CN110274722B - Milli-micro bovine two-dimensional force micro-motion test system with overload protection device - Google Patents
Milli-micro bovine two-dimensional force micro-motion test system with overload protection device Download PDFInfo
- Publication number
- CN110274722B CN110274722B CN201910633083.0A CN201910633083A CN110274722B CN 110274722 B CN110274722 B CN 110274722B CN 201910633083 A CN201910633083 A CN 201910633083A CN 110274722 B CN110274722 B CN 110274722B
- Authority
- CN
- China
- Prior art keywords
- horizontal
- vertical
- ball screw
- cantilever beam
- parallel double
- 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.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 143
- 241000283690 Bos taurus Species 0.000 title claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims description 79
- 238000012545 processing Methods 0.000 claims description 14
- 239000011664 nicotinic acid Substances 0.000 abstract description 16
- 230000035515 penetration Effects 0.000 abstract description 16
- 238000010008 shearing Methods 0.000 abstract description 11
- 239000000853 adhesive Substances 0.000 abstract description 7
- 230000001070 adhesive effect Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 241000238631 Hexapoda Species 0.000 description 12
- 235000008529 Ziziphus vulgaris Nutrition 0.000 description 9
- 230000006872 improvement Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 241000208720 Nepenthes Species 0.000 description 7
- 244000126002 Ziziphus vulgaris Species 0.000 description 5
- 230000006698 induction Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 5
- 241000257303 Hymenoptera Species 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 240000008866 Ziziphus nummularia Species 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 210000004185 liver Anatomy 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 235000015277 pork Nutrition 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000003746 surface roughness Effects 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 241000254173 Coleoptera Species 0.000 description 2
- 241000270290 Gekkota Species 0.000 description 2
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000238814 Orthoptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a nano-bovine two-dimensional force micro-motion testing system with an overload protection device, which comprises a testing platform assembly, a horizontal ball screw assembly, a horizontal force transducer assembly, a vertical ball screw assembly and a vertical force transducer assembly connected to the vertical ball screw assembly; the horizontal force transducer assembly is provided with a horizontal overload protection structure, and the vertical force transducer assembly is provided with a vertical overload protection structure. The invention can test milli-micro bovine normal force, adhesive force, friction force, penetration force, shearing force and the like generated by the bionic prototype, and can meet the test requirements in the aspects of test range, test precision, test accuracy and the like. The overload protection device is designed for preventing the parallel double-reed cantilever beam from exceeding the deformation range of the parallel double-reed cantilever beam, and meanwhile, the parallel double-reed cantilever beam is used as an independent device, so that the test platform and the auxiliary mechanical mechanism are convenient to replace, and the usability and the flexibility of the device are improved.
Description
Technical Field
The invention belongs to the mechanical testing technology, and particularly relates to a small-range and high-precision force testing system for a bionic prototype, which is applied to the field of mechanical bionics, and has the testing precision reaching a micro-cow level, and a use method.
Background
In the technical research process of mechanized slip trapping and controlling disaster-causing agricultural insects, a trapping slide plate with good slip function needs to be prepared in a bionic mode, and slip trapping of the trapped disaster-causing agricultural insects is achieved. For bionic development of the trapping skateboard, the adhesion force and the friction force of insects such as moths, ants, locusts and beetles on the surfaces of the bionic prototype, the trapping skateboard and the like, and the shearing force, the breaking force, the penetrating force and the like of an insect adhesion system are required to be tested, so that basis is provided for optimization of the bionic prototype and quantitative characterization of the sliding function of the trapping skateboard. Therefore, there is a need to develop a micro-force testing system that is specifically designed to test milli-micro bovine-scale forces generated by a biomimetic prototype.
Chinese patent CN100458388C discloses a two-dimensional small-range force sensor, which can measure forces in horizontal direction and vertical direction simultaneously, and adopts a "well" type hole structure, and well combines with the manufacturing process of the sensor, and the whole rigidity of the elastomer is high, and the safety and reliability are high. However, the resolution of the normal force and tangential force of the sensor is 2 mN, the measuring range is 0-5N, the sensor is suitable for the force generated by the soles of large animals such as geckos, and the sensor cannot meet the requirements on the precision of the force generated by small insects such as beetles and ants. Chinese patent CN100412521C and CN100593697C disclose three-dimensional force sensors with measuring ranges of 0-1.5N, have the advantages of simple structure, high sensitivity and the like, and can measure contact force when spiders and geckos climb. The resolution of the three-dimensional force sensor is 1 mN, and the testing range and the testing precision of the force generated by smaller insects such as moths, ants and the like still cannot meet the requirements.
The test range of the test system is 0-3N, the test precision is 1 mN, the test system can meet the measurement of force generated by big insects such as locust on the force measuring surface, and the test system can not completely meet the test requirement for force generated by small insects such as ants, moths and the like. In addition, the test platform and the auxiliary mechanical structure of the system are too simple, and when the adhesion force and the friction force of the insects with smaller body types are tested and the shearing force of the adhesion system is tested, human operation errors are easily introduced, so that the test accuracy is obviously affected. Chinese patent CN103308232B discloses an insect micro-force measuring device, its range is 0~ 3N, and resolution is 0.5 mN, can satisfy the test demand of adhesion, frictional force, traction force that the insect produced on the material surface simultaneously in the aspect of test range, test precision, test accuracy etc. and can satisfy the test demand of shearing force, the breaking force of insect attachment system, but this force measuring device only can test one-dimensional force, can not accomplish normal force, frictional force's simultaneous measurement.
In summary, the existing force sensor and force measuring system cannot simultaneously meet the test of milli-micro-bovine force generated by the bionic prototype in terms of testing range, testing precision, testing accuracy and the like, and only one-dimensional force can be tested. The key is that the force sensor and the force measuring system are not provided with overload protection devices, and the milli-micro cow force test sensor is expensive and is easy to damage due to overload. Therefore, it is necessary to develop a milli-micro cow level two-dimensional force micro-motion testing system with an overload protection device, which not only can meet the requirements, but also has an overload protection function, and tests milli-micro cow level force generated by a bionic prototype.
Disclosure of Invention
Based on the technical background, the milli-micro-cow level two-dimensional force micro-motion testing system with the overload protection device can test milli-micro-cow level normal force, adhesive force, friction force, penetration force and shearing force generated by a bionic prototype, and is provided with the sensor overload protection device.
In order to achieve the technical aim, the invention adopts the following technical scheme:
a nano-bovine two-dimensional force micro-motion testing system with an overload protection device comprises a testing platform assembly, a horizontal ball screw assembly fixedly arranged on the right side of the testing platform assembly, a horizontal force sensor assembly connected to the horizontal ball screw assembly, a vertical ball screw assembly fixedly arranged on the left side of the testing platform assembly and positioned above the testing platform assembly, and a vertical force sensor assembly connected to the vertical ball screw assembly;
The horizontal ball screw assembly controls the horizontal force transducer assembly to move horizontally, and the vertical ball screw assembly controls the vertical force transducer assembly to move vertically;
the horizontal load cell assembly is provided with a horizontal overload protection structure, and the vertical load cell assembly is provided with a vertical overload protection structure.
As a further improvement of the invention, the test platform assembly comprises a test platform bottom plate, a convex base fixedly arranged on the left side of the test platform bottom plate and an L-shaped bracket fixedly arranged on the top of the convex base.
As a further improvement of the invention, the horizontal force sensor assembly comprises a horizontal ball screw supporting end, a horizontal ball screw sliding block, a horizontal ball screw, a horizontal stepping motor, a horizontal ball screw fixing end and a horizontal ball screw base;
the horizontal ball screw supporting end and the horizontal ball screw fixing end are respectively and fixedly arranged at the left end and the right end of the horizontal ball screw base, the left end and the right end of the horizontal ball screw are respectively and rotatably connected with the horizontal ball screw supporting end and the horizontal ball screw fixing end, and the horizontal ball screw sliding block is connected with the horizontal ball screw;
The horizontal stepping motor is fixed on the right side of the fixed end of the horizontal ball screw, a driving shaft of the horizontal stepping motor is coaxially and fixedly connected with the right end of the horizontal ball screw, and the horizontal stepping motor drives the horizontal ball screw to rotate so that the horizontal ball screw sliding block moves along the horizontal direction of the horizontal ball screw;
the horizontal ball screw base is fixed on the bottom plate of the test platform.
As a further improvement of the invention, the vertical ball screw assembly comprises a vertical ball screw support end, a vertical ball screw slide block, a vertical ball screw, a vertical stepping motor, a vertical ball screw fixed end and a vertical ball screw base;
the vertical ball screw fixing end and the vertical ball screw supporting end are respectively and fixedly arranged on the upper end and the lower end of the vertical ball screw base, the upper end and the lower end of the vertical ball screw are respectively and rotatably connected with the vertical ball screw fixing end and the vertical ball screw supporting end, and the vertical ball screw sliding block is connected with the vertical ball screw;
the vertical stepping motor is fixed on the upper side of the fixed end of the vertical ball screw, a driving shaft of the vertical stepping motor is coaxially and fixedly connected with the upper end of the vertical ball screw, and the vertical stepping motor drives the vertical ball screw to rotate so that the vertical ball screw sliding block moves along the vertical direction of the vertical ball screw;
The vertical ball screw base is fixed on the right side part of the L-shaped bracket.
As a further improvement of the invention, the horizontal force transducer assembly comprises a horizontal eddy current displacement sensor fixing frame fixedly connected to the horizontal ball screw sliding block, a horizontal eddy current displacement sensor fixedly connected to the horizontal eddy current displacement sensor fixing frame and a horizontal overload protection structure fixedly connected to the horizontal ball screw sliding block and positioned at the left side relative to the horizontal eddy current displacement sensor.
As a further improvement of the invention, the horizontal overload protection structure comprises a horizontal parallel double-reed cantilever beam fixing frame fixedly connected to a horizontal ball screw sliding block, a horizontal parallel double-reed cantilever beam fixedly connected to the horizontal parallel double-reed cantilever beam fixing frame, a horizontal test sample placement platform fixedly arranged at the upper end part of the horizontal parallel double-reed cantilever beam, a horizontal support connecting frame fixedly connected to the upper end surface of the horizontal parallel double-reed cantilever beam fixing frame and positioned on the right side of the horizontal parallel double-reed cantilever beam, and a horizontal L-shaped overload protection bracket fixedly connected to the horizontal support connecting frame;
the horizontal parallel double-reed cantilever beam comprises an outer side spring piece, an inner side spring piece, a rectangular connecting block and a semicircular connecting block;
The rectangular connecting block and the semicircular arc connecting block are fixedly arranged between the outer spring piece and the inner spring piece;
the lower end of the rectangular connecting block is connected with a horizontal parallel double-reed cantilever beam fixing frame;
the left end face of the semicircular arc connecting block is provided with a circular groove for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block are respectively provided with a vertical threaded hole and a horizontal threaded hole;
the horizontal test sample placing platform is fixedly connected with the horizontal threaded hole through a bolt.
As a further improvement of the invention, the vertical load cell assembly comprises a vertical eddy current displacement sensor fixing frame fixedly connected to the vertical ball screw slide block, a vertical eddy current displacement sensor fixedly connected to the vertical eddy current displacement sensor fixing frame, and a vertical overload protection structure fixedly connected to the horizontal ball screw slide block and positioned at the lower side relative to the vertical eddy current displacement sensor.
As a further improvement of the invention, the vertical overload protection structure comprises a vertical parallel double-reed cantilever beam fixing frame fixedly connected to a vertical ball screw sliding block, a vertical parallel double-reed cantilever beam fixedly connected to the vertical parallel double-reed cantilever beam fixing frame, a vertical test sample placement platform fixedly arranged at the end part of the vertical parallel double-reed cantilever beam, a vertical support connecting frame fixedly connected to the end surface of the vertical parallel double-reed cantilever beam fixing frame and positioned at the upper side of the vertical parallel double-reed cantilever beam, and a vertical L-shaped overload protection bracket fixedly connected to the vertical support connecting frame;
The vertical parallel double-reed cantilever beam comprises an upper spring piece, a lower spring piece, a rectangular connecting block and a semicircular connecting block;
the rectangular connecting block and the semicircular connecting block are fixedly arranged between the upper spring piece and the lower spring piece;
the left end of the rectangular connecting block is fixedly connected with a vertical parallel double-reed cantilever beam fixing frame;
the lower end face of the semicircular arc connecting block is provided with a circular groove for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block are respectively provided with a horizontal screw hole and a vertical screw hole;
the vertical test sample placing platform is fixedly connected with the horizontal screw hole through a bolt.
As a further improvement of the invention, the invention also comprises a data acquisition card for converting analog signals of the horizontal force sensor assembly and the vertical force sensor assembly into digital signals.
As a further improvement of the invention, the data acquisition card adopts LabVIEW to write a signal processing and real-time display program, so that the force signals acquired by the horizontal force sensor assembly and the vertical force sensor assembly are displayed on an interface in real time.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a milli-micro-cow level two-dimensional force micro-motion testing system with an overload protection device, which can test milli-micro-cow level normal force, adhesive force, friction force, penetration force, shearing force and the like generated by a bionic prototype, and can meet testing requirements in the aspects of testing range, testing precision, testing accuracy and the like. The overload protection device is designed for preventing the parallel double-reed cantilever beam from exceeding the deformation range of the parallel double-reed cantilever beam, and meanwhile, the parallel double-reed cantilever beam is used as an independent device, so that the test platform and the auxiliary mechanical mechanism are convenient to replace, and the usability and the flexibility of the device are improved.
Drawings
FIG. 1 is a front elevational view of the general structure of the present invention;
FIG. 2 is an isometric view of a horizontal ball screw assembly of the present invention;
FIG. 3 is an isometric view of a horizontal load cell assembly of the present invention;
FIG. 4 is an axial side view of a horizontal eddy current displacement sensor holder of the present invention;
FIG. 5 is an isometric view of a horizontal L-shaped overload protection bracket of the present invention;
FIG. 6 is a front view of a horizontal parallel double-reed cantilever beam of the present invention;
FIG. 7 is a cross-sectional view of a horizontal parallel double-reed cantilever beam of the present invention;
FIG. 8 is a side view of a horizontal semi-circular arc connection block of the present invention;
FIG. 9 is an axial view of a horizontal parallel double-reed cantilever beam mount of the present invention;
FIG. 10 is an isometric view of a vertical load cell assembly of the present invention;
FIG. 11 is an isometric view of a vertical ball screw assembly of the present invention;
FIG. 12 is an axial side view of a vertical eddy current displacement sensor mount of the invention;
FIG. 13 is an isometric view of a vertical L-shaped overload protection bracket of the present invention;
FIG. 14 is a front view of a vertical parallel double-reed cantilever beam of the present invention;
FIG. 15 is a cross-sectional view of a vertical parallel double-reed cantilever beam of the present invention;
FIG. 16 is a side elevational view of a vertical semi-circular arc connection block of the present invention;
FIG. 17 is an axial side view of a vertical parallel double-reed cantilever beam mount of the present invention;
FIG. 18 is a side elevational view of a male mount of the present invention;
FIG. 19 is an isometric view of an L-bracket of the present invention;
FIG. 20 is a side view of a bottom plate of the test platform of the present invention;
FIG. 21 is a flow chart of the system data processing and real-time display procedure of the present invention.
In the figure: 1. a horizontal ball screw assembly; 1-1, a horizontal ball screw supporting end; 1-2, a horizontal ball screw slider; 1-3, a threaded hole of a horizontal cantilever beam fixing frame; 1-4, a threaded hole of a horizontal eddy current displacement sensor fixing frame; 1-5, a horizontal ball screw; 1-6, a horizontal stepping motor; 1-7, a fixed end of a horizontal ball screw; 1-8, a horizontal ball screw base; 1-9, a horizontal ball screw base threaded hole; 2. a horizontal load cell assembly; 2-1, a horizontal eddy current displacement sensor; 2-2, fastening a nut by a horizontal eddy current displacement sensor; 2-3, a horizontal eddy current displacement sensor fixing frame; 2-3-1, circular through holes; 2-3-2, long holes; 2-4, horizontally supporting the connecting frame; 2-5, long screws; 2-6, a horizontal test sample placement platform; 2-7, a horizontal L-shaped overload protection bracket; 2-7-1, a horizontal L-shaped overload protection bracket long hole; 2-7-2, a horizontal L-shaped overload protection bracket plane; 2-8, horizontal parallel double-reed cantilever beams; 2-8-1, a semicircular arc connecting block; 2-8-1-1, vertical threaded holes; 2-8-1-2, horizontal threaded holes; 2-8-1-3, circular grooves; 2-8-2, outside spring piece; 2-8-3, an inner spring piece; 2-8-4, rectangular connecting blocks; 2-9, a horizontal parallel double-reed cantilever beam fixing frame; 2-10, horizontal parallel double-reed cantilever beam fastening screws; 3. a vertical load cell assembly; 3-1, fixing a vertical eddy current displacement sensor; 3-1-1, circular through holes; 3-1-2, long holes; 3-2, fastening nuts of the vertical eddy current displacement sensor; 3-3, vertically testing the sample placement platform; 3-4, a vertical eddy current displacement sensor; 3-5, a vertical L-shaped overload protection bracket; 3-5-1, a vertical L-shaped overload protection bracket long hole; 3-5-2, a vertical L-shaped overload protection bracket plane; 3-6, vertical parallel double-reed cantilever beams; 3-6-1, a semicircular arc connecting block; 3-6-1-1, horizontal screw holes; 3-6-1-2, vertical screw holes; 3-6-1-3, circular groove; 3-6-2, upper spring plate; 3-6-3, a lower spring piece; 3-6-4, rectangular connecting blocks; 3-7, a vertical parallel double-reed cantilever beam fastening screw; 3-8, a vertical parallel double-reed cantilever beam fixing frame; 3-8-1, a vertical parallel double-reed cantilever beam fastening threaded hole; 3-8-2, vertical parallel double-reed cantilever beam through holes; 3-8-3, a vertical parallel double-reed cantilever beam long through hole; 3-9, a vertical support connecting frame; 3-10, long screws; 4. a vertical ball screw assembly; 4-1, a vertical ball screw support end; 4-2, a vertical ball screw slider; 4-3, a threaded hole of a vertical parallel double-reed cantilever beam fixing frame; 4-4, a threaded hole of a vertical sensor fixing frame; 4-5, a vertical ball screw; 4-6, a vertical stepping motor; 4-7, a fixed end of a vertical ball screw; 4-8, a vertical ball screw base; 4-9, a vertical ball screw base threaded hole; 5. a test platform assembly; 5-1, L-shaped brackets; 5-1-1, fixing through holes of the vertical ball screw group; 5-1-2, through holes on the bottom surface of the L-shaped bracket; 5-2, fastening a nut by a vertical eddy current displacement sensor; 5-3, fastening a screw and a nut by an L-shaped bracket; 5-4, a convex base; 5-4-1, a convex base through hole; 5-4-2, a convex base slot; 5-5, fastening screws by the convex base; 5-6, testing a platform bottom plate; 5-6-1, a horizontal threaded hole of a bottom plate of the test platform; 5-6-2, a vertical threaded hole of a bottom plate of the test platform; 5-7, fastening screws.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, a milli-micro bovine-level two-dimensional force micro-motion testing system with an overload protection device mainly comprises a horizontal ball screw assembly 1, a horizontal force transducer assembly 2, a vertical force transducer assembly 3, a vertical ball screw assembly 4 and a testing platform assembly 5. The horizontal ball screw assembly 1 is used for controlling the horizontal force transducer assembly 2 to move horizontally, the vertical force transducer assembly 3 is controlled by the vertical ball screw assembly 4 to move vertically, and the test platform assembly 5 provides a platform for the fixed installation of the horizontal ball screw assembly 1, the horizontal force transducer assembly 2, the vertical force transducer assembly 3 and the vertical ball screw assembly 4. The horizontal force transducer assembly 2 mainly realizes the test of milli-micro-cow level normal force, penetration force and shearing force generated by the bionic prototype, and the vertical force transducer assembly 3 mainly realizes the test of milli-micro-cow level adhesive force and friction force generated by the bionic prototype.
As shown in fig. 1, 2 and 3, a test platform bottom plate 5-6 in the test platform assembly 5 provides a fixed mounting carrier for the horizontal ball screw assembly 1, the horizontal ball screw assembly 1 is mounted on the right side of the test platform bottom plate 5-6 through a fastening screw 5-7, and the horizontal force transducer assembly 2 is fixed on the horizontal ball screw sliding block 1-2 through the fastening screw, so that the horizontal force transducer assembly 2 moves left and right on the horizontal ball screw assembly 1.
As shown in fig. 4, the horizontal ball screw assembly 1 mainly comprises a horizontal ball screw supporting end 1-1, a horizontal ball screw sliding block 1-2, a horizontal ball screw 1-5, a horizontal stepping motor 1-6, a horizontal ball screw fixing end 1-7 and a horizontal ball screw base 1-8, wherein the horizontal ball screw assembly 1 is fixed on a testing platform bottom plate 5-6, and the horizontal ball screw assembly 1 is used for realizing the movement of the horizontal force sensor assembly 2 in the horizontal direction.
As shown in fig. 3, 4, 5 and 9, the horizontal force sensor assembly 2 mainly realizes accurate testing of milli-micro-cow normal force, penetration force and shearing force generated by a bionic prototype, and meanwhile, is also provided with an overload protection device for protecting the milli-micro-cow force sensor which is expensive and is easy to fail due to overload. Based on the functional requirements, the horizontal force sensor assembly 2 is used as a core device of a force measuring system in the horizontal direction and mainly comprises a horizontal eddy current displacement sensor 2-1, a horizontal eddy current displacement sensor fastening nut 2-2, a horizontal eddy current displacement sensor fixing frame 2-3, a horizontal support connecting frame 2-4, a long screw 2-5, a horizontal test sample placing platform 2-6, a horizontal L-shaped overload protection bracket 2-7, a horizontal parallel double-reed cantilever beam 2-8, a horizontal cantilever beam fixing frame 2-9 and a cantilever beam fastening screw 2-10. The horizontal eddy current displacement sensor fixing frame 2-3 is fixed with the left two threaded holes 1-3 of the horizontal ball screw sliding block 1-2 in a screw connection mode through the circular through hole 2-3-1, and the horizontal parallel double-reed cantilever beam fixing frame 2-9 is fixed with the right horizontal eddy current displacement sensor fixing frame threaded hole 1-4 of the horizontal ball screw sliding block 1-2 in a screw connection mode. The upper part of the horizontal eddy current displacement sensor fixing frame 2-3 is provided with a long hole 2-3-2 for adjusting the position of the horizontal eddy current sensor 2-1 in the vertical direction in a small range, and the horizontal eddy current displacement sensor 2-1 is fixed on the long hole 2-3-2 of the horizontal eddy current sensor fixing frame 2-3 through a horizontal eddy current displacement sensor fastening nut 2-2; the bottom of the horizontal eddy current displacement sensor fixing frame 2-3 is provided with a circular through hole 2-3-1, so that the horizontal eddy current displacement sensor fixing frame 2-3 is connected with the horizontal ball screw sliding block 1-2 through bolts, and the horizontal force sensor assembly 2 moves left and right in the horizontal direction. The horizontal parallel double-reed cantilever beam 2-8 is fixed in a horizontal parallel double-reed cantilever beam long through hole of the horizontal parallel double-reed cantilever beam fixing frame 2-9 through a horizontal parallel double-reed cantilever beam fastening screw 2-10. The upper end surface of the horizontal parallel double-reed cantilever beam long through hole is provided with a horizontal parallel double-reed cantilever beam fastening threaded hole for fixing and positioning the horizontal parallel double-reed cantilever beams 2-8. In order to prevent the horizontal parallel double-reed cantilever beam 2-8 from exceeding the elastic deformation range, a horizontal L-shaped overload protection bracket 2-7 is arranged, so that the displacement deformation of the outer spring piece 2-8-2 and the inner spring piece 2-8-3 of the horizontal parallel double-reed cantilever beam 2-8 does not exceed the safe deformation range. The upper end of a horizontal parallel double-reed cantilever beam fixing frame 2-9 is fixedly provided with a horizontal support connecting frame 2-4, and the horizontal support connecting frame 2-4 is connected with a horizontal L-shaped overload protection bracket 2-7 through a long screw 2-5; the tail end of the horizontal L-shaped overload protection support 2-7 is provided with a horizontal L-shaped overload protection support long hole 2-7-1 for adjusting the distance between the horizontal L-shaped overload protection support plane 2-7-2 and the horizontal parallel double-reed cantilever beam 2-8 in a small range.
As shown in fig. 6, 7 and 8, the horizontal parallel double-reed cantilever beam 2-8 is composed of two outer side spring pieces 2-8-2, inner side spring pieces 2-8-3, rectangular connecting blocks 2-8-4 and semicircular arc connecting blocks 2-8-1 which are made of 45# steel, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semicircular arc connecting blocks 2-8-1 is smaller than ra=0.8 microns through polishing treatment; the round grooves 2-8-1-3 are arranged to reduce the weight of the semicircular arc connecting block 2-8-1 and the axial bearing of the outer spring piece 2-8-2 and the inner spring piece 2-8-3. The top end and the side end of the semicircular arc connecting block 2-8-1 are respectively provided with a vertical threaded hole 2-8-1-1 and a horizontal threaded hole 2-8-1-2. The rectangular connecting block 2-8-4 and the semicircular arc connecting block 2-8-1 are fixedly arranged between the outer spring piece 2-8-2 and the inner spring piece 2-8-3. The semicircular arc connecting block 2-8-1, the outer spring piece 2-8-2, the inner spring piece 2-8-3 and the rectangular connecting block 2-8-4 jointly form a horizontal parallel double-reed cantilever beam 2-8.
As shown in fig. 1, 10, 11, 18, 19 and 20, the test platform assembly 5 mainly comprises an L-shaped bracket 5-1, a convex base 5-4 and a test platform bottom plate 5-6. The convex base 5-4 is fixedly arranged on the horizontal threaded hole 5-6-1 of the test platform bottom plate 5-6 by adopting the convex base fastening screw 5-5. The long holes 5-4-2 are arranged to realize the fixed connection of the convex base 5-4 and the bottom plate 5-6 of the test platform, and the small-range adjustment of the convex base 5-4 in the horizontal direction can be realized. The L-shaped bracket tightening screw and the nut 5-3 are adopted to realize the fixed connection between the L-shaped bracket 5-1 and the convex base 5-4, the vertical ball screw assembly 4 is fixedly installed on the right side of the L-shaped bracket 5-1 by adopting the tightening screw 5-2, and the vertical force transducer assembly 3 is fixedly installed on the horizontal ball screw sliding block 4-2 by the tightening screw, so that the vertical force transducer assembly 3 moves up and down on the vertical ball screw assembly 4.
As shown in fig. 11, the vertical ball screw assembly 4 mainly comprises a vertical ball screw support end 4-1, a vertical ball screw sliding block 4-2, a vertical ball screw 4-5, a vertical stepping motor 4-6, a vertical ball screw fixing end 4-7 and a vertical ball screw base 4-8, wherein the vertical ball screw assembly 4 is fixed on the right side of the L-shaped bracket 5-1, and the vertical ball screw assembly 4 is adopted to realize the up-and-down movement of the vertical force sensor assembly 3 in the vertical direction.
As shown in fig. 10, 12, 13 and 17, the vertical load cell assembly 3 mainly realizes the test of milli-micro bovine-grade adhesion and friction generated by a bionic prototype. Based on the functional requirements, the vertical force sensor assembly 3 is used as a core device of a force measuring system in the vertical direction and mainly comprises a vertical eddy current displacement sensor fixing frame 3-1, a vertical eddy current displacement sensor fastening nut 3-2, a vertical test sample placement platform 3-3, a vertical eddy current displacement sensor 3-4, a vertical L-shaped overload protection support 3-5, a vertical parallel double-reed cantilever beam 3-6, a vertical parallel double-reed cantilever beam fastening screw 3-7, a vertical parallel double-reed cantilever beam fixing frame 3-8, a vertical support connecting frame 3-9 and a long screw 3-10. The vertical eddy current displacement sensor fixing frame 3-1 is fixedly connected with the vertical parallel double-reed cantilever beam fixing frame threaded hole 4-3 on the upper side of the vertical ball screw sliding block 4-2 in a screw connection mode through a circular through hole 3-1-1, and the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly connected with the vertical sensor fixing frame threaded hole 4-4 on the lower side of the vertical ball screw sliding block 4-2 in a screw connection mode. The upper part of the vertical eddy current displacement sensor fixing frame 3-1 is provided with a long hole 3-1-2 for adjusting the position of the vertical eddy current displacement sensor 3-4 in the horizontal direction in a small range, and the vertical eddy current displacement sensor 3-4 is fixed on the long hole 3-1-2 of the vertical eddy current displacement sensor fixing frame 3-1 through a vertical eddy current displacement sensor fastening nut 3-2; the vertical parallel double-reed cantilever beam 3-6 is fixed in the vertical parallel double-reed cantilever beam long through hole 3-8-3 of the vertical parallel double-reed cantilever beam fixing frame 3-8 through the parallel double-reed cantilever beam fastening screw 3-7. The upper end face of the vertical parallel double-reed cantilever beam long through hole 3-8-3 is provided with a vertical parallel double-reed cantilever beam fastening threaded hole 3-8-1 for fixing and positioning the vertical parallel double-reed cantilever beam 3-6. In order to prevent the vertical parallel double-reed cantilever beam 3-6 from exceeding the elastic deformation range, a vertical L-shaped overload protection bracket 3-5 is arranged, so that the displacement deformation of the upper side spring piece 3-6-2 and the lower side spring piece 3-6-3 of the vertical parallel double-reed cantilever beam 3-6 does not exceed the safe deformation range. The upper end of the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly provided with a vertical supporting connecting frame 3-9, and the vertical supporting connecting frame 3-9 is connected with a vertical L-shaped overload protection bracket 3-5 through a long screw 3-10; the tail end of the vertical L-shaped overload protection bracket 3-5 is provided with a vertical L-shaped overload protection bracket long hole 3-5-1 for adjusting the distance between the vertical L-shaped overload protection bracket plane 3-5-2 and the vertical parallel double-reed cantilever beam 3-4 in a small range.
As shown in fig. 14, 15 and 16, the vertical parallel double-reed cantilever beam 3-6 is composed of two upper side spring pieces 3-6-2, lower side spring pieces 3-6-3, rectangular connecting blocks 3-6-4 and semicircular arc connecting blocks 3-6-1 which are made of 45# steel, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semicircular arc connecting blocks 3-6-1 is smaller than ra=0.8 microns through polishing treatment; the round grooves 3-6-1-3 are arranged to reduce the weight of the semicircular arc connecting blocks 3-6-1 and the load bearing of the outer spring piece 3-6-2 and the inner spring piece 3-6-3 on the horizontal shaft. The top end and the side part of the semicircular arc splicing block 3-6-1 are respectively provided with a horizontal screw hole 3-6-1-1 and a vertical screw hole 3-6-1-2. The rectangular connecting block 3-6-4 and the semicircular arc connecting block 3-6-1 are fixedly arranged between the upper side spring piece 3-6-2 and the lower side spring piece 3-6-3. The semicircular arc connecting block 3-6-1, the upper spring piece 3-6-2, the lower spring piece 3-6-3 and the rectangular connecting block 3-6-4 form a vertical parallel double-reed cantilever beam 3-6.
A data acquisition card is arranged to realize the conversion from an analog signal to a digital signal of the eddy current displacement sensor; and a LabVIEW is adopted to write signal processing and real-time display programs, so that signals such as normal force, adhesive force, friction force, penetration force, shearing force and the like acquired by the force transducer can be displayed on a display interface in real time.
The working process of the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the test platform bottom plates 5-6 in the test platform assembly 5 are made of stainless steel materials with high rigidity and stable performance, and the dimension parameters are 210mm×70mm×5mm (length×width×height); providing a fixed mounting platform for the horizontal ball screw assembly 1, wherein the horizontal ball screw assembly 1 is connected into a vertical threaded hole 5-6-2 of a test platform bottom plate of the test platform bottom plate 5-6 through a fastening screw 5-7 and the test platform bottom plate 5-6; the horizontal force sensor assembly 2 is fixed to the horizontal ball screw slider 1-2 by a fastening screw, so that the horizontal force sensor assembly 2 moves left and right in the horizontal direction.
As shown in fig. 3, 4, 5, 6 and 9, the circular through hole 2-3-1 of the horizontal sensor fixing frame 2-3 is connected with the horizontal ball screw sliding block 1-2 by a screw connection mode, the size of the connecting surface with the horizontal ball screw sliding block 1-2 is 16mm×33.5mm×2mm (length×width×height), the size parameter of the connecting surface with the horizontal eddy current displacement sensor 2-1 is 100mm×33.5mm×2mm (length×width×height), and the horizontal eddy current displacement sensor 2-1 is fixed on the long hole 2-3-2 of the horizontal eddy current sensor fixing frame 2-3 by the horizontal eddy current displacement sensor fastening nut 2-2; the horizontal parallel double-reed cantilever beam fixing frame 2-9 is arranged in a ladder shape and is used for reducing the bearing of the horizontal ball screw sliding block 1-2, the length of the horizontal parallel double-reed cantilever beam fixing frame 2-9 is 17mm, the width of the horizontal parallel double-reed cantilever beam fixing frame is 33.5mm, the height of the thick end of the horizontal parallel double-reed cantilever beam fixing frame is 6mm, the height of the thin end of the horizontal parallel double-reed cantilever beam fixing frame is 2mm, the thin end of the horizontal parallel double-reed cantilever beam fixing frame is provided with a horizontal parallel double-reed cantilever beam through hole, the horizontal parallel double-reed cantilever beam fixing frame is fixedly connected with the horizontal cantilever beam fixing frame threaded hole 1-3 of the horizontal ball screw sliding block 1-2 in a screw connection mode, the thick end of the horizontal parallel double-reed cantilever beam fixing frame is a horizontal parallel double-reed cantilever beam long through hole capable of being inserted into the horizontal parallel double-reed cantilever beam 2-8, the horizontal parallel double-reed cantilever beam long through hole is 21mm in size is multiplied by 5mm (length multiplied by width), and the upper end face of the horizontal parallel double-reed cantilever beam fixing hole is used for fixing and positioning the horizontal parallel double-reed cantilever beam. The horizontal parallel double-reed cantilever beam 2-8 is fixed into a horizontal parallel double-reed cantilever beam long through hole of the horizontal parallel double-reed cantilever beam fixing frame 2-9 through a horizontal parallel double-reed cantilever beam fastening screw 2-10; the upper end of the horizontal parallel double-reed cantilever beam fixing frame 2-9 is fixedly provided with a horizontal support connecting frame 2-4, the length is 42mm, the width is 6mm, and the height is 3mm, and the horizontal support connecting frame 2-4 is connected with a horizontal L-shaped overload protection bracket 2-7 through a long screw 2-5; the other end is provided with a horizontal parallel double-reed cantilever beam through hole corresponding to the horizontal parallel double-reed cantilever beam fixing frame 2-9; the horizontal support connecting frame 2-4 is connected with the horizontal L-shaped overload protection support 2-7 through a long screw 2-5, a horizontal L-shaped overload protection support long hole 2-7-1 is formed at the tail end of the horizontal L-shaped overload protection support 2-7, and the position of the horizontal L-shaped overload protection support long hole 2-7-1 can be adjusted through loosening a fastening nut, so that the distance between the horizontal L-shaped overload protection support protection plane 2-7-2 and the horizontal parallel double-reed cantilever beam 2-8 can be adjusted in a small range. The horizontal test sample placing platform 2-6 is fixed on the semicircular arc connecting block horizontal threaded hole 2-8-1-2 of the horizontal parallel double-reed cantilever beam 2-8 in a bolt connection mode, so that accurate test of milli-micro-bovine normal force, penetration force and shearing force generated by a bionic prototype is realized.
As shown in fig. 6, 7 and 8, the horizontal parallel double-reed cantilever beam 2-8 is composed of two outer side spring pieces 2-8-2, inner side spring pieces 2-8-3, rectangular connecting blocks 2-8-4 and semicircular arc connecting blocks 2-8-1 which are made of the same materials and have the same size, wherein the materials of the inner side spring pieces and the outer side spring pieces are 65Mn, the sizes of the inner side spring pieces and the outer side spring pieces are 60mm multiplied by 21mm multiplied by 0.1mm (length multiplied by width multiplied by height), 45# steel is adopted as the materials of the semicircular arc connecting blocks 2-8-1, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semicircular arc connecting blocks 2-8-1 is smaller than Ra=0.8 microns through polishing treatment; the circular grooves 2-8-1-3 are arranged, the diameter is 16mm, the depth is 2mm, and the circular grooves are used for reducing the weight of the semicircular arc connecting blocks 2-8-1 and reducing the axial bearing of the outer spring pieces 2-8-2 and the inner spring pieces 2-8-3. The top end and the side end of the semicircular arc connecting block 2-8-1 are respectively provided with a vertical threaded hole 2-8-1-1 and a horizontal threaded hole 2-8-1-2. The rectangular connecting block 2-8-4 and the semicircular arc connecting block 2-8-1 are fixedly arranged between the outer spring piece 2-8-2 and the inner spring piece 2-8-3. The semicircular arc connecting block 2-8-1, the outer spring piece 2-8-2, the inner spring piece 2-8-3 and the rectangular connecting block 2-8-4 jointly form a horizontal parallel double-reed cantilever beam 2-8.
As shown in fig. 1, 10, 11, 18, 19 and 20, the test platform assembly 5 mainly comprises an L-shaped bracket 5-1, a convex base 5-4 and a test platform bottom plate 5-6. The method comprises the steps that a convex base fastening screw 5-5 is adopted to fixedly install a convex base 5-4 on a horizontal threaded hole 5-6-1 of a testing platform bottom plate 5-6, stainless steel materials are selected for the convex base to ensure installation strength, and the two supporting parts of the convex base are 30mm multiplied by 15mm multiplied by 2mm (length multiplied by width multiplied by height); the long holes 5-4-2 are arranged to realize the fixed connection of the convex base 5-4 and the bottom plate 5-6 of the test platform, and the small-range adjustment of the convex base 5-4 in the horizontal direction can be realized. The L-shaped bracket tightening screw and the nut 5-3 are adopted to realize the fixed connection of the L-shaped bracket 5-1 and the convex base 5-4, the connection surface of the L-shaped bracket tightening screw and the nut is formed into an equilateral triangle structure by 3 through holes to ensure the connection stability of the upper surface 5-4-1 of the convex base and the bottom surface 5-1-2 of the L-shaped bracket, and the size of the connection surface is 33.5mm multiplied by 30mm (length multiplied by width); the vertical ball screw assembly 4 is fixedly arranged on the right side of the L-shaped bracket 5-1 by adopting the fastening screw 5-2, and the vertical force transducer assembly 3 is fixedly arranged on the horizontal ball screw sliding block 4-2 by the fastening screw, so that the vertical force transducer assembly 3 moves up and down in the vertical direction.
As shown in fig. 10, 12, 13, 14 and 17, the circular through hole 3-1-1 of the vertical eddy current displacement sensor fixing frame 3-1 is connected with the vertical ball screw sliding block 4-2 in a screw connection manner, the size of the connecting surface with the vertical ball screw sliding block 4-2 is 16mm×33.5mm×2mm (length×width×height), and the vertical eddy current displacement sensor 3-4 is fixed on the long hole 3-1-2 of the horizontal eddy current sensor fixing frame 3-1 through the vertical eddy current displacement sensor fastening nut 3-2; the vertical parallel double-reed cantilever beam fixing frame 3-8 is arranged in a step shape and is used for reducing the bearing of the vertical ball screw sliding block 4-2, the length of the vertical parallel double-reed cantilever beam fixing frame is 17mm, the width of the vertical parallel double-reed cantilever beam fixing frame is 33.5mm, the height of the thick end of the vertical parallel double-reed cantilever beam fixing frame is 6mm, the height of the thin end of the vertical parallel double-reed cantilever beam fixing frame is 2mm, the thin end of the vertical parallel double-reed cantilever beam fixing frame is provided with the vertical parallel double-reed cantilever beam through hole 3-8-2, the vertical parallel double-reed cantilever beam fixing frame is fixedly connected with the vertical cantilever beam fixing frame threaded hole 4-3 of the vertical ball screw sliding block 4-2 in a screw connection mode, the thick end of the vertical parallel double-reed cantilever beam fixing frame is provided with the vertical parallel double-reed cantilever beam through hole 3-8-3 capable of being inserted into the vertical parallel double-reed cantilever beam 3-6, the size of the vertical parallel double-reed cantilever beam fixing frame is 21mm (length is multiplied by 5 mm), and the upper end face of the vertical parallel double-reed cantilever beam fixing frame is used for fixing and positioning. The vertical parallel double-reed cantilever beam 3-6 is fixed into the vertical parallel double-reed cantilever beam long through hole 3-8-3 of the vertical parallel double-reed cantilever beam fixing frame 3-8 through the vertical parallel double-reed cantilever beam fastening screw 3-7; the upper end of the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly provided with a horizontal support connecting frame 3-9, the length is 42mm, the width is 6mm, and the height is 3mm, and the vertical support connecting frame 3-9 is connected with a vertical L-shaped overload protection bracket 3-5 through a long screw 3-10; the other end is provided with a vertical parallel double-reed cantilever beam through hole 3-8-2 corresponding to the vertical parallel double-reed cantilever beam fixing frame 3-8; the vertical support connecting frame 3-9 is connected with the vertical L-shaped overload protection support 3-5 through a long screw 3-10, a vertical L-shaped overload protection support long hole 3-5-1 is formed in the tail end of the vertical L-shaped overload protection support 3-5, and the position of the vertical L-shaped overload protection support long hole 3-5-1 can be adjusted through loosening a fastening nut, so that the distance between the vertical L-shaped overload protection support protection plane 3-5-2 and the vertical parallel double-reed cantilever beam 3-6 can be adjusted in a small range. The vertical test sample placing platform 3-3 is fixed on the horizontal screw hole 3-6-1-1 of the semicircular arc connecting block of the vertical parallel double-reed cantilever beam 3-6 in a bolt connection mode, so that the accurate test of milli-micro-bovine friction force and adhesive force generated by a bionic prototype is realized.
As shown in fig. 14, 15 and 16, the vertical parallel double-reed cantilever beam 3-6 is composed of two upper side spring pieces 3-6-2, lower side spring pieces 3-6-3, rectangular connecting blocks 3-6-4 and semicircular arc connecting blocks 3-6-1 which are made of the same materials and have the same size, wherein the upper side spring pieces and the lower side spring pieces are made of 65Mn, the sizes of 86mm multiplied by 21mm multiplied by 0.2mm (length multiplied by width multiplied by height), 45# steel is selected as the material of the semicircular arc connecting blocks 3-6-1, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semicircular arc connecting blocks 3-6-1 is smaller than Ra=0.8 microns through polishing treatment; the round grooves 3-6-1-3 are arranged, the diameter is 16mm, the depth is 2mm, and the round grooves are used for reducing the weight of the semicircular arc connecting blocks 3-6-1 and reducing the transverse bearing of the upper side spring pieces 3-6-2 and the lower side spring pieces 3-6-3. The top end and the side end of the semicircular arc splicing block 3-6-1 are respectively provided with a horizontal screw hole 3-6-1-1 and a vertical screw hole 3-6-1-2. The rectangular connecting block 3-6-4 and the semicircular arc connecting block 3-6-1 are fixedly arranged between the upper side spring piece 3-6-2 and the lower side spring piece 3-6-3. The semicircular arc connecting block 3-6-1, the upper spring piece 3-6-2, the lower spring piece 3-6-3 and the rectangular connecting block 3-6-4 form a vertical parallel double-reed cantilever beam 3-6.
As shown in fig. 21, a flow chart of data processing and real-time display program of milli-micro bovine-level two-dimensional force micro-motion test system with overload protection device, the data acquisition card adopts USB-6351 of NI company to realize conversion from analog signal to digital signal of eddy current displacement sensor; writing a signal processing and real-time display program by using LabVIEW, so that signals such as normal force, adhesive force, friction force, penetration force, shearing force and the like acquired by the force sensor are displayed on a display interface in real time in a graph form; on the other hand, the file is saved in a designated folder in the form of a txt file.
Friction test: the surface of the wild jujube tree thorn and nepenthes sliding region is used as a test material, and the friction force of the thorn on the surface of the nepenthes sliding region is tested. The measuring ranges of the horizontal parallel double-reed cantilever beam 2-8 and the vertical parallel double-reed cantilever beam 3-6 are 50 mN/mm, the resolutions of the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4 are 1 mu m, namely the precision of the force transducer is 0.05 mN/mm. The horizontal eddy current displacement sensor 2-1 on the horizontal ball screw assembly 1 and the vertical eddy current displacement sensor 3-4 on the vertical ball screw assembly 4 are respectively adjusted to be 3-4 mm away from the surfaces of the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4, and are respectively fixed into the horizontal parallel double-reed cantilever beam fixing frame 2-9 and the vertical parallel double-reed cantilever beam fixing frame 3-8 through the horizontal parallel double-reed cantilever beam fastening screw 2-10 and the vertical parallel double-reed cantilever beam fastening screw 3-7. The positions of the horizontal ball screw sliding block 1-2 and the vertical ball screw sliding block 4-2 are adjusted through LabVIEW software, so that the horizontal test sample placing platform 2-6 and the vertical test sample placing platform 3-3 are positioned on the same horizontal plane, and the optimal distance suitable for testing normal force and friction force is achieved. The jujube tree thorns are stuck on the horizontal test sample placing platform 2-6 of the horizontal ball screw assembly 1, and the nepenthes slipping areas are stuck on the vertical test sample placing platform 3-3 of the vertical ball screw assembly 2. Setting the sampling frequency of the data processing and real-time display software to be 100Hz, setting the time for applying normal force to be 10s, setting the sampling time of friction force to be 50s, and setting the sampling time of the whole test process to be 60s. After the test is ready, the working power supplies of the horizontal eddy current displacement sensor 2-1, the vertical eddy current displacement sensor 3-4, the data acquisition card USB-6351 and other parts are connected, the data processing and real-time display software is started, and the test of the normal force and the friction force of the thorns of the jujube tree in the surface of the nepenthes sliding area is started. When the normal force and the friction force of the thorns of the sour jujube trees on the surface of the nepenthes sliding area are tested, the movement speed is set to be 0.05mm/s, and the testing range is 3mm; in the process, the horizontal ball screw sliding table 1-2 of the horizontal ball screw assembly 1 moves leftwards to generate normal force, the vertical ball screw sliding table 4-2 of the vertical ball screw assembly 4 moves upwards to generate friction force, the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4 are used for testing and acquiring tiny displacement changes caused by the normal force and the friction force respectively, the tiny displacement changes are converted into voltage signals, the voltage signals are transmitted to data processing and real-time display software after analog-to-digital conversion of the data acquisition card USB-6351, the data are drawn into a graph by the software to be displayed on a display interface in real time, and the data are stored in a designated folder. And after the test is finished, storing 6000 normal force and friction force data in a file in a jpeg and txt format respectively according to a normal force and friction force curve of the wild jujube tree hook on the surface of the nepenthes slippage area, processing the data, displaying software in real time, and performing operation comparison on the stored data to obtain that the maximum normal force is 30.27 and mN and the maximum friction force is 16.36 and mN in the test process.
Penetration force test: the spine date tree direct needling and the pork liver are used as test prototypes, the measuring range of the selected horizontal parallel double-reed cantilever beam 2-8 is 220mN/mm, the resolution of the horizontal eddy current displacement sensor 2-1 is 1 mu m, and the accuracy of the force transducer is 0.22mN/mm. The horizontal eddy current displacement sensor 2-1 on the horizontal ball screw assembly 1 and the vertical eddy current displacement sensor 3-4 on the vertical ball screw assembly 4 are respectively adjusted to be 3-4 mm away from the surfaces of the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4, and are respectively fixed into the horizontal parallel double-reed cantilever beam fixing frame 2-9 and the vertical parallel double-reed cantilever beam fixing frame 3-8 through the horizontal parallel double-reed cantilever beam fastening screw 2-10 and the vertical parallel double-reed cantilever beam fastening screw 3-7. The positions of the horizontal ball screw sliding block 1-2 and the vertical ball screw sliding block 4-2 are adjusted through LabVIEW software, so that the horizontal test sample placing platform 2-6 and the vertical test sample placing platform 3-3 are positioned on the same horizontal plane, and the optimal distance suitable for testing penetration force is achieved. The jujube tree thorns are stuck on the horizontal test sample placing platform 2-6 of the horizontal ball screw assembly 1, and the nepenthes slipping areas are stuck on the vertical test sample placing platform 3-3 of the vertical ball screw assembly 2. Setting the sampling frequency of the data processing and real-time display software to be 100Hz, and setting the penetration force sampling time of the whole test process to be 60s. After the test is ready, the working power supplies of the horizontal eddy current displacement sensor 2-1, the vertical eddy current displacement sensor 3-4, the data acquisition card USB-6351 and other components are connected, the data processing and real-time display software is started, and the penetration force test of the jujube tree in the process of directly penetrating the pork liver is started. In the micro-motion test process of the wild jujube tree directly piercing the pork liver, the movement speed is set to be 0.05mm/s, and the test range is 3mm; the penetration force generated by the leftward movement of the horizontal ball screw sliding table 1-2 of the horizontal ball screw assembly 1 is obtained through the analog-to-digital conversion of a data acquisition card USB-6351 by acquiring a voltage signal generated by the distance change between the eddy current displacement sensor 1-2 and the induction surface of the semicircular arc long square body 2-8-1, the voltage signal is transmitted to data processing and real-time display software, the software draws the data into a graph, displays the graph on a display interface in real time, and stores the data into a specified folder. After the test is finished, the penetration force curve of the wild jujube tree penetrating through the pork liver and about 6000 penetration force data are respectively stored in a file in the formats of jpeg and txt, and the data processing and the real-time display software are used for carrying out operation comparison on the stored data to obtain the maximum penetration force 292.76 mN in the test process.
Finally, the above examples are only for illustrating the technical solution of the present invention, but are in no way intended to limit the scope of the present invention. While the invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents substituted for elements thereof without departing from the spirit and scope of the invention, and it is intended to cover the invention as defined in the claims.
Claims (5)
1. A milli-micro bovine grade two-dimensional force micro-motion testing system with overload protection device is characterized in that: the device comprises a test platform assembly (5), a horizontal ball screw assembly (1) fixedly arranged on the right side of the test platform assembly (5), a horizontal force transducer assembly (2) connected to the horizontal ball screw assembly (1), a vertical ball screw assembly (4) fixedly arranged on the left side of the test platform assembly (5) and positioned above the test platform assembly (5) and a vertical force transducer assembly (3) connected to the vertical ball screw assembly (4); the horizontal ball screw assembly (1) controls the horizontal force sensor assembly (2) to move horizontally, and the vertical ball screw assembly (4) controls the vertical force sensor assembly (3) to move vertically; the horizontal force transducer assembly (2) is provided with a horizontal overload protection structure, and the vertical force transducer assembly (3) is provided with a vertical overload protection structure; the test platform assembly (5) comprises a test platform bottom plate (5-6), a convex base (5-4) fixedly arranged on the left side of the test platform bottom plate (5-6) and an L-shaped bracket (5-1) fixedly arranged on the top of the convex base (5-4); the horizontal force transducer assembly (2) comprises a horizontal ball screw supporting end (1-1), a horizontal ball screw sliding block (1-2), a horizontal ball screw (1-5), a horizontal stepping motor (1-6), a horizontal ball screw fixing end (1-7) and a horizontal ball screw base (1-8); the horizontal ball screw supporting end (1-1) and the horizontal ball screw fixing end (1-7) are respectively and fixedly arranged at the left end and the right end of the horizontal ball screw base (1-8), the left end and the right end of the horizontal ball screw (1-5) are respectively and rotatably connected with the horizontal ball screw supporting end (1-1) and the horizontal ball screw fixing end (1-7), and the horizontal ball screw sliding block (1-2) is connected with the horizontal ball screw (1-5); the horizontal stepping motor (1-6) is fixed on the right side of the fixed end (1-7) of the horizontal ball screw, a driving shaft of the horizontal stepping motor (1-6) is coaxially and fixedly connected with the right end of the horizontal ball screw (1-5), and the horizontal stepping motor (1-6) drives the horizontal ball screw (1-5) to rotate so that the horizontal ball screw sliding block (1-2) moves along the horizontal direction of the horizontal ball screw (1-5); the horizontal ball screw base (1-8) is fixed on the bottom plate (5-6) of the test platform; the vertical ball screw assembly (4) comprises a vertical ball screw supporting end (4-1), a vertical ball screw sliding block (4-2), a vertical ball screw (4-5), a vertical stepping motor (4-6), a vertical ball screw fixing end (4-7) and a vertical ball screw base (4-8); the vertical ball screw fixing end (4-7) and the vertical ball screw supporting end (4-1) are respectively and fixedly arranged on the upper end and the lower end of the vertical ball screw base (4-8), the upper end and the lower end of the vertical ball screw (4-5) are respectively and rotatably connected with the vertical ball screw fixing end (4-7) and the vertical ball screw supporting end (4-1), and the vertical ball screw sliding block (4-2) is connected with the vertical ball screw (4-5); the vertical stepping motor (4-6) is fixed on the upper side of the fixed end (4-7) of the vertical ball screw, a driving shaft of the vertical stepping motor (4-6) is coaxially and fixedly connected with the upper end of the vertical ball screw (4-5), and the vertical stepping motor (4-6) drives the vertical ball screw (4-5) to rotate so that the vertical ball screw sliding block (4-2) moves along the vertical direction of the vertical ball screw (4-5); the vertical ball screw base (4-8) is fixed on the right side part of the L-shaped bracket (5-1);
The horizontal force transducer assembly (2) comprises a horizontal eddy current displacement sensor fixing frame (2-3) fixedly connected to the horizontal ball screw sliding block (1-2), a horizontal eddy current displacement sensor (2-1) fixedly connected to the horizontal eddy current displacement sensor fixing frame (2-3) and a horizontal overload protection structure fixedly connected to the horizontal ball screw sliding block (1-2) and positioned at the left side relative to the horizontal eddy current displacement sensor (2-1);
the horizontal overload protection structure comprises a horizontal parallel double-reed cantilever beam fixing frame (2-9) fixedly connected to a horizontal ball screw sliding block (1-2), a horizontal parallel double-reed cantilever beam (2-8) fixedly connected to the horizontal parallel double-reed cantilever beam fixing frame (2-9), a horizontal test sample placement platform (2-6) fixedly arranged at the upper end part of the horizontal parallel double-reed cantilever beam (2-8), a horizontal support connecting frame (2-4) fixedly connected to the upper end surface of the horizontal parallel double-reed cantilever beam fixing frame (2-9) and positioned on the right side of the horizontal parallel double-reed cantilever beam (2-8) and a horizontal L-shaped overload protection bracket (2-7) fixedly connected to the horizontal support connecting frame (2-4); the horizontal parallel double-reed cantilever beam (2-8) comprises an outer spring piece (2-8-2), an inner spring piece (2-8-3), a rectangular connecting block (2-8-4) and a semicircular arc connecting block (2-8-1); the rectangular connecting blocks (2-8-4) and the semicircular arc connecting blocks (2-8-1) are fixedly arranged between the outer side spring piece (2-8-2) and the inner side spring piece (2-8-3); the lower end of the rectangular connecting block (2-8-4) is connected with a horizontal parallel double-reed cantilever beam fixing frame (2-9); the left end face of the semicircular arc connecting block (2-8-1) is provided with a circular groove (2-8-1-3) for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block (2-8-1) are respectively provided with a vertical threaded hole (2-8-1-1) and a horizontal threaded hole (2-8-1-2); the horizontal test sample placing platform (2-6) is fixedly connected with the horizontal threaded hole (2-8-1-2) through a bolt.
2. A milli-micro bovine grade two-dimensional force micro-motion test system with overload protection device according to claim 1, wherein: the vertical force transducer assembly (3) comprises a vertical eddy current displacement sensor fixing frame (3-1) fixedly connected to a vertical ball screw sliding block (4-2), a vertical eddy current displacement sensor (3-4) fixedly connected to the vertical eddy current displacement sensor fixing frame (3-1) and a vertical overload protection structure fixedly connected to a horizontal ball screw sliding block (1-2) and located on the lower side of the relative vertical eddy current displacement sensor (3-4).
3. A milli-micro bovine grade two-dimensional force micro-motion test system with overload protection device according to claim 2, wherein: the vertical overload protection structure comprises a vertical parallel double-reed cantilever beam fixing frame (3-8) fixedly connected to a vertical ball screw sliding block (4-2), a vertical parallel double-reed cantilever beam (3-6) fixedly connected to the vertical parallel double-reed cantilever beam fixing frame (3-8), a vertical test sample placement platform (3-3) fixedly arranged at the end part of the vertical parallel double-reed cantilever beam (3-6), a vertical support connecting frame (3-9) fixedly connected to the end surface of the vertical parallel double-reed cantilever beam fixing frame (3-8) and positioned on the upper side of the vertical parallel double-reed cantilever beam (3-6) and a vertical L-shaped overload protection bracket (3-5) fixedly connected to the vertical support connecting frame (3-9); the vertical parallel double-reed cantilever beam (3-6) comprises an upper spring piece (3-6-2), a lower spring piece (3-6-3), a rectangular connecting block (3-6-4) and a semicircular arc connecting block (3-6-1); the rectangular connecting block (3-6-4) and the semicircular arc connecting block (3-6-1) are fixedly arranged between the upper spring piece (3-6-2) and the lower spring piece (3-6-3); the left end of the rectangular connecting block (3-6-4) is fixedly connected with a vertical parallel double-reed cantilever beam fixing frame (3-8); the lower end face of the semicircular arc connecting block (3-6-1) is provided with a circular groove (3-6-1-3) for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block (3-6-1) are respectively provided with a horizontal screw hole (3-6-1-1) and a vertical screw hole (3-6-1-2); the vertical test sample placing platform (3-3) is fixedly connected with the horizontal screw hole (3-6-1-1) through a bolt.
4. A milli-micro bovine grade two-dimensional force micro-motion test system with overload protection device according to any one of claims 1-3, characterized in that: the device also comprises a data acquisition card which is used for converting analog signals of the horizontal force transducer assembly (2) and the vertical force transducer assembly (3) into digital signals.
5. A milli-micro bovine grade two-dimensional force micro-motion test system with overload protection device according to claim 4, wherein: the data acquisition card adopts LabVIEW to write signal processing and real-time display programs, so that force signals acquired by the horizontal force sensor assembly (2) and the vertical force sensor assembly (3) are displayed on an interface in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633083.0A CN110274722B (en) | 2019-07-15 | 2019-07-15 | Milli-micro bovine two-dimensional force micro-motion test system with overload protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633083.0A CN110274722B (en) | 2019-07-15 | 2019-07-15 | Milli-micro bovine two-dimensional force micro-motion test system with overload protection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110274722A CN110274722A (en) | 2019-09-24 |
| CN110274722B true CN110274722B (en) | 2024-03-01 |
Family
ID=67964472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910633083.0A Active CN110274722B (en) | 2019-07-15 | 2019-07-15 | Milli-micro bovine two-dimensional force micro-motion test system with overload protection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110274722B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112098202B (en) * | 2020-07-21 | 2023-05-02 | 浙江定盘星智能科技有限公司 | Single-arm mechanical testing mechanism and single-arm mechanical testing machine |
| CN111928765B (en) * | 2020-08-12 | 2021-12-03 | 哈电发电设备国家工程研究中心有限公司 | Novel adjustable eddy current displacement sensor mounting bracket and adjusting method |
| CN112082685A (en) * | 2020-10-15 | 2020-12-15 | 深圳市鑫精诚科技有限公司 | Strain seat type tension sensor |
| CN113280961A (en) * | 2021-06-28 | 2021-08-20 | 河北科技大学 | Micro-cow-level flying insect contact counterforce test system without interference in test process |
| CN114279866B (en) * | 2021-12-01 | 2023-08-25 | 中汽研汽车检验中心（天津）有限公司 | Test equipment for testing shearing strength of automobile disc brake lining |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308232A (en) * | 2013-06-03 | 2013-09-18 | 河北科技大学 | Measuring device for micro-force of insect |
| CN104251759A (en) * | 2014-10-09 | 2014-12-31 | 南车青岛四方机车车辆股份有限公司 | Calibration device and method for six-dimensional force sensor of car end relationship test stand |
| CN205483206U (en) * | 2016-03-30 | 2016-08-17 | 广州鑫电自控设备有限公司 | Miniature single screw rod weightless type weigher |
| CN210293511U (en) * | 2019-07-15 | 2020-04-10 | 河北科技大学 | Milli-micro Newton level two-dimensional force micro-motion test system with overload protection device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8714032B2 (en) * | 2012-05-18 | 2014-05-06 | Marcus Gustaf Helgesson | Universal force measurement apparatus and method |
-
2019
- 2019-07-15 CN CN201910633083.0A patent/CN110274722B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308232A (en) * | 2013-06-03 | 2013-09-18 | 河北科技大学 | Measuring device for micro-force of insect |
| CN104251759A (en) * | 2014-10-09 | 2014-12-31 | 南车青岛四方机车车辆股份有限公司 | Calibration device and method for six-dimensional force sensor of car end relationship test stand |
| CN205483206U (en) * | 2016-03-30 | 2016-08-17 | 广州鑫电自控设备有限公司 | Miniature single screw rod weightless type weigher |
| CN210293511U (en) * | 2019-07-15 | 2020-04-10 | 河北科技大学 | Milli-micro Newton level two-dimensional force micro-motion test system with overload protection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110274722A (en) | 2019-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110274722B (en) | Milli-micro bovine two-dimensional force micro-motion test system with overload protection device | |
| CN210293511U (en) | Milli-micro Newton level two-dimensional force micro-motion test system with overload protection device | |
| CN101819075B (en) | One-way support shearing force measuring device and method | |
| CN216746572U (en) | Three-dimensional force loading calibration device of three-dimensional force sensor | |
| CN111780913B (en) | Magnetic track brake suction force testing system and method | |
| CN103267642B (en) | A kind of motor power frame being applicable to measurement 1N to 300N thrust | |
| CN107036914B (en) | Device and method for measuring friction angle of retaining wall and contact soil body interface | |
| CN202420636U (en) | Live pig holding weighing car | |
| CN200947079Y (en) | Vertical tow linear density tester | |
| CN213874872U (en) | Disc spring elastic coefficient detection device | |
| KR20120074353A (en) | Three point bending test machine | |
| CN219657352U (en) | Wire end clamping device for testing pulling strength of steel strand | |
| CN210036474U (en) | Line ruler calibrating device based on grating length measurement | |
| CN205449359U (en) | Camshaft drive moment calibration device | |
| CN110426107A (en) | A kind of weighing device and weighing system | |
| CN115077353A (en) | Building engineering quality detection device and detection method | |
| CN2689197Y (en) | Checker for balancer without weights | |
| CN209961163U (en) | Lateral deformation measurement system under different confining pressure conditions | |
| CN202814379U (en) | Aluminium foil thickness off-line measuring apparatus | |
| CN221007029U (en) | Auxiliary device for improving Vickers hardness | |
| CN105698990A (en) | Cam shaft driving moment calibrating device | |
| KR20160118427A (en) | Apparatus for Indentation Test | |
| CN220795414U (en) | Motor performance test frame of self-adaptation axiality | |
| CN210775074U (en) | Strain control type direct shear apparatus high stability lever device | |
| CN219184276U (en) | Wound image acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |