Mechanical articulated arm and vibration measuring device
Through the combination of flexible robotic arms and dual laser micrometers, the problems of inaccurate measurement and difficulty in traceability of accelerometers are solved, and dynamic vibration measurements with a wider range and higher accuracy are achieved, which improves the measurement quality and efficiency of geometric rail inspection equipment.
Patent Information
- Application Number
- CN202422417655.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-07-01
- Estimated Expiration
- 2034-09-30
AI Technical Summary
The existing accelerometers measure dynamic vibration amplitude inaccurately, difficult to trace, limited measurement range, and different calculation results of each algorithm, which affects the measurement accuracy and efficiency of geometric track inspection equipment.
The mechanical joint arm and vibration measurement device are adopted, including a flexible mechanical arm structure. By setting up the connecting joints on the movable and fixed sides, ±100° swing and 360° rotation are allowed. Combined with a dual laser micrometer, the measurement range is expanded and the measurement accuracy is improved.
Through the cooperation of the flexible robotic arm structure and dual laser micrometer, the dynamic vibration measurement range is expanded, the measurement accuracy and traceability are improved, and the key parameter testing of geometric rail inspection equipment is optimized.
Smart Images
Figure CN223049774U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of vibration detection, and particularly relates to a mechanical articulated arm and a vibration measuring device. Background Art
[0002] The geometric track inspection equipment is mainly used for quickly detecting the geometric parameters of the track. In order to adapt to the track, the length of the track inspection beam of the geometric track inspection equipment is about 1.2 meters, and an inertial navigation device is installed at the center position of the track inspection beam as the reference information. Since the geometric track inspection equipment is installed at the bottom of the rail train, the center deflection of the geometric track inspection equipment is often affected by the random vibration and undulation of the track, and the change amount of its center deflection greatly affects the measurement accuracy of the geometric parameters of the track. Therefore, during use, it is necessary to perform dynamic measurement of the random vibration of the geometric track inspection equipment to calibrate whether its related parameters (such as the center deflection) meet the requirements.
[0003] At present, the measurement scheme for random vibration mainly uses accelerometers. However, for the accelerometer scheme, the measured amplitude is obtained by integrating the acceleration. Therefore, the larger the measurement size, the lower the measurement accuracy. Moreover, the data collected by the same sensor may lead to different results due to different algorithms. In addition, the traceability of the accelerometer is mainly based on acceleration, and the displacement traceability of the dynamic measured amplitude is not yet complete, and the geometric parameter traceability of random vibration is not yet a system, which limits the quality and efficiency of the vibration detection of the geometric track inspection equipment.
[0004] All in all, the existing accelerometer for dynamic vibration measurement has problems such as inaccurate measurement, difficult traceability, limited measurement range, and different calculation results of various algorithms, which restricts the measurement accuracy of dynamic vibration measurement. Summary of the Invention
[0005] The purpose of the utility model is to provide a mechanical articulated arm and a vibration measuring device, which can expand the measurement range of dynamic vibration measurement, be more convenient for traceability, and thus improve the measurement accuracy.
[0006] To achieve the above object, a mechanical articulated arm is provided in the first aspect of the present utility model, which includes a first connecting member, a second connecting member, a first arm, a second arm, and three connecting joints. Each of the connecting joints is provided with a movable side and a fixed side. The movable side can swing left and right relative to the fixed side by ±100°, and the movable side can rotate 360° around its own axis relative to the fixed side. The three connecting joints are the first joint, the second joint, and the third joint. The first end of the first connecting member is the fixed end of the mechanical articulated arm. The second end of the first connecting member is movably connected to the first end of the first arm through the first joint. The second end of the first arm is movably connected to the first end of the second arm through the second joint. The second end of the second arm is movably connected to the first end of the second connecting member through the third joint. The second end of the second connecting member is the movable end of the mechanical articulated arm.
[0007] In some embodiments, the second end of the first connecting member is fixedly connected to the movable side of the first joint, and the first end of the first arm is fixedly connected to the fixed side of the first joint; the second end of the first arm is fixedly connected to the movable side of the second joint, and the first end of the second arm is fixedly connected to the fixed side of the second joint; the second end of the second arm is fixedly connected to the movable side of the third joint, and the first end of the second connecting member is fixedly connected to the fixed side of the third joint.
[0008] In some embodiments, each of the connecting joints includes a movable shaft, two covering members, and a base. A sphere is provided at one end of the movable shaft. The end of the movable shaft away from the sphere is the movable side of the connecting joint. The sphere is covered between the two covering members. The base is located below the sphere, and the base is snap-connected to the bottoms of the two covering members. The end of the base away from the covering members is the fixed side of the connecting joint. The two covering members are detachably connected, and there is a gap between the two covering members. The movable shaft is located in the gap, and the movable shaft can swing ±100° along the gap and rotate 360° around its own axis.
[0009] In some embodiments, a jacking member and an adjusting member are provided on each of the covering members. The jacking member penetrates through the covering member. One end of the jacking member located inside the covering member abuts against the sphere, and the end of the jacking member located outside the covering member is detachably connected to the adjusting member.
[0010] In some embodiments, a through groove is provided on the covering member. The jacking member is located in the through groove. A thread is provided at the end of the jacking member located outside the covering member, and is threadedly engaged and fastened with the adjusting member.
[0011] In some embodiments, snap connectors are convexly provided at the bottoms of the opposite sides of the two covering members, and the two snap connectors are detachably connected.
[0012] In some embodiments, slots are provided at the bottoms of the two clamping members, and the top end of the base is clamped in the slots.
[0013] In a second aspect of the present utility model, a vibration measuring device is provided, which includes a vibration table, a gantry bracket, a laser micrometer, and the mechanical articulated arm described in the first aspect. The fixed ends of at least two of the mechanical articulated arms are respectively fixedly installed on the gantry bracket, and each mechanical articulated arm is located above the vibration table, and a laser micrometer is installed at the movable end of each mechanical articulated arm.
[0014] In some embodiments, the gantry bracket includes a cross beam and two support members. The two support members are respectively vertically arranged on both sides of the lower part of the cross beam. The vibration table is arranged below the cross beam, and the vibration table is located between the two support members. The fixed ends of each mechanical articulated arm are respectively fixedly installed at the bottom of the cross beam.
[0015] In some embodiments, vibration isolation air bags are provided at the bottoms of the two support members.
[0016] The beneficial effects of the present utility model are that the provided mechanical articulated arm and vibration measuring device include a first connecting member, a second connecting member, a first arm, a second arm, and three connecting joints. Each connecting joint is provided with a movable side and a fixed side. The movable side can swing left and right relative to the fixed side by ±100°, and the movable side can rotate 360° around its own axis relative to the fixed side. By setting the flexible robotic arm structure, the measuring position can be adjusted more flexibly, thereby expanding the measuring range of dynamic vibration measurement, making it more convenient to trace the source, and further improving the measurement accuracy. Description of the Drawings
[0017] Figure 1 is a schematic structural diagram of the vibration measuring device;
[0018] Figure 2 is a schematic connection structure diagram of the mechanical articulated arm and the laser micrometer;
[0019] Figure 3 is an exploded structural diagram of the connecting joint;
[0020] Figure 4 is a schematic diagram of the rotation and swing of the connecting joint.
[0021] Description of the Reference Numerals:
[0022] 10. Vibration table; 20. Gantry support; 21. Cross beam; 22. Support member; 23. Vibration isolation airbag; 30. Mechanical articulated arm; 31. First connecting member; 32. Second connecting member; 33. First arm; 34. Second arm; 35. Connecting joint; 351. Movable shaft; 352. Coating member; 353. Base; 354. Sphere; 355. Clamping member; 356. Fastening member; 357. Jacking member; 358. Adjusting member; 40. Laser micrometer
[0023] 200. Geometric track inspection equipment Detailed implementation manner
[0024] For the convenience of understanding the present utility model, the specific embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings of the specification
[0025] Unless otherwise specified or defined, the "first, second..." used herein is only for differentiating names and does not represent a specific quantity or order
[0026] Unless otherwise specified or defined, the term "and / or" used herein includes any and all combinations of one or more of the related listed items
[0027] It should be noted that "fixed to" and "connected to" herein can be directly fixed or connected to an element, or indirectly fixed or connected to an element
[0028] As Figures 1 to 4 shown, an embodiment of the present utility model discloses a vibration measurement device, which can be applied to dynamic vibration measurement of geometric track inspection equipment or other large-size equipment. The vibration measurement device includes a vibration table 10, a gantry support 20, at least two mechanical articulated arms 30, and a laser micrometer 40. The fixed ends of the at least two mechanical articulated arms 30 are respectively fixedly installed on the gantry support 20, and each mechanical articulated arm 30 is located above the vibration table 10, and a laser micrometer 40 is installed at the movable end of each mechanical articulated arm 30
[0029] Furthermore, the gantry support 20 includes a cross beam 21 and two support members 22. The two support members 22 are respectively vertically arranged on both sides of the lower part of the cross beam 21. The vibration table 10 is arranged below the cross beam 21, and the vibration table 10 is located between the two support members 22. The fixed ends of each mechanical articulated arm 30 are respectively fixedly installed on the bottom of the cross beam 21
[0030] Considering the random vibration measurement scheme using non-contact laser measurement, there is a problem of complex instrument installation. Since the non-contact laser measurement scheme requires the close installation of a laser micrometer, when the installation bracket is close to the vibration table, the test results are easily affected by the vibration of the vibration table. Therefore, in the present utility model, vibration isolation air bags 23 are provided at the bottoms of both support members 22.
[0031] During measurement, non-contact high-precision measurement of the vibration amplitude of the object surface is adopted. First, the geometric track inspection device 200 to be measured is installed on the vibration table 10. The two mechanical articulated arms 30 are adjusted so that the laser micrometers 40 are located at the target positions. The vibration amplitudes of the corresponding points of the geometric track inspection device to be measured and the standard points of the vibration table 10 are measured vertically at the same time by using the two laser micrometers 40. Then, the vibration isolation air bags 23 of the gantry bracket 20 are inflated, and the vibration table 10 is started. A standard random vibration with a power spectral density within a certain range is formed by the vibration table 10, and the vibration amplitude within a certain period of time is recorded by the corresponding laser micrometers 40. Finally, the change of the deflection of the corresponding points of the geometric track inspection device to be measured over time can be obtained by calculation, and the change range can be obtained.
[0032] By setting the vibration isolation gantry bracket 20 and the two mechanical articulated arms 30 to lift the laser micrometers 40, compared with the prior art in which the bracket of the laser micrometer 40 and the vibration table 10 are installed together on a horizontal plane, the vibration influence of the vibration table 10 on the bracket of the laser micrometer 40 can be reduced, thereby improving the measurement accuracy of the dynamic vibration measurement for the geometric track inspection device. In addition, by setting the dual laser micrometers 40, it can be used for the measurement of the relative change amount at two points, and different frequencies can be set for acquisition, so as to expand the measurement range. In short, the present utility model can expand the measurement range and improve the measurement accuracy, which is beneficial to the test and optimization of the key parameters of the geometric track inspection device.
[0033] In this embodiment, each mechanical articulated arm 30 includes a first connecting member 31, a second connecting member 32, a first arm 33, a second arm 34, and three connecting joints 35. Each connecting joint 35 is provided with a movable side and a fixed side. The movable side can swing left and right by ±100° relative to the fixed side, and the movable side can rotate 360° around its own axis relative to the fixed side. The three connecting joints 35 are the first joint, the second joint, and the third joint respectively. The first end of the first connecting member 31 is the fixed end of the mechanical articulated arm 30. The second end of the first connecting member 31 is movably connected to the first end of the first arm 33 through the first joint. The second end of the first arm 33 is movably connected to the first end of the second arm 34 through the second joint. The second end of the second arm 34 is movably connected to the first end of the second connecting member 32 through the third joint. The second end of the second connecting member 32 is the movable end of the mechanical articulated arm 30.
[0034] By adopting a flexible robotic arm structure, the target position during the measurement of the laser micrometer 40 can be adjusted more flexibly and conveniently, thereby expanding the measurement range of dynamic vibration measurement, making it more convenient for traceability, and further improving the measurement accuracy.
[0035] Wherein, the second end of the first connecting member 31 is fixedly connected to the movable side of the first joint, and the first end of the first arm 33 is fixedly connected to the fixed side of the first joint. The second end of the first arm 33 is fixedly connected to the movable side of the second joint, and the first end of the second arm 34 is fixedly connected to the fixed side of the second joint. The second end of the second arm 34 is fixedly connected to the movable side of the third joint, and the first end of the second connecting member 32 is fixedly connected to the fixed side of the third joint.
[0036] In this embodiment, each connecting joint 35 includes a movable shaft 351, two covering members 352, and a base 353. A sphere 354 is provided at one end of the movable shaft 351. The end of the movable shaft 351 away from the sphere 354 is the movable side of the connecting joint 35. The sphere 354 is covered between the two covering members 352. The base 353 is located below the sphere 354, and the base 353 is clamped to the bottom of the two covering members 352. The end of the base 353 away from the covering members 352 is the fixed side of the connecting joint 35. The two covering members 352 are detachably connected, and there is a gap between the two covering members 352. The movable shaft 351 is located in the gap and the movable shaft 351 can swing ±100° along the gap and rotate 360° around its own axis.
[0037] Further optionally, clamping members 355 are convexly provided at the bottoms of the opposite sides of the two covering members 352, and the two clamping members 355 are detachably connected. Specifically, mounting holes may be provided on the inner walls of the two clamping members 355, and threads are provided on the inner walls of the mounting holes. The two covering members 352 are fixedly tightened by fasteners 356. Exemplarily, the two covering members 352 may specifically include two spherical bowls distributed on the left and right sides of the sphere 354, and the fasteners 356 are specifically set as screws. After the two clamping members 355 are fixedly tightened relative to each other, since the protruding directions of the two clamping members 355 are opposite, a gap is formed between the edges of the two spherical bowls. By adjusting the tightness of the fasteners 356, the size of the gap can be adjusted.
[0038] Further optionally, slots are provided at the bottoms of the two clamping members 355, and the top end of the base 353 is clamped in the slots. Threads are provided on the outer wall of the bottom end of the base 353. As the fixed side of the connecting joint 35, it is threadedly fitted and tightened with the first arm 33, the second arm 34, and the second connecting member 32 respectively.
[0039] Specifically, fastening grooves are respectively arranged inside the first ends of the first arm 33, the second arm 34, and the second connecting member 32 along their respective lengths. Threads are provided on the groove walls of the fastening grooves. The outer wall of the bottom end of the base 353 is received in the fastening grooves to achieve threaded fastening.
[0040] Further optionally, a jacking member 357 and an adjusting member 358 are provided on each covering member 352. The jacking member 357 penetrates through the covering member 352. One end of the jacking member 357 located inside the covering member 352 abuts against the sphere 354, and the other end of the jacking member 357 located outside the covering member 352 is detachably connected to the adjusting member 358.
[0041] Specifically, a through groove is provided on the covering member 352. The jacking member 357 is located in the through groove, one end of which abuts against the sphere 354, and the other end is provided with threads and is threadedly fastened to the adjusting member 358. By adjusting the tightness of the two, the accommodation space of the sphere 354 between the two covering members 352 can be adjusted. When the accommodation space is sufficient, the sphere 354 can rotate 360° along the axis direction of the movable shaft 351, and can also swing 100° back and forth along the gap left between the two covering members 352. After adjusting to a suitable position, the adjusting member 358 is tightened to fix the sphere 354 by the two covering members 352, and then it can be fixed. Exemplarily, the jacking member 357 is specifically set as a nut, and the adjusting member 358 is specifically set as a screw.
[0042] In summary, by implementing the embodiment of the present invention, through the adoption of a flexible robotic arm structure, the joints can rotate 360 degrees and swing ±100 degrees. Installed on the vibration isolation gantry, parameters such as the deflection of the center point of the dynamic track inspection beam can be directly obtained, improving the test accuracy and efficiency, and facilitating the acquisition of relevant parameters for the random vibration test of track geometry measurement. In addition, the dual lasers can measure the relative change amount between the standard vibration table and the geometric track inspection equipment to be measured, and can also be used for the measurement of the relative change amount at two points. Different frequencies can be set for acquisition to obtain the center deflection value of the geometric track inspection equipment.
[0043] The above embodiments are not an exhaustive list based on the present invention. In addition, there may be multiple other implementation manners not listed here. Any replacement and improvement made on the basis of not violating the inventive concept of the present invention fall within the protection scope of the present invention.
Claims
1. A mechanical joint arm, characterized in that: It includes a first connecting member, a second connecting member, a first support arm, a second support arm and three connecting joints, each of the connecting joints is provided with a movable side and a fixed side, the movable side can swing left and right by ±100° relative to the fixed side, and the movable side can rotate 360° around its own axis relative to the fixed side; the three connecting joints are the first joint, the second joint and the third joint, the first end of the first connecting member is the fixed end of the mechanical articulated arm, the second end of the first connecting member is movably connected to the first end of the first support arm through the first joint, the second end of the first support arm is movably connected to the first end of the second support arm through the second joint, the second end of the second support arm is movably connected to the first end of the second connecting member through the third joint, and the second end of the second connecting member is the movable end of the mechanical articulated arm.
2. The mechanical articulated arm according to claim 1, characterized in that: The second end of the first connecting member is fixedly connected to the movable side of the first joint, and the first end of the first support arm is fixedly connected to the fixed side of the first joint; the second end of the first support arm is fixedly connected to the movable side of the second joint, and the first end of the second support arm is fixedly connected to the fixed side of the second joint; the second end of the second support arm is fixedly connected to the movable side of the third joint, and the first end of the second connecting member is fixedly connected to the fixed side of the third joint.
3. The mechanical articulated arm according to claim 1, characterized in that: Each of the connecting joints includes a movable shaft, two covering parts and a base. A sphere is provided at one end of the movable shaft, and the end of the movable shaft away from the sphere is the movable side of the connecting joint. The sphere is covered between the two covering parts, and the base is located below the sphere, and the base is clamped on the bottom of the two covering parts. The end of the base away from the covering parts is the fixed side of the connecting joint. The two covering parts are detachably connected, and there is a gap between the two covering parts. The movable shaft is located in the gap and the movable shaft can swing along the gap by ±100° and rotate 360° around its own axis.
4. The mechanical articulated arm according to claim 3, characterized in that: Each of the covering parts is provided with a jacking part and an adjusting part. The jacking part passes through the covering part. One end of the jacking part located inside the covering part abuts against the sphere, and one end of the jacking part located outside the covering part is detachably connected to the adjusting part.
5. The mechanical articulated arm according to claim 4, characterized in that: The covering member is provided with a through slot, the pushing member is located in the through slot, and one end of the pushing member located outside the covering member is provided with a thread, which is fastened with the thread of the adjusting member.
6. The mechanical articulated arm according to claim 3, characterized in that: A clamping piece is protruding from the bottom of one side opposite to the other of the two covering pieces, and the two clamping pieces are detachably connected.
7. The mechanical articulated arm according to claim 6, characterized in that: The bottoms of the two clamping parts are both provided with clamping slots, and the top end of the base is clamped in the clamping slots.
8. A vibration measuring device, characterized in that: It comprises a vibration table, a gantry bracket, a laser micrometer and the mechanical articulated arm as described in any one of claims 1 to 7, wherein the fixed ends of at least two of the mechanical articulated arms are respectively fixedly mounted on the gantry bracket, and each of the mechanical articulated arms is located above the vibration table, and the movable end of each of the mechanical articulated arms is installed with the laser micrometer.
9. The vibration measuring device according to claim 8, characterized in that The gantry bracket includes a crossbeam and two support members, the two support members are vertically arranged on both sides of the lower part of the crossbeam, the vibration table is arranged below the crossbeam, the vibration table is located between the two support members, and the fixed end of each of the mechanical joint arms is fixedly installed on the bottom of the crossbeam.
10. The vibration measuring device according to claim 8, wherein: The bottoms of the two support members are both provided with vibration-isolating air bags.