High-precision tilting device for earthquake simulation vibration test bench and adjusting method

Abstract

The invention relates to the technical field of simulated earthquake vibration tests, in particular to a high-precision tilting device for an earthquake simulation test bed and an adjusting method. The device comprises a bearing plate, a base plate, a transverse groove, a longitudinal groove, a lifting driving device and three industrial-grade laser range finders, wherein the transverse groove and the longitudinal groove are arranged in a # shape; the lifting driving device is used for adjusting the inclination angle and the azimuth angle of the bearing plate; each driving device is connected with a double-acting servo hydraulic cylinder through a spherical hinge, a laser range finder on the base plate measures the posture in real time based on the three-point plane determining principle, micron-order adjustment of the telescopic amount of a piston rod is achieved through a PLC control hydraulic system, and finally the control precision of the inclination angle and the azimuth angle of the bearing plate reaches 0.02 degree. Through closed-loop control and high-rigidity structural design, the problems that a traditional device is low in adjusting efficiency and insufficient in precision are solved, and the device is suitable for a high-precision earthquake simulation test.

Description

Technical Field

[0001] This invention relates to the field of vibration environment simulation testing technology, and in particular to a high-precision tilting device and adjustment method for an earthquake simulation vibration test bench. Background Technology

[0002] In the field of earthquake engineering, earthquake simulation vibration test benches are key equipment for studying the seismic performance of building structures, large containers, and mechanical equipment. Traditional vibration test benches mainly simulate earthquake effects through horizontal and vertical vibrations, but their ability to adjust the initial tilt angle of the specimen is limited, making it difficult to meet the requirements for high-precision initial attitude control under complex seismic conditions.

[0003] In existing technologies, tilt adjustment mostly relies on mechanical bolts for limiting or fixing inclined blocks, which has problems such as cumbersome operation, low adjustment efficiency, and lack of dynamic control. In addition, traditional platforms are prone to slight deformation due to insufficient structural rigidity, resulting in a decrease in tilt accuracy, and lack a real-time feedback mechanism, which seriously affects the accuracy and repeatability of the test.

[0004] Therefore, there is an urgent need for a tilting device with high precision, high stiffness, and real-time closed-loop control capabilities to improve the reliability and adaptability of earthquake simulation tests. Summary of the Invention

[0005] The main objective of this invention is to overcome the shortcomings of existing technologies and provide a high-precision tilting device and adjustment method for earthquake simulation vibration test benches. It solves the core problems of low adjustment accuracy, slow response, and insufficient stiffness in traditional technologies, providing a highly reliable and high-precision tilt control solution for earthquake simulation experiments.

[0006] The technical solution adopted by this invention to achieve its technical objective is: a tilting device for an earthquake simulation vibration test bench, installed on the surface of the vibration test bench, comprising: The support plate, connected to the base plate via a lifting drive device, can adjust its tilt angle; it is used to place test models or specimens and is the direct load-bearing part of the tilting device.

[0007] The base plate is fixedly connected to the grid-shaped support frame to support the lifting drive device; it serves as the fixed base for the entire tilting device and is connected to the vibration test bench surface.

[0008] The grid-shaped support frame formed by the transverse and longitudinal slots is fixedly connected to the base plate to form a rigid structure, which enhances the rigidity and stability of the base plate and provides installation support for the lifting drive device.

[0009] The fixed base is welded to the grid-shaped support frame formed by the transverse and longitudinal grooves. The transverse grooves, longitudinal grooves and the fixed base are all fixed on the base plate, which improves the overall rigidity of the structure.

[0010] At least three sets of actively adjustable lifting drive devices are arranged in an equilateral triangle to adjust the tilt angle of the support plate; they are arranged in an equilateral triangle, with one end fixed to the base plate or support frame and the other end connected to the support plate through a ball joint; by actively adjusting the height, the tilt angle of the support plate is changed to simulate the tilt state during an earthquake.

[0011] Three laser rangefinders are arranged in an equilateral triangle to measure the tilt displacement of the support plate. The triangle formed by the mounting points is concentric with the mounting points of the lifting drive device, but with smaller sides to ensure measurement accuracy. They are used to measure the tilt displacement of the support plate in real time and provide feedback data to the control system.

[0012] The equilateral triangle formed by the mounting points of the laser rangefinder is concentric with the equilateral triangle formed by the mounting points of the lifting drive device, and the side length of the former is less than the side length of the latter.

[0013] Overall connection: The base plate is fixed by a grid-shaped support frame, and the lifting drive device and laser rangefinder are installed in an equilateral triangle configuration. The lifting drive device adjusts the tilt angle of the support plate, and the laser rangefinder monitors the tilt displacement, forming a closed-loop control system.

[0014] Preferably, it also includes three sets of passive support structure lifting drive devices, which work in conjunction with the active lifting drive device and are distributed in the same way as the active device to form a more uniform support; on the basis of the active adjustment lifting drive device, the addition of passive support structure further improves the stability and vibration resistance of the bearing plate.

[0015] Preferably, the lifting drive device includes a hydraulic cylinder, the piston rod of which is connected to a ball joint rod via a connecting shaft, and the ball joint rod is connected to a bearing plate via a ball joint.

[0016] The piston rod is connected to the ball joint via a connecting shaft, serving as a power source. The extension and retraction of the piston rod drives the tilting of the support plate. The connecting shaft connects the piston rod and the ball joint, transmitting power from the hydraulic cylinder while allowing for a certain angle of deflection. The ball joint connects to the support plate via a ball joint, enabling multi-degree-of-freedom rotation to adapt to changes in the tilt of the support plate. Preferably, the cylinder is a double-acting servo hydraulic cylinder with a built-in displacement sensor (0.1μm resolution). The flow of hydraulic oil is controlled by a power source, and the hydraulic oil adjusts the axial extension and retraction of the piston rod. The maximum stroke is 500mm, the extension / retraction accuracy is ±1μm, and the response time is ≤5ms. Connected to the control system, it forms a closed-loop control system. The double-acting servo hydraulic cylinder provides bidirectional precise control, and the built-in displacement sensor enables high-precision feedback, ensuring accurate adjustment of the tilt angle.

[0017] Preferably, the ball joint is rotatably disposed within the ball joint fixing seat, and the ball joint fixing seat is fixed by the first ball joint groove and the second ball joint groove through adjusting bolts.

[0018] The ball joint mounting bracket is secured by a first ball joint groove and a second ball joint groove via adjusting bolts, facilitating installation and maintenance. It provides stable rotational support for the ball joint. The adjusting bolts are used to adjust the tightness of the ball joint, ensuring flexible rotation without loosening.

[0019] Preferably, the ball joint and the steel ball form rolling friction, allowing the ball joint to rotate within a range of ±30°. The steel ball is embedded between the ball joint and the fixed seat, forming rolling contact. Rolling friction reduces rotational resistance, expands the rotational range, and accommodates larger tilt angles.

[0020] Preferably, the laser rangefinder has a measurement accuracy of ±0.1mm, providing high-precision measurement of tilt displacement to ensure the accuracy of the test data.

[0021] The present invention also provides a method for adjusting a high-precision tilting device for an earthquake simulation vibration test bench, specifically including the following steps: S1. Set the coordinate system and the position of the point. Establish a Cartesian coordinate system. Define the installation point of the laser rangefinder as... The mounting points of the three actively adjustable lifting drive devices are defined as follows: ,by Establish a Cartesian coordinate system with the origin. To simplify calculations, we choose to place an equilateral triangle in the xy-plane symmetrically. Let the side length of the equilateral triangle be *a*, where... On the x-axis, the mounting point of the laser rangefinder... The coordinates of the three points are: ; S2. Calculate the normal vector of the plane of the bearing plate. The normal vector of a plane can be obtained by taking the cross product of two vectors: ; in: ; Calculate the cross product, where i, j, k are standard unit vectors: ; Expanding the determinant: ; Simplified, we get: ; S3. Calculate the angle of inclination between the plane of the bearing plate and the horizontal plane. The angle of inclination α is the plane normal vector. Normal vector to the horizontal plane The included angle: ; Therefore, the tilt angle α is: ; After simplification, it becomes: ; S4. Calculate the azimuth angle of the plane. The direction of the plane is determined by the projection of the normal vector onto the xy plane. Determine the azimuth angle for: ; S5. Determine the plane equation: Using point-normal form equations, choose : ; Substitution : ; The equation of the plane is obtained by rearranging: ; S6. Given the target tilt angle of the bearing plate plane. and azimuth beg : normal vector of a plane The tilt angle α and azimuth angle can be used. Indicates azimuth angle This determines the direction of the normal vector in the xy plane, therefore: ; The tilt angle α determines the angle between the normal vector and the z-axis, therefore: ; Final normal vector: ; Using normal vectors to establish plane equations: ; The expression for obtaining z: ; Because the plane equation has As a reference, it is usually necessary to specify the z-coordinate of a point (e.g., =0 or other arbitrary constants; in practical applications, the elongation of the piston rod is ≥0, therefore (≥0), then calculate the z-coordinates of other points. The coordinate values ​​are as follows: ; S7. Calculate the correspondence between the piston rod elongation and the laser rangefinder measurement. Based on the geometric relationship of two parallel equilateral triangles, the equilateral triangle formed by the three driving piston rods (referred to as the outer equilateral triangle) is a concentric magnification of the equilateral triangle formed by the three laser rangefinders (referred to as the inner equilateral triangle). Let the magnification factor be k. Then the center coordinates of the inner equilateral triangle are: ; The vertices of the outer equilateral triangle are the result of magnifying the inner triangle by a factor of k with the centroid G as the center: ; That is, the outer equilateral triangle The coordinates satisfy: ; The correspondence between the extension of the three drive piston rods and the measured values ​​of the laser rangefinder is as follows: ; S8. After adjusting the extension of the drive piston rod, the laser rangefinder measures the z1, z2, and z3 values ​​in real time and calculates the current inclination angle α and azimuth angle of the bearing plate. The system receives feedback data from the laser rangefinder (7) in real time via PLC (sampling frequency 100Hz) to form a closed-loop control, thereby achieving micron-level adjustment of the piston rod extension. When the tilt angle error is ≥0.01°, the system enters a fast adjustment mode (adjustment rate 100μm / s); when the error is <0.01°, it switches to a fine adjustment mode (rate 10μm / s). This adjustment is maintained until the current tilt angle α and azimuth angle of the bearing plate are adjusted. Angle of inclination to the target and azimuth The error is less than or equal to 0.02°.

[0022] Compared with the prior art, the beneficial effects of the present invention are: This high-precision tilting device and adjustment method enables high-precision adjustment. The invention adopts three-point positioning closed-loop control technology, combined with an industrial-grade laser rangefinder (measurement accuracy ±0.1mm) and a double-acting servo hydraulic cylinder (extension accuracy ±1μm), to achieve precise adjustment of the platform tilt angle (0~30°) and azimuth angle (-180°~180°), with a control accuracy of 0.02°, which is significantly better than the traditional mechanical adjustment method.

[0023] This high-precision tilting device and adjustment method can achieve dynamic closed-loop control. It uses a PLC to collect laser rangefinder data in real time (sampling frequency 100Hz) to form a closed-loop feedback system. It supports fast (100μm / s) and fine (10μm / s) dual-mode adjustment to ensure that the tilt state quickly converges to the target value.

[0024] This high-precision tilting device and adjustment method has high rigidity and stability. The grid-shaped support frame and welded structure design enhance the overall rigidity. Combined with the ball joint structure (rotation range ±30°) and rolling friction components (42CrMo alloy quenching treatment), it effectively suppresses vibration interference and avoids minor deformation.

[0025] This high-precision tilting device and adjustment method are highly adaptable, with a simple structure and convenient installation. It can be adapted to various test bench types and is suitable for simulating complex seismic conditions in fields such as construction and machinery, significantly improving test efficiency and data reliability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the high-precision tilting device in this invention.

[0028] Figure 2 This is a cross-sectional structural diagram of the lifting drive device.

[0029] Figure 3 This is a schematic diagram of the ball joint fixing seat.

[0030] Figure 4 This is a schematic diagram showing the distribution of the laser rangefinder and the lifting drive device.

[0031] Figure 5 This is a flowchart of the closed-loop control process in this invention.

[0032] The components include: 1. Bearing plate; 2. Base plate; 3. Transverse groove; 4. Longitudinal groove; 5. Lifting drive device; 5-1. Ball joint fixing seat; 5-1-1. Ball joint groove 1; 5-1-2. Ball joint groove 2; 5-1-3. Adjusting bolt; 5-1-4. Trapezoidal guide block; 5-2. Steel ball; 5-3. Ball joint; 5-4. Rubber gasket; 5-5. Ball joint rod; 5-6. Connecting shaft; 5-7. Hydraulic cylinder; 5-8. Flange base; 6. Fixing seat; 7. Laser rangefinder. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0034] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0035] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0036] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1

[0037] See also Figures 1-3A high-precision tilting device for earthquake simulation vibration test bench is installed on the test bench surface. The high-precision tilting device includes a support frame formed by a bearing plate 1, a base plate 2, a transverse groove 3 and a longitudinal groove 4 forming a grid shape, a lifting drive device 5 for supporting and adjusting the tilt angle of the bearing plate 1, a fixed seat 6, and three laser rangefinders 7 distributed in an equilateral triangle.

[0038] The grid-shaped support frame formed by the transverse groove 3 and the longitudinal groove 4 is welded to the fixed seat 6. The transverse groove 3, the longitudinal groove 4 and the fixed seat 6 are all fixed on the base plate 2, which improves the overall rigidity of the structure.

[0039] The lifting drive device 5 is equipped with six sets, three of which are active adjustment structures distributed in an equilateral triangle, and three of which are passive support structures. The axial extension and retraction of the hydraulic cylinders 5-7 in the active adjustment structure adjusts the tilt angle of the bearing plate 1, and the passive support structure passively cooperates with the tilt angle of the bearing plate 1.

[0040] The equilateral triangle formed by the mounting points of the laser rangefinder 7 is concentric with the equilateral triangle formed by the mounting points of the active adjustment structure in the lifting drive device 5, and the side length of the former is 1 / kk>1 of the latter, and the center coordinates of the two coincide.

[0041] The laser rangefinder 7 is an industrial-grade laser rangefinder with a measurement accuracy of ±0.1mm. It is used to measure the tilt displacement of the bearing plate 1 in real time and to determine the degree of tilt of the bearing plate 1 by using the principle of determining the plane by three points.

[0042] Furthermore, in this embodiment, the lifting drive device 5 includes a ball joint fixing seat 5-1, a retainer and a steel ball 5-2, a ball joint 5-3, a rubber gasket 5-4, a ball joint rod 5-5, a connecting shaft 5-6, a hydraulic cylinder 5-7, and a flange base 5-8. The bottom of the hydraulic cylinder 5-7 is integrally connected to a flange base 5-8, which is fixed to the base plate 2 by bolts. Meanwhile, the fixed end of the hydraulic cylinder 5-7 is located inside the fixed seat 6. The piston rod of the hydraulic cylinder 5-7 is threadedly connected to one end of the connecting shaft 5-6, and the other end of the connecting shaft 5-6 is threadedly fixed to the ball joint rod 5-5.

[0043] Cylinders 5-7 are double-acting servo hydraulic cylinders with built-in displacement sensors (resolution 0.1μm). The flow rate of hydraulic oil is controlled by power supply, and the hydraulic oil adjusts the axial extension and retraction of the piston rod. The maximum stroke is 500mm, the extension and retraction accuracy is ±1μm, and the response time is ≤5ms.

[0044] The ball joint 5-3 is threadedly fixed to one end of the ball joint rod 5-5. The ball joint 5-3 is rotatably mounted in the ball joint fixing seat 5-1. The upper part of the ball joint fixing seat 5-1 is used to fix the bottom of the bearing plate 1.

[0045] Furthermore, in this embodiment, the ball joint fixing seat 5-1 is fixed by the first ball joint groove 5-1-1 and the second ball joint groove 5-1-2 through the adjusting bolt 5-1-3. The first ball joint groove 5-1-1 and the second ball joint groove 5-1-2 are assembled by the trapezoidal guide block 5-1-4. The ball joint 5-3 is rotatably disposed in the ball joint fixing seat 5-1.

[0046] A retainer and a steel ball 5-2 embedded in the retainer are respectively provided in the first ball joint groove 5-1-1 and the second ball joint groove 5-1-2. At the same time, a rubber gasket 5-4 corresponding to the ball joint contour is provided in the first ball joint groove 5-1-1 and the second ball joint groove 5-1-2.

[0047] The steel ball 5-2 and the ball joint 5-3 form rolling friction, allowing the ball joint 5-3 to rotate within a range of ±30°, presenting itself as a 60° cone in space. The ball joint 5-3 is made of 42CrMo alloy, and its surface is hardened to ≥HRC55 and has a surface roughness Ra≤0.8μm after quenching treatment, ensuring rotational accuracy. Example 2

[0048] See also Figures 4-5 Based on the above embodiments, this invention also provides a method for adjusting a high-precision tilting device for an earthquake simulation vibration test bench, which is installed on the test bench surface, characterized by the following steps: S1. Set the coordinate system and the position of the point. Establish a Cartesian coordinate system. Define the installation point of the laser rangefinder as... The mounting points of the three actively adjustable lifting drive devices are defined as follows: ,by Establish a Cartesian coordinate system with the origin. To simplify calculations, we choose to place an equilateral triangle in the xy-plane symmetrically. Let the side length of the equilateral triangle be *a*, where... On the x-axis, the mounting point of the laser rangefinder... The coordinates of the three points are: ; S2. Calculate the normal vector of the plane of the bearing plate. It can be obtained through the cross product of two vectors: ; in: ; Calculate the cross product, where i, j, k are standard unit vectors: ; Expanding the determinant: ; Simplified, we get: ; S3. Calculate the angle of inclination between the plane of the bearing plate and the horizontal plane. The angle of inclination α is the plane normal vector. Normal vector to the horizontal plane The included angle: ; Therefore, the tilt angle α is: ; After simplification, it becomes: ; S4. Calculate the azimuth angle of the plane. The direction of the plane is determined by the projection of the normal vector onto the xy plane. Determine the azimuth angle for: ; S5. Determine the plane equation: Using point-normal form equations, choose : ; Substitution : ; The equation of the plane is obtained by rearranging: ; S6. Given the target tilt angle of the bearing plate plane. and azimuth beg : normal vector of a plane The tilt angle α and azimuth angle can be used. Indicates azimuth angle This determines the direction of the normal vector in the xy plane, therefore: ; The tilt angle α determines the angle between the normal vector and the z-axis, therefore: ; Final normal vector: ; Using normal vectors to establish plane equations: ; The expression for obtaining z: ; Because the plane equation has As a reference, it is usually necessary to specify the z-coordinate of a point (e.g., =0 or other arbitrary constants; in practical applications, the elongation of the piston rod is ≥0, therefore (≥0), then calculate the z-coordinates of other points. The coordinate values ​​are as follows: ; S7. Calculate the correspondence between the piston rod elongation and the laser rangefinder measurement. Based on the geometric relationship of two parallel equilateral triangles, the equilateral triangle formed by the three driving piston rods (referred to as the outer equilateral triangle) is a concentric magnification of the equilateral triangle formed by the three laser rangefinders (referred to as the inner equilateral triangle). Let the magnification factor be k. Then the center coordinates of the inner equilateral triangle are: ; The vertices of the outer equilateral triangle are the result of magnifying the inner triangle by a factor of k with the centroid G as the center: ; That is, the outer equilateral triangle The coordinates satisfy: ; The correspondence between the extension of the three drive piston rods and the measured values ​​of the laser rangefinder is as follows: ; S8. After adjusting the extension of the drive piston rod, the laser rangefinder measures in real time. Calculate the current inclination angle α and azimuth angle of the bearing plate. The system receives feedback data from the laser rangefinder (7) in real time via PLC (sampling frequency 100Hz) to form a closed-loop control, thereby achieving micron-level adjustment of the piston rod extension. When the tilt angle error is ≥0.01°, the system enters a fast adjustment mode (adjustment rate 100μm / s); when the error is <0.01°, it switches to a fine adjustment mode (rate 10μm / s). This adjustment is maintained until the current tilt angle α and azimuth angle of the bearing plate are adjusted. Angle of inclination to the target and azimuth The error is less than or equal to 0.02°.

[0049] The solution in this embodiment can be selectively combined with solutions in other embodiments.

[0050] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of this invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of this invention, or equivalent structural, procedural, or functional transformations made using the description and drawings of this invention, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of protection of this invention.

Claims

1. A tilting device for an earthquake simulation vibration test bench, installed on the surface of the vibration test bench, characterized in that, include: Support plate (1); substrate(2); The grid-shaped support frame formed by the transverse groove (3) and the longitudinal groove (4) is fixedly connected to the base plate (2); At least three sets of actively adjustable lifting drive devices (5) are arranged in an equilateral triangle to adjust the tilt angle of the support plate (1); Three laser rangefinders (7) are arranged in an equilateral triangle to measure the tilt displacement of the bearing plate (1).

2. The tilting device according to claim 1, characterized in that, The equilateral triangle formed by the mounting points of the laser rangefinder (7) and the equilateral triangle formed by the mounting points of the lifting drive device (5) are concentric, and the side length of the former is less than the side length of the latter.

3. The tilting device according to claim 1, characterized in that, It also includes three sets of passive support structures for lifting drive devices (5).

4. The tilting device according to claim 1, characterized in that, The lifting drive device (5) includes a hydraulic cylinder (5-7), the piston rod of the hydraulic cylinder (5-7) is connected to a ball joint rod (5-5) via a connecting shaft (5-6), and the ball joint rod (5-5) is connected to the bearing plate (1) via a ball joint (5-3).

5. The tilting device according to claim 4, characterized in that, The cylinders (5-7) are double-acting servo hydraulic cylinders with built-in displacement sensors, a maximum stroke of 500mm, a telescopic accuracy of ±1μm, and a response time of ≤5ms.

6. The tilting device according to claim 4, characterized in that, The ball joint (5-3) is rotatably disposed in the ball joint fixing seat (5-1), and the ball joint fixing seat (5-1) is fixed by the first ball joint groove (5-1-1) and the second ball joint groove (5-1-2) through the adjusting bolt (5-1-3).

7. The tilting device according to claim 6, characterized in that, The ball joint (5-3) and the steel ball (5-2) generate rolling friction, allowing the ball joint (5-3) to rotate within a range of ±30°.

8. The tilting device according to claim 1, characterized in that, The measurement accuracy of the laser rangefinder (7) is ±0.1 mm.

9. A method for adjusting a high-precision tilting device for an earthquake simulation vibration test bench, characterized in that, Specifically, the steps include the following: S1. Set the coordinate system and the position of the point. Establish a Cartesian coordinate system. Define the installation point of the laser rangefinder as... The mounting points of the three actively adjustable lifting drive devices are defined as follows: ,Think Establish a Cartesian coordinate system with the origin as the origin. Let the side length of the equilateral triangle be *a*, where... On the x-axis, the mounting point of the laser rangefinder... The coordinates of the three points are: ； S2. Calculate the normal vector of the plane of the bearing plate. It can be obtained through the cross product of two vectors: ； in: ; Calculate the cross product, where i, j, k are standard unit vectors: ； Expanding the determinant and simplifying it, we get: ； S3. Calculate the angle of inclination between the plane of the bearing plate and the horizontal plane. The angle of inclination α is the plane normal vector. Normal vector to the horizontal plane The included angle: ； Therefore, the simplified inclination angle α is: ； S4. Calculate the azimuth angle of the plane. The direction of the plane is determined by the projection of the normal vector onto the xy plane. Determine the azimuth angle for: ； S5. Determine the plane equation: Using point-normal form equations, choose : ； Substitution : ； The equation of the plane is obtained by rearranging: ； S6. Given the target tilt angle of the bearing plate plane. and azimuth beg : normal vector of a plane The tilt angle α and azimuth angle can be used. Indicates azimuth angle This determines the direction of the normal vector in the xy plane, therefore: ； The tilt angle α determines the angle between the normal vector and the z-axis, therefore: ； Final normal vector ； Using normal vectors to establish plane equations: ； The expression for obtaining z: ； The plane equation contains As a benchmark, The coordinate values ​​are as follows: ； S7. Calculate the correspondence between the piston rod elongation and the laser rangefinder measurement; Based on the geometric relationship of two parallel equilateral triangles, the equilateral triangle formed by the three driving piston rods is a concentric magnification of the equilateral triangle formed by the three laser rangefinders. Let the magnification factor be k, then the coordinates of the center of the inner equilateral triangle are: ； The vertices of the outer equilateral triangle are the result of magnifying the inner triangle by a factor of k with the centroid G as the center: ； That is, the outer equilateral triangle The coordinates satisfy: ； The correspondence between the extension of the three drive piston rods and the measured values ​​of the laser rangefinder is as follows: ； S8. After adjusting the extension of the drive piston rod, the laser rangefinder measures in real time. Calculate the current inclination angle α and azimuth angle of the bearing plate. The PLC receives feedback data from the laser rangefinder (7) in real time to form a closed-loop control, thereby realizing micron-level adjustment of the piston rod extension and retraction. When the tilt angle error is ≥0.01°, the system enters the fast adjustment mode with an adjustment rate of 100μm / s; When the error is < 0.01°, switch to fine adjustment mode with an adjustment rate of 10 μm / s; Until the current bearing plate plane tilt angle α and azimuth angle Angle of inclination to the target and azimuth The error is less than or equal to 0.02°.

Images