4) drives the flexible plate (4) to be formed into a preset two-dimensional surface; during the forming process, the interfaces of the rigid body (3) and the flexible plate (4) are tangent to maintain a smooth transition; The feedback signal of the linear displacement sensor (109) is used to judge in real time whether each hydraulic driving mechanism (103) drives the rigid body (3) and the flexible plate (4) to reach the corresponding positions of the target surface. When each hydraulic driving mechanism (103) reaches the corresponding positions of the target surface, the target surface is obtained, and the locking mechanism (104) locks.

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