CN110000810A - Zero-g manipulator fatigue test device - Google Patents
Zero-g manipulator fatigue test device Download PDFInfo
- Publication number
- CN110000810A CN110000810A CN201811549680.7A CN201811549680A CN110000810A CN 110000810 A CN110000810 A CN 110000810A CN 201811549680 A CN201811549680 A CN 201811549680A CN 110000810 A CN110000810 A CN 110000810A
- Authority
- CN
- China
- Prior art keywords
- handle
- solenoid valve
- fixed
- ring
- foil gauge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009661 fatigue test Methods 0.000 title claims abstract description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 37
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 37
- 239000011888 foil Substances 0.000 claims abstract description 20
- 239000004411 aluminium Substances 0.000 claims abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000005303 weighing Methods 0.000 claims abstract description 11
- 229910052742 iron Inorganic materials 0.000 claims abstract description 7
- 239000004033 plastic Substances 0.000 claims abstract description 7
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a kind of zero-g manipulator fatigue test devices, its structure is arranged as follows: iron hoop and rotating hoisting ring are fixed on weighing sensor, screw and weighing sensor are fixed on aluminium sheet, Handle axis runs through entire aluminum hull, gasket is used at the top of Handle axis, aluminium sheet and nut lock, pin is in Handle axis, panel is set in aluminum hull, following settings plastic part, handle ring is determined screw by equally distributed top and is fixed in Handle axis, foil gauge fixed plate is on handle ring, handle is in handle ring upper bottom portion, stud is between foil gauge fixed plate and handle ring, blend rubber pad stop nut and screw are fixed, adapter and hook are fixed by screws in Handle axis bottom, aluminum strip is fixed on aluminum hull, first solenoid valve, second solenoid valve, third solenoid valve, it is separately fixed on two blocks of aluminium sheets of left/right with the 4th solenoid valve, two Fixture is fixed on handle.
Description
Technical field
The invention belongs to mechanical device the field of test technology, and in particular to a kind of zero-g manipulator fatigue test device.
Background technique
Zero-g manipulator is also known as boosting manipulator, is that one kind is novel, is used for laborsaving operation when material carrying and installation
Power assistive device.The equilibrium principle of its dexterously application of force, pushes and pulls operator accordingly to weight, so that it may in space
Balanced sequence positioning.Weight forms quick condition in promotion or decline, guarantees that (actual conditions are because add for Z-operation power by gas circuit
Work technique and designed tide level, operating force is to be less than 3kg as judgment criteria) operating force is by workpiece weight.Without skilled
Crawl operation, operator pulls weight, so that it may weight is correctly put into any position in space, is widely applied
The occasions such as material transfer, high-frequency carrying, accurate positioning, component assembling in modern industry.
By testing fatigue, it is known that the service life of these parts, the part short to certain service life change design side
Case or change material；According to testing fatigue as a result, after-sale service can want periodic maintenance to raise or replace certain parts, thus it is real
It is necessary to carry out testing fatigue to zero-g manipulator.At present people can hold handle completely this set movement also can testing fatigue,
But time-consuming, Fei Jingli；Can also with linear mould group, servo motor and a set of control system complete also can testing fatigue, but flower
Take bigger.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of zero-g manipulator fatigue test devices, for utilizing zero weight
The strain transducer of itself at power mechanical handle, when it is by extraneous light pressure, the resistance of the foil gauge of the inside can change, electricity
Pressure also changes, and servo motor movement is controlled by voltage difference, and structure is simple, and detection accuracy is high.
In order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of zero-g manipulator fatigue test device, comprising: iron hoop, rotating hoisting ring, screw, weighing sensor, nut, pad
Piece, aluminium sheet, Handle axis, pin, aluminum hull, panel, plastic part, rubber pad jam nut, foil gauge fixed plate, copper stud, screw,
Handle ring, fixture, handle, adapter, hook, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve and aluminium
Plate, the iron hoop and rotating hoisting ring are fixed on weighing sensor, and screw and weighing sensor are fixed on aluminium sheet, and Handle axis is passed through
Entire aluminum hull to be worn, is lockked at the top of Handle axis with gasket, aluminium sheet and nut, panel is arranged in Handle axis in pin in aluminum hull, under
Plastic part is arranged in face, and handle ring is determined screw by equally distributed top and is fixed in Handle axis, and foil gauge fixed plate is in handle ring
On, handle is in handle ring upper bottom portion, and for stud between foil gauge fixed plate and handle ring, blend rubber pads stop nut and screw
Fixed, adapter and hook are fixed by screws in Handle axis bottom, and aluminum strip is fixed on aluminum hull, the first solenoid valve, the second electricity
Magnet valve, third solenoid valve and the 4th solenoid valve are separately fixed on two blocks of aluminium sheets of left/right, and two fixtures are fixed on handle.
Preferably, the handle ring end face is set as out-of-flatness.
Preferably, fixture is encountered in first solenoid valve, second solenoid valve energization, and the foil gauge fixed plate on handle is answered
When becoming piece generation mechanically deform, resistance value changes accordingly, generates a positive voltage, and servo motor drives entire handle
It moves downward, after several seconds, the first solenoid valve above, second solenoid valve is withdrawn, third solenoid valve below, the 4th electromagnetism valve actuation
Make, encounter fixture, foil gauge receives signal, and when generating mechanically deform, resistance value changes accordingly, the strain on handle
Piece sensor generates voltage change, generates a negative voltage, and servo motor drives whole device to move upwards, and solenoid valve repeats to transport
Dynamic, full-scale fatigue test is realized in handle apparatus also repeating motion up and down.
Using the present invention with following the utility model has the advantages that skipping the strain on zero-g manipulator fatigue test device handle
Piece variation directly allows the servo motor of servo itself with moving gear, wirerope, completes to realize up and down motion, structure is simple, controls
It is convenient, at low cost.
Detailed description of the invention
Fig. 1 is the configuration schematic diagram of the zero-g manipulator fatigue test device of the embodiment of the present invention；；
Fig. 2 is the assembling structure schematic diagram of the zero-g manipulator fatigue test device of the embodiment of the present invention；
Fig. 3 is the handle partial structural diagram of the zero-g manipulator fatigue test device of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Referring to figs. 1 to Fig. 3, the invention discloses a kind of zero-g manipulator fatigue test devices, comprising: iron hoop 1, rotation
Hanging ring 2, screw 3, weighing sensor 4, nut 5, gasket 6, aluminium sheet 7, Handle axis 8, pin 9, aluminum hull 10, panel 11, plastic part
12, rubber pad jam nut 13, foil gauge fixed plate 14, copper stud 15, screw 16, handle ring 17, fixture 18, handle 19, turn
Connector 20, hook 21, the first solenoid valve 22, second solenoid valve 23, third solenoid valve 24, the 4th solenoid valve 25 and aluminium sheet 26, institute
It states iron hoop 1 and rotating hoisting ring 2 is fixed on weighing sensor 4, screw 3 and weighing sensor 4 are fixed on aluminium sheet 7, Handle axis 8
It is lockked at the top of entire aluminum hull 10, Handle axis 8 with gasket 6, aluminium sheet 7 and nut 5, pin 9 is in Handle axis 8, aluminum hull 10
Interior setting panel 11, following settings plastic part 12, handle ring 17 are determined screw by equally distributed top and are fixed in Handle axis 8,
Foil gauge fixed plate 14 is on handle ring 17, and handle 19 is in 17 upper bottom portion of handle ring, and stud 15 is in foil gauge fixed plate 14 and hand
Between handle ring 17, blend rubber pads stop nut 13 and screw 16 is fixed, and adapter 20 and hook 21 are fixed by screws in hand
8 bottom of arbor, aluminum strip 26 are fixed on aluminum hull 10, the first solenoid valve 22, second solenoid valve 23, third solenoid valve 24 and the 4th
Solenoid valve 25 is separately fixed on two blocks of aluminium sheets 26 of left/right, and two fixtures 18 are fixed on handle 19.Through the above arrangement zero
Fixture 18, the strain on handle 19 are encountered in gravity mechanical hand fatigue test device, the first solenoid valve 22, the energization of second solenoid valve 23
When the foil gauge of piece fixed plate 14 generates mechanically deform, resistance value changes accordingly, generates a positive voltage, servo electricity
Machine drives entire handle to move downward, and after several seconds, the first solenoid valve 22 above, second solenoid valve 23 is withdrawn, third below
Fixture 18 is encountered in solenoid valve 24, the movement of the 4th solenoid valve 25, and foil gauge receives signal, when generating mechanically deform, resistance value phase
That answers changes, and the strain-ga(u)ge transducer on handle generates voltage change, generates a negative voltage, and servo motor drives entire
Device moves upwards, solenoid valve repeating motion, and full-scale fatigue test is realized in handle apparatus also repeating motion up and down.
In specific application example, 17 end face of handle ring is set as out-of-flatness, is fixed with rubber pad, jam nut, handle to
Upper movement moves downward, and foil gauge fixed plate can all have minor change.
It should be appreciated that exemplary embodiment as described herein is illustrative and be not restrictive.Although being retouched in conjunction with attached drawing
One or more embodiments of the invention is stated, it should be understood by one skilled in the art that not departing from through appended right
In the case where the spirit and scope of the present invention defined by it is required that, the change of various forms and details can be made.
Claims (3)
1. a kind of zero-g manipulator fatigue test device characterized by comprising iron hoop (1), rotating hoisting ring (2), screw
(3), weighing sensor (4), nut (5), gasket (6), aluminium sheet (7), Handle axis (8), pin (9), aluminum hull (10), panel
(11), plastic part (12), rubber pad jam nut (13), foil gauge fixed plate (14), copper stud (15), screw (16), handle
Ring (17), fixture (18), handle (19), adapter (20) are linked up with (21), the first solenoid valve (22), second solenoid valve (23), the
Three solenoid valves (24), the 4th solenoid valve (25) and aluminium sheet (26), the iron hoop (1) and rotating hoisting ring (2) are fixed on weighing and sensing
On device (4), screw (3) and weighing sensor (4) are fixed on aluminium sheet (7), and Handle axis (8) runs through entire aluminum hull (10), handle
It is lockked at the top of axis (8) with gasket (6), aluminium sheet (7) and nut (5), pin (9) is on Handle axis (8), setting in aluminum hull (10)
Panel (11), following settings plastic part (12), handle ring (17) determine screw by equally distributed top and are fixed on Handle axis (8)
On, foil gauge fixed plate (14) is on handle ring (17), and handle (19) is in handle ring (17) upper bottom portion, and stud (15) is in foil gauge
Between fixed plate (14) and handle ring (17), blend rubber pad stop nut (13) and screw (16) fixation, adapter (20) and
Hook (21) is fixed by screws in Handle axis (8) bottom, and aluminum strip (26) is fixed on aluminum hull (10), the first solenoid valve (22),
Second solenoid valve (23), third solenoid valve (24) and the 4th solenoid valve (25) are separately fixed on two pieces of aluminium sheets (26) of left/right,
Two fixtures (18) are fixed on handle (19).
2. zero-g manipulator fatigue test device as described in claim 1, which is characterized in that handle ring (17) end face
It is set as out-of-flatness.
3. zero-g manipulator fatigue test device as described in claim 1, which is characterized in that first solenoid valve
(22), second solenoid valve (23) energization is encountered fixture (18), and the foil gauge of the foil gauge fixed plate (14) on handle (19) generates
When mechanically deform, resistance value changes accordingly, generates a positive voltage, and servo motor drives entire handle to transport downwards
Dynamic, after several seconds, the first solenoid valve (22) above, second solenoid valve (23) is withdrawn, third solenoid valve (24) below, the 4th electricity
Magnet valve (25) movement, encounters fixture (18), and foil gauge receives signal, and when generating mechanically deform, resistance value becomes accordingly
Change, the strain-ga(u)ge transducer on handle generates voltage change, generates a negative voltage, and servo motor drives whole device to transport upwards
Dynamic, full-scale fatigue test is realized in solenoid valve repeating motion, handle apparatus also repeating motion up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549680.7A CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549680.7A CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110000810A true CN110000810A (en) | 2019-07-12 |
| CN110000810B CN110000810B (en) | 2023-12-22 |
Family
ID=67165163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811549680.7A Active CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110000810B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110000810B (en) | 2023-12-22 |
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