CN111693375A - Hydraulic artificial muscle static characteristic test system - Google Patents
Hydraulic artificial muscle static characteristic test system Download PDFInfo
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- CN111693375A CN111693375A CN202010530849.5A CN202010530849A CN111693375A CN 111693375 A CN111693375 A CN 111693375A CN 202010530849 A CN202010530849 A CN 202010530849A CN 111693375 A CN111693375 A CN 111693375A
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 67
- 238000012360 testing method Methods 0.000 title claims abstract description 31
- 230000003068 static effect Effects 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 238000002347 injection Methods 0.000 claims abstract description 25
- 239000007924 injection Substances 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 230000003287 optical effect Effects 0.000 claims description 18
- 239000000243 solution Substances 0.000 description 7
- 230000008602 contraction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/04—Chucks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0019—Compressive
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
- G01N2203/0048—Hydraulic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0676—Force, weight, load, energy, speed or acceleration
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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
Technical Field
The invention relates to the field of hydraulic artificial muscle testing, in particular to a hydraulic artificial muscle static characteristic testing system.
Background
At present, the fluid-driven artificial muscle is a novel driver, and can be divided into pneumatic artificial muscle and hydraulic artificial muscle. The pneumatic hydraulic artificial muscle is a flexible driver, has the advantages of simple structure, smooth action, large output force/weight ratio and the like, and is applied to the fields of robots, automatic production lines and the like. The hydraulic artificial muscle not only has the advantages of simple structure and contribution to realizing miniaturization and light weight, but also has larger output force, faster response speed and lower working noise compared with a pneumatic artificial muscle. The output force of the fluid-driven artificial muscle is increased along with the increase of the working pressure, and the output force can be improved by increasing the working pressure of the artificial muscle.
The existing artificial muscle comprehensive characteristic testing system is generally a pneumatic artificial muscle testing system. Since the hydraulic artificial muscle has a greater working pressure and output force, such a test system cannot be directly used to test the driving characteristics of the hydraulic artificial muscle.
Disclosure of Invention
According to the technical problem that the existing pneumatic artificial muscle testing system cannot be directly used for testing the driving characteristics of the hydraulic artificial muscle, the hydraulic artificial muscle static characteristic testing system is provided. The invention adopts the hand wheel to combine the ball screw and the displacement measuring unit to control the position of the non-water injection end of the hydraulic artificial muscle, has simple operation and control and can realize various performance tests on the hydraulic artificial muscle.
The technical means adopted by the invention are as follows:
a hydraulic artificial muscle static characteristic test system 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;
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 bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly arranged in the guide rail groove; the first group of sliding blocks and the second group of sliding blocks are respectively installed on the linear guide rail in a sliding mode; the first sliding block workbench is fixedly arranged on the first group of sliding blocks; the second sliding block workbench is fixedly arranged on the second group of sliding blocks; the second sliding block workbench is connected to the first sliding block workbench through a fourth connecting bolt, and the fourth connecting bolt is used for keeping a fixed distance between the first sliding block workbench and the second sliding block workbench;
the fixed block is fixedly arranged at one end of the bottom plate, one end of the force sensor is fixedly connected with the fixed block through a first connecting bolt, and the other end of the force sensor is fixedly connected with the water injection piece through a second connecting bolt; a cube structure is arranged in the middle of the water injection piece, and water injection threaded holes are formed in three side faces of the cube structure respectively; the water inlet end of the hydraulic artificial muscle is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench through a third connecting bolt;
the first sliding block workbench is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat and a displacement sensor; the displacement sensor supporting seat is fixedly arranged on the bottom plate; one end of the displacement sensor is mounted on the displacement sensor supporting seat, and the other end of the displacement sensor extends into the displacement sensor through hole;
the ball screw module is used for controlling the position of the second slider workbench and comprises a ball screw, a screw nut pair, a first screw support seat, a second screw support seat and a hand wheel;
the screw nut pair is arranged on the ball screw and connected to the second slider workbench through a bolt;
the first lead screw supporting seat and the second lead screw supporting seat are respectively and fixedly arranged on the bottom plate, the first lead screw supporting seat and the second lead screw supporting seat are respectively arranged on two sides of the second sliding block workbench, and the first lead screw supporting seat is positioned between the first sliding block workbench and the second sliding block workbench;
one end of the ball screw is mounted on the first screw support seat through a bearing, and the other end of the ball screw penetrates through the second slider workbench and is mounted on the second screw support seat through a bearing; the hand wheel is fixedly arranged at the end part of the ball screw through a key;
the locking module comprises an upper locking block and a lower locking block; the lower locking block is fixedly arranged on the bottom plate, and the upper locking block is detachably arranged above the lower locking block; the lower surface of the upper locking block and the upper surface of the lower locking block are respectively provided with cambered surface through holes with the same curvature as that of an optical axis of the ball screw, and the locking module is used for clamping one end, extending out of the second screw supporting seat, of the ball screw.
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 coaxially arranged.
Furthermore, the left end and the right end of the first connecting bolt are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connecting bolt is an optical axis, and the left side of the thread 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 thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure; the third connecting bolt left end sets up regular hexahedron structure and opens and has the internal thread, and the right-hand member sets up the helicitic texture, and the mid portion is the optical axis.
Furthermore, the fourth connecting bolt is in a stepped shaft shape, two ends of the fourth connecting bolt are respectively provided with a thread structure, the middle part of the fourth connecting bolt is an optical axis, and the diameter of the middle part of the fourth connecting bolt is larger than the diameters of the two ends of the fourth connecting bolt.
Furthermore, the ball screw is in a stepped shaft shape, the middle part of the ball screw is provided with a thread structure, the left side and the right side of the thread structure are both provided with optical axes, one end of the thread structure is provided with a key groove, and the hand wheel is fixedly arranged on the key groove through a key; the diameters of the optical axes on the left side and the right side of the thread structure are smaller than the diameter of the thread structure.
Compared with the prior art, the invention has the following advantages:
the system for testing the static characteristics of the hydraulic artificial muscle provided by the invention adopts the hand wheel to combine 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 and the control are simple, and the control of the displacement of the hydraulic artificial muscle can be realized by controlling the rotation of the hand wheel.
In conclusion, the technical scheme of the invention adopts the hand wheel 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, has simple operation and control, and can realize the static characteristic test of the hydraulic artificial muscle. Therefore, the technical scheme of the invention solves the problem that the existing pneumatic artificial muscle testing system cannot be directly used for testing the driving characteristics of the hydraulic artificial muscle.
Based on the reasons, the invention can be widely popularized in the fields of hydraulic artificial muscle testing and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a hydraulic artificial muscle static characteristic test system according to the invention.
In the figure: 1. a base plate; 2. a first connecting bolt; 3. a linear guide rail; 4. a fixed block; 5. a force sensor; 6. a second connecting bolt; 7. a water injection piece; 8. hydraulic artificial muscle; 9. a third connecting bolt; 10. a first support base of the screw rod; 11. a ball screw; 12. a second support seat of the screw rod; 131. an upper locking block; 132. a lower locking block; 14. a hand wheel; 15. a displacement sensor supporting seat; 16. a displacement sensor; 171. a first set of slides; 172. a first slider table; 18. a fourth connecting bolt; 191. a second set of slides; 192. a second slide table.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, 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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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 exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
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 present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the 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 a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
The invention provides a hydraulic artificial muscle static characteristic test system which comprises a linear guide rail module, a fixed block 4, a force sensor 5, a water injection piece 7, a hydraulic artificial muscle 8, a displacement measuring 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 1, a linear guide rail 3, a first group of sliding blocks 171, a first sliding block workbench 172, a second group of sliding blocks 191 and a second sliding block workbench 192; the bottom plate 1 is provided with a guide rail groove, and the linear guide rail 3 is fixedly arranged in the guide rail groove; the first group of sliding blocks 171 and the second group of sliding blocks 191 are respectively mounted on the linear guide 3 in a sliding manner; the first slider table 172 is fixedly mounted to the first set of sliders 171; the second slider table 192 is fixedly mounted to the second set of sliders 191; the second slide table 192 is connected to the first slide table 172 by a fourth connecting bolt 18, and the fourth connecting bolt 18 is used for maintaining a fixed distance between the first slide table 172 and the second slide table 192;
the second sliding block workbench is fixedly arranged on the second group of sliding blocks; the second sliding block workbench is connected to the first sliding block workbench through a fourth connecting bolt, and the fourth connecting bolt is used for keeping a fixed distance between the first sliding block workbench and the second sliding block workbench;
the fixed block 4 is fixedly arranged at one end of the bottom plate 1, one end of the force sensor 5 is fixedly connected with the fixed block 4 through a first connecting bolt 2, and the other end of the force sensor is fixedly connected with the water injection piece 7 through a second connecting bolt 6;
a cube structure is arranged in the middle of the water injection piece 7, and water injection threaded holes are formed in three side faces of the cube structure respectively;
the water inlet end of the hydraulic artificial muscle 8 is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench 172 through a third connecting bolt 9;
the first slider workbench 172 is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat 15 and a displacement sensor 16; the displacement sensor supporting seat 15 is fixedly arranged on the bottom plate 1; one end of the displacement sensor 16 is mounted on the displacement sensor support seat 15, and the other end of the displacement sensor 16 extends into the displacement sensor through hole;
the ball screw module is used for controlling the position of the second slider workbench 192 and comprises a ball screw 11, a screw nut pair, a first screw support seat 10, a second screw support seat 12 and a hand wheel 14;
the screw nut pair is mounted on the ball screw 11 and connected to the second slider table 192 through a bolt;
the first lead screw supporting seat 10 and the second lead screw supporting seat 12 are respectively and fixedly mounted on the bottom plate 1, the first lead screw supporting seat 10 and the second lead screw supporting seat 12 are respectively mounted on two sides of the second slider workbench 192, and the first lead screw supporting seat 10 is located between the first slider workbench 172 and the second slider workbench 192;
one end of the ball screw 11 is mounted on the first screw support seat 10 through a bearing, and the other end of the ball screw passes through the second slider workbench 192 and is mounted on the second screw support seat 12 through a bearing; the hand wheel 14 is fixedly arranged at the end part 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 base plate 1, and the upper locking block 131 is detachably installed above the lower locking block 132; the lower surface of the upper locking block 131 and the upper surface of the lower locking block 132 are respectively provided with cambered through holes with the same curvature as the curvature of the optical axis of the ball screw 11, and the locking module is used for clamping one end of the ball screw 11 extending out of the screw second support seat 12.
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 screw 11 are coaxially arranged.
Furthermore, the left end and the right end of the first connecting bolt 2 are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connecting bolt 2 is an optical axis, and the left side of the thread structure at the right end of the first connecting bolt 2 is provided with a regular hexahedron structure; the left end and the right end of the second connecting bolt 6 are respectively provided with a thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure; the left end of the third connecting bolt 9 is provided with a regular hexahedron structure and is provided with an internal thread, the right end of the third connecting bolt is provided with a thread structure, and the middle part of the third connecting bolt is an optical axis.
Further, the fourth connecting bolt 18 is in a stepped shaft shape, two ends of the fourth connecting bolt are respectively provided with a thread structure, a middle portion of the fourth connecting bolt is an optical axis, and the diameter of the middle portion is larger than the diameters of the two ends of the fourth connecting bolt.
Further, the ball screw 11 is in a stepped shaft shape, the middle part of the ball screw is provided with a thread structure, the left side and the right side of the thread structure are both provided with optical axes, one end of the thread structure is provided with a key groove, and the hand wheel 14 is fixedly arranged in the key groove through a key; the diameters of the optical axes on the left side and the right side of the thread structure are smaller than the diameter of the thread structure.
The hydraulic artificial muscle static characteristic test system provided by the invention can be used for carrying out a constant contraction quantity test on the hydraulic artificial muscle: the hydraulic artificial muscle has constant displacement, and the relation between the working pressure and the output force of the hydraulic artificial muscle is researched.
The specific working process for carrying out the shrinkage test comprises the following steps: installing the hydraulic artificial muscle 8 on a test system, firstly adjusting the hand wheel 14 to rotate the ball screw 11, then driving the second slider workbench 192 to perform linear motion along the axial direction of the ball screw 11 through the screw nut sleeved on the ball screw 11, and driving the first slider workbench 172 to move together through the fourth connecting bolt 18, thereby adjusting the hydraulic artificial muscle 8 to be in a natural length; then, the upper locking block 131 and the lower locking block 132 are tightly connected and clamped to the ball screw 11 through bolts, the rotation of the ball screw 11 is limited, the displacement of the hydraulic artificial muscle 8 is further limited, and the relation between the output force and the working pressure of the hydraulic artificial muscle 8 at the contraction amount is obtained by changing the working pressure of the hydraulic artificial muscle 8 and the data collected by the force sensor 5; the locking module is released and the hand wheel 14 is adjusted to enable the hydraulic artificial muscle 8 to be locked through the locking module under the second contraction quantity, and the relation between the output force of the hydraulic artificial muscle 8 and the working pressure under the second contraction quantity is obtained again; 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 steps.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions 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 by 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 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 bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly arranged in the guide rail groove; the first group of sliding blocks and the second group of sliding blocks are respectively installed on the linear guide rail in a sliding mode; the first sliding block workbench is fixedly arranged on the first group of sliding blocks; the second sliding block workbench is fixedly arranged on the second group of sliding blocks; the second sliding block workbench is connected to the first sliding block workbench through a fourth connecting bolt, and the fourth connecting bolt is used for keeping a fixed distance between the first sliding block workbench and the second sliding block workbench;
the fixed block is fixedly arranged at one end of the bottom plate, one end of the force sensor is fixedly connected with the fixed block through a first connecting bolt, and the other end of the force sensor is fixedly connected with the water injection piece through a second connecting bolt; a cube structure is arranged in the middle of the water injection piece, and water injection threaded holes are formed in three side faces of the cube structure respectively; the water inlet end of the hydraulic artificial muscle is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench through a third connecting bolt;
the first sliding block workbench is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat and a displacement sensor; the displacement sensor supporting seat is fixedly arranged on the bottom plate; one end of the displacement sensor is mounted on the displacement sensor supporting seat, and the other end of the displacement sensor extends into the displacement sensor through hole;
the ball screw module is used for controlling the position of the second slider workbench and comprises a ball screw, a screw nut pair, a first screw support seat, a second screw support seat and a hand wheel;
the screw nut pair is arranged on the ball screw and connected to the second slider workbench through a bolt;
the first lead screw supporting seat and the second lead screw supporting seat are respectively and fixedly arranged on the bottom plate, the first lead screw supporting seat and the second lead screw supporting seat are respectively arranged on two sides of the second sliding block workbench, and the first lead screw supporting seat is positioned between the first sliding block workbench and the second sliding block workbench;
one end of the ball screw is mounted on the first screw support seat through a bearing, and the other end of the ball screw penetrates through the second slider workbench and is mounted on the second screw support seat through a bearing; the hand wheel is fixedly arranged at the end part of the ball screw through a key;
the locking module comprises an upper locking block and a lower locking block; the lower locking block is fixedly arranged on the bottom plate, and the upper locking block is detachably arranged above the lower locking block; the lower surface of the upper locking block and the upper surface of the lower locking block are respectively provided with cambered surface through holes with the same curvature as that of an optical axis of the ball screw, and the locking module is used for clamping one end, extending out of the second screw supporting seat, of the ball screw.
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 member, the hydraulic artificial muscle, the third connecting bolt, and the ball screw are coaxially arranged.
3. The hydraulic artificial muscle static characteristic test system as claimed in claim 1, wherein the left end and the right end of the first connection bolt are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connection bolt is an optical axis, and the left side of the thread structure at the right end of the first connection 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 thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure; the third connecting bolt left end sets up regular hexahedron structure and opens and has the internal thread, and the right-hand member sets up the helicitic texture, and the mid portion is the optical axis.
4. The hydraulic artificial muscle static characteristic test system as claimed in claim 1, wherein the fourth connecting bolt is in a stepped shaft shape, the two ends are respectively provided with a thread structure, the middle part is an optical axis, and the diameter of the middle part is larger than the diameters of the two ends.
5. The hydraulic artificial muscle static characteristic test system according to claim 1, wherein the ball screw is in a stepped shaft shape, a thread structure is arranged in the middle, both the left side and the right side of the thread structure are optical axes, a key groove is arranged at one end of the thread structure, and the hand wheel is fixedly installed in the key groove through a key; the diameters of the optical axes on the left side and the right side of the thread structure are smaller than the diameter of the thread structure.
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| CN202010530849.5A CN111693375A (en) | 2020-06-11 | 2020-06-11 | Hydraulic artificial muscle static characteristic test system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112630043A (en) * | 2020-11-30 | 2021-04-09 | 中国计量大学 | Pneumatic artificial muscle static characteristic comprehensive test system |
| CN112697607A (en) * | 2020-12-08 | 2021-04-23 | 中国计量大学 | Driving system for static characteristics of pneumatic artificial muscle and detection method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Application publication date: 20200922 |