CN112082851A - Multi-degree-of-freedom macro-micro driving platform for testing mechanical property of irregular surface of cartilage - Google Patents
Multi-degree-of-freedom macro-micro driving platform for testing mechanical property of irregular surface of cartilage Download PDFInfo
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- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/42—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid
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- 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
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/42—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid
- G01N3/46—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid the indentors performing a scratching movement
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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
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Abstract
The invention relates to a multi-degree-of-freedom macro and micro driving platform for testing mechanical properties of irregular surfaces of cartilage, belonging to the field of precision driving. The device comprises a macro-micro driving module, a clamping module and a sensing and detecting module; the six-degree-of-freedom macroscopic rigid driving structure of the macroscopic and micro driving module is arranged on the base, and the three-degree-of-freedom microscopic driving flexible spherical hinge structure is connected between the six-degree-of-freedom macroscopic rigid driving structure and the clamping module; the rigid-flexible coupling driving of the platform is realized by the mutual matching of the six-freedom-degree macroscopic rigid driving structure and the three-freedom-degree microscopic driving flexible spherical hinge structure; the sensing and detecting module is fixedly arranged on an upper moving plate of the six-freedom-degree macroscopic rigid driving structure, and feeds back, accurately regulates and positions a micro-area to be tested in real time. Has the advantages that: the micromechanical properties of the intact cartilage were determined with the probe immobilized and without destroying the cartilage structure: and a performance map such as distribution characteristics of mechanical properties such as the global hardness, Young modulus and friction coefficient of the cartilage surface.
Description
Technical Field
The invention relates to the field of precision driving, in particular to a rigid-flexible coupling macro-micro driving test auxiliary instrument, in particular to a multi-degree-of-freedom macro-micro driving platform for testing mechanical properties of irregular surfaces of cartilage, and the multi-degree-of-freedom rigid-flexible coupling macro-micro driving platform is a miniaturized mechanical property testing platform for the irregular surfaces of cartilage, which is combined with a clamping device for arranging irregular surface cartilage.
Background
Cartilage surface is irregular curved surface, need carry out accurate location to the subregion to the mechanical properties test of surface subregion, it realizes the location and the regulation and control that the subregion was realized to the motion of many degrees of freedom to need cargo platform, especially, carry out the test of subregion nanometer indentation mar, the positioning accuracy that needs is higher, the degree of freedom is more, what current platform can be held with is regular square test piece, and can only realize X, Y two directions's translation, it is mostly ordinary square anchor clamps, anchor clamps utilize screw connection to carry out test piece centre gripping and elasticity, be difficult to the centre gripping irregularly shaped, the size of centre gripping is injectd greatly, be difficult to satisfy required compound operating mode, be not convenient for carry out the test of cartilage micromechanics performance.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom macro and micro driving platform for testing mechanical properties of irregular surfaces of cartilage, and solves the problems in the prior art. The invention can carry out indentation and scratch test aiming at the irregular surface of the cartilage under the condition that a probe on the nano indentation scratch tester is not moved, and obtains the distribution characteristics of the mechanical properties of the overall hardness, Young modulus, friction coefficient and the like of the cartilage surface. The passage of the X-ray for CT imaging is convenient for developing the real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation and scratch test process.
The multi-degree-of-freedom macro-micro driving platform for testing the mechanical property of the irregular surface of the cartilage is used for assisting in testing the structure and the performance of the cartilage material. The invention is characterized in that the micro-area precision positioning of the mechanical property test and the non-dead angle movement of the irregular cartilage detection area are realized under the rigid-flexible coupling multi-degree-of-freedom macro-micro drive, and the micro-area to be tested can be accurately regulated and positioned through the real-time feedback of the space pose. The designed clamping fixture conforms to the irregular curved surface characteristic of the cartilage, the motion variable is controlled by the sensing and detecting unit, and the distribution characteristics of the mechanical properties such as the global hardness, Young modulus, friction coefficient and the like of the cartilage surface are obtained by using a finite element analysis method to obtain a cartilage performance map. An X-ray passage for CT imaging is reserved in the central area of the base of the platform and the lower movable plate, and real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation and scratch test process can be carried out. In the process of developing an in-situ test based on CT, a test platform needs to be integrated with CT, a designed platform needs to meet the requirements of miniaturization and light weight, and in the process of developing a mechanical property test, the in-situ test can directly observe the structural evolution of a micro-area on the surface of a material and establish the real-time correlation between the mechanical action and the micro-structure evolution.
The above object of the present invention is achieved by the following technical solutions:
the multi-degree-of-freedom macro-micro driving platform for testing the mechanical property of the irregular surface of the cartilage realizes the micro-precise positioning of any micro area of the irregular surface of the cartilage; the system comprises three modules: the device comprises a macro and micro driving module, a clamping module and a sensing and detecting module; the macro and micro driving module comprises a six-degree-of-freedom macroscopic rigid driving structure based on a parallel structure and a three-degree-of-freedom microscopic driving flexible spherical hinge structure based on piezoelectric ceramic driving, the six-degree-of-freedom macroscopic rigid driving structure is installed on the base 1, and the three-degree-of-freedom microscopic driving flexible spherical hinge structure is connected between the six-degree-of-freedom macroscopic rigid driving structure and the clamping module; the rigid-flexible coupling driving of the platform is realized by the mutual matching of the six-freedom-degree macroscopic rigid driving structure and the three-freedom-degree microscopic driving flexible spherical hinge structure; the sensing and detecting module is fixedly arranged on an upper moving plate 5 of a six-degree-of-freedom macroscopic rigid driving structure, and feeds back, accurately regulates and positions a micro-area to be tested in real time; the clamping module is arranged at the top and clamps cartilages with different dimensions and different curved surface appearances;
the six-degree-of-freedom macroscopic rigid driving structure is composed of twelve Hooke hinge structures 3, six telescopic rods 4, a lower moving plate 2 and an upper moving plate 5, and the rigid parallel structures are in compound linkage to realize six-degree-of-freedom macroscopic rigid driving; the base 1 is connected with the lower moving plate 2 in a nested manner to provide circumferential rotating motion; the rotating handles 20 are fixedly connected to the lower moving plate 2 in an angle of 120 degrees with each other so as to enlarge the rotating motion range of the six-degree-of-freedom platform; the lower moving plate 2 is coupled with the six telescopic rods 4 by a Hooke hinge structure 3; the upper moving plate 5 is coupled with the six telescopic rods 4 by utilizing a Hooke hinge structure 3;
the three-degree-of-freedom micro-drive flexible spherical hinge structure is composed of piezoelectric ceramics 10, a spherical shell 12, a power supply wiring port 11 and an upper moving plate support rod 6, wherein the three piezoelectric ceramics 10 are respectively arranged in the spherical shell 12, the three piezoelectric ceramics 10 are coupled and driven to move in a micro-flexible manner under the power-on condition by utilizing the inverse piezoelectric effect through the power supply wiring port 11, and the aluminum lightweight chuck 7 of the clamping module is driven to move in a micro-precise manner by utilizing the flexible structure characteristic of the spherical hinge, so that the micro-region of the irregular curved surface cartilage to be tested is precisely positioned; the piezoelectric ceramic 10 is fixedly connected with the upper moving plate support rod 6 through threads, and the upper moving plate support rod 6 is fixed on the upper moving plate 5; the piezoelectric ceramic 10 is a spherical structure of lead zirconate titanate piezoelectric ceramic PZT;
the clamping module is as follows: the six wedge-shaped clamping jaws 8 are centrally positioned in the aluminum light-weight chuck 7 through a trapezoidal inner rail 14, and the wedge-shaped clamping jaws 8 are tightly fixed through the threaded connection of the clamp pins 9 and the light-weight chuck 7; the wedge-shaped clamping jaw 8 is provided with a first-stage clamping block 15, a second-stage detachable clamping block 16, a third-stage detachable clamping block 17 and a fourth-stage clamping block 18; the six modularized wedge-shaped clamping jaws 8 perform non-linkage type combined work, and the centering positioning is realized on the trapezoidal inner rail 14;
the sensing and detecting module is a combined type micro sensor 13 which is respectively a linear displacement sensor, an angular displacement sensor and a piezoelectric sensor, and the three sensors are distributed in a circular shape with an included angle of 120 degrees and equal intervals; the linear displacement sensor detects the linear displacement of the device, the angular displacement sensor detects the rotated angle, the piezoelectric sensor detects different volume change amounts of the three piezoelectric ceramics, and the micro-area to be tested is accurately regulated and positioned through real-time feedback of the spatial pose.
The primary clamping block 15 is fixedly arranged on the clamping jaw, and the primary clamping block 15 clamps and positions the cartilage with the inner diameter of 5-10 mm; the secondary detachable clamping block 16 clamps finger cartilage with the inner diameter of 20-40 mm; the three-stage detachable clamping blocks 17 clamp cartilage with the thickness of 40-60 mm; the four-stage clamping block 18 is fixedly arranged on the clamping jaw, and the four-stage clamping jaw clamps the cartilage with the inner diameter of 55-140 mm; the clamping jaw is suitable for clamping cartilage with the inner diameter of more than 70mm in a reverse installation state; the inner diameter of the chuck is 70mm, and when the connection of the clamping cartilage and the bone exists at the same time, the connecting bone below the cartilage with the size not larger than 70mm can be placed in the hollow part of the inner diameter of the chuck; the multi-stage clamping blocks are combined and linked to realize the switching from small size to large size in the cartilage clamping process.
The three piezoelectric ceramics 10 are connected with the aluminum lightweight chuck 7 through flexible spherical hinges, and the micro positioning is realized by adopting piezoelectric driving; different electric quantities are independently selected to be introduced into the power supply wiring ports 11 of the three piezoelectric ceramics or not to be electrified, so that the coupling of the deformation is realized; the angular displacement sensor, the linear displacement sensor and the piezoelectric sensor are used for sensing and detecting from multiple angles, and the micro-area to be tested is accurately regulated and positioned by feeding back the spatial pose in real time, so that the positioning accuracy of microcosmic drive control is ensured; the six-freedom-degree macroscopic rigid driving structure utilizes six telescopic rods 4 to perform coupled motion to complete the motion of the upper platform in six degrees of freedom in space, namely X, Y, Z, alpha, beta and gamma; the problem of small rotation amplitude of macroscopic rigid motion is solved by using the rotary handle 20; and the flexible multi-degree-of-freedom macroscopic driving of the platform is realized.
The overall dimensions of the platform are: the height of the platform is 200mm, the outer diameter of the circle is 180mm, and the inner diameter of the circle is 80 mm; a CT imaging passage 19 is reserved in the central areas of the base 1 and the lower movable plate 2 of the platform and is used for X-rays to pass through; the clamped sample is rotated for 360 degrees by utilizing the rotating handle 20; the inner diameter of the CT imaging passage 19 is 50mm, so that the CT imaging passage is integrated with the CT of the electronic computer tomography; the central area is reserved with an X-ray passage for CT imaging, so that real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation and scratch test process can be conveniently carried out, in-situ test can be carried out, the structure evolution of the micro-area on the surface of the material can be directly observed in the process of carrying out mechanical property test, and the real-time correlation between the mechanical action and the micro-structure evolution is established; the 360-degree rotation of the sample is realized by rotating the handle 20, the requirement of synchronous radiation imaging or micro CT imaging on the continuous rotation freedom of the sample is met, and the fine three-dimensional reconstruction of the internal structure of the irregular cartilage material is realized.
The invention has the beneficial effects that: novel conception, simple structure and convenient use. The problem that a nano indentor and a nano scratch tester cannot be used for testing the irregular curved surface of the material is solved. The performance maps of the mechanical properties such as the global hardness, Young modulus, friction coefficient and the like of the complete cartilage surface can not be obtained only by the test probe, but the slicing processing test of the cartilage can damage the microstructure of the cartilage in the test process, and the obtained cartilage performance map has defects. By using the platform, the test probe can determine the micromechanical property of the complete cartilage under the condition of no movement and no damage to the cartilage structure: and a performance map such as distribution characteristics of mechanical properties such as the global hardness, Young modulus and friction coefficient of the cartilage surface. The practicability is strong.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a first drawing illustrating an overall appearance structure of the present invention;
FIG. 2 is a schematic view of the overall appearance structure of the present invention;
FIG. 3 is a schematic view of the structure of the upper moving plate of the present invention;
FIG. 4 is a schematic view of an aluminum light weight chuck and a needle of the present invention;
FIG. 5 is a schematic view of the wedge-shaped jaw and clamp block of the present invention;
FIG. 6 is an enlarged top view of the jaw of the present invention;
FIG. 7 is a schematic view of the state of the clamping module clamping the small cartilage according to the present invention;
FIG. 8 is a schematic diagram of a clamping module of the present invention clamping a middle cartilage;
FIG. 9 is a schematic view of the clamping module of the present invention clamping a large cartilage in a reversed clamping state;
FIG. 10 is a schematic view of the structure of the lower moving plate and the base of the present invention;
FIG. 11 is a schematic view of the trapezoidal inner track of the present invention.
In the figure: 1. a base; 2. a lower moving plate; 3. a hook hinge structure; 4. a telescopic rod; 5. moving the plate upwards; 6. moving up the board support bar; 7. an aluminum lightweight chuck; 8. a wedge-shaped clamping jaw; 9. clamping a needle; 10. piezoelectric ceramics; 11. a power supply wiring port; 12. a spherical shell; 13. a combined micro-sensor; 14. a trapezoidal inner rail; 15. a first-stage clamping block; 16. a secondary detachable clamping block; 17. a third-stage detachable clamping block; 18. a four-stage clamping block; 19. a CT imaging path; 20. the handle is rotated.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 11, the macro-micro driving module of the multi-degree-of-freedom macro-micro driving platform for testing the mechanical properties of the irregular surfaces of cartilage is driven by multi-degree-of-freedom rigid-flexible coupling formed by a six-degree-of-freedom macroscopic rigid drive and a three-degree-of-freedom microscopic flexible drive. The parallel compound linkage motion of the telescopic rods is utilized to realize six-degree-of-freedom rigid macroscopic drive, the inverse piezoelectric effect of the piezoelectric ceramic material is utilized, and the three spherical flexible hinge structures realize three-degree-of-freedom flexible microscopic drive and realize precise positioning of microscopic regions. The clamping module is a special clamp designed mainly according to the characteristic that the cartilage is of an irregular curved surface structure. The clamp is characterized in that the clamp can clamp cartilages with different dimensions and different curved surface appearances, and can also clamp the state that the cartilages are connected with bones and exist simultaneously, and the hexagonal modularized non-linked clamping jaws can be fixed according to the respective characteristics of the cartilages, so that the switching of curved surface cartilage samples with different characteristic dimensions from small joints to large joints can be realized. And the damage to the cartilage curved surface microstructure in the clamping process is reduced by utilizing human-computer interaction in the clamping process. The irregular curved surface clamping module is made of light aluminum materials, and microscopic flexible driving reliability of the spherical hinge support made of piezoelectric ceramics is guaranteed. The sensing and detecting module consists of a linear displacement sensor, an angular displacement sensor and a piezoelectric sensor, and can accurately regulate and position a micro-area to be tested through real-time feedback of the spatial pose. The multi-degree-of-freedom rigid-flexible coupling macro and micro driving platform is combined with a nano indentation tester and a nano scratch tester for use, indentation and scratch tests can be carried out on irregular surfaces of the cartilage, and the distribution characteristics of mechanical properties such as global hardness, Young modulus, friction coefficient and the like of the surfaces of the cartilage are obtained. The central area is reserved with an X-ray passage for CT imaging, so that real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation scratch test process can be conveniently carried out, in-situ test can be carried out, the structure evolution of the micro-area on the surface of the material can be directly observed in the process of carrying out mechanical property test, and the real-time correlation between the mechanical action and the micro-structure evolution is established.
According to the multi-degree-of-freedom macro-micro driving platform for testing the mechanical property of the irregular surface of the cartilage, disclosed by the invention, the micro accurate positioning of any micro area of the irregular surface of the cartilage is realized by adjusting the position of the multi-degree-of-freedom platform; the system comprises three modules: the device comprises a macro and micro driving module, a clamping module and a sensing and detecting module; the macro and micro driving module comprises a six-degree-of-freedom macroscopic rigid driving structure based on a parallel structure and a three-degree-of-freedom microscopic driving flexible spherical hinge structure based on piezoelectric ceramic driving, the six-degree-of-freedom macroscopic rigid driving structure is installed on the base 1, and the three-degree-of-freedom microscopic driving flexible spherical hinge structure is connected between the six-degree-of-freedom macroscopic rigid driving structure and the clamping module; the rigid-flexible coupling driving of the platform is realized by the mutual matching of the six-freedom-degree macroscopic rigid driving structure and the three-freedom-degree microscopic driving flexible spherical hinge structure; the sensing and detecting module is fixedly arranged on an upper moving plate 5 of a six-degree-of-freedom macroscopic rigid driving structure, and feeds back, accurately regulates and positions a micro-area to be tested in real time; the clamping module is arranged at the top and clamps cartilages with different dimensions and different curved surface appearances.
The six-degree-of-freedom macroscopic rigid driving structure is composed of twelve hook hinge structures 3, six telescopic rods 4, a lower moving plate 2 and an upper moving plate 5, the rigid parallel structures are in compound linkage to realize six-degree-of-freedom macroscopic rigid driving, the base 1 and the lower moving plate 2 are connected in a nested manner to provide circumferential rotating motion, the rotating handles 20 are fixedly connected to the lower moving plate 2 in an angle of 120 degrees, and the rotating motion range of the six-degree-of-freedom platform is enlarged; the lower moving plate 2 is coupled with the six telescopic rods 4 by a Hooke hinge structure 3; the upper moving plate 5 and the six telescopic rods 4 are coupled by using the hook hinge structure 3.
The three-degree-of-freedom micro-drive flexible spherical hinge structure is composed of piezoelectric ceramics 10, a spherical shell 12, a power supply wiring port 11 and an upper moving plate support rod 6, wherein the three piezoelectric ceramics 10 are respectively arranged in the spherical shell 12, the three piezoelectric ceramics 10 are coupled and driven to move in a micro-flexible manner under the power-on condition by utilizing the inverse piezoelectric effect through the power supply wiring port 11, and the aluminum lightweight chuck 7 of the clamping module is driven to move in a micro-precise manner by utilizing the flexible structure characteristic of the spherical hinge, so that the micro-region of the irregular curved surface cartilage to be tested is precisely positioned; the piezoelectric ceramic 10 is fixedly connected with the upper moving plate support rod 6 through threads, and the upper moving plate support rod 6 is fixed on the upper moving plate 5; the piezoelectric ceramic 10 is a spherical structure of lead zirconate titanate piezoelectric ceramic PZT.
The clamping module comprises an aluminum lightweight chuck 7, six modularized centering wedge-shaped clamping jaws 8, a clamping needle 9, a first-stage clamping block 15, a second-stage detachable clamping block 16, a third-stage detachable clamping block 17 and a fourth-stage clamping block 18 on the wedge-shaped clamping jaws 8; the six wedge-shaped clamping jaws 8 are centrally positioned in the aluminum light-weight chuck 7 through a trapezoidal inner rail 14, and the wedge-shaped clamping jaws 8 are tightly fixed through the threaded connection of the clamp pins 9 and the light-weight chuck 7; a first-stage clamping block 15, a second-stage detachable clamping block 16, a third-stage detachable clamping block 17 and a fourth-stage clamping block 18 are arranged on the wedge-shaped clamping jaw 8, and the six modularized wedge-shaped clamping jaws 8 work in a non-linkage type combined mode to realize centering positioning on the trapezoidal inner rail 14.
The sensing and detecting module is a combined type micro sensor 13 which is respectively a linear displacement sensor, an angular displacement sensor and a piezoelectric sensor, and the three sensors are distributed in a circular shape with an included angle of 120 degrees and equal intervals; the linear displacement sensor detects the linear displacement of the device, the angular displacement sensor detects the rotated angle, and the piezoelectric sensor detects different volume change amounts of the three piezoelectric ceramics, so that the micro-area to be tested can be accurately regulated and positioned by real-time feedback of the spatial pose.
All parts of the clamping module are made of light aluminum materials, so that the reliability of flexible microscopic driving is guaranteed; the design size of the chuck 7 is as small as possible, and the structure is compact so as to enhance the microscopic driving effect of the piezoelectric ceramic on the chuck; the clamping module can be used for switching and clamping cartilage samples with different curved surface appearances and characteristic sizes from a facet joint to a major joint; the six modularized wedge-shaped clamping jaws 8 are in non-linkage type combined work, and the centering positioning is realized on the trapezoidal inner rail 14, so that the damage to the mechanical property of the cartilage can be reduced; the clamping blocks arranged on the clamping jaws are divided into four grades, wherein a first-grade clamping block 15 and a fourth-grade clamping block 18 are fixed on the clamping jaws, and a second-grade clamping block and a third-grade clamping block are detachable; the first-stage clamping block 15 can be used for clamping and positioning cartilages with the inner diameter approximate to that of about 5-10 mm, such as mouse and sparrow facet joint cartilages; the secondary clamping block 16 can clamp finger cartilage with approximate inner diameter of 20-40 mm, such as human; the three-stage clamping blocks 17 can clamp cartilage with the thickness of approximately 40-60 mm; the four-stage clamping block 18 can clamp the cartilage with the inner diameter not less than 55mm and not more than 140mm, and the clamping jaws are reversely arranged and are suitable for clamping the cartilage with the inner diameter more than 70 mm; the inner diameter of the chuck is 70mm, and when the connection of the clamping cartilage and the bone exists at the same time, the connecting bone below the cartilage with the size not larger than 70mm can be placed in the hollow part of the inner diameter of the chuck, such as the elbow joint of a human body; the multi-stage clamping blocks are combined and linked to realize the switching from small size to large size in the cartilage clamping process. The centering of the clamping jaw is guaranteed by the trapezoidal inner rail.
The multi-degree-of-freedom rigid-flexible coupling can be used for positioning any micro area on the irregular surface of the cartilage; ensuring that the micro-area is positioned under a nano indentation pressure head or a nano scratch probe, namely accurately regulating and positioning the micro-area to be tested through real-time feedback of the spatial pose, and acquiring the distribution characteristics of the mechanical properties such as the global hardness, Young modulus, friction coefficient and the like of the cartilage surface; the three piezoelectric ceramics 10 are connected with the aluminum lightweight chuck 7 through flexible spherical hinges, and the micro positioning is realized by adopting piezoelectric driving; different electric quantities are independently selected to be introduced into the power supply wiring ports 11 of the three piezoelectric ceramics or not to be electrified, so that the coupling of the deformation is realized; the angular displacement sensor, the linear displacement sensor and the piezoelectric sensor are used for sensing and detecting from multiple angles, and the micro-area to be tested is accurately regulated and positioned by feeding back the space pose in real time, so that the positioning precision of microcosmic drive control is ensured. The six-freedom-degree macroscopic rigid driving structure utilizes six telescopic rods 4 to perform coupled motion to complete the motion of the upper platform in six spatial degrees of freedom (X, Y, Z, alpha, beta, gamma); the problem of small rotation amplitude of macroscopic rigid motion is solved by using the rotary handle 20; and the flexible multi-degree-of-freedom macroscopic driving of the platform is realized.
The overall size of the multi-degree-of-freedom macro and micro driving platform for testing the mechanical property of the irregular surface of the cartilage is as follows: the height of the platform is 200mm, the outer diameter of the circle is 180mm, and the inner diameter of the circle is 80 mm; a CT imaging passage 19 is reserved in the central areas of the base 1 and the lower movable plate 2 of the platform and is used for X-rays to pass through; the clamped sample is rotated 360 degrees by rotating the handle 20. The inner diameter of the CT imaging passage 19 is 50mm, and the integration with the CT of the electronic computer tomography scanner can be realized; the real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation and scratch test process is facilitated. In the process of carrying out mechanical property test, the in-situ test can directly observe the structure evolution of the micro-area on the surface of the material and establish the real-time correlation between the mechanical action and the micro-structure evolution. The 360-degree rotation of the sample is realized by rotating the handle 20, the requirement of synchronous radiation imaging or micro CT imaging on the continuous rotation freedom of the sample is met, and the fine three-dimensional reconstruction of the internal structure of the irregular cartilage material is realized.
Example (b):
the invention relates to a multi-degree-of-freedom macro and micro driving platform for testing mechanical properties of irregular surfaces of small cartilage, which combines macro and micro driving and cartilage placing and clamping devices, and is mainly divided into three modules: the device comprises a macro and micro driving module, a clamping module and a sensing and detecting module. The driving module is a macro-micro rigid-flexible coupling drive, and is driven by a macro rigid drive with six degrees of freedom and a micro flexible drive with three degrees of freedom, the macro drive is realized by utilizing the compound linkage of parallel rigid telescopic rods, and the micro flexible drive with three degrees of freedom is realized after the inverse piezoelectric effect of the piezoceramic material is electrified. The clamping module is a special clamp designed mainly according to the characteristic that cartilage is of an irregular curved surface structure, the clamp can clamp irregular curved surface cartilage with different specifications according to the characteristic of the clamp, the cartilage and bone can be connected and exist at the same time, and the hexagonal modular non-linked clamping jaws can be fixed according to the respective characteristics of the cartilage with different curvatures and reduce the damage to the microstructure of the cartilage in the clamping process as much as possible. The clamping module is made of light aluminum materials, and therefore the micro-driving reliability of the spherical support made of piezoelectric ceramics is guaranteed. The sensing and detecting module is a combined micro sensor consisting of a linear displacement sensor, an angular displacement sensor and a piezoelectric sensor, the angles of the three micro sensors are 120 degrees, and the combined sensor can accurately regulate and position a micro area to be tested through real-time feedback of space poses. The device is used in combination with a nano indentation tester and a nano scratch tester by utilizing the specification size and the structural characteristics, the defect that the motion freedom degree of a test probe of the nano indentation tester and the nano scratch tester is low and the cartilage is irregular curved and inconvenient to test is overcome, indentation and scratch tests can be carried out on irregular surfaces of the cartilage, the distribution characteristic channel integrated x rays of mechanical properties such as the global hardness, Young modulus, friction coefficient and the like of the surfaces of the cartilage are obtained, the platform test multifunction is increased, the platform is used for clamping the curved surface, the macro-micro driving and the rotary motion characteristics are utilized, and the XRD rays are projected to detect materials, so that the real-time in-situ representation of the structure evolution behavior of a sample micro-area in the indentation scratch test process can be carried out. The integrated CT in-situ test can directly observe the structural evolution of the micro-area on the surface of the material in the process of carrying out the mechanical property test, and establish the real-time correlation between the mechanical action and the micro-structural evolution.
The multi-degree-of-freedom rigid-flexible coupling macro and micro driving platform for cartilage testing macro and micro driving provided by the invention has the height of 200mm, the outer diameter of a circle of 180mm and the inner diameter of 80 mm. The macro drive can realize rigid motion with six degrees of freedom, and the micro drive can realize flexible motion with three degrees of freedom.
The upper moving plate and the lower parts of the platform are made of No. 45 steel, and are subjected to quenching and tempering, so that the center of gravity of the platform is downward, the base is not easily interfered by the outside, and the damping effect is achieved. The internal diameter of the reserved integrated XRD of the bottom plate is 50 mm. The piezoelectric ceramics connected with the mobile platform adopt PZT ceramics. The upper moving plate is connected with the clamping module through a flexible spherical hinge, and the piezoelectric ceramic is connected with the clamping module of the upper part: the aluminum lightweight chuck 7, the wedge-shaped clamping jaw 8, the clamping needle 9, the primary clamping block 15, the secondary detachable clamping block 16, the three groups of detachable clamping blocks 17 and the four-stage clamping block 18 are all made of light aluminum materials, the forming process adopts a model casting process, and the light materials ensure the reliability and the motion track precision of microscopic driving; the aluminum lightweight chuck is 20mm in height, 180mm in outer diameter and 80mm in inner diameter. A trapezoidal inner rail 14, as shown in fig. 11, the distance from the bottom of the rail to the bottom of the chuck is 8 mm; at the center of the bottom of each rail, a small groove with the width of 6mm and the depth of 2mm and 10 threaded holes with the diameter of 5mm and the same interval are distributed. As shown in fig. 5 and 6, the tip of the wedge-shaped clamping claw forms a concave arc shape with the inner diameter of 6mm, so that the stability and reliability of clamping are ensured. The first-stage clamping block 15 and the fourth-stage clamping block 18 are fixed on the wedge-shaped clamping jaw, and the height distance between the upper surface of the first-stage clamping block and the upper surface of the aluminum lightweight clamping chuck 7 is 4 mm; the height distance between the upper surface of the four-level clamping block and the upper surface of the aluminum lightweight chuck 7 is 25 mm; the height distance between the upper surfaces of the second-level detachable clamping block 16 and the third-level detachable clamping block 17 and the upper surface of the aluminum lightweight chuck 7 is 15 mm. The outer diameter of the piezoelectric ceramic is 15mm, and the diameter of an inner wiring port 11 of the piezoelectric ceramic is 5 mm; the three miniature sensors are distributed at equal angles of 120 degrees, and the sensors transmit signals to an externally connected controller to guarantee the motion precision. Fig. 7 shows a state in which small cartilage is clamped, fig. 8 shows a state in which medium cartilage is clamped, and fig. 9 shows a state in which large cartilage is clamped in a reverse direction.
During the application, earlier place irregular curved surface cartilage on aluminium matter lightweight (holding) chuck, select the clamp splice and remove the wedge clamping jaw according to the condition, when the clamping curved surface cartilage, can not too tight extrusion centre gripping cartilage, destroy cartilage inner structure, after the wedge clamping jaw route has been fixed a position, use threaded connection between a plurality of clip needles and aluminium matter lightweight (holding) chuck tightly to decide the wedge clamping jaw. The platform is placed in front of the indenter, the macro-micro driving module and the sensing detection module are adjusted in advance, whether the detection working condition is normal or not is detected, and the interference to the detection probe during the test is avoided.
The base and the lower movable plate are reserved with an integrated XRD (X-ray diffraction) inner diameter of 50mm and are integrated with an electronic Computer Tomography (CT), a CT imaging passage 19 of X-rays for CT imaging is reserved in the central area of the base and the lower movable plate of the platform, so that real-time in-situ characterization of the structure evolution behavior of a sample micro-area in the indentation scratch test process is facilitated, in-situ test can be carried out, in the process of carrying out mechanical property test, the structure evolution of the micro-area on the surface of a material can be directly observed, and real-time correlation between mechanical action and micro-structure evolution is established.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (4)
1. A multi-degree-of-freedom macro and micro driving platform for testing mechanical properties of irregular surfaces of cartilage is characterized in that: realizing microscopic accurate positioning of any micro-area on the irregular surface of the cartilage; the system comprises three modules: the device comprises a macro and micro driving module, a clamping module and a sensing and detecting module; the macro and micro driving module comprises a six-degree-of-freedom macroscopic rigid driving structure based on a parallel structure and a three-degree-of-freedom microscopic driving flexible spherical hinge structure based on piezoelectric ceramic driving, the six-degree-of-freedom macroscopic rigid driving structure is installed on the base (1), and the three-degree-of-freedom microscopic driving flexible spherical hinge structure is connected between the six-degree-of-freedom macroscopic rigid driving structure and the clamping module; the rigid-flexible coupling driving of the platform is realized by the mutual matching of the six-freedom-degree macroscopic rigid driving structure and the three-freedom-degree microscopic driving flexible spherical hinge structure; the sensing and detecting module is fixedly arranged on an upper moving plate (5) of the six-freedom-degree macroscopic rigid driving structure, and feeds back, accurately regulates and positions a micro-area to be tested in real time; the clamping module is arranged at the top and clamps cartilages with different dimensions and different curved surface appearances;
the six-degree-of-freedom macroscopic rigid driving structure is composed of twelve hook hinge structures (3), six telescopic rods (4), a lower moving plate (2) and an upper moving plate (5), and the rigid parallel structures are combined and linked to realize six-degree-of-freedom macroscopic rigid driving; the base (1) is connected with the lower moving plate (2) in a nested manner to provide circumferential rotation motion; the rotating handles (20) are fixedly connected to the lower moving plate (2) in an angle of 120 degrees with each other so as to enlarge the rotating motion range of the six-degree-of-freedom platform; the lower moving plate (2) is coupled and connected with the six telescopic rods (4) by a Hooke hinge structure (3); the upper moving plate (5) is coupled with the six telescopic rods (4) by utilizing a Hooke hinge structure (3);
the three-degree-of-freedom micro-drive flexible spherical hinge structure is composed of piezoelectric ceramics (10), a spherical shell (12), a power supply wiring port (11) and an upper moving plate support rod (6), wherein the three piezoelectric ceramics (10) are respectively arranged in the spherical shell (12), the three piezoelectric ceramics (10) are coupled and driven in a micro-flexible mode under the power-on condition through the power supply wiring port (11) by utilizing the inverse piezoelectric effect, and the micro-flexible mode drives an aluminum light-weight chuck (7) of a clamping module to move in a micro-precise mode by utilizing the flexible structural characteristic of the spherical hinge, so that a micro-area of irregular curved cartilage to be tested is accurately positioned; the piezoelectric ceramic (10) is fixedly connected with the upper moving plate supporting rod (6) through threads, and the upper moving plate supporting rod (6) is fixed on the upper moving plate (5); the piezoelectric ceramic (10) is a spherical structure of lead zirconate titanate piezoelectric ceramic PZT;
the clamping module is as follows: the six wedge-shaped clamping jaws (8) are centered and positioned in the aluminum light-weight chuck (7) through the trapezoidal inner rails (14), and the wedge-shaped clamping jaws (8) are tightly fixed through the threaded connection of the clamp pins (9) and the light-weight chuck (7); a first-stage clamping block (15), a second-stage detachable clamping block (16), a third-stage detachable clamping block (17) and a fourth-stage clamping block (18) are arranged on the wedge-shaped clamping jaw (8); the six modularized wedge-shaped clamping jaws (8) are in non-linkage type combined work, and centering positioning is realized on the trapezoidal inner rail (14);
the sensing and detecting module is a combined type micro sensor (13) which is respectively a linear displacement sensor, an angular displacement sensor and a piezoelectric sensor, and the three sensors are distributed in a circular shape with an included angle of 120 degrees and equal intervals; the linear displacement sensor detects the linear displacement of the device, the angular displacement sensor detects the rotated angle, the piezoelectric sensor detects different volume change amounts of the three piezoelectric ceramics, and the micro-area to be tested is accurately regulated and positioned through real-time feedback of the spatial pose.
2. The multi-degree-of-freedom macro and micro driving platform for testing the mechanical property of the irregular surface of the cartilage according to claim 1, which is characterized in that: the primary clamping block (15) is fixedly arranged on the clamping jaw, and the cartilage with the inner diameter of 5-10 mm is clamped and positioned by the primary clamping block (15); the secondary detachable clamping block (16) clamps finger cartilage with the inner diameter of 20-40 mm; the three-stage detachable clamping blocks (17) clamp cartilage with the thickness of 40-60 mm; the four-stage clamping block (18) is fixedly arranged on the clamping jaw and clamps the cartilage with the inner diameter of 55-140 mm; the clamping jaw is suitable for clamping cartilage with the inner diameter of more than 70mm in a reverse installation state; the inner diameter of the aluminum lightweight chuck (7) is 70mm, and when the clamped cartilage and the bone are connected and exist at the same time, the connecting bone below the cartilage with the size not larger than 70mm is placed in the hollow part of the inner diameter of the chuck; the multi-stage clamping blocks are combined and linked to realize the switching from small size to large size in the cartilage clamping process.
3. The multi-degree-of-freedom macro and micro driving platform for testing the mechanical property of the irregular surface of the cartilage according to claim 1, which is characterized in that: the three piezoelectric ceramics (10) are connected with the aluminum lightweight chuck (7) through flexible spherical hinges, and the micro positioning is realized by adopting piezoelectric driving; different electric quantities are independently selected to be introduced into the power supply wiring ports (11) of the three piezoelectric ceramics or not to be electrified, so that the coupling of the deformation is realized; the angular displacement sensor, the linear displacement sensor and the piezoelectric sensor are used for sensing and detecting from multiple angles, and the micro-area to be tested is accurately regulated and positioned by feeding back the spatial pose in real time, so that the positioning accuracy of microcosmic drive control is ensured; the six-freedom-degree macroscopic rigid driving structure utilizes six telescopic rods (4) to perform coupled motion to complete the motion of the upper platform in six degrees of freedom in space, namely X, Y, Z, alpha, beta and gamma; the problem of small rotation amplitude of macroscopic rigid motion is solved by using a rotating handle (20); and the flexible multi-degree-of-freedom macroscopic driving of the platform is realized.
4. The multi-degree-of-freedom macro and micro driving platform for testing the mechanical property of the irregular surface of the cartilage according to any one of claims 1 to 3, which is characterized in that: the overall dimensions of the platform are: the height of the platform is 200mm, the outer diameter of the circle is 180mm, and the inner diameter of the circle is 80 mm; a CT imaging channel (19) is reserved in the central areas of the base (1) and the lower moving plate (2) of the platform and is used for X-rays to pass through; the clamped sample is rotated for 360 degrees by utilizing a rotating handle (20); the inner diameter of the CT imaging channel (19) is 50mm, so that the CT imaging channel is integrated with the CT of the electronic computer tomography; the central area is reserved with an X-ray passage for CT imaging, so that real-time in-situ characterization of the structure evolution behavior of the sample micro-area in the indentation and scratch test process can be conveniently carried out, in-situ test can be carried out, the structure evolution of the micro-area on the surface of the material can be directly observed in the process of carrying out mechanical property test, and the real-time correlation between the mechanical action and the micro-structure evolution is established; the 360-degree rotation of the sample is realized by rotating the handle (20), the requirement of synchronous radiation imaging or micro CT imaging on the continuous rotation freedom of the sample is met, and the fine three-dimensional reconstruction of the internal structure of the irregular cartilage material is realized.
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