CN112098059A - Mechanical property testing device of overturning multistable compliant mechanism - Google Patents
Mechanical property testing device of overturning multistable compliant mechanism Download PDFInfo
- Publication number
- CN112098059A CN112098059A CN202010797453.7A CN202010797453A CN112098059A CN 112098059 A CN112098059 A CN 112098059A CN 202010797453 A CN202010797453 A CN 202010797453A CN 112098059 A CN112098059 A CN 112098059A
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- sliding block
- guide rail
- rotating shaft
- transmission rack
- mechanical property
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
Abstract
The invention discloses a mechanical property testing device of a turnover multistable compliant mechanism, wherein a force measuring device is arranged between a force transmission rack and a first sliding block of a first sliding mechanism, and a gear of a turnover mechanism is meshed with the force transmission rack, so that the force transmission rack can linearly slide along with the rotation of the gear; the annular compliant mechanism is cut into two sections before testing, two ends of each section of compliant mechanism are respectively connected to the end parts of the first rotating shaft and the second rotating shaft which are on the same side, accurate control of the overturning angle of the compliant mechanism is achieved by sliding adjustment of the first sliding block and/or the second sliding block, meanwhile, the gear is in transmission fit with the force transmission rack, torque generated when the compliant mechanism overturns is converted into force which can be measured by the force measuring device, and therefore the overturning moment value can be calculated by combining the radius of the gear, and the device is convenient and reliable to operate.
Description
Technical Field
The invention relates to the field of detecting instruments, in particular to a mechanical property testing device of a turnover multistable compliant mechanism.
Background
The flexible mechanism is a device which transmits force or displacement by utilizing self elastic deformation, has the advantages of no gap, no lubrication, no need of assembly, high precision, high rigidity and the like, is widely applied to a plurality of fields of robot science, precision positioning, medical engineering and the like, and gradually becomes the direction of enthusiastic research of related scientific researchers in mechanistic science.
Unlike traditional rigid mechanisms, compliant mechanisms inherently have changes in internal potential energy during movement and deformation, wherein certain specific compliant mechanisms spontaneously settle in one or more positions during movement, which is referred to as a multi-stable behavior of the compliant mechanism. The steady state of the compliant mechanism can be mapped to the minimum value of the internal potential energy-displacement curve in the process of becoming the steady state, so that the research on the internal potential energy change condition of the compliant mechanism is the key for researching the steady state of the compliant mechanism. Most of multi-stable compliant mechanisms have one or more stable positions in the moving process, the mechanical property testing methods are often simpler, the requirements can be met only by testing the force-displacement curve of the mechanism, and the function can be realized by a common mechanical property testing platform. The compliant mechanism with the rotation function usually needs to test a torque-rotation angle curve and is not easy to directly measure and obtain.
The measurement of the torque is one of important bases of many researches on the mechanical property of a certain structure, wherein the overturning torque is an important base of the measurement of the torque transmission of the overturning of the compliant mechanism, however, no relevant device for measuring the overturning moment of the compliant mechanism with small size and large stroke exists in the market at present.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art and provides a mechanical property testing device for a turnover multistable compliant mechanism.
The mechanical property testing device of the overturning multistable compliant mechanism comprises a base; the turnover mechanism is arranged on the base and comprises a first rotating shaft and a gear fixedly connected to the first rotating shaft; the first sliding mechanism is arranged on one side of the turnover mechanism and is provided with a first guide rail, a first sliding block and a force transmission rack, the first sliding block is slidably mounted on the first guide rail, the force transmission rack is connected with the first sliding block, and the force transmission rack is meshed with the gear; the second sliding mechanism is arranged on the other side of the turnover mechanism and provided with a second guide rail and a second sliding block which is slidably arranged on the second guide rail, and a supporting seat is arranged on the second sliding block; the force measuring device is arranged between the force transmission rack and the first sliding block, a second rotating shaft is connected to the supporting seat in a penetrating mode, the second rotating shaft and the first rotating shaft are parallel to each other and located on the same horizontal plane, one end of the compliance mechanism is connected to the first rotating shaft, and the other end of the compliance mechanism is connected with the second rotating shaft.
The mechanical property testing device for the overturning multistable compliant mechanism provided by the embodiment of the invention at least has the following beneficial effects: the mechanical property testing device of the turnover multistable compliant mechanism comprises a base, a turnover mechanism, a first sliding mechanism and a second sliding mechanism, wherein a force measuring device is arranged between a force transmission rack of the first sliding mechanism and a first sliding block, and a gear of the turnover mechanism is meshed with the force transmission rack, so that the force transmission rack can linearly slide along with the rotation of a first rotating shaft; the annular compliant mechanism is cut into two sections before testing, two ends of each section of compliant mechanism are connected to the end portions of the first rotating shaft and the second rotating shaft on the same side respectively, accurate control of the overturning angle of the compliant mechanism is achieved by sliding and adjusting the first sliding block and/or the second sliding block, meanwhile, the gear of the first rotating shaft is in transmission fit with the force transmission rack, torque generated when the compliant mechanism overturns is converted into force which can be measured by the force measuring device, and therefore the overturning moment value can be obtained through calculation by combining the radius of the gear, and operation is convenient and reliable. Moreover, the second rotating shaft and the first rotating shaft are arranged on the same horizontal plane, so that the connection parts of the two ends of the flexible mechanism are equally influenced by gravity, and the data accuracy is improved.
According to some embodiments of the invention, the turnover mechanism further comprises a support, the support is located in the middle of the base and comprises two vertical plates which are symmetrically arranged in parallel, and mounting holes for two ends of the first rotating shaft to pass through are respectively formed in the tops of the two vertical plates.
According to some embodiments of the invention, a connecting table is fixed above the first sliding block, one end of the force measuring device is fixedly connected to the connecting table, and the other end of the force measuring device is connected with the end of the force transmission rack.
According to some embodiments of the invention, a third sliding block is arranged at the bottom of the force transmission rack, a third guide rail adapted to the third sliding block is arranged on the base, and the extending direction of the third guide rail is consistent with the extending direction of the first guide rail.
According to some embodiments of the invention, a strip-shaped connecting seat is configured on the first sliding block, the connecting seat is parallel to the first guide rail, a protrusion is formed on the upper surface of the connecting seat, one end of the force measuring device is fixed with the protrusion, and the other end of the force measuring device is connected to the end of the force transmission rack.
According to some embodiments of the invention, one end of the coupling socket extends below the force transmission rack, and at least one rolling element is arranged between an upper surface of the coupling socket and a lower surface of the force transmission rack.
According to some embodiments of the invention, a fourth sliding block is arranged below the connecting seat, a fourth guide rail matched with the fourth sliding block is arranged on the base, and the fourth guide rail is parallel to the first guide rail.
According to some embodiments of the invention, the top of the supporting seat forms a U-shaped groove, the height of the bottom of the U-shaped groove is not higher than the height of the bottom wall of the force transmission rack, and the second rotating shaft traverses the U-shaped groove.
According to some embodiments of the invention, a flange bearing is fitted between the second rotating shaft and the U-shaped groove.
According to some embodiments of the invention, the force measuring device is a load cell.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is an overall assembly view of a mechanical property testing device of an inverted multistable compliant mechanism according to an embodiment of the invention;
FIG. 2 is an overall assembly view of a mechanical property testing device of an inverted multistable compliant mechanism according to another embodiment of the invention;
fig. 3 is an assembly view of a connecting socket, a force measuring device and a force transmitting rack according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, the mechanical property testing device for the turnover multistable compliant mechanism in the embodiment of the invention comprises a base 1, and a turnover mechanism, a first sliding mechanism and a second sliding mechanism which are installed on the base 1. Wherein, the base 1 is of a flat structure; the turnover mechanism is arranged in the middle of the base 1 and comprises a first rotating shaft and a gear fixedly connected to the first rotating shaft; the first sliding mechanism is arranged on one side of the turnover mechanism and is provided with a first guide rail 31, a first sliding block 32 which is slidably arranged on the first guide rail 31 and a force transmission rack 33 connected with the first sliding block 32, and the force transmission rack 33 is meshed with the gear 22; the second sliding mechanism is disposed on the other side of the turnover mechanism, and the second sliding mechanism has a second guide rail 41 and a second sliding block 42 slidably mounted on the second guide rail 41, and a supporting seat 43 is disposed on the second sliding block 42.
More specifically, a force measuring device 5 is arranged between the force transmission rack 33 and the first sliding block 32, a second rotating shaft 6 is connected to the supporting seat 43 in a penetrating manner, the center line of the second rotating shaft 6 and the center line of the first rotating shaft are located on the same horizontal plane, one end of the compliant mechanism is connected to the first rotating shaft, and the other end of the compliant mechanism is connected to the second rotating shaft 6. Further, the force measuring device 5 employs a force sensor.
The mechanical property testing device of the turnover multistable compliant mechanism provided by the embodiment of the invention comprises a base 1, a turnover mechanism, a first sliding mechanism and a second sliding mechanism, wherein a force measuring device 5 is arranged between a force transmission rack 33 of the first sliding mechanism and a first sliding block 32, and a gear 22 of the turnover mechanism is meshed with the force transmission rack 33, so that the force transmission rack 33 can linearly slide along with the rotation of a first rotating shaft, and the gear pitch of the gear 22 and the force transmission rack 33 is small, so that the mechanical property testing device is particularly suitable for the measurement of the small-size compliant mechanism; before testing, the annular compliant mechanism is cut into two sections, two ends of each section of compliant mechanism are respectively connected to the end parts of the first rotating shaft and the second rotating shaft 6 at the same side, the accurate control of the overturning angle of the compliant mechanism is realized by sliding and adjusting the first sliding block 32 and/or the second sliding block 42, meanwhile, the gear 22 of the first rotating shaft is in transmission fit with the force transmission rack 33, the torque generated when the compliant mechanism overturns is converted into the force which can be measured by the force measuring device 5, and therefore the overturning moment value can be obtained by calculation by combining the radius of the gear 22, and the operation is convenient and reliable. Moreover, the second rotating shaft 6 is parallel to the first rotating shaft and is positioned on the same horizontal plane, so that the connection parts of the two ends of the compliant mechanism are equally influenced by gravity, and the data accuracy is improved.
Referring to fig. 1, in one embodiment of the present invention, a connecting table 7 is fixed above a first sliding block 32, one end of a force measuring device 5 is fixedly connected to the connecting table 7, and the other end of the force measuring device 5 is connected to the end of a force transmission rack 33. Specifically, the connecting table 7 comprises a bottom plate and a vertical plate arranged on the upper surface of the bottom plate, and one end of the force measuring device 5 is fixed with the vertical plate through a bolt; in order to improve the integrity of the connecting table 7, the bottom plate and the vertical plate are integrally formed in this embodiment. Furthermore, a third slide block 331 is disposed at the bottom of the force transmission rack 33, a third guide rail 11 adapted to the third slide block 331 is disposed on the base 1, the third slide block 331 can slide along the third guide rail 11, and the extending direction of the third guide rail 11 is the same as the extending direction of the first guide rail 31. Through the cooperation of the third sliding block 331 and the third guide rail 11, a guarantee is provided for avoiding the force transmission rack 33 from deviating in the sliding process, the stability of the sliding process of the force transmission rack 33 is also improved, inevitable test errors caused by the deviation of the force transmission rack 33 are avoided, and the accuracy and the reliability of test results are effectively ensured.
Referring to fig. 2 and 3, in another embodiment of the present invention, a bar-shaped connecting seat 8 is disposed on a first sliding block 32; the extending direction of the connecting base 8 is the same as the length direction of the first guide rail 31. Specifically, a protrusion 81 is formed on the upper surface of the connecting seat 8, and the protrusion 81 is located at one end where the connecting seat 8 and the first sliding block 32 are fixed; one end of the force measuring device 5 is fixed to the protrusion 81, and the other end of the force measuring device 5 is connected to the end of the force transmission rack 33. Meanwhile, one end of the connecting seat 8 extends to the lower part of the force transmission rack 33, a fourth sliding block 82 is arranged below the connecting seat 8, a fourth guide rail 12 matched with the fourth sliding block 82 is arranged on the base 1, and the fourth guide rail 12 is parallel to the first guide rail 31; further, at least one rolling element 9 is arranged between the upper surface of the connecting socket 8 and the lower surface of the force transmission rack 33. The arrangement of the rolling member 9 can separate the external force applied to the connecting seat 8 from the force applied to the force transmission rack 33 and transmitted by the gear 22, thereby preventing the force applied to the force transmission rack 33 from being interfered by the damping between the fourth slider 82 and the fourth guide rail 12, and enabling the data measured by the force measuring device 5 to be closer to the actual value. In this embodiment, the rolling member 9 is a flange bearing having two side flange covers, the distance between the two side flange covers is the same as the width of the force transmission rack 33, and the force transmission rack 33 can be clamped between the two flange covers, thereby realizing the limit of the force transmission rack 33.
In the above embodiment, the moving stroke of the first slider 32 on the first guide rail 31 is 50mm, and the moving stroke of the second slider 42 on the second guide rail 41 is 100mm, so that the mechanical property testing apparatus of the above embodiment can be used for measuring and calculating the overturning moment of a series of small-sized compliant mechanisms with arc diameters of 75mm to 175 mm.
More specifically, in the above embodiment, the bracket 21 includes two vertical plates 211 symmetrically disposed in parallel, and the top portions of the two vertical plates 211 are respectively provided with a mounting hole for the end portion of the first rotating shaft to pass through. Meanwhile, in order to avoid unnecessary interference between the force transmission rack 33 and the supporting seat 43 in the moving process and influence the complete turnover motion of the compliant mechanism, a U-shaped groove is formed at the top of the supporting seat 43, the height of the bottom wall of the U-shaped groove is not higher than that of the bottom wall of the force transmission rack 33, and the second rotating shaft 6 transversely penetrates through the top of the U-shaped groove.
In order to reduce the friction between the first rotating shaft and the second rotating shaft 6 and the vertical plate 211 and between the first rotating shaft and the second rotating shaft 6 and the U-shaped groove in the rotating process, flange bearings are respectively arranged between the first rotating shaft and the vertical plate 211 and between the second rotating shaft 6 and the U-shaped groove. Furthermore, two ends of the first rotating shaft and the second rotating shaft 6 are respectively provided with a rotating joint 10, so that the end part of the compliant mechanism can be conveniently fixed with the first rotating shaft or the second rotating shaft 6.
When the mechanical property testing device of the overturning multistable compliant mechanism is used, the overturning compliant mechanism is firstly split into two parts with the same length, and the head and the tail of the overturning compliant mechanism are provided with the switching structures; and then the switching structure is fixedly connected with the adapter of the first rotating shaft or the second rotating shaft 6 through bolts, so that two ends of the overturning compliant mechanism can respectively finish rotating motion coaxially and synchronously with the first rotating shaft and the connecting shaft. Then, the first sliding block 32 and the second sliding block 42 are slid, and the two ends of each section of the overturning compliant mechanism are positioned according to the overturning diameter of the overturning compliant mechanism, so that the overturning diameter of the overturning compliant mechanism is ensured to be unchanged in the experiment. Then, the actual displacement of the force transmission rack 33 is obtained through the displacement of the third sliding block 331 or the fourth sliding block 82, and then the rotation angle of the gear 22 is calculated, so that the actual overturning angle of the overturning compliant mechanism can be obtained. And the force transmitted to the force transmission rack 33 by the overturning compliant mechanism in the overturning process can be obtained through the force sensor, and the actual overturning moment value can be obtained through calculation by combining the radius of the gear 22.
The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope of the claims of the present application.
Claims (10)
1. Mechanical property testing arrangement of gentle and agreeable mechanism of upset multistation, its characterized in that includes:
a base;
the turnover mechanism is arranged on the base and comprises a first rotating shaft and a gear fixedly connected to the first rotating shaft;
the first sliding mechanism is arranged on one side of the turnover mechanism and is provided with a first guide rail, a first sliding block and a force transmission rack, the first sliding block is slidably mounted on the first guide rail, the force transmission rack is connected with the first sliding block, and the force transmission rack is meshed with the gear; and
the second sliding mechanism is arranged on the other side of the turnover mechanism and is provided with a second guide rail and a second sliding block which is slidably arranged on the second guide rail, and a supporting seat is arranged on the second sliding block;
a force measuring device is arranged between the force transmission rack and the first sliding block, a second rotating shaft is installed on the supporting seat, and the second rotating shaft and the first rotating shaft are parallel to each other and are located on the same horizontal plane.
2. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 1, characterized in that: the turnover mechanism further comprises a support, the support is located in the middle of the base and comprises two vertical plates which are symmetrically arranged in parallel, and mounting holes for the two ends of the first rotating shaft to penetrate through are formed in the tops of the vertical plates respectively.
3. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 1, characterized in that: a connecting table is fixed above the first sliding block, one end of the force measuring device is fixedly connected to the connecting table, and the other end of the force measuring device is connected with the end of the force transmission rack.
4. A mechanical property testing device for a reversible multistable compliant mechanism according to claim 3, characterized in that: the bottom of biography power rack disposes No. three sliders, be equipped with on the base with No. three slider adaptation's third guide rail, the extending direction of third guide rail with the extending direction of first guide rail is unanimous.
5. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 1, characterized in that: a strip-shaped connecting seat is arranged on the first sliding block, the connecting seat is parallel to the first guide rail, a bulge is formed on the upper surface of the connecting seat, one end of the force measuring device is fixed with the bulge, and the other end of the force measuring device is connected to the end part of the force transmission rack.
6. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 5, characterized in that: one end of the connecting seat extends to the lower part of the force transmission rack, and at least one rolling piece is arranged between the upper surface of the connecting seat and the lower surface of the force transmission rack.
7. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 6, characterized in that: the connecting seat is provided with a fourth sliding block below, the base is provided with a fourth guide rail matched with the fourth sliding block, and the fourth guide rail is parallel to the first guide rail.
8. The mechanical property testing device for the overturning multistable compliant mechanism according to claim 1, characterized in that: the top of supporting seat forms a U type groove, the tank bottom height in U type groove is not higher than the diapire height of biography power rack, the second pivot is violently passed U type groove.
9. A mechanical property testing device for a reversible multistable compliant mechanism according to claim 8, characterized in that: and a flange bearing is assembled between the second rotating shaft and the U-shaped groove.
10. A mechanical property testing device for a reversible multistable compliant mechanism according to any one of claims 1 to 9, characterized in that: the force measuring device is a force measuring sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010797453.7A CN112098059B (en) | 2020-08-10 | 2020-08-10 | Mechanical property testing device of overturning multistable compliant mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010797453.7A CN112098059B (en) | 2020-08-10 | 2020-08-10 | Mechanical property testing device of overturning multistable compliant mechanism |
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| Publication Number | Publication Date |
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| CN112098059A true CN112098059A (en) | 2020-12-18 |
| CN112098059B CN112098059B (en) | 2022-02-15 |
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| CN202010797453.7A Active CN112098059B (en) | 2020-08-10 | 2020-08-10 | Mechanical property testing device of overturning multistable compliant mechanism |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205388550U (en) * | 2016-01-26 | 2016-07-20 | 大连理工大学 | Ocean engineering compliance pipe cable twists reverse testing arrangement |
| CN107140237A (en) * | 2017-06-12 | 2017-09-08 | 华南理工大学 | A kind of submissive folding and unfolding mechanism of multistable |
| CN109238764A (en) * | 2018-11-05 | 2019-01-18 | 重庆德新机器人检测中心有限公司 | A kind of static state flexibility loading equipemtn and load test system |
| CN208773119U (en) * | 2018-08-31 | 2019-04-23 | 苏州智合源电子科技有限公司 | A kind of turnover mechanism |
| CN209945592U (en) * | 2019-05-31 | 2020-01-14 | 华南理工大学 | Stress measuring device for compliant hinge |
-
2020
- 2020-08-10 CN CN202010797453.7A patent/CN112098059B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205388550U (en) * | 2016-01-26 | 2016-07-20 | 大连理工大学 | Ocean engineering compliance pipe cable twists reverse testing arrangement |
| CN107140237A (en) * | 2017-06-12 | 2017-09-08 | 华南理工大学 | A kind of submissive folding and unfolding mechanism of multistable |
| CN208773119U (en) * | 2018-08-31 | 2019-04-23 | 苏州智合源电子科技有限公司 | A kind of turnover mechanism |
| CN109238764A (en) * | 2018-11-05 | 2019-01-18 | 重庆德新机器人检测中心有限公司 | A kind of static state flexibility loading equipemtn and load test system |
| CN209945592U (en) * | 2019-05-31 | 2020-01-14 | 华南理工大学 | Stress measuring device for compliant hinge |
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| CN112098059B (en) | 2022-02-15 |
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