Dynamic response testing device for over-positioning parallel mechanism

Abstract

The utility model relates to the field of over-positioning parallel mechanisms, in particular to a dynamic response testing device for an over-positioning parallel mechanism. The over-positioning parallel mechanism dynamic response testing device provided by the utility model can conveniently carry out dynamic tests on over-positioning parallel mechanisms with different heights or types, and improves the portability when the dynamic tests are carried out on different over-positioning parallel mechanisms. An over-positioning parallel mechanism dynamic response testing device comprises a mounting base, fixing pieces, rodless cylinders, sliding blocks and the like, the front side of the lower portion of the mounting base is connected with the multiple fixing pieces, the tops of the fixing pieces are connected with the rodless cylinders, and the lower portions of the rodless cylinders are connected with the sliding blocks in a sliding mode. According to the over-positioning parallel mechanism dynamic test device, through the clamping connection of the convex block and the groove and the operation of enabling the rotating plate to clamp the mounting seat under the action of the torsion spring, the over-positioning parallel mechanisms of different heights or types can be conveniently and dynamically tested, and the portability when the different over-positioning parallel mechanisms are dynamically tested is improved.

Description

Technical Field

[0001] The utility model relates to the field of overconstrained parallel mechanisms, in particular to a dynamic response test device for overconstrained parallel mechanisms. Background Technique

[0002] An overconstrained parallel mechanism refers to a mechanism design in which its degree of freedom (DOF) is greater than the minimum degree of freedom required kinematically. Such a design can improve the stiffness, accuracy, and robustness of the mechanism.

[0003] Currently, the dynamic response test of overconstrained parallel mechanisms is usually to install acceleration sensors, displacement sensors, force sensors, etc. at the key nodes and kinematic pairs of the mechanism to monitor and record parameters such as displacement, velocity, acceleration, force, and torque of the mechanism in real time. At the same time, a data acquisition system is built to ensure the accurate, continuous, and real-time recording of data. However, for different types of overconstrained parallel mechanisms, the positions of the key nodes and other positions that need to be set will also change, resulting in the need to re-arrange and calculate the settings of the sensors, and the actual operation is time-consuming and laborious.

[0004] Therefore, a dynamic response test device for overconstrained parallel mechanisms has now been developed, which can facilitate the dynamic testing of overconstrained parallel mechanisms of different heights or types and improve the portability during the dynamic testing of different overconstrained parallel mechanisms. Content of the Utility Model

[0005] In order to overcome the disadvantages that for different types of overconstrained parallel mechanisms in the prior art, the positions of the key nodes and other positions that need to be set will also change, resulting in the need to re-arrange and calculate the settings of the sensors, and the actual operation is time-consuming and laborious, the utility model provides a dynamic response test device for overconstrained parallel mechanisms, which can facilitate the dynamic testing of overconstrained parallel mechanisms of different heights or types and improve the portability during the dynamic testing of different overconstrained parallel mechanisms.

[0006] The technical implementation scheme of the utility model is: a dynamic response test device for overconstrained parallel mechanisms, including a mounting seat, fixing pieces, rodless cylinders, sliders, universal joints, detectors, and a controller. A plurality of fixing pieces are connected to the front side of the lower part of the mounting seat, the tops of the fixing pieces are all connected with rodless cylinders, the lower parts of the rodless cylinders are all slidably connected with sliders, the front sides of the sliders are all connected with universal joints, detectors are connected to the universal joints, a controller is connected to the rear part of the mounting seat, and the detectors are all electrically connected to the controller.

[0007] Furthermore, it also includes fixing plates, fixing members, rotating plates, and torsion springs. Fixing plates are connected to the left and right sides of the upper part of the mounting seat, fixing members are connected to the tops of the fixing plates, rotating plates are rotatably connected to the fixing members, and torsion springs are connected between the front and rear sides of the lower parts of the rotating plates and the fixing members.

[0008] Furthermore, a groove is formed at the top of the mounting base.

[0009] Furthermore, it further includes a bump. The bump is connected to the bottom of the mounting base, and the snap connection between the bump and the groove can meet the requirements of stacking multiple mounting bases.

[0010] Furthermore, flexible clips are provided on the top of the rotating plate.

[0011] Compared with the prior art, the present utility model has the following advantages: 1. Through the snap connection between the bump and the groove and the operation of clamping the mounting base by the rotating plate under the action of the torsion spring, the present utility model can facilitate the dynamic testing of over-positioning parallel mechanisms with different heights or types, and improve the portability during the dynamic testing of different over-positioning parallel mechanisms.

[0012] 2. By connecting the over-positioning parallel mechanism to the controller and using the controller to start the detector and the over-positioning parallel mechanism, and the operation of the detector recording the instruction sending time and the action time of the over-positioning parallel mechanism, the present utility model can facilitate the dynamic response testing operation of the over-positioning parallel mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the first type of the present utility model.

[0014] Figure 2 It is a three-dimensional structural schematic diagram of the second type of the present utility model.

[0015] Figure 3 It is a three-dimensional structural schematic diagram of the third type of the present utility model.

[0016] The reference numerals of each component in the drawings are as follows: 1. Mounting base, 2. Fixed plate, 3. Rodless cylinder, 4. Slide block, 5. Universal joint, 6. Detector, 7. Fixed plate, 8. Fixing member, 9. Rotating plate, 10. Torsion spring, 11. Groove, 12. Controller, 13. Bump. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] It should be noted first that in different described embodiments, the same components are provided with the same reference numerals or the same component names. Among them, the disclosed content included in the entire specification can be meaningfully transferred to the same components with the same reference numerals or the same component names. The positional descriptions selected in the specification, such as up, down, lateral, etc., also refer to the directly described and illustrated drawings and are meaningfully transferred to the new positions when the positions change.

[0018] An over-positioning parallel mechanism dynamic response testing device, as Figures 1 - 3As shown in the figure, it includes a mounting base 1, fixing pieces 2, a rodless cylinder 3, a slider 4, a universal joint 5, a detector 6, a fixing plate 7, a fixing member 8, a rotating plate 9, a torsion spring 10, a controller 12 and a convex block 13. A plurality of fixing pieces 2 are connected to the front side of the lower part of the mounting base 1. Rodless cylinders 3 are connected to the tops of the fixing pieces 2. Sliders 4 are slidably connected to the lower parts of the rodless cylinders 3. Universal joints 5 are connected to the front sides of the sliders 4. Detectors 6 are connected to the universal joints 5. A controller 12 is connected to the rear part of the mounting base 1. The detectors 6 are electrically connected to the controller 12. Fixing plates 7 are connected to the left and right sides of the upper part of the mounting base 1. Fixing members 8 are connected to the tops of the fixing plates 7. Rotating plates 9 are rotatably connected to the fixing members 8. Torsion springs 10 are connected between the front and rear sides of the lower parts of the rotating plates 9 and the fixing members 8. A groove 11 is formed in the top of the mounting base 1. A convex block 13 is connected to the bottom of the mounting base 1. The engagement between the convex block 13 and the groove 11 can meet the requirements for stacking a plurality of mounting bases 1.

[0019] When the utility model is in use, first place the mounting base 1 at the position where the over-positioning parallel mechanism is located, control the increase or decrease of the number of mounting bases 1 according to the test requirements, so that the mounting base 1 can surround the over-positioning parallel mechanism to detect the key response positions of the over-positioning parallel mechanism. For the test monitoring points of the vertical height, the groove 11 and the convex block 13 are engaged with each other to meet the requirements for stacking a plurality of mounting bases 1. When the mounting bases 1 are stacked, the rotating plate 9 clamps the mounting base 1 under the action of the torsion spring 10, increasing the stability when the mounting bases 1 are stacked. Then, control the slider 4 to drive the universal joint 5 and the detector 6 to move through the rodless cylinder 3. After controlling the detector 6 to reach the specified height, rotate the detector 6 to adjust the angle of the detector 6. After the adjustment of the detector 6 is completed, connect the over-positioning parallel mechanism through the controller 12, and use the controller 12 to start the detector 6 and the over-positioning parallel mechanism. The detector 6 receives the action instruction of the over-positioning parallel mechanism and records the time (the time when the instruction is issued), and at the same time monitors the action condition of the over-positioning parallel mechanism. When the detector 6 detects the action of the over-positioning parallel mechanism, record the time again (the time when the over-positioning parallel mechanism receives the instruction and generates the action). By recording the instruction issuing time and the action time of the over-positioning parallel mechanism, the dynamic response performance of the over-positioning parallel mechanism is tested.

[0020] The above is only the specific implementation manner of the utility model, but the protection scope of the utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of the claimed rights.

Claims

1. A dynamic response test device for an over-positioning parallel mechanism, characterized by: The invention comprises a mounting seat (1), a fixing plate (2), a rodless cylinder (3), a slider (4), a universal joint (5), a detector (6) and a controller (12); a plurality of fixing plates (2) are connected to the front side of the lower part of the mounting seat (1); the tops of the fixing plates (2) are connected to the rodless cylinders (3); the lower parts of the rodless cylinders (3) are slidably connected to the sliders (4); the front sides of the sliders (4) are connected to the universal joints (5); the universal joints (5) are connected to the detectors (6); the rear part of the mounting seat (1) is connected to the controller (12); and the detectors (6) are electrically connected to the controller (12).

2. The dynamic response test device of an over-positioning parallel mechanism according to claim 1, characterized in that: The mounting base (1) further comprises a fixed plate (7), a fixed member (8), a rotating plate (9) and a torsion spring (10). The left and right sides of the upper part of the mounting base (1) are connected to the fixed plates (7), the top of the fixed plates (7) are connected to the fixed members (8), the rotating plates (9) are rotatably connected to the fixed members (8), and the torsion springs (10) are connected between the front and rear sides of the lower part of the rotating plate (9) and the fixed members (8).

3. The dynamic response test device of an over-positioning parallel mechanism according to claim 2, characterized in that: A groove (11) is formed on the top of the mounting seat (1).

4. The over-positioning parallel mechanism dynamic response test device according to claim 3 is characterized in that: It also includes a protrusion (13), the bottom of the mounting seat (1) is connected to the protrusion (13), and the clamping connection between the protrusion (13) and the groove (11) can meet the requirements of stacking multiple mounting seats (1).

5. The over-positioning parallel mechanism dynamic response test device according to claim 4, characterized in that: The top of the rotating plate (9) is provided with a flexible clip.

Images