High-precision attitude simulation motion test bench

Abstract

The utility model discloses a high-precision attitude simulation motion test bench, and belongs to the technical field of high-precision motion simulation tests, test equipment, motion simulation equipment and the like. The transition base is fixed on a foundation through chemical anchor bolts, the lower platform is fixed on the transition base in a bolt connection mode, and the lower hinged support assembly, the electric cylinder, the spherical hinge assembly, the upper hinged support and the upper platform are sequentially arranged from bottom to top. The precision ball spline anti-rotation direct-connection electric cylinder is matched with the precision spherical hinge assembly, the situation that precision is lost due to additional rotation of the electric cylinder during simulation movement of the test bed is avoided, the movement is accurate, the direct-connection structure avoids errors generated by a synchronous belt structure, and therefore the effect of high-precision test simulation is truly achieved.

Description

Technical Field

[0001] The utility model relates to a high-precision attitude simulation motion test bench, belonging to the technical fields of dynamic simulation tests, testing equipment, etc. Background Technique

[0002] Looking at home and abroad, ordinary-precision three-degree-of-freedom and six-degree-of-freedom cannot achieve more precise and complex six-degree-of-freedom motions.

[0003] A six-degree-of-freedom attitude adjustment platform with the application number 202111464682.8 has deficiencies. Due to the stroke limitation of the piezoelectric ceramic actuator, it cannot meet the usage requirements for a large stroke. And its use will be affected in some special environments, such as temperature, humidity, salt spray environment, etc. Due to its special structural form, it cannot carry some special-structured test pieces, such as the situation where sinking installation is required inside or outside. It has certain limitations. Since the grating ruler is sensitive to light and vibration in the environment, it has high requirements for the usage environment and is easily affected by the environment, thus affecting the equipment accuracy. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a high-precision attitude simulation motion test bench.

[0005] A high-precision attitude simulation motion test bench, characterized in that the transition base is fixed on the foundation by chemical anchor bolts, the lower platform is fixed on the transition base by means of bolt connection, the lower hinge support assembly, electric cylinders, spherical hinge assemblies, upper hinge supports and upper platform are connected in sequence from bottom to top by means of bolt connection. The lower hinge support assembly is connected above the lower platform, the electric cylinder is connected to the lower hinge support assembly, the ball spline piston rod end of the electric cylinder is connected to the spherical hinge assembly. Each lower hinge support assembly can be connected to one electric cylinder, and a total of six electric cylinders can be connected. The upper platform is integrally machined from profiles and is provided with transition adapter plate connection holes. The coupling unit of the electric cylinder assembly connects the servo motor and the ball screw. The inner cavity of the cylinder barrel houses the ball spline piston rod, the inner cavity of the ball spline piston rod houses the ball screw, the ball spline piston rod is installed on the ball screw nut of the ball screw, the servo motor transmits motion to the ball screw through the coupling unit, the locking nut in the ball screw is fixedly connected to the ball spline piston rod. The structural form of the lower hinge support assembly is a cross hinge shaft. The power supply incoming line of the control cabinet is received by the main circuit breaker, and is distributed to the DC power supply and branch circuit breakers through the AC contactor. The output power of the DC power supply is distributed to the motion controller, and then connected to the servo driver by the branch circuit breaker. Six servo drivers are connected in series through the EtherCAT bus and connected to the motion controller.

[0006] The lower hinge support assembly or the spherical hinge assembly can respectively connect two electric cylinder connectors with the electric cylinders, and can connect a total of six electric cylinder connectors with the electric cylinders. The base of the lower hinge support assembly is a profile, and the inner cavity arc of the spherical hinge seat of the spherical hinge assembly is connected to the spherical hinge. The spherical hinge can rotate in the inner cavity arc of the spherical hinge seat. The lower platform is fixed to the foundation with a transition base and chemical anchor bolts, and the lower platform is directly connected to the lower hinge support assembly with bolts. The base of the lower hinge support assembly forms an angle of 20 degrees with the bottom surface of the bearing seat. Both the upper platform and the lower platform are integral profiles.

[0007] Working principle of the control system: The motion control software in the industrial control computer sends instructions to the motion controller, and the motion controller sends control instructions to the servo driver. The servo driver drives the servo motor to rotate and drives the ball screw to rotate. Through its kinematic pair with the ball nut, the rotation of the ball screw is transformed into the linear motion of the electric cylinder. When the six electric cylinders move according to the mode set by the control software, the motion of the six degrees of freedom of the high-precision attitude simulation motion test bench can be realized. At the same time, the motion information of the servo motor is fed back to the motion controller through the high-precision rotary encoder, and the motion controller converts the feedback information into the displacement of the servo electric cylinder to form a position closed-loop control to achieve high-precision attitude simulation motion.

[0008] The utility model has the following beneficial effects: It can carry out specimen simulation test according to user needs in multiple fields. The characteristics are high running accuracy, compact structure, small overall occupied space, and safe and stable operation.

[0009] A high-precision attitude simulation motion test bench. It is very necessary and meaningful to study the high-precision attitude simulation motion test bench. According to the concept of integrated platform design and modular function construction, the separation of the kernel and functional components is realized. The high-precision attitude simulation motion test bench is the carrier of simulation technology and the container of simulation function, with strong openness and inclusiveness. Brief Description of the Drawings

[0010] When considered in conjunction with the drawings, through reference to the following detailed description, the present utility model can be more completely and better understood, and many accompanying highlights can be easily known. However, the drawings described herein are used to provide a further understanding of the present utility model, constitute a part of the present utility model, and the schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation of the present utility model. As shown in the figures:

[0011] Figure 1 is the front view structural schematic diagram of the present utility model.

[0012] Figure 2 is the structural schematic diagram of the spherical hinge assembly of the present utility model.

[0013] Figure 3It is a schematic structural diagram of the ball spline electric cylinder of the present utility model.

[0014] Figure 4 It is a schematic structural diagram of the lower hinge support assembly part of the present utility model.

[0015] Figure 5 It is a schematic structural diagram of the lower hinge support assembly of the present utility model.

[0016] Figure 6 It is a schematic diagram of the control cabinet of the present utility model.

[0017] Figure 7 It is a schematic diagram of the principle of the motion control system of the present utility model. Specific embodiments

[0018] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments. Obviously, many modifications and variations made by those skilled in the art based on the purpose of the present utility model fall within the protection scope of the present utility model.

[0019] Obviously, those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present utility model means the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when an element or component is referred to as being "connected" to another element or component, it can be directly connected to other elements or components, or there may also be intermediate elements or components. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0020] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description, "a plurality of" means two or more unless otherwise specifically defined.

[0021] Unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the terms in the present utility model can be understood according to specific situations.

[0022] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which this belongs.

[0023] For ease of understanding of the embodiments, further explanations will be given below in conjunction with [specific content not provided], and each embodiment does not constitute a limitation on the embodiments.

[0024] Embodiment 1: As shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 shown, a high-precision attitude simulation motion test bench, the transition base 7 is fixed on the foundation by chemical anchor bolts, the lower platform 6 is fixed on the transition base 7 by means of bolt connection, the lower hinge support assembly 5, the electric cylinder 4, the ball hinge assembly 3, the upper hinge support 2 and the upper platform 1 are connected in sequence from bottom to top by means of bolt connection. The lower hinge support assembly 5 is connected above the lower platform 6, the electric cylinder 4 is connected to the lower hinge support assembly 5, the ball spline piston rod end of the electric cylinder 4 is connected to the ball hinge assembly 3, each lower hinge support assembly 5 can connect 2 electric cylinders 4 respectively, and a total of six electric cylinders 5 can be connected. The upper platform 1 is integrally machined from profiles and is provided with transition adapter plate connection holes.

[0025] The inner cavity arc of the ball hinge seat 9 of the ball hinge assembly 3 is connected to the ball hinge 8, and the ball hinge 8 can rotate in the inner cavity arc of the ball hinge seat 9.

[0026] The bottom of the base 18 of the lower hinge support assembly 5 forms an angle of 20 degrees with the bottom surface of the bearing seat 16.

[0027] The electric cylinder assembly 4 is mainly composed of a ball spline piston rod 10, a cylinder barrel 12, a coupling unit 13, a ball screw 11, a servo motor 14, etc. The coupling unit 13 connects the servo motor 14 and the ball screw 11. The ball spline piston rod 10 is placed in the inner cavity of the cylinder barrel 12, the ball screw 11 is placed in the inner cavity of the ball spline piston rod, and the ball spline piston rod 10 is installed on the screw nut of the ball screw 11. The working principle of the electric cylinder 4 is that the servo motor 14 transmits motion to the ball screw 11 through the coupling unit 13, and the telescopic motion of the ball spline piston rod 10 is realized by the fixation of the lock nut in the ball screw 11 and the ball spline piston rod 10. The structural form adopted by the lower hinge support assembly 5 is a cross hinge shaft. The lower hinge support assembly 5 is composed of a base 18, a bearing seat 16, a large shaft 17, a small shaft 19 and a lower connecting piece 15, and the large shaft 17 and the small shaft 19 form a cross structure.

[0028] As shown in Figure 6As shown in the figure, the control cabinet mainly consists of a main circuit breaker 20, a DC power supply 21, branch circuit breakers 22, servo drivers 23, and a motion controller 24. The power supply inlet of the control cabinet is taken over by the main circuit breaker 20 and distributed to the DC power supply 21 and branch circuit breakers 22 through an AC contactor. The power output from the DC power supply 21 is distributed to the motion controller 24, and then the branch circuit breaker 22 is connected to the servo driver 23. Six servo drivers are connected in series through the EtherCAT bus and then connected to the motion controller 24.

[0029] As Figure 7 shown in the figure, in the control system, the motion control software in the industrial control computer sends instructions to the motion controller. The motion controller performs spatial motion model transformation, inverse kinematics calculation, and compensation calculation to obtain the elongation of the six electric cylinders, and then transmits it to the driver through the bus. The internal controller of the driver obtains the information and drives the motor to rotate. The electric cylinders expand and contract according to the instructions, and the high-precision attitude simulation motion test bench runs to the specified attitude.

[0030] Embodiment 2: As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 shown in the figure, a high-precision attitude simulation motion test bench, which has a compact structure, small overall occupied space, accurate and stable motion, safe and reliable, can achieve linear motion along the X, Y, and Z axes, can achieve rotation around the X, Y, and Z axes, and can also perform simulation tests of arbitrary composite motions.

[0031] A high-precision attitude simulation motion test bench includes an upper platform, a lower platform, six sets of lower hinge supports connected between the upper platform and the lower platform, six electric cylinders, six sets of ball hinge assemblies, and six upper hinge supports; among them, one end of the electric cylinder is connected to the ball hinge assembly and then connected to the upper platform through the upper hinge support, and the other end of the electric cylinder is installed on the lower hinge support and connected to the lower platform through the lower hinge support base; the lower platform is connected to the transition base, and the transition base is fixed to the foundation through chemical anchor bolts.

[0032] The motion control software in the industrial control computer sends instructions to the motion controller. The motion controller performs spatial motion model transformation, inverse kinematics calculation, and compensation calculation to obtain the elongation of the six electric cylinders, and transmits it to the driver through the bus. The internal controller of the servo driver obtains the information and drives the motor to rotate. The electric cylinders expand and contract according to the instructions, and the three-axis linear motion along the X, Y, and Z axes, the three-axis rotation around the X, Y, and Z axes, or the composite motion are realized by controlling the strokes of the six electric cylinders.

[0033] The high-precision encoder installed on the motor detects the motor's torque, speed, and position information in real time and sends it to the driver, forming an electric cylinder closed-loop control system to accurately control the extension of each electric cylinder in real time to ensure control accuracy.

[0034] A high-precision attitude simulation motion test bench, preferably the lower hinge support base 18 is integrally processed from a profile, and has a 20-degree angle for optimized structural design, and preferably the lower hinge support assembly 5 is a cross hinge shaft structure.

[0035] A high-precision posture simulation motion test bench, preferably an electric cylinder 4 includes a ball spline piston rod 10, a cylinder barrel 12, a coupling unit 13, a ball screw 11 and a servo motor 14, the servo motor 14 transmits motion to the ball screw 11 through the coupling unit 13, and the ball spline piston rod 10 is fixedly connected to the ball spline piston rod 10 to realize linear motion, the ball spline piston rod 10 is fixedly connected to the ball joint assembly 3, and the cylinder barrel 12 is fixedly connected to the lower hinge support connector 15.

[0036] A high-precision attitude simulation motion test bench, preferably the lower platform 6 is a triangular profile structure, and the lower platform is integrally processed from profiles.

[0037] A high-precision attitude simulation motion test bench, preferably the upper platform 1 is a square profile structure, the upper platform is integrally processed from profiles, and the upper platform is reserved with bolt holes for installing an adapter plate.

[0038] A high-precision attitude simulation motion test bench is preferably equipped with a high-precision encoder motor. All structural parts of the utility model have been proved to be able to achieve the expected use function, safe and reliable through theoretical analysis and actual use, and their performance has reached the expected design.

[0039] Example 3: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown in the figure, a high-precision attitude simulation motion test bench uses its simulated longitudinal, lateral, vertical, roll, pitch, and yaw motions to ensure the stability of the carrier relative to the Earth's inertial space and provide a relatively stable working platform for the carrier. It consists of an upper platform, upper hinge supports, spherical hinge assemblies, electric cylinders, lower hinge support assemblies, lower platforms, transition bases, motion controllers, servo drivers, etc. After the transition base is installed by chemical anchor bolts, the lower platform, lower hinge support assemblies, electric cylinders, spherical hinge assemblies, upper hinge supports, and upper platform are assembled in sequence from bottom to top using bolt connection methods. The lower hinge support assemblies are installed above the lower platform. The electric cylinders are connected to the lower hinge support assemblies. The ball spline piston rod end of the electric cylinder is connected to the spherical hinge assembly. The spherical hinge assembly is connected to the upper hinge support. The upper hinge support is connected to the upper platform. Threaded holes are provided on the upper platform.

[0040] The motion control system sends commands through the motion control software of the industrial control computer. The motion controller performs spatial motion model transformation, inverse solution calculation, and compensation calculation according to the commands to achieve the synchronization and coordination of the motions of the six electric cylinders, enabling the motion platform to generate single-degree-of-freedom motions or multi-degree-of-freedom composite motions with different frequencies and amplitudes.

[0041] As described above, the embodiments of the present invention have been described in detail. However, as long as it does not substantially deviate from the inventive points and effects of the present invention, there can be many variations, which are obvious to those skilled in the art. Therefore, such variation examples are also entirely included in the protection scope of the present invention.

Claims

1. A high-precision attitude simulation motion test bench, characterized in that: The transition base is fixed to the foundation by chemical anchor bolts, and the lower platform is fixed to the transition base by bolt connection. The lower hinge support assembly, electric cylinder, ball joint assembly, upper hinge support and upper platform are connected in sequence from bottom to top by bolt connection. The upper part of the lower platform is connected to the lower hinge support assembly, and the upper part of the lower hinge support assembly is connected to the electric cylinder. The ball spline piston rod end of the electric cylinder is connected to the ball joint assembly. Each lower hinge support assembly can be connected to an electric cylinder, and a total of six electric cylinders can be connected. The upper platform is made of integrally processed profiles and is provided with a transition adapter plate connection hole. The coupling unit of the electric cylinder assembly is connected to the servo motor and the ball screw. A ball spline piston rod is placed in the inner cavity of the cylinder, a ball screw is placed in the inner cavity of the ball spline piston rod, the ball spline piston rod is installed on the screw nut of the ball screw, the servo motor transmits motion to the ball screw through the coupling unit, the lock nut in the ball screw is fixedly connected to the ball spline piston rod, the structure of the lower hinge support assembly is a cross hinge shaft, the power supply line of the control cabinet is taken over by the main circuit breaker, and is distributed to the DC power supply and the sub-circuit breaker through the AC contactor, the DC power supply output power is distributed to the motion controller, and then connected to the servo drive by the sub-circuit breaker, and the servo drives are connected in series through the EtherCAT bus and connected to the motion controller.

2. A high-precision attitude simulation motion test bench according to claim 1, characterized in that: The lower hinge support assembly or the ball joint assembly can be connected to two electric cylinder connectors and electric cylinders respectively, and a total of six electric cylinder connectors and electric cylinders can be connected.

3. A high-precision attitude simulation motion test bench according to claim 1, characterized in that: The base of the lower hinge support assembly is a profile, the inner cavity arc of the ball joint seat of the ball joint assembly is connected to the ball joint, and the ball joint can rotate in the inner cavity arc of the ball joint seat.

4. A high-precision attitude simulation motion test bench according to claim 1, characterized in that: The lower platform is fixed to the foundation with a transition base and chemical anchors.

5. The high-precision attitude simulation motion test bench according to claim 1 is characterized in that: The lower platform is directly connected to the lower hinge support assembly with bolts.

6. A high-precision attitude simulation motion test bench according to claim 1, characterized in that: The base of the lower hinge support assembly forms an angle of 20 degrees with the bottom surface of the bearing seat.

7. The high-precision attitude simulation motion test bench according to claim 1 is characterized in that: The upper platform and the lower platform are both integral profiles.

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