CN109932599B - Comprehensive tester for static and dynamic driving characteristics of electric control shape memory alloy wire - Google Patents
Comprehensive tester for static and dynamic driving characteristics of electric control shape memory alloy wire Download PDFInfo
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Abstract
The invention provides an instrument device for comprehensively testing static and dynamic driving characteristics of an electric control shape memory alloy wire, which mainly comprises a bottom plate, a gantry vertical plate, a gantry beam, an electric device hanging plate system, an electric push rod, a laser baffle, a force sensor, a wire clamping device, a fan, a display screen, a displacement sensor and an anemometer. In the instrument, a Shape Memory Alloy (SMA) wire is fixed between two wire clamps, an electric push rod executes a pre-tightening command, the pre-tightening force of the SMA wire is detected, after a module required by a test is installed, the SMA wire is electrified, and each sensor starts to detect data such as loading force of the device, wind speed and deformation of the SMA wire during convection heat exchange, temperature, current/voltage and the like. The device can study the coupling influence rules of factors such as SMA wire prestress, thermal cycle frequency and duration, SMA wire diameter, driving current, loading force, convection heat exchange form, loading characteristic, excitation frequency and the like on the driving characteristic of the SMA wire under static and dynamic conditions.
Description
Technical Field
The invention belongs to the field of shape memory alloy performance test, and relates to an instrument device for comprehensively testing static and dynamic driving characteristics of an electric control shape memory alloy wire.
Background
A shape memory alloy (hereinafter abbreviated as SMA) is an alloy having a shape memory effect, and is composed of two to three main metal elements and other small elements. When the temperature changes, the internal structure changes phase, austenite and martensite are mutually transformed, the density of martensite is smaller than that of austenite, and the internal structure transformation causes the macroscopic dimension change of the SMA, which is called shape memory property. Another characteristic of SMA is superelasticity, which is higher in deformation recovery than a typical metal when the applied external force is lost, and the strain in the loading process is recovered with the loss of the external force. The deformation mode of self-heating of the SMA wire through current has important application and research values. The electrically controlled SMA has very high actuation energy density (energy generated per kilogram of mass), is widely applied to micro-electromechanical systems, and has wide application prospect.
SMA wires have the characteristic of low drive frequency (drive stroke duration shorter than cooling recovery time), and the influencing factors of the length of cooling recovery time are: wire type, wire diameter, ambient temperature, and convective heat transfer. SMA wires exhibit high non-linearity and hysteresis behavior, which are related to biasing force, heating time, ambient temperature, and play a very important role in the development of SMA drive systems. The strain and force characteristics of SMA actuators are highly dependent on drive current and bias force. The contraction amount of the SMA wire can be accurately controlled by adjusting the current output form, and the SMA wire can be used as an actuator and a driver at the same time, so that a feedback link of a displacement sensor is omitted. SMA actuation characteristics testing helps to develop a better system. SMA characterization described above: the low driving frequency characteristic, the high nonlinearity and the hysteresis behavior need to be subjected to comprehensive data acquisition and analysis processing in the static and dynamic driving characteristic comprehensive test so as to quantitatively predict a subsequent SMA driving actuator, define the optimal design, improve the execution efficiency and fully utilize the characteristics of the SMA driving actuator to match with a specific potential application range. Therefore, the comprehensive test research of static and dynamic practical driving characteristics of the electrically controlled SMA wire is developed, and the method has important significance for the development of an SMA driving actuator.
The comprehensive test research of static and dynamic practical driving characteristics of the electric control SMA wire is developed, and various test schemes are required to be formulated to completely characterize low driving frequency characteristics, high nonlinearity and hysteresis behaviors under the coupling action of different influence factors so as to make practical quantitative evaluation and prediction. In practical application, the influencing factors of the SMA driving actuator mainly include SMA prestress, thermal cycle frequency and duration, SMA wire diameter, driving current, loading force, convection heat exchange form, loading characteristic, excitation frequency and the like. However, the problem is that the existing SMA wire tester has low wire deformation measurement precision, small system structural rigidity, single function and high disassembly and assembly difficulty, and the systemization, modularization and automation of the test are not realized yet, and the complete static and dynamic driving characteristic practical multi-factor coupling comprehensive test can not be developed aiming at the influence factors.
In summary, the driving characteristic test of the electrically controlled SMA wire is urgently needed to have high measurement accuracy, large rigidity, small stress deformation, convenient disassembly and assembly, and can systematically, modularly and automatically test the coupling driving characteristic of the SMA wire under static and dynamic conditions, including: SMA prestress, thermal cycle frequency and duration, SMA wire diameter, drive current, loading force, convective heat transfer pattern, loading characteristics, excitation frequency, and the like. A set of static and dynamic driving characteristic tester for testing the electric control SMA wire is designed and developed, and has important research significance and practical application value.
Disclosure of Invention
The invention aims to provide an electric control SMA wire static and dynamic driving characteristic comprehensive tester with high measurement precision, large rigidity, small stress deformation and convenient disassembly and assembly, which can systematically and modularly test the driving characteristic of the SMA wire under static and dynamic conditions and comprises the following components: SMA prestress, thermal cycle frequency and duration, SMA wire diameter, drive current, loading force, convective heat transfer pattern, loading characteristics, excitation frequency. The convection heat exchange mode is divided into axial air cooling at different wind speeds, radial air cooling at different wind speeds and natural cooling.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an integrated test system for static and dynamic driving characteristics of an electric control SMA wire comprises a supporting system, a clamping system and a measuring system. The measuring system can be subdivided into a bottom electromagnetic excitation module, a dynamic wind measuring module I, an axial wind cooling module, a dynamic displacement measuring module, a radial wind cooling module, a bottom spring loading module, a dynamic wind measuring module II, a static wind measuring module, a static displacement measuring module and a static radial wind cooling module.
In the supporting system, the length of the SMA wire, the weight of the balancing weight and the high precision requirement of the instrument device are considered, and the supporting system adopts a gantry structure with small deformation. The gantry vertical plate is fixed on a bottom plate of the instrument device, and the gantry cross beams are fixed on the gantry vertical plate. The gantry beam bears larger external force and is easy to bend and deform, so that the gantry beam is provided with reinforcing ribs. The gantry riser is provided with a row of equidistant extension holes for adjusting the bearing height. The middle of the gantry beam is provided with an extension hole and a through hole for being connected with the clamping system, the middle part is provided with a threaded hole close to the right for being connected with the static displacement measuring module, and the upper middle part is provided with a threaded hole for fixing the angle code for being connected with the display. The rear of the bottom plate is provided with a threaded hole for being connected with an electric device hanging plate and a power amplifier source. The side of the electric device hanging plate is provided with a through hole for fixing an electric element. The threaded holes in the middle of the bottom plate are used for connecting the modules in the measuring system.
In the clamping system, an extension hole of the gantry beam is used for being connected with the electric push rod. The push rod part threaded hole of the electric push rod is used for being connected with the force sensor. The laser baffle A is fixed between the head of the push rod and the force sensor. The wire clamp is used for fixing the SMA wire. Threaded holes on the bottom surface of the wire clamp are used to connect the force sensor to a portion of the module in the measurement system. The wire clamp is provided with a semicircular groove for fixing the temperature sensor.
In the measurement system, the system is divided into six measurement modes: mode one, mode two, mode three, mode four, mode five, mode six.
Mode one: dynamic-axial air cooling-bottom electromagnetic excitation mode. In the measurement mode, the influence rule of loading force, wind speed and excitation frequency on the driving characteristics of the SMA wire under dynamic state can be studied. Different loading forces can be realized through replacement of the balancing weight, the wind speed of the fan can be adjusted through a computer, and different excitation frequencies can be realized through adjusting the electrifying mode of the bottom electromagnet.
Mode two: dynamic-radial air cooling-bottom electromagnetic excitation mode. In the measurement mode, the influence rule of loading force, wind speed and excitation frequency on the driving characteristics of the SMA wire under dynamic state can be studied. Different loading forces can be realized through replacement of the balancing weight, the wind speed of the fan can be adjusted through a computer, and different excitation frequencies can be realized through adjusting the electrifying mode of the bottom electromagnet.
Mode three: dynamic-axial air-cooled-bottom spring-loaded mode. In the measurement mode, the influence rule of the loading force, the wind speed and the loading characteristic on the driving characteristic of the SMA wire under the dynamic state can be studied. Different loading forces can be realized through the replacement of the balancing weight, the wind speed of the fan can be adjusted through a computer, and different loading effects can be realized through the replacement of the spring.
Mode four: dynamic-radial air-cooled-bottom spring-loaded mode. In the measurement mode, the influence rule of the loading force, the wind speed and the loading characteristic on the driving characteristic of the SMA wire under the dynamic state can be studied. Different loading forces can be realized through the replacement of the balancing weight, the wind speed of the fan can be adjusted through a computer, and different loading effects can be realized through the replacement of the spring.
Mode five: static-axial air cooling mode. In the mode, the influence rule of the SMA prestress and the wind speed on the driving characteristics of the SMA wire under the static state can be studied. The stroke of the electric push rod can be adjusted to realize different prestress, and the wind speed of the fan can be adjusted through a computer.
Mode six: static-radial air cooling mode. In the mode, the influence rule of the SMA prestress and the wind speed on the driving characteristics of the SMA wire under the static state can be studied. The stroke of the electric push rod can be adjusted to realize different prestress, and the wind speed of the fan can be adjusted through a computer.
The above six modes can all study the influence rule of the thermal cycle frequency and duration, the diameter of the SMA wire and the driving current on the driving characteristics of the SMA wire. The research of the influence rule of the convection heat transfer form on the driving characteristics of the SMA under static and dynamic conditions can be realized between the first mode, the second mode, the third mode, the fourth mode and the fifth mode and the sixth mode.
The invention has the advantages that: the static and dynamic driving characteristics of the electric control SMA wire can be comprehensively tested, and the system can perform tests such as uniaxial tension tests, high-temperature recovery tests, shape memory effect cyclic attenuation tests, superelastic cyclic attenuation tests and the like through disassembling and replacing corresponding modules. The relative position relation of the component modules of the whole system is clear, the installation, the disassembly and the replacement are convenient, the design precision is high, and the influence rules of factors such as SMA prestress, thermal cycle frequency and duration, SMA wire diameter, driving current, loading force, convection heat exchange form, loading characteristics, excitation frequency and the like on the electric control SMA wire can be studied. In addition, the system can also be used for testing the static and dynamic characteristics of other metal or alloy wires, and has wide application range. The principle research of the SMA wire can be carried out by scientific research units such as colleges and universities, research institutions and the like.
Drawings
FIG. 1-a is an isometric view of an instrument configuration
FIG. 1-b is a schematic, two-axis view of an instrument
FIG. 1-c is a schematic three-axis view of an instrument set
FIG. 1-d is a schematic four-axis view of an instrument set
FIG. 1-e is a five-axis view of an instrument device mode
FIG. 1-f is a six-axis view of an instrument device
FIG. 2-a is a schematic view of a support system
FIG. 2-b is a schematic diagram of an electrical device hanging plate system
FIG. 3 is a schematic diagram of a clamping system
FIG. 4-a is a schematic diagram of a bottom electromagnetic excitation system
FIG. 4-b is a schematic diagram of a dynamic anemometry module
FIG. 4-c is a schematic diagram of an axial air-cooling module
FIG. 4-d is a schematic diagram of a dynamic displacement measurement module
FIG. 4-e is a schematic diagram of a radial air cooling module
FIG. 4-f is a schematic diagram of a bottom spring loaded module
FIG. 4-g is a schematic diagram of a dynamic wind measuring module
FIG. 4-h is a schematic diagram of a static anemometry module
FIG. 4-i is a schematic diagram of a static displacement measurement module
FIG. 4-j is a static radial cooling module
FIG. 5 is a schematic diagram of a test system
In the figure: 101 is a bottom plate, 102 is a gantry vertical plate, 103 is an M10 bolt, 104 is an M4 bolt, 105 is a power amplification source, 106 is a C45 guide rail, 107 is an electric device hanging plate, 108 is a gantry beam, 109 is an M4 nut, 1010 is a display, 1011 is an electric device hanging plate system, 101101 is an electric push rod driver, 101102 is a temperature sensor driver, 101103 is a signal converter, 101104 is a signal transmitter, 101105 is a voltage isolator, 101106 is a current isolator, 101107 is a terminal plug, 101108 is a signal amplifier, 101109 is a power amplifier, 201 is an electric push rod, 202 is a laser baffle A,203 is an M5 nut, 204 is a force sensor, 205 is a wire clamp, 206 is a temperature sensor, 207 is an SMA wire, 301 is an electromagnet fixing frame, 302 is an electromagnet, 303 is a balancing weight, 304 is a laser baffle B,305 is a stud, 401 is an angle code, 402 is an anemometer bracket B,403 is an anemometer bracket A,404 is a riding card, 405 is an anemometer, 501 is a big fan bracket, 502 is a big fan, 503 is a hose adapter plate, 504 is a hose, 505 is a silica gel elbow, 506 is a ventilation pipe, 507 is a ventilation pipe fixing plate A,508 is a ventilation pipe fixing plate B,601 is a dynamic displacement sensor fixing plate, 701 is a small fan bracket, 702 is a small fan, 703 is an air port adjusting channel, 704 is a supporting plate, 801 is a movable joint screw, 802 is a spring, 901 is an anemometer bracket C,1001 is an anemometer bracket D,1101 is a displacement sensor, 1102 is a static displacement sensor fixing plate, 1201 is a lengthening stud; other parts such as computers, acquisition cards, wires, etc. are not shown in the figures.
Detailed Description
The invention is described in detail below with reference to the examples of implementation shown in the drawings:
referring to fig. 1-4, the invention relates to an electric control shape memory alloy wire static and dynamic driving characteristic comprehensive tester, which comprises a bottom plate (101), a gantry vertical plate (102), an M10 bolt (103), an M4 bolt (104), a power amplification source (105), a C45 guide rail (106), an electric device hanging plate (107), a gantry beam (108), an M4 nut (109), a display (1010), an electric device hanging plate system (1011), an electric push rod driver (101101), a temperature sensor driver (101102), a signal converter (101103), a signal transmitter (101104), a voltage isolator (101105), a current isolator (101106), a terminal plug (101107), a signal amplifier (101108), a power amplifier (101109), an electric push rod (201), a laser baffle A (202), an M5 nut (203), a force sensor (204), a wire clamping device (205), a temperature sensor (206), an SMA wire (207), an electromagnet fixing frame (301), an electromagnet (302), a balancing weight (303), a laser baffle B (304), a bolt (401), an angle code (401), an anemograph bracket B (403), an anemograph bracket A (402), a anemograph bracket A (501), a large-speed graph bracket A (502), a large-speed fan (502), hose adapter plate (503), hose (504), silica gel elbow (505), ventilation pipe (506), ventilation pipe fixed plate A (507), ventilation pipe fixed plate B (508), dynamic displacement sensor fixed plate (601), little fan support (701), little fan (702), wind gap adjustment passageway (703), layer board (704), movable joint screw (801), spring (802), anemograph support C (901), anemograph support D (1001), displacement sensor (1101), static displacement sensor fixed plate (1102), extension stud (1201) etc.. The method can be mainly divided into: a supporting system, a clamping system and a measuring system.
In the supporting system, the length of the SMA wire (207) and the weight of the balancing weight (303) are variable, and the accuracy requirement of an instrument device is high, and the supporting system adopts a gantry structure and has small deformation. The supporting system comprises a bottom plate (101), a gantry vertical plate (102), a power amplification source (105), a gantry beam (108), a display (1010) and an electric device hanging plate system (1011), wherein the gantry vertical plate (102) is provided with an extension hole and is fixed on the bottom plate (101) of the instrument device through M10 bolts (103), and two sides of the gantry beam (108) are fixed on the gantry vertical plate (102) through the extension hole by M10 bolts (103). The gantry beam (108) is provided with reinforcing ribs because of being subjected to larger external force and being extremely easy to bend and deform. In order to be able to adjust the bearing height, a row of equally spaced elongate holes is provided in the gantry riser (102). An extension hole and a through hole are formed in the middle of the gantry beam (108) and are used for being connected with a clamping system, a threaded hole is formed in the middle of the gantry beam, the right side of the middle of the gantry beam is used for being connected with a static displacement sensor fixing plate (1102), a power amplification power supply (105) is connected with a bottom plate (101) through a screw, a threaded hole is formed in the middle of the gantry beam and is used for fixing an angle code (401), a display (1010) is fixed through the angle code (401), and one power amplification power supply (105) is connected with the bottom of an electric device hanging plate (107) through the screw. The other two power amplification sources (105) are fixed on the bottom plates (101) at two sides of the electric device hanging plate (107) through M4 bolts (104).
The electric device hanging plate system (1011) comprises a guide rail (106), an electric device hanging plate (107), an electric push rod driver (101101), a temperature sensor driver (101102), a signal converter (101103), a signal transmitter (101104), a voltage isolator (101105), a current isolator (101106), a terminal plug (101107), a signal amplifier (101108) and a power amplifier (101109), wherein a through hole is formed in the bottom of the electric device hanging plate (107), the electric device hanging plate is connected with a bottom plate (101) through an M4 bolt (104), a C45 guide rail (106) is fixed below the electric device hanging plate (107) through the M4 bolt (104) and an M4 nut (109), the electric push rod driver (101101), the temperature sensor driver (101102), the signal converter (101103), the signal transmitter (101104), the voltage isolator (101105) and the current isolator (101106) are sequentially fixed on the C45 guide rail (106) from left to right, the two ends are fixed through the terminal plug (101107) to prevent movement, and the electric device hanging plate (107) is fixed with the M4 bolt (104) and the M4 nut (109) through the M4 bolt (1014). Finally, three power amplifiers (101109) are fixed on the electric device hanging plate (107) sequentially from bottom to top through screws.
The clamping system comprises an electric push rod (201), a laser baffle A (202), an M5 nut (203), a force sensor (204), a wire clamping device (205), a temperature sensor (206) and an SMA wire (207), wherein a threaded hole is formed in the electric push rod (201), and the electric push rod is connected with an extension hole of a gantry beam (108) through a screw. The push rod part of the electric push rod (201) passes through the through hole on the gantry beam (108), and the head part is provided with a threaded hole which is connected with the external thread on one side of the force sensor (204). The laser baffle A (202) is provided with a through hole, and is fixed between the head of the electric push rod (201) and the force sensor (204) through an M5 nut (203) at the external thread of the force sensor (204). The nut on the force sensor (204) plays a role in locking. There are two thread clamps (205), each with two blind threaded holes. The two sides of the SMA wire (207) are respectively wound on the screws, and then the SMA wire is fixed on the wire clamping device (205) through the threaded holes on the wire clamping device (205), so that the friction force for preventing the clamping of a single screw is insufficient, each side of the SMA wire (207) can be simultaneously wound on two screws, and the friction force is increased. One of the thread clamps (205) is connected with the external thread on the other side of the force sensor (204) through the internal thread hole on the upper surface, and the nut is locked. An internally threaded bore on another wire clamp (205) is used to connect with a portion of the modules in a different measurement system. The wire clamp (205) is provided with a semicircular groove for fixing the temperature sensor (206) in a glue bonding mode.
The measuring system comprises a bottom electromagnetic excitation module, a dynamic wind measuring module I, an axial wind cooling module, a dynamic displacement measuring module, a radial wind cooling module, a bottom spring loading module, a dynamic wind measuring module II, a static wind measuring module, a static displacement measuring module and a static radial wind cooling module, and is divided into six measuring modes: mode one, mode two, mode three, mode four, mode five, mode six.
The bottom electromagnetic excitation module comprises an electromagnet fixing frame (301), an electromagnet (302), a balancing weight (303), a laser baffle B (304) and a stud bolt (305), wherein the electromagnet (302) is fixed on the electromagnet fixing frame (301) through the stud bolt (305), a countersink is formed in the electromagnet fixing frame (301), the electromagnet fixing frame (301) is fixed on a bottom plate (101) in use, the laser baffle B (304) is placed on the balancing weight (303), one end of the stud bolt (305) penetrates through a round hole in the laser baffle B (304) to be connected with the balancing weight (303), the other end of the stud bolt (305) is connected with a wire clamping device (205) in use, and the electromagnet fixing frame (301) and the balancing weight (303) are arranged on the same axis, so that the coaxiality between the electromagnet fixing frame and the balancing weight can be guaranteed. Nuts are arranged at the two ends of the stud bolts (305) and are used for locking parts.
The dynamic wind measuring module I comprises an anemometer support B (402), an anemometer support A (403), a saddle clamp (404) and an anemometer (405), wherein a measuring head of the anemometer (405) is connected with the anemometer support A (403) through the saddle clamp (404), the anemometer support A (403) is connected with the anemometer support B (402) through an angle code (401) at 90 degrees, the anemometer support B (402) is connected with the angle code (401) through bolts and nuts, and the angle code (401) is connected with the bottom plate (101) through screws in use.
The axial air cooling module comprises a large fan bracket (501), a large fan (502), a hose adapter plate (503), a hose (504), a silica gel elbow (505), a ventilation pipe (506), a ventilation pipe fixing plate A (507) and a ventilation pipe fixing plate B (508), wherein the ventilation pipe (506) is connected with the silica gel elbow (505) up and down, so that the wind energy level coming out of the ventilation pipe (506) is ensured to pass through a measuring head of an anemometer (405), and the optimal measuring effect is achieved. The silica gel elbow (505) is provided with a small through hole, which is convenient for sleeving the ventilation pipe (506) on the SMA wire (207). The ventilation pipe (506) is fixed on ventilation pipe fixed plate A (507) through riding card (404), ventilation pipe fixed plate A (507) is 90 degrees and is connected with ventilation pipe fixed plate B (508) with the bolt nut, ventilation pipe fixed plate B (508) passes through angle sign indicating number (401) with bottom plate (101) to be connected when using, big fan (502) air outlet is sealed by hose adapter plate (503), the adjustment air outlet is the round hole of diameter 8mm, then be connected to ventilation pipe (506) below through hose (504), big fan (502) are fixed on big fan support (501) through the bolt screw, be equipped with the through-hole on big fan support (501) and be used for being connected with angle sign indicating number (401), angle sign indicating number (401) are fixed on bottom plate (101) through the bolt when using. Two different corner pieces (401) share a set of threaded holes on the base plate (101). The design saves processing space and cost.
The dynamic displacement measurement module comprises a displacement sensor (1101) and a dynamic displacement sensor fixing plate (601), wherein the displacement sensor (1101) is fixed on the dynamic displacement sensor fixing plate (601) through bolts and screws, and the bottom of the dynamic displacement sensor fixing plate (601) is fixed on the bottom plate (101) through screws when the dynamic displacement measurement module is used.
The radial air cooling module comprises a small fan bracket (701), a small fan (702), an air port adjusting channel (703) and a supporting plate (704), wherein the small fan (702) is fixed on the upper part of the small fan bracket (701) through bolts and nuts, the bottom of the small fan bracket (701) is fixed on the bottom plate (101) through screws when the radial air cooling module is used, an air port adjusting channel (703) is connected with an air outlet of the small fan (702), and an SMA wire (207) is aligned to an air port after adjustment, so that the radial air cooling module has a uniform cooling effect. Because the connection area of the air port adjusting channel (703) and the small fan (702) is smaller, a overturning phenomenon can be generated, and an extension hole is arranged at the bottom of the air port adjusting channel (703) so as to be convenient for being connected with other fixing pieces for use, and a supporting plate (704) is connected at the bottom of the air port adjusting channel (703). The support plates (704) are used in pairs, the longer sections of the support plates (704) are mutually connected through bolts and nuts, and finally the support plates are Z-shaped, and the shorter end of the other support plate (704) is connected with the bottom plate (101) through bolts in use.
The bottom spring loading module comprises a balancing weight (303), a laser baffle B (304), a stud (305), a movable joint screw (801) and a spring (802), wherein the spring is installed from bottom to top, the movable joint screw (801) is sleeved at two ends of the spring (802), the movable joint screw (801) at one end is fixed on a bottom plate (101) through a threaded hole when in use, the movable joint screw (801) at the other end is fixed on the balancing weight (303) through threaded connection, the laser baffle B (304) is arranged above the other end of the balancing weight (303) and is ensured to be concentric through a round hole, and finally the balancing weight (303) is fixedly connected with a wire clamping device (205) below a clamping system through the stud (305);
the dynamic anemometer module II is obtained by replacing the anemometer bracket B (402) in the dynamic anemometer module I with the anemometer bracket C (901).
The static anemometer module is obtained by replacing the anemometer bracket B (402) in the dynamic anemometer module I with the anemometer bracket D (1001).
The static displacement measurement module comprises a displacement sensor (1101) and a static displacement sensor fixing plate (1102), wherein the displacement sensor (1101) is fixed on the static displacement sensor fixing plate (1102) through bolts and nuts, and the static displacement sensor fixing plate (1102) is fixed at a right threaded hole of the gantry beam (108) through screws when the static displacement measurement module is used.
The static radial air cooling module is obtained by replacing a pair of supporting plates (704) of the static air measuring module with lengthening studs (1201) and fixing the bottom plate (101) and the bottom of an air port adjusting channel (703) through the lengthening studs (1201).
The bottom electromagnetic excitation module, the dynamic wind measuring module I, the axial air cooling module and the dynamic displacement measuring module are connected to the bottom plate (101) through bolts to form a measuring system mode I.
The bottom electromagnetic excitation module, the dynamic wind measuring module I, the dynamic displacement measuring module and the radial air cooling module are connected to the bottom plate (101) through bolts to form a measuring system mode II.
The axial air cooling module, the dynamic displacement measuring module, the bottom spring loading module and the dynamic air measuring module are connected to the bottom plate (101) through bolts to form a measuring system mode III.
The bottom spring loading module, the dynamic wind measuring module II, the dynamic displacement measuring module and the radial air cooling module are connected to the bottom plate (101) through bolts to form a measuring system mode IV.
The axial air cooling module and the static air measuring module are connected to the bottom plate (101) through bolts, and the static displacement measuring module is fixed to a right threaded hole of the gantry beam (108) through screws to form a measuring system mode five.
The static radial air cooling module and the static air measuring module are connected to the bottom plate (101) through bolts, the static displacement measuring module is fixed to a right threaded hole of the gantry beam (108) through screws, and the wire clamping device (205) below the clamping system is connected with the bottom plate (101) through stud bolts (305) to form a measuring system mode six.
The structure of the wire clamping device (205) consists of a cylinder and a semi-cylinder, the end face of the cylinder is provided with a threaded hole so as to ensure the coaxiality requirement of the wire clamping device (205) and other fixing pieces, the plane of the semi-cylinder is arranged on the central line of the wire clamping device (205), when the SMA wire (207) is fixed on the plane of the semi-cylinder, the SMA wire (207) and the wire clamping device (205) can be ensured to be arranged on the same axis, and the coaxiality of the tester is ensured by the design of the wire clamping device (205).
The force sensor (204) is directly connected with the electric push rod (201), the wire clamping device (205) and the laser baffle A (202).
The displacement sensor (1101) can move on the dynamic displacement sensor fixing plate (601), meanwhile, the laser baffle B (304) is designed into a round shape, the influence of the rotation phase of the workpiece is eliminated, and the displacement sensor (1101) can receive a reflection signal through the laser baffle B (304) in static and dynamic tests.
The parts of the instrument are connected by bolts and nuts or by screws.
The working flow of the whole test system is as follows: fixing the SMA wire (207) between two wire clamps (205), and retracting the electric push rod (201) to pre-tighten the SMA wire (207); the computer sends out signals through a program to control the electrifying condition between electrified contacts, the SMA wire (207) is electrified and then contracts, voltage between the contacts fluctuates, the force sensor (204), the displacement sensor (1101) and the temperature sensor (206) sequentially generate signals, and the signal changes are fed back to the computer; and selecting corresponding modules in the measuring system according to experimental requirements. The wind speed of the fan in the cooling module is also regulated by the computer, and the anemometer (405) in the anemometer module independently provides power. When the acquired data volume meets the experimental requirement or the temperature reaches a set value, the computer stops inputting, each acquisition card stops acquiring data, and the power supply is disconnected. The collected data can be used for modeling SMA constitutive relation and evaluating performance, and the relation among factors such as current, temperature, stress, displacement and the like is established. The vertical test mode has higher space utilization rate, and realizes systematic automatic static and dynamic test.
The foregoing examples are merely illustrative of the technical concept and features of the present invention, and are intended to test the complete static and dynamic driving characteristics of SMA wires, to provide data support for researchers and engineers involved in SMA wire driving actuator design, to facilitate understanding of the content of the present invention, and to implement the present invention accordingly, and are not intended to limit the scope of the present invention at one time. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (5)
1. An electric control shape memory alloy wire static and dynamic driving characteristic comprehensive tester is characterized by comprising a supporting system, a clamping system and a measuring system;
the supporting system comprises a bottom plate (101), a gantry vertical plate (102), a power amplification source (105), a gantry beam (108), a display (1010) and an electric device hanging plate system (1011), wherein an extension hole is formed in the gantry vertical plate (102) and is fixed on the bottom plate (101) through an M10 bolt (103), two sides of the gantry beam (108) are fixed on the gantry vertical plate (102) through the M10 bolt (103), an extension hole and a through hole are formed in the middle of the gantry beam (108) and are used for being connected with a clamping system, a threaded hole is formed in the middle of the gantry beam (108) towards the right and used for being connected with a static displacement sensor fixing plate (1102), a threaded hole is formed in the middle of the gantry beam (108) and used for fixing an angle code (401), then the display (1010) is fixed through the angle code (401), one power amplification source (105) is connected with the bottom of the electric device hanging plate system (1011) through a screw, and the other two power amplification sources (105) are fixed on the bottom plate (101) at two sides of the electric device hanging plate system (1011) through an M4 bolt (104);
the electric device hanging plate system (1011) comprises a guide rail (106), an electric device hanging plate (107), an electric push rod driver (101101), a temperature sensor driver (101102), a signal converter (101103), a signal transmitter (101104), a voltage isolator (101105), a current isolator (101106), a terminal plug (101107), a signal amplifier (101108) and a power amplifier (101109), wherein a through hole is formed in the bottom of the electric device hanging plate (107), the electric device hanging plate is connected with a bottom plate (101) through an M4 bolt (104), a C45 guide rail (106) is fixed below the electric device hanging plate (107) through the M4 bolt (104) and an M4 nut (109), the electric push rod driver (101101), the temperature sensor driver (101102), the signal converter (101103), the signal transmitter (101104), the voltage isolator (101105) and the current isolator (101106) are sequentially fixed on the C45 guide rail (106) from left to right, and the two ends of the electric device hanging plate (107) are fixed with the terminal plug (101107) through the M4 bolt (104) and the M4 bolt (101108) and the power amplifier (101109) are fixed above the electric device hanging plate (107);
the clamping system comprises an electric push rod (201), a laser baffle A (202), an M5 nut (203), a force sensor (204), two wire clamps (205), two threaded blind holes are formed in the upper surface of each wire clamp (205), two sides of each SMA wire (207) are fixed on the wire clamps (205) through screws, one wire clamp (205) is connected with the external threads of the other side of the force sensor (204) through the through holes in the gantry beam (108), the laser baffle A (202) is provided with the through holes, the M5 nut (203) at the external threads of the force sensor (204) is fixed between the push rod part of the electric push rod (201) and the force sensor (204), the two wire clamps (205) are provided with two threaded blind holes, two sides of each SMA wire (207) are fixed on the wire clamps (205) through screws, one wire clamp (205) is connected with the external threads of the other side of the force sensor (204) through the internal threads, the internal threads on the other wire clamp (205) are used for being connected with partial modules in different measuring systems, and the wire clamps (205) are provided with glue grooves (206) for fixing the temperature sensors in a bonding mode;
the measuring system comprises a bottom electromagnetic excitation module, a dynamic wind measuring module I, an axial wind cooling module, a dynamic displacement measuring module, a radial wind cooling module, a bottom spring loading module, a dynamic wind measuring module II, a static wind measuring module, a static displacement measuring module and a static radial wind cooling module;
the bottom electromagnetic excitation module comprises an electromagnet fixing frame (301), an electromagnet (302), a balancing weight (303), a laser baffle B (304) and a stud bolt (305), wherein the electromagnet (302) is fixed on the electromagnet fixing frame (301), the electromagnet fixing frame (301) is fixed on a bottom plate (101) when in use, the laser baffle B (304) is arranged on the balancing weight (303), one end of the stud bolt (305) penetrates through a round hole on the laser baffle B (304) to be connected with the balancing weight (303), the other end of the stud bolt is connected with a wire clamping device (205) when in use, and the electromagnet fixing frame (301) and the balancing weight (303) are on the same axis;
the dynamic anemometer module I comprises an anemometer bracket B (402), an anemometer bracket A (403), a saddle clamp (404) and an anemometer (405), wherein a measuring head of the anemometer (405) is connected with the anemometer bracket A (403) through the saddle clamp (404), the anemometer bracket A (403) is connected with the anemometer bracket B (402) through an angle code (401) at 90 degrees, the anemometer bracket B (402) is connected with the angle code (401) through a bolt and a nut, and the angle code (401) is connected with the bottom plate (101) through a screw when in use;
the axial air cooling module comprises a large fan bracket (501), a large fan (502), a hose adapter plate (503), a hose (504), a silica gel elbow (505), a ventilation pipe (506), a ventilation pipe fixing plate A (507) and a ventilation pipe fixing plate B (508), wherein the ventilation pipe (506) is connected with the silica gel elbow (505) up and down, the ventilation pipe (506) is fixed on the ventilation pipe fixing plate A (507) through a saddle clamp (404), the ventilation pipe fixing plate A (507) is 90 degrees with the ventilation pipe fixing plate B (508) and is connected with a bolt nut, the ventilation pipe fixing plate B (508) is connected with a bottom plate (101) through a corner bracket (401) in use, an air outlet of the large fan (502) is sealed by the hose adapter plate (503) and then is connected to the lower part of the ventilation pipe (506) through the hose (504), the large fan (502) is fixed on the large fan bracket (501) through a bolt, a through hole is formed in the large fan bracket (501) and is used for being connected with the corner bracket (401), and the corner bracket (401) is fixed on the bottom plate (101) through a bolt in use;
the dynamic displacement measurement module comprises a displacement sensor (1101) and a dynamic displacement sensor fixing plate (601), wherein the displacement sensor (1101) is fixed on the dynamic displacement sensor fixing plate (601) through bolts and screws, and the bottom of the dynamic displacement sensor fixing plate (601) is fixed on the bottom plate (101) through screws when the dynamic displacement measurement module is used;
the radial air cooling module comprises a small fan bracket (701), a small fan (702), an air port adjusting channel (703) and a supporting plate (704), wherein the small fan (702) is fixed on the upper part of the small fan bracket (701) through bolts and nuts, the bottom of the small fan bracket (701) is fixed on a bottom plate (101) through screws when the radial air cooling module is used, an air port adjusting channel (703) is connected with an air outlet of the small fan (702), an adjustable rear air port is aligned with an SMA wire (207), an extension hole is arranged on the bottom of the air port adjusting channel (703) so as to be convenient for being connected with other fixing pieces for use, the supporting plate (704) is connected to the bottom of the air port adjusting channel (703), the supporting plates (704) are used in pairs, the longer sections of the supporting plates (704) are mutually connected through bolts and nuts, and finally the shorter end of the other supporting plate (704) is Z-shaped, and the shorter end of the supporting plate (704) is connected with the bottom plate (101) through screws when the radial air cooling module is used;
the bottom spring loading module comprises a balancing weight (303), a laser baffle B (304), a stud (305), a movable joint screw (801) and a spring (802), wherein the movable joint screw (801) is sleeved at two ends of the spring (802), the movable joint screw (801) at one end is fixed on the bottom plate (101) through a threaded hole when in use, the movable joint screw (801) at the other end is fixed on the balancing weight (303) through threaded connection, the laser baffle B (304) is arranged above the other end of the balancing weight (303) and is ensured to be concentric through a round hole, and finally the balancing weight (303) is fixedly connected with a wire clamping device (205) below the clamping system through the stud (305);
the dynamic anemometer module II is obtained by replacing the anemometer bracket B (402) in the dynamic anemometer module I with the anemometer bracket C (901);
the static anemometer module is obtained by replacing an anemometer bracket B (402) in the dynamic anemometer module I with an anemometer bracket D (1001);
the static displacement measurement module comprises a displacement sensor (1101) and a static displacement sensor fixing plate (1102), wherein the displacement sensor (1101) is fixed on the static displacement sensor fixing plate (1102) through bolts and nuts, and the static displacement sensor fixing plate (1102) is fixed at a right threaded hole of the gantry beam (108) through screws when the static displacement measurement module is used;
the static radial air cooling module is obtained by replacing a pair of supporting plates (704) of the static air measuring module with lengthening double-headed bolts (1201), and fixing the bottom plate (101) and the bottom of an air port adjusting channel (703) through the lengthening double-headed bolts (1201);
the bottom electromagnetic excitation module, the dynamic wind measuring module I, the axial wind cooling module and the dynamic displacement measuring module are connected to the bottom plate (101) through bolts to form a measuring system mode I;
the bottom electromagnetic excitation module, the dynamic wind measuring module I, the dynamic displacement measuring module and the radial air cooling module are connected to the bottom plate (101) through bolts to form a measuring system mode II;
the axial air cooling module, the dynamic displacement measuring module, the bottom spring loading module and the dynamic air measuring module are connected to the bottom plate (101) through bolts to form a measuring system mode III;
the bottom spring loading module, the dynamic wind measuring module II, the dynamic displacement measuring module and the radial air cooling module are connected to the bottom plate (101) through bolts to form a measuring system mode IV;
the axial air cooling module and the static air measuring module are connected to the bottom plate (101) through bolts, and the static displacement measuring module is fixed at a threaded hole on the right side of the gantry beam (108) through screws to form a measuring system mode five;
the static radial air cooling module and the static air measuring module are connected to the bottom plate (101) through bolts, the static displacement measuring module is fixed to a right threaded hole of the gantry beam (108) through screws, and the wire clamping device (205) below the clamping system is connected with the bottom plate (101) through stud bolts (305) to form a measuring system mode six.
2. The comprehensive tester for static and dynamic driving characteristics of an electrically controlled shape memory alloy wire according to claim 1, wherein the comprehensive tester is characterized in that: the vertical test mode has higher space utilization rate, and realizes systematic automatic static and dynamic test.
3. The comprehensive tester for static and dynamic driving characteristics of an electrically controlled shape memory alloy wire according to claim 1, wherein the comprehensive tester is characterized in that: the structure of the wire clamping device (205) consists of a cylinder and a semi-cylinder, the end face of the cylinder is provided with a threaded hole so as to ensure the coaxiality requirement of the wire clamping device (205) and other fixing pieces, the plane of the semi-cylinder is arranged on the central line of the wire clamping device (205), when the SMA wire (207) is fixed on the plane of the semi-cylinder, the SMA wire (207) and the wire clamping device (205) can be ensured to be arranged on the same axis, and the coaxiality of the tester is ensured by the design of the wire clamping device (205).
4. The comprehensive tester for static and dynamic driving characteristics of an electrically controlled shape memory alloy wire according to claim 1, wherein the comprehensive tester is characterized in that: the force sensor (204) is directly connected with the electric push rod (201), the wire clamping device (205) and the laser baffle A (202).
5. The comprehensive tester for static and dynamic driving characteristics of an electrically controlled shape memory alloy wire according to claim 1, wherein the comprehensive tester is characterized in that: the displacement sensor (1101) can move on the dynamic displacement sensor fixing plate (601), meanwhile, the laser baffle B (304) is designed into a round shape, the influence of the rotation phase of the workpiece is eliminated, and the displacement sensor (1101) can receive a reflection signal through the laser baffle B (304) in static and dynamic tests.
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| CN115655677B (en) * | 2022-09-19 | 2024-01-09 | 北京深空动力科技有限公司 | Equal stiffness measurement device and method for driving performance of shape memory alloy tube |
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