CN111693375A - Hydraulic artificial muscle static characteristic test system - Google Patents

Abstract

The invention provides a hydraulic artificial muscle static characteristic test system which comprises a linear guide rail module, a fixed block, a force sensor, a water injection piece, a hydraulic artificial muscle, a displacement measurement unit, a ball screw module and a locking module, wherein the linear guide rail module is arranged on the fixed block; the linear guide rail module comprises a bottom plate, a linear guide rail, a first group of sliding blocks, a first sliding block workbench, a second group of sliding blocks and a second sliding block workbench; the force sensor is connected with the fixed block and the water injection piece; two ends of the hydraulic artificial muscle are respectively connected with the water injection piece and the first sliding block workbench; one end of the displacement sensor is arranged on the displacement sensor supporting seat, and the other end of the displacement sensor extends into a displacement sensor through hole of the first sliding block workbench; the ball screw module is used for controlling the position of the second slide block workbench; the locking module is used for clamping the ball screw. The invention solves the problem that the existing pneumatic artificial muscle testing system can not be directly used for testing the driving characteristics of the hydraulic artificial muscle.

Description

A test system for static characteristics of hydraulic artificial muscles

technical field

The invention relates to the field of hydraulic artificial muscle testing, in particular, to a hydraulic artificial muscle static characteristic test system.

Background technique

At present, the fluid-driven artificial muscle is a new type of driver, which can be divided into pneumatic artificial muscle and hydraulic artificial muscle. Pneumatic hydraulic artificial muscle is a kind of flexible actuator, which has the advantages of simple structure, smooth action, and large output force/weight ratio. It has been applied in the fields of robots and automated production lines. The hydraulic artificial muscle not only has the advantages of simple structure, but also is conducive to the realization of miniaturization and light weight. Compared with the pneumatic artificial muscle, the output force is larger, the response speed is faster, and the working noise is lower. The output force of the fluid-driven artificial muscle increases with the increase of working pressure, and increasing the working pressure of the artificial muscle can increase its output force.

The existing artificial muscle comprehensive characteristic testing system is generally a pneumatic artificial muscle testing system. Due to the larger working pressure and output force of the hydraulic artificial muscle, this test system cannot be directly used to test the driving characteristics of the hydraulic artificial muscle.

SUMMARY OF THE INVENTION

According to the above technical problem that the existing pneumatic artificial muscle testing system cannot be directly used to test the driving characteristics of the hydraulic artificial muscle, a system for testing the static characteristics of the hydraulic artificial muscle is provided. The invention adopts the handwheel combined with the ball screw and the displacement measuring unit to control the position of the non-water injection end of the hydraulic artificial muscle, the operation control is simple, and various performance tests of the hydraulic artificial muscle can be realized.

The technical means adopted in the present invention are as follows:

A hydraulic artificial muscle static characteristic test system, comprising a linear guide rail module, a fixed block, a force sensor, a water injection piece, a hydraulic artificial muscle, a displacement measurement unit, a ball screw module and a locking module;

The linear guide rail module includes a bottom plate, a linear guide rail, a first group of sliders, a first slider table, a second group of sliders, and a second slider table; the bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly installed the first set of slide blocks and the second set of slide blocks are respectively slidably mounted on the linear guide rails; the first slide block table is fixedly mounted on the first set of slide blocks; The second slider table is fixedly installed on the second group of sliders; the second slider table is connected to the first slider table through fourth connecting bolts, and the fourth connecting bolts are used for maintaining a fixed distance between the first slider table and the second slider table;

The fixing block is fixedly installed on one end of the bottom plate, one end of the force sensor is fixedly connected to the fixing block through a first connecting bolt, and the other end is fixedly connected to the water injection member through a second connection bolt; the water injection member is fixedly connected. A cube structure is arranged in the middle, and three sides of the cube structure are respectively provided with water injection threaded holes; the water inlet end of the hydraulic artificial muscle is connected with the water injection member, and the other end is connected with the first water injection member through a third connecting bolt. The slider table is fixedly connected;

The first sliding block table is provided with a displacement sensor through hole;

The displacement measurement unit includes a displacement sensor support seat and a displacement sensor; the displacement sensor support seat is fixedly installed on the bottom plate; one end of the displacement sensor is installed on the displacement sensor support seat, and the other end extends into the displacement sensor communication port. hole;

The ball screw module is used to control the position of the second slider table, and includes a ball screw, a screw nut pair, a first support seat for the screw, a second support seat for the screw, and a handwheel;

The lead screw nut pair is installed on the ball screw and the lead screw nut pair is connected to the second slider table through bolts;

The first support seat of the lead screw and the second support seat of the lead screw are respectively fixed and installed on the bottom plate, and the first support seat of the lead screw and the second support seat of the lead screw are respectively installed on the second slide. two sides of the block workbench, and the first support seat of the lead screw is located between the first slide block workbench and the second slide block workbench;

One end of the ball screw is mounted on the first support seat of the lead screw through a bearing, and the other end is mounted on the second support seat of the lead screw through the second slider table through a bearing; the handwheel is mounted on the second support seat of the lead screw through a key fixedly mounted on the end of the ball screw;

The locking module includes an upper locking block and a lower locking block; the lower locking block is fixedly installed on the bottom plate, and the upper locking block is detachably installed above the lower locking block; the lower surface of the upper locking block and The upper surface of the lower locking block is respectively provided with arc surface through holes with the same curvature as the curvature of the optical axis of the ball screw, and the locking module is used to clamp the ball screw to extend out of the second support seat of the screw one end.

Further, the first connecting bolt, the force sensor, the second connecting bolt, the water injection member, the hydraulic artificial muscle and the third connecting bolt are arranged coaxially.

Further, the left end and the right end of the first connecting bolt are respectively provided with threaded structures, the right side of the threaded structure at the left end of the first connecting bolt is the optical axis, and the left side of the threaded structure at the right end of the first connecting bolt is provided with a regular hexahedron structure. The left end and the right end of the second connecting bolt are respectively provided with a threaded structure, and the middle part is provided with a regular hexahedron structure; the left end of the third connecting bolt is provided with a regular hexahedral structure and has an internal thread, the right end is provided with a threaded structure, and the middle part is the optical axis.

Further, the fourth connecting bolt is in the shape of a stepped shaft, two ends are respectively provided with threaded structures, the middle part is the optical axis, and the diameter of the middle part is larger than the diameter of the two ends.

Further, the ball screw is in the shape of a stepped shaft, with a threaded structure in the middle, the left and right sides of the threaded structure are optical axes, and one end is provided with a keyway, and the handwheel is fixedly installed in the keyway through a key; the threaded structure The diameter of the optical axis on the left and right is smaller than the diameter of the threaded structure.

Compared with the prior art, the present invention has the following advantages:

The hydraulic artificial muscle static characteristic test system provided by the present invention adopts the handwheel combined with the ball screw and the displacement measuring unit to control the position of the non-water injection end of the hydraulic artificial muscle, and the operation control is simple, and only needs to control the rotation of the handwheel Control of hydraulic artificial muscle displacement.

To sum up, applying the technical solution of the present invention adopts the handwheel combined with the ball screw and the displacement measuring unit to control the position of the non-water injection end of the hydraulic artificial muscle, the operation control is simple, and the static characteristic test of the hydraulic artificial muscle can be realized. Therefore, the technical solution of the present invention solves the problem that the existing pneumatic artificial muscle testing system cannot be directly used to test the driving characteristics of the hydraulic artificial muscle.

Based on the above reasons, the present invention can be widely promoted in the fields of hydraulic artificial muscle testing and the like.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of the hydraulic artificial muscle static characteristic test system according to the present invention.

In the figure: 1. Bottom plate; 2. First connecting bolt; 3. Linear guide rail; 4. Fixed block; 5. Force sensor; 6. Second connecting bolt; 7. Water injection part; 8. Hydraulic artificial muscle; 9. The third connecting bolt; 10, the first support seat of the screw; 11, the ball screw; 12, the second support seat of the screw; 131, the upper locking block; 132, the lower locking block; 14, the hand wheel; 15, the displacement sensor Support seat; 16. Displacement sensor; 171. The first group of sliders; 172, The first slider table; 18, The fourth connecting bolt; 191, The second group of sliders; 192, The second slider table.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

Example 1

The present invention provides a hydraulic artificial muscle static characteristic test system, comprising a linear guide rail module, a fixing block 4, a force sensor 5, a water injection member 7, a hydraulic artificial muscle 8, a displacement measuring unit, a ball screw module and a locking module;

The linear guide rail module includes a bottom plate 1, a linear guide rail 3, a first group of sliders 171, a first slider table 172, a second group of sliders 191 and a second slider table 192; the bottom plate 1 is provided with guide rail grooves , the linear guide 3 is fixedly installed in the guide groove; the first group of sliders 171 and the second group of sliders 191 are respectively slidably installed on the linear guide 3 ; the first slider table 172 The second slider table 192 is fixedly installed on the second group of sliders 191 ; the second slider table 192 is connected to the second group of sliders 191 through the fourth connecting bolt 18 . the first slider table 172 and the fourth connecting bolt 18 are used to maintain a fixed distance between the first slider table 172 and the second slider table 192;

The second slider table is fixedly installed on the second group of sliders; the second slider table is connected to the first slider table through fourth connecting bolts, and the fourth connecting bolts are used for for maintaining a fixed distance between the first sliding block table and the second sliding block table;

The fixing block 4 is fixedly installed on one end of the base plate 1 , one end of the force sensor 5 is fixedly connected to the fixing block 4 through the first connecting bolt 2 , and the other end is connected to the water injection member 7 through the second connecting bolt 6 . fixed connection;

A cube structure is arranged in the middle of the water injection member 7, and water injection threaded holes are respectively opened on three sides of the cube structure;

The water inlet end of the hydraulic artificial muscle 8 is connected to the water injection member, and the other end is fixedly connected to the first slider table 172 through the third connecting bolt 9;

The first slider table 172 is provided with a displacement sensor through hole;

The displacement measurement unit includes a displacement sensor support base 15 and a displacement sensor 16; the displacement sensor support base 15 is fixedly installed on the base plate 1; one end of the displacement sensor 16 is installed on the displacement sensor support base 15, and the other end extends. into the displacement sensor through hole;

The ball screw module is used to control the position of the second sliding block table 192, including the ball screw 11, the screw nut pair, the first support seat 10 of the screw, the second support seat 12 of the screw, and a hand wheel 14;

The lead screw nut pair is installed on the ball screw 11 and the lead screw nut pair is connected to the second slider table 192 by bolts;

The first support seat 10 of the lead screw and the second support seat 12 of the lead screw are fixedly installed on the base plate 1, respectively, and the first support seat 10 of the lead screw and the second support seat 12 of the lead screw are respectively installed on the base plate 1. the two sides of the second slider table 192, and the first support seat 10 of the lead screw is located between the first slider table 172 and the second slider table 192;

One end of the ball screw 11 is mounted on the first support seat 10 of the lead screw through a bearing, and the other end is mounted on the second support seat 12 of the lead screw through the second slider table 192 through a bearing; the The handwheel 14 is fixedly installed on the end of the ball screw 11 through a key;

The locking module includes an upper locking block 131 and a lower locking block 132; the lower locking block 132 is fixedly installed on the bottom plate 1, and the upper locking block 131 is detachably installed above the lower locking block 132; The lower surface of the locking block 131 and the upper surface of the lower locking block 132 are respectively provided with arc surface through holes with the same curvature as the curvature of the optical axis of the ball screw 11 , and the locking module is used to clamp the ball screw 11 One end of the second support seat 12 of the lead screw protrudes.

Further, the first connecting bolt 2, the force sensor 5, the second connecting bolt 6, the water injection member 7, the hydraulic artificial muscle 8, the third connecting bolt 9 and the ball The lead screw 11 is arranged coaxially.

Further, the left and right ends of the first connecting bolt 2 are respectively provided with threaded structures, the right side of the threaded structure at the left end of the first connecting bolt 2 is the optical axis, and the left side of the threaded structure at the right end of the first connecting bolt 2 is the optical axis. A regular hexahedron structure is provided; the left end and the right end of the second connecting bolt 6 are respectively provided with a threaded structure, and a regular hexahedral structure is set in the middle; part is the optical axis.

Further, the fourth connecting bolt 18 is in the shape of a stepped shaft, two ends are respectively provided with threaded structures, the middle part is the optical axis, and the diameter of the middle part is larger than the diameter of the two ends.

Further, the ball screw 11 is in the shape of a stepped shaft, with a threaded structure in the middle, the left and right sides of the threaded structure are optical axes, and one end is provided with a keyway, and the handwheel 14 is fixedly installed in the keyway through a key; The diameter of the optical axis on the left and right sides of the threaded structure is smaller than the diameter of the threaded structure.

The hydraulic artificial muscle static characteristic test system provided by the present invention can perform a constant contraction test on the hydraulic artificial muscle: the displacement of the hydraulic artificial muscle is constant, and the relationship between the working pressure and the output force of the hydraulic artificial muscle is studied.

The specific working process of the constant contraction test is as follows: install the hydraulic artificial muscle 8 on the test system, first adjust the handwheel 14 to make the ball screw 11 rotate, and then set it on the ball screw The screw nut of the screw 11 drives the second slider table 192 to move linearly along the axial direction of the ball screw 11 , and drives the first slider table 172 through the fourth connecting bolt 18 move together, so as to adjust the hydraulic artificial muscle 8 to a natural length; then the upper locking block 131 and the lower locking block 132 are fastened and clamped to clamp the ball screw 11 through bolts to restrict the ball screw The rotation of the bar 11, thereby limiting the displacement of the hydraulic artificial muscle 8, obtains the hydraulic artificial muscle under this contraction amount by changing the working pressure of the hydraulic artificial muscle 8 and the data collected by the force sensor 5 The relationship between the output force of 8 and the working pressure; loosen the locking module and adjust the handwheel 14 to make the water pressure artificial muscle 8 under the second contraction amount, lock through the locking module, and obtain the second position again. The relationship between the output force of the hydraulic artificial muscle 8 and the working pressure under each contraction amount; the relationship between the output force and the working pressure of the hydraulic artificial muscle 8 under different contraction amounts can be obtained by repeating the above steps.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some or all of the technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. a hydraulic artificial muscle static characteristic test system, is characterized in that, comprises linear guide rail module, fixed block, force sensor, water injection part, hydraulic artificial muscle, displacement measuring unit, ball screw module and locking module; The linear guide rail module includes a bottom plate, a linear guide rail, a first group of sliders, a first slider table, a second group of sliders, and a second slider table; the bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly installed the first set of slide blocks and the second set of slide blocks are respectively slidably mounted on the linear guide rails; the first slide block table is fixedly mounted on the first set of slide blocks; The second slider table is fixedly installed on the second group of sliders; the second slider table is connected to the first slider table through fourth connecting bolts, and the fourth connecting bolts are used for maintaining a fixed distance between the first slider table and the second slider table; The fixing block is fixedly installed on one end of the bottom plate, one end of the force sensor is fixedly connected to the fixing block through a first connecting bolt, and the other end is fixedly connected to the water injection member through a second connection bolt; the water injection member is fixedly connected. A cube structure is arranged in the middle, and three sides of the cube structure are respectively provided with water injection threaded holes; the water inlet end of the hydraulic artificial muscle is connected with the water injection member, and the other end is connected with the first water injection member through a third connecting bolt. The slider table is fixedly connected; The first sliding block table is provided with a displacement sensor through hole; The displacement measurement unit includes a displacement sensor support seat and a displacement sensor; the displacement sensor support seat is fixedly installed on the bottom plate; one end of the displacement sensor is installed on the displacement sensor support seat, and the other end extends into the displacement sensor communication port. hole; The ball screw module is used to control the position of the second slider table, and includes a ball screw, a screw nut pair, a first support seat for the screw, a second support seat for the screw, and a handwheel; The lead screw nut pair is installed on the ball screw and the lead screw nut pair is connected to the second slider table through bolts; The first support seat of the lead screw and the second support seat of the lead screw are respectively fixed and installed on the bottom plate, and the first support seat of the lead screw and the second support seat of the lead screw are respectively installed on the second slide. two sides of the block workbench, and the first support seat of the lead screw is located between the first slide block workbench and the second slide block workbench; One end of the ball screw is mounted on the first support seat of the lead screw through a bearing, and the other end is mounted on the second support seat of the lead screw through the second slider table through a bearing; the handwheel is mounted on the second support seat of the lead screw through a key fixedly mounted on the end of the ball screw; The locking module includes an upper locking block and a lower locking block; the lower locking block is fixedly installed on the bottom plate, and the upper locking block is detachably installed above the lower locking block; the lower surface of the upper locking block and The upper surface of the lower locking block is respectively provided with arc surface through holes with the same curvature as the curvature of the optical axis of the ball screw, and the locking module is used to clamp the ball screw to extend out of the second support seat of the screw one end. 2. The hydraulic artificial muscle static characteristic test system according to claim 1, wherein the first connecting bolt, the force sensor, the second connecting bolt, the water injection part, the water pressure The artificial muscle, the third connecting bolt and the ball screw are arranged coaxially. 3. The hydraulic artificial muscle static characteristic test system according to claim 1, wherein the left end and the right end of the first connecting bolt are respectively provided with a threaded structure, and the right side of the threaded structure at the left end of the first connecting bolt is Optical axis, the left side of the threaded structure at the right end of the first connecting bolt is provided with a regular hexahedron structure; the left end and the right end of the second connecting bolt are respectively provided with a threaded structure, and a regular hexahedral structure is set in the middle; the left end of the third connecting bolt is provided with a regular hexahedron structure The structure is provided with internal threads, the right end is provided with a thread structure, and the middle part is the optical axis. 4. hydraulic artificial muscle static characteristic test system according to claim 1, is characterized in that, described 4th connecting bolt is stepped shaft shape, and both ends are respectively provided with threaded structure, and the middle part is the optical axis, and the middle part is the optical axis. The diameter is larger than the diameter of both ends. 5. The hydraulic artificial muscle static characteristic test system according to claim 1, wherein the ball screw is a stepped shaft shape, and the middle part is provided with a threaded structure, and the left and right sides of the threaded structure are optical axes, and One end is provided with a keyway, and the handwheel is fixedly installed in the keyway through a key; the diameters of the optical axes on the left and right sides of the threaded structure are smaller than the diameter of the threaded structure.

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