CN112630043A - Pneumatic artificial muscle static characteristic comprehensive test system - Google Patents
Pneumatic artificial muscle static characteristic comprehensive test system Download PDFInfo
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- CN112630043A CN112630043A CN202011371407.7A CN202011371407A CN112630043A CN 112630043 A CN112630043 A CN 112630043A CN 202011371407 A CN202011371407 A CN 202011371407A CN 112630043 A CN112630043 A CN 112630043A
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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
- G01N3/16—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces applied through gearing
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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
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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
- G01N3/20—Investigating strength properties of solid materials by application of mechanical stress by applying steady bending forces
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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
- G01N2203/0017—Tensile
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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
- G01N2203/0023—Bending
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Abstract
The application discloses static characteristic integrated test system of pneumatic artificial muscle belongs to pneumatic artificial muscle test technical field, the power distribution box comprises a box body, the fixed bolster, rotating-structure, sliding structure, control structure, rotary encoder, first force sensor, second force sensor and be used for the pneumatic module for pneumatic artificial muscle is aerifyd, the fixed bolster is installed in the box, rotary encoder installs between fixed bolster and rotating-structure, sliding structure can remove for the box, control structure and box sliding connection, control structure alternative is connected with one among rotating-structure and the sliding structure. The static characteristic comprehensive test system of pneumatic artificial muscle disclosed by the embodiment can test the tensile characteristic of the pneumatic artificial muscle and can test the bending characteristic of the pneumatic artificial muscle, and the system is simple in structure and convenient to operate, and can test the tensile property and the bending property of the pneumatic artificial muscle only by mounting the pneumatic artificial muscle once.
Description
Technical Field
The invention relates to the technical field of pneumatic artificial muscle testing, in particular to a comprehensive testing system for static characteristics of pneumatic artificial muscles.
Background
The Pneumatic Artificial Muscle (PAM) is a flexible driver and has the advantages of light weight, strong flexibility, no pollution, simple manufacturing process and the like. In recent years, with the development of wearable equipment and bionic robot technology, the simple portability of equipment wearing, the control compliance of bionic robot more and more become the focus of scientific research personnel's attention. The pneumatic artificial muscles have different types for different use occasions, the common bending pneumatic artificial muscles and the common linear pneumatic artificial muscles have wide application in various fields due to higher linearity and stronger wearing adaptability.
The existing pneumatic artificial muscle characteristic testing device has the limitation that the device can only test the bending characteristic or the stretching characteristic of a single pair of pneumatic artificial muscles, and after one of the characteristics is tested, the device needs to be detached and reinstalled when the other characteristic is tested, so that the operation is complex.
Disclosure of Invention
The invention aims to solve the technical problem of disclosing a pneumatic artificial muscle static characteristic comprehensive test system so as to improve the problem.
The technical scheme adopted by the invention for solving the technical problems is as follows:
based on the above purpose, the invention discloses a comprehensive testing system for static characteristics of pneumatic artificial muscles, which is used for testing the performance of the pneumatic artificial muscles and comprises the following components:
a box body;
the fixed supporting plate is arranged on the box body;
the rotating structure comprises a first driven gear, a rotary disc and a rotating support plate, the first driven gear is connected with the rotary disc, the rotary disc is rotatably connected with the box body, the rotating support plate is installed on the rotary disc, and the first end of the pneumatic artificial muscle is installed on the rotating support plate;
the sliding structure comprises a second driven gear, a connecting rod, a sliding rod and a movable supporting plate, the connecting rod is mounted on the second driven gear, one end, away from the second driven gear, of the connecting rod is connected with the sliding rod in a sliding mode, the connecting rod is connected with the sliding rod in a rotating mode, the sliding rod is connected with the box body in a sliding mode, the moving direction of the sliding rod is parallel to the rotating plane of the rotating disc, the movable supporting plate is mounted on the sliding rod, and the second end of the pneumatic artificial muscle is mounted on the movable supporting plate;
the control structure comprises a driving gear and a control rod, the control rod is connected with the box body in a sliding mode, the control rod slides along the extending direction of a connecting line of the first driven gear and the second driven gear, and the driving gear is selected to be meshed with one of the first driven gear and the second driven gear;
the rotary encoder is arranged between the fixed supporting plate and the rotating supporting plate;
the first tension sensor is arranged between the turntable and the rotating support plate;
a second tension sensor mounted between the pneumatic artificial muscle and the moving support plate; and
a pneumatic module for inflating the pneumatic artificial muscle.
In some embodiments of this embodiment: the control structure comprises a box body, wherein two control grooves are formed in the box body and are communicated through connecting holes, the control structure further comprises a limiting strip, the limiting strip is installed on a control rod, the diameter of the limiting strip is smaller than or equal to that of the connecting holes, the length of the limiting strip is equal to that of the control grooves, and when the limiting strip is arranged in one of the control grooves, the driving gear is meshed with the first driven gear or the second driven gear.
In some embodiments of this embodiment: still be provided with the spout on the box, the spout with the connecting hole intercommunication, just the extending direction of spout is with two the connecting wire direction of control groove is perpendicular, control structure still includes turn-knob and stopper, the stopper with box sliding connection, just the stopper joint in the spout, be provided with the rack on the stopper, turn-knob with the box rotates to be connected, just be provided with on the turn-knob with rack complex gear, it is rotatory the turn-knob can make the stopper gets into or leaves the connecting hole.
In some embodiments of this embodiment: the limiting block and the two sides corresponding to the control grooves are respectively provided with cambered surfaces, and the diameters corresponding to the cambered surfaces are equal to the diameters of the control grooves.
In some embodiments of this embodiment: the control structure still includes the fixed strip, the fixed strip with box sliding connection, the slip direction of fixed strip with the slip direction of control lever is parallel, the both ends of fixed strip are provided with first latch respectively, first latch can with first driven gear perhaps second driven gear meshes, the fixed strip with the control lever is connected, just the moving direction of fixed strip with the moving direction of control lever is opposite, works as the driving gear with first driven gear with when one of second driven gear meshes, the fixed strip with first driven gear with another one meshing in the second driven gear.
In some embodiments of this embodiment: the box body is provided with a lever, the lever is rotatably connected with the box body, one end of the lever is rotatably connected with the control rod, and the other end of the lever is rotatably connected with the fixing strip.
In some embodiments of this embodiment: the control structure still includes supplementary fixed strip, supplementary fixed strip with box sliding connection, the slip direction of supplementary fixed strip with the slip direction of control lever is perpendicular, the both ends of supplementary fixed strip are provided with the second latch respectively, two the second latch can respectively with first driven gear with the meshing of second driven gear, supplementary fixed strip with turn-knob threaded connection works as turn-knob control the stopper leaves during the connecting hole, supplementary fixed strip orientation first driven gear with second driven gear is close to, and two the second latch respectively with first driven gear and the meshing of second driven gear.
In some embodiments of this embodiment: the driving gear is a helical gear, the first driven gear is a helical gear, and the second driven gear is a helical gear.
In some embodiments of this embodiment: the connecting rod with be provided with the middleware between the slide bar, the first end of middleware install in the connecting rod, the middleware with the connecting rod rotates to be connected, the second end of middleware install in the slide bar, the middleware with slide bar sliding connection, the slip direction of middleware with the slip direction of slide bar is perpendicular, just the slip direction of middleware with the rotation plane of carousel is parallel.
In some embodiments of this embodiment: the cross section of the first end of the middle piece is circular, and the cross section of the second end of the middle piece is rectangular
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a static characteristic comprehensive test system of pneumatic artificial muscles, which can test the tensile characteristic of the pneumatic artificial muscles and the bending characteristic of the pneumatic artificial muscles, when the system is installed, the pneumatic artificial muscles are installed between a rotating support plate and a moving support plate, only a control structure is required to be operated, one of the tensile performance and the bending performance of the pneumatic artificial muscles can be tested, when the tensile performance is tested, the position of the rotating support plate is firstly adjusted, the numerical value of a first tension sensor is displayed as zero, at the moment, the pneumatic artificial muscles are parallel to a fixed support plate, and then when a sliding support plate is controlled to control the pneumatic artificial muscles, the pneumatic artificial muscles cannot collide with the fixed support plate and the rotating support plate; when carrying out bending property test, adjust earlier and remove the backup pad, make second force sensor's vertical zero, pneumatic artificial muscle's initial pulling force value is zero this moment, later when the backup pad is rotated in the control and is controlled pneumatic artificial muscle, its measured data accuracy more, this kind of pneumatic artificial muscle static characteristic integrated test system simple structure, convenient operation only needs once to pneumatic artificial muscle installation, can accomplish tensile properties and bending property test to pneumatic artificial muscle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a top view of a pneumatic artificial muscle static characteristic testing device disclosed by an embodiment of the invention;
FIG. 2 shows a top view of the disclosed enclosure of an embodiment of the present invention;
FIG. 3 is a front cross-sectional view of a pneumatic artificial muscle static characteristic testing device disclosed by an embodiment of the invention;
FIG. 4 is a schematic diagram of a rotary structure disclosed in an embodiment of the present invention;
FIG. 5 is a schematic view of a sliding mechanism disclosed in an embodiment of the present invention;
FIG. 6 illustrates a top view of a sliding motion configuration disclosed in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a control structure disclosed in an embodiment of the invention from a first perspective;
FIG. 8 illustrates a cross-sectional view of a control structure at a second perspective lever, in accordance with an embodiment of the present disclosure;
FIG. 9 illustrates a cross-sectional view of a control structure at a second view angle limiter, in accordance with an embodiment of the present invention;
FIG. 10 is a front cross-sectional view of a pneumatic artificial muscle static characteristic testing device at a box body according to an embodiment of the invention;
FIG. 11 shows an enlarged partial view of FIG. 10 in accordance with an embodiment of the present disclosure;
fig. 12 is a schematic view illustrating a stopper in a second position according to an embodiment of the disclosure.
In the figure:
100-a box body; 110-circular hole; 120-strip shaped holes; 130-a control slot; 140-a chute; 150-connecting hole; 200-fixing a support plate; 300-a rotating structure; 310-a first driven gear; 320-a turntable; 330-rotating the support plate; 400-a sliding structure; 410-a second driven gear; 420-a connecting rod; 430-a slide bar; 440-moving the support plate; 450-middleware; 500-revolution encoder; 600-a first tension sensor; 700-a second tension sensor; 800-pneumatic artificial muscle; 900-control structure; 910-a drive gear; 920-control lever; 930-limit strips; 940-fixing strips; 950-lever; 960-bearing; 970-a stop block; 980-turning; 990-auxiliary fixing strip.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as disclosed in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
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, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example (b):
referring to fig. 1 to 12, an embodiment of the present invention discloses a system for comprehensively testing static characteristics of a pneumatic artificial muscle, which includes a box 100, a fixed support plate 200, a rotating structure 300, a sliding structure 400, a control structure 900, a rotary encoder 500, a first tension sensor 600, a second tension sensor 700, and a pneumatic module for inflating the pneumatic artificial muscle 800.
The box body 100 can be set to be a semi-closed structure to form certain protection and support for components therein, a circular hole 110 and a strip-shaped hole 120 can be arranged at the top of the box body 100, the extending direction of the strip-shaped hole 120 passes through the circle center of the circular hole 110, the fixed support plate 200 is installed at the top of the box body 100, the fixed support plate 200 can be arranged between the circular hole 110 and the strip-shaped hole 120, and one end of the support plate, which is far away from the strip-shaped hole 120, can extend to be close to the circle center of the circular;
the rotating structure 300 may include a first driven gear 310, a rotating plate 320 and a rotating support plate 330, the first driven gear 310 is connected to the rotating plate 320, the rotating plate 320 is rotatably connected to the case 100, the rotating plate 320 is located in the circular hole 110, the rotating plate 320 is coaxially disposed with the circular hole 110, the rotating support plate 330 is mounted to the rotating plate 320, the rotating support plate 330 can rotate with the rotating plate 320, the rotating support plate 330 and the fixed support plate 200 can be symmetrically disposed along a center of the rotating plate 320, one end of the rotary encoder 500 is connected to a side of the rotating support plate 330 facing the fixed support plate 200, the other end of the rotary encoder 500 is connected to a side of the fixed support plate 200 facing the rotating support plate 330, the rotary encoder 500 can be located on an extension line of an axial line of the rotating plate 320, further, in this embodiment, a connecting member may be disposed between the rotating support plate 330 and the fixed support plate 200 to form a rotating connection, the rotary encoder 500 may be installed on a rotation shaft between the rotation support plate 330 and the fixed support plate 200, and in the test process, the information of the angle of the rotation support plate 330 rotating around the fixed support plate 200 is obtained by the rotary encoder 500 installed at the center thereof; the first tension sensor 600 is arranged between the turntable 320 and the rotating support plate 330 and is used for measuring the acting force exerted between the rotating support plate 330 and the turntable 320 by the recovery trend of the deformed pneumatic artificial muscle 800 after the turntable 320 rotates by a certain angle, the first end of the pneumatic artificial muscle 800 is arranged on the rotating support plate 330, the rest part of the pneumatic artificial muscle 800 can lean against the fixed support plate 200, when the turntable 320 drives the rotating support plate 330 to rotate, the force measured by the first tension sensor 600 is the force provided by the pneumatic artificial muscle 800, and the moment provided by the pneumatic artificial muscle 800 can be obtained by multiplying the force by the moment arm;
the sliding structure 400 may include a second driven gear 410, a connecting rod 420, a sliding rod 430, and a moving support plate 440, the connecting rod 420 is mounted to the second driven gear 410, one end of the connecting rod 420 facing away from the second driven gear 410 is slidably connected to the sliding rod 430, a direction in which the connecting rod 420 rotates with respect to the sliding rod 430 is perpendicular to a rotation plane of the rotating plate 320, the connecting rod 420 is rotatably connected to the sliding rod 430, a sliding direction of the connecting rod 420 with respect to the sliding rod 430 is parallel to a rotation plane of the rotating plate 320, the sliding rod 430 is slidably connected to the casing 100, a moving direction of the sliding rod 430 is parallel to a rotation plane of the rotating plate 320, when the connecting rod 420 rotates with the second driven gear 410, one end of the connecting rod 420 facing away from the second driven gear 410 may move on the sliding rod 430 along a length direction of the sliding rod 430, and since a position of the second driven gear 410 is fixed, the sliding rod 430 may circulate toward a circle of the second driven gear 410 during rotation The heart is close to or far away from, the movable support plate 440 is mounted on the sliding rod 430, the movable support plate 440 extends out of the box 100 along the strip-shaped hole 120, and when the sliding rod 430 moves, the second tension sensor 700 which can drive the movable support plate 440 to slide in the strip-shaped hole 120 can be mounted on one side of the movable support plate 440 facing the fixed support plate 200, the second end of the pneumatic artificial muscle 800 is connected with the movable support plate 440 through the second tension sensor 700, when the movable support plate 440 is far away from the fixed support plate 200 along the strip-shaped hole 120, the tension borne by the pneumatic artificial muscle 800 is increased, when the movable support plate 440 is close to the fixed support plate 200 along the strip-shaped hole 120, the tension borne by the pneumatic artificial muscle 800 is decreased, and the force measured by the second tension sensor 700 is the tension;
the control structure 900 is used for controlling the operation of the rotating structure 300 and the sliding structure 400, the control structure 900 may include a driving gear 910 and a control lever 920, the control lever 920 is slidably connected to the casing 100, the control lever 920 slides along the extending direction of the connecting line of the first driven gear 310 and the second driven gear 410, the driving gear 910 may be engaged with both the first driven gear 310 and the second driven gear 410, when the control lever 920 drives the driving gear 910 to move, the driving gear 910 may be selectively engaged with one of the first driven gear 310 and the second driven gear 410, when the driving gear 910 is engaged with the first driven gear 310, the driving gear 910 rotates to drive the first driven gear 310 to rotate, and further drive the rotating plate 320 and the rotating support plate 330 to rotate, at this time, the relationship between the torque and the bending angle of the pneumatic artificial muscle 800 may be measured, and when the driving gear 910 is engaged with the second driven gear 410, the driving gear 910 rotates to drive the second driven gear 410 to rotate, and further drives the sliding rod 430 and the movable supporting plate 440 to slide, so that the relationship between the tension and the stretching degree of the pneumatic artificial muscle 800 can be measured.
In the present embodiment, the rotation of the driving gear 910 is controlled manually or driven by a motor, and in the manual control, for example, the operation is simpler and more convenient when acquiring multiple sets of data.
And the driving gear 910 may be configured as a helical gear, the first driven gear 310 may be configured as a helical gear, and the second driven gear 410 may also be configured as a helical gear, so that the driving gear 910 is more conveniently matched with the first driven gear 310 and the second driven gear 410.
The system for comprehensively testing the static characteristics of the pneumatic artificial muscle disclosed in the embodiment can test the tensile characteristics of the pneumatic artificial muscle 800 and the bending characteristics of the pneumatic artificial muscle 800, when the system is installed, the pneumatic artificial muscle 800 is installed between the rotating support plate 330 and the moving support plate 440, only the control structure 900 needs to be operated, one of the tensile performance and the bending performance of the pneumatic artificial muscle 800 can be tested, when the tensile performance is tested, the position of the rotating support plate 330 is adjusted first, the numerical value of the first tension sensor 600 is displayed as zero, the pneumatic artificial muscle 800 is parallel to the fixed support plate 200 at the moment, and then when the sliding support plate is controlled to control the pneumatic artificial muscle 800, the pneumatic artificial muscle 800 does not collide with the fixed support plate 200 and the rotating support plate 330; when carrying out bending property test, adjust earlier and remove backup pad 440, make second force sensor 700 vertical be zero, pneumatic artificial muscle 800's initial tension value is zero this moment, later when control rotation backup pad 330 is controlled pneumatic artificial muscle 800, its measured data is more accurate, this kind of static characteristic comprehensive testing system of pneumatic artificial muscle simple structure, convenient operation only needs once to install pneumatic artificial muscle 800, can accomplish tensile properties and bending property test to pneumatic artificial muscle 800.
The pneumatic module can be composed of an air compressor, a pneumatic triple piece and an electric proportional valve. Because the pneumatic artificial muscle 800 needs to be inflated and deflated in the experimental process, an air compressor is selected as an air source to ensure that sufficient air exists in the long-time testing process. The air compressor is connected with the pneumatic triple piece through an air pipe. The pneumatic triple piece consists of an air filter, a pressure reducing valve and an oil atomizer and is vertically installed on the ground through a wide base and a wide vertical plate. The air filter purifies and filters air to ensure that the air entering the pneumatic module is clean. The pressure reducing valve stabilizes the pressure of the air source to reduce the pressure of the air outlet so as to reach the air pressure range allowed by the air inlet of the electric proportional valve. According to the requirement of the pneumatic artificial muscle 800 test, the manual roller is adjusted to reduce the air pressure at the outlet of the pressure reducing valve and meet the allowable value of the air inlet of the electric proportional valve. The oil atomizer lubricates the components of the whole pneumatic module, and the service life of the components is prolonged. The air outlet of the pneumatic triple piece is connected with the air inlet of the electric proportional valve through an air pipe. The electric proportional valve is installed through a narrow base and a narrow vertical plate to be vertical to the ground. The electric proportional valve is used as a high-precision air pressure adjusting device, and is used for reducing the air pressure entering an air inlet of the electric proportional valve again and then outputting constant output air pressure. In the testing process, the electric proportional valve adjusts the air pressure value inside the pneumatic artificial muscle 800 in real time according to the data collected by the rotary encoder 500 and the tension sensor. The air pressure value of the air outlet can be accurately controlled by adjusting the voltage value of the input signal of the electric proportional valve.
In some embodiments of this embodiment, two control slots 130 may be disposed on the box 100, the two control slots 130 communicate with each other through the connection hole 150, the control structure 900 may further include a limiting bar 930, the limiting bar 930 is mounted on the control rod 920, a diameter of the limiting bar 930 is smaller than or equal to a diameter of the connection hole 150, a length of the limiting bar 930 is equal to the diameter of the control slot 130, and when the limiting bar 930 rotates in one of the control slots 130, the driving gear 910 is engaged with the first driven gear 310 or the second driven gear 410.
When the diameter of the control rod 920 is larger, two limiting strips 930 may be provided, the two limiting strips 930 are symmetrically disposed along the axis of the control rod 920, and when the diameter of the control rod 920 is smaller, the middle of the limiting strip 930 may be directly located to be connected with the control rod 920.
When the stop lever 920 is used, the stop strip 930 is contacted with the side wall of the control groove 130, and the control lever 920 can be supported, so that the rotation of the control lever 920 is more stable, the stop strip 930 is arranged, the control lever 920 can only enter into another control groove 130 from one control groove 130 at a specific angle, and therefore when the first driven gear 310 and the second driven gear 410 are stopped, the stop bar is fixed at a specific angle, when the control lever 920 drives the driving gear 910 to move, the driving gear 910 can be directly meshed with the first driven gear 310 or the second driven gear 410, and the operation is more convenient and rapid.
Further, can also still set up spout 140 on box 100, spout 140 communicates with connecting hole 150, and the extending direction of spout 140 is perpendicular with the connecting line direction of two control slots 130, control structure 900 still includes turn knob 980 and stopper 970, stopper 970 and box 100 sliding connection, and stopper 970 joint is in spout 140, be provided with the rack on stopper 970, turn knob 980 rotates with box 100 to be connected, and be provided with on the turn knob 980 with rack complex gear, rotation turn knob 980 can make stopper 970 get into or leave connecting hole 150.
When the connecting hole 150 is closed, the control rod 920 cannot enter the other control groove 130 from one control groove 130, when the connecting hole 150 is opened, the control rod 920 cannot enter the other control groove 130 from one control groove 130, and the limiting block 970 is arranged to prevent the control rod 920 from moving mistakenly, so that the stability of the test of the pneumatic artificial muscle 800 is ensured.
Wherein, cambered surfaces can be respectively arranged at the two sides of the limiting block 970 corresponding to the two control grooves 130, and the diameter corresponding to the cambered surfaces can be equal to the diameter of the control grooves 130. Therefore, the cambered surface is matched with the side wall of the control groove 130, when the limiting strip 930 rotates in the control groove 130, the limiting block 970 can also support and limit the limiting strip 930, and the limiting block 970 cannot influence the rotation of the limiting strip 930.
In some embodiments of the present embodiment, the control structure 900 may further include a fixing bar 940 for limiting the first driven gear 310 or the second driven gear 410, the fixing bar 940 is slidably connected to the casing 100, a sliding direction of the fixing bar 940 is parallel to a sliding direction of the control rod 920, two ends of the fixing bar 940 are respectively provided with a first latch, the first latch can be engaged with the first driven gear 310 or the second driven gear 410, the fixing bar 940 is connected to the control rod 920, a moving direction of the fixing bar 940 is opposite to a moving direction of the control rod 920, and when the driving gear 910 is engaged with one of the first driven gear 310 and the second driven gear 410, the fixing bar 940 is engaged with the other of the first driven gear 310 and the second driven gear 410.
The control rod 920 and the fixing strip 940 can be connected through a lever 950, the lever 950 is rotatably connected with the box body 100, one end of the lever 950 is rotatably connected with the control rod 920, and the other end of the lever 950 is rotatably connected with the fixing strip 940. When the control lever 920 moves downward, the fixed bar 940 moves upward by the lever 950, and when the control lever 920 is engaged with the second driven gear 410, the fixed bar 940 is also just engaged with the first driven gear 310, and when the control lever 920 moves upward, the same principle is applied. Of course, the connection between the control rod 920 and the fixing bar 940 via the lever 950 is only one embodiment of the present embodiment, and in other embodiments, the control rod 920 and the fixing bar 940 are connected by a structure such as a pulley block or a pull rope, so as to ensure that the moving directions of the fixing bar 940 and the control rod 920 are opposite.
Since the control rod 920 rotates all the time during operation, a bearing 960 may be disposed on the control rod 920, and the lever 950 is rotatably connected to the bearing 960, so that the rotation of the control rod 920 is not affected, but in another case, the diameter of the lever 950 is set to be larger, and then the bearing 960 is wrapped between the levers 950.
In this embodiment, the control structure 900 may further include an auxiliary fixing strip 990 for limiting the first driven gear 310 and the second driven gear 410, the auxiliary fixing strip 990 is slidably connected to the case 100, a sliding direction of the auxiliary fixing strip 990 is perpendicular to a sliding direction of the control rod 920, the first driven gear 310 and the second driven gear 410 are both located on a moving path of the auxiliary fixing strip 990, two ends of the auxiliary fixing strip 990 are respectively provided with a second latch, the two second latches can be respectively engaged with the first driven gear 310 and the second driven gear 410, the auxiliary fixing strip 990 is threadedly connected to the knob 980, when the knob 980 controls the limit block 970 to leave the connection hole 150, the auxiliary fixing strip 990 approaches the first driven gear 310 and the second driven gear 410, and the two second latches are respectively engaged with the first driven gear 310 and the second driven gear 410.
The pneumatic artificial muscle static characteristic comprehensive testing system disclosed by the embodiment is controlled as follows:
taking the initial engagement of the driving gear 910 and the first driven gear 310 as an example for explanation, when the driving gear 910 is engaged with the first driven gear 310, the second latch on the fixing strip 940 is engaged with the second driven gear 410, so that the second driven gear 410 cannot rotate, and thus the position of the movable supporting plate 440 is ensured not to change all the time when the bending characteristic of the pneumatic artificial muscle 800 is tested;
when the bending characteristic test of the pneumatic artificial muscle 800 is finished and the tensile characteristic test is required, firstly, the knob 980 is twisted in the forward direction, at the same time, the knob 980 drives the limit block 970 to leave the range of the connection hole 150, in the process, the knob 980 can also drive the auxiliary limit strip 930 to approach towards the first driven gear 310 and the second driven gear 410, after the limit block 970 completely leaves the range of the connection hole 150, the auxiliary limit strip 930 just moves to the second latch teeth at the two ends of the auxiliary limit strip and is respectively meshed with the first driven gear 310 and the second driven gear 410, so that when the control rod 920 moves, the first driven gear 310 and the second driven gear 410 can not rotate, the driving gear 910 can be smoothly meshed with the second gear after moving, in the process, the positions of the first driven gear 310 and the turntable 320 can not change, and in the process that the auxiliary limit strip 930 approaches towards the first driven gear 310 and the second driven gear 410, the position of the first driven gear 310 is limited by the driving gear 910, and the position of the second driven gear 410 is limited by the fixing strip 940;
when the connection hole 150 is completely opened, the control rod 920 can enter the other control slot 130 from one control slot 130, so that the driving gear 910 is engaged with the second driven gear 410, in the process, both the first driven gear 310 and the second driven gear 410 are limited by the auxiliary limit strip 930, in the process that the control rod 920 drives the driving gear 910 to approach towards the second driven gear 410, the fixing strip 940 leaves the range of the second driven gear 410, the other end of the fixing strip approaches towards the first driven gear 310, when the driving gear 910 is engaged with the second driven gear 410, the fixing strip 940 is just engaged with the first driven gear 310, and the first driven gear 310 is limited by the fixing strip 940 to be incapable of rotating;
after the position of the control rod 920 is adjusted, the knob 980 is turned reversely, the knob 980 drives the limit block 970 to enter the connecting hole 150, and the knob 980 also drives the auxiliary limit strip 930 to move in a direction away from the first driven gear 310 and the second driven gear 410, when the limit block 970 completely enters the connecting hole 150, the auxiliary limit strip 930 leaves the range of the first driven gear 310 and the second driven gear 410, the rotation of the first driven gear 310 and the second driven gear 410 is not affected by the auxiliary limit strip 930, and the arc surface on the limit block 970 is just matched with the side wall of the control groove 130, when the control rod 920 rotates, the side wall of the control groove 130 and the arc surface on the limit block 970 form a support for the limit strip 930 to ensure the stability of the rotation of the control rod and the driving gear 910, the operation of the control structure 900 is completed, when the driving gear 910 needs to be meshed with the first driven gear 310 from the beginning, repeating the above steps.
In some embodiments of the present embodiment, an intermediate member 450 may be disposed between the connecting rod 420 and the sliding rod 430, a first end of the intermediate member 450 may be configured to have a circular cross-section, a second end of the intermediate member 450 may be configured to have a rectangular cross-section, the first end of the intermediate member 450 is mounted to the connecting rod 420, the intermediate member 450 is rotatably coupled to the connecting rod 420, the second end of the intermediate member 450 is mounted to the sliding rod 430, the intermediate member 450 is slidably coupled to the sliding rod 430, a sliding direction of the intermediate member 450 is perpendicular to a sliding direction of the sliding rod 430, and a sliding direction of the intermediate member 450 is parallel to a rotation plane of the rotating plate 320.
Referring to fig. d, when the connecting rod 420 rotates counterclockwise along with the second driven gear 410, the middle part 450 moves toward the upper left, and the middle part 450 slides toward the upper side of the sliding rod 430 during the rotation process relative to the connecting rod 420, and drives the sliding rod 430 to move toward the left side.
In this embodiment, one end of the sliding rod 430 may protrude out of the case 100 or may be observed in other ways, and then a scale may be provided at a corresponding position of the case 100 to observe and confirm the moving distance between the sliding rod 430 and the moving support plate 440.
The following is a description of the specific process of the pneumatic artificial muscle static bending performance test realized by the pneumatic artificial muscle static characteristic comprehensive test system:
(1) the air pressure is made constant and the relationship between angle and moment is measured.
Firstly, setting an air pressure value to be measured, and inputting air into an electric proportional valve after the air is decompressed by a pneumatic triple piece. The electric proportional valve has the capability of automatically adjusting air pressure, and the air pressure at the outlet is always limited to be a set value, so that the air pressure of the artificial muscle is controlled to be a constant value. Then, the rotation of the rotation support plate 330 is controlled to be continued, and the information of the rotation angle is fed back to the control collection plate through the rotary encoder 500. When the angle to be measured is reached, the support plate 330 is rotated to stop moving, the first pressure sensor collects the pressure value at the moment, and the measured pressure is multiplied by the length of the fixed force arm to obtain a moment value. The test procedure then repeats the above procedure until the angle to be measured reaches the maximum measurement value.
(2) The angle is made constant and the relationship between air pressure and torque is measured.
First, the angle of the artificial muscle to be measured is set, and the rotary support plate 330 is controlled to rotate to a corresponding angle by the angle information fed back from the encoder. Then, the control acquisition board gradually raises the air pressure inside the pneumatic artificial muscle 800 by adjusting the set air pressure of the electric proportional valve, and simultaneously records the corresponding pressure value acquired by the first pressure sensor. And multiplying the measured pressure value by the length of the force arm to obtain a moment value.
(3) The torque is made constant and the relationship between air pressure and angle is measured.
Because the air pressure in the pneumatic artificial muscle 800 can only be continuously increased and cannot be suddenly changed, the provided torque can only be continuously changed. Therefore, when the air pressure inside the pneumatic artificial muscle 800 increases from zero, the pneumatic artificial muscle 800 cannot provide the set torque value in the initial process. When a certain air pressure is reached, the pneumatic artificial muscle 800 can provide a set moment, and along with the increase of the air pressure, the control acquisition board controls the rotation support board 330 to rotate towards the direction of moment reduction in order to ensure that the moment is constant, and the rotary encoder 500 acquires angle information in real time.
The following is a description of a specific process of the pneumatic artificial muscle static tensile characteristic comprehensive testing system for realizing the pneumatic artificial muscle static tensile characteristic test:
(1) the air pressure is constant and the relationship between displacement and force is measured.
Firstly, the air pressure inside the pneumatic artificial muscle 800 is adjusted to-5 KPa through an air pressure adjusting device to ensure the initial value of air pressure adjustment, the length of the pneumatic artificial muscle 800 is controlled and reduced through the movement of the movable supporting plate 440 until the pneumatic artificial muscle 800 reaches the initial position, the air pressure, force and displacement values of the testing module are output through a serial port in the process, the upper computer graphic display interface is used for real-time storage, drawing and display, then the air pressure inside the pneumatic artificial muscle 800 is adjusted to-7 KPa through the air pressure adjusting module, and the operation is repeated, wherein the gradient of the air pressure adjustment is-2 KPa. And then, circularly adjusting the air pressure until the air pressure reaches negative pressure of-100 KPa, thus obtaining the relationship between displacement and force under various air pressure conditions.
(2) The displacement is constant and the relationship between air pressure and force is measured.
Firstly, the movable supporting plate 440 is adjusted, the started artificial muscle is stretched to a designated length, then the air pressure inside the pneumatic artificial muscle 800 is changed from 0 to-100 KPa according to the adjustment precision of-2 KPa by using an air pressure adjusting module, and meanwhile, the values of measured force, air pressure and displacement are output by a serial port and are stored and drawn in real time by an upper computer. The movable support plate 440 is then adjusted to travel forward 5mm and the above operation is repeated. The relationship between the air pressure and the force under each displacement condition can be obtained.
(3) The force is constant and the relationship between air pressure and displacement is measured.
Firstly, the movable supporting plate 440 is adjusted to enable the load output by the second pressure controller to be displayed as 0.5N, the air pressure inside the pneumatic artificial muscle 800 is adjusted to be a fixed air pressure with the precision of-2 KPa, the air pressure is kept constant, after the air pressure adjustment is completed, the force output and displayed by the second pressure controller is increased, at the moment, in order to keep the load output to be still 0.5N, the movable supporting plate 440 is utilized to drive the pneumatic artificial muscle 800 to generate displacement until the output and display of the second pressure controller are again 0.5N, and at the moment, the displacement generated by the movable supporting plate 440 and the value of the air pressure are recorded. After the completion of the adjustment of the air pressure is continued, the above operation is repeated until the air pressure is adjusted to-100 KPa, which completes the measurement of the relationship between the air pressure and the displacement under the load of 0.5N, and then the movable support plate 440 is adjusted so that the load of the output of the second pressure controller is displayed as 1N, and the above operation is repeated until the load display value of the output of the second pressure controller is adjusted to the maximum load in the preliminary experiment. The experiment can be completed, and the relationship between the air pressure and the displacement under each load condition can be obtained.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A pneumatic artificial muscle static characteristic comprehensive test system is used for testing the performance of pneumatic artificial muscle, and is characterized by comprising:
a box body;
the fixed supporting plate is arranged on the box body;
the rotating structure comprises a first driven gear, a rotary disc and a rotating support plate, the first driven gear is connected with the rotary disc, the rotary disc is rotatably connected with the box body, the rotating support plate is installed on the rotary disc, and the first end of the pneumatic artificial muscle is installed on the rotating support plate;
the sliding structure comprises a second driven gear, a connecting rod, a sliding rod and a movable supporting plate, the connecting rod is mounted on the second driven gear, one end, away from the second driven gear, of the connecting rod is connected with the sliding rod in a sliding mode, the connecting rod is connected with the sliding rod in a rotating mode, the sliding rod is connected with the box body in a sliding mode, the moving direction of the sliding rod is parallel to the rotating plane of the rotating disc, the movable supporting plate is mounted on the sliding rod, and the second end of the pneumatic artificial muscle is mounted on the movable supporting plate;
the control structure comprises a driving gear and a control rod, the control rod is connected with the box body in a sliding mode, the control rod slides along the extending direction of a connecting line of the first driven gear and the second driven gear, and the driving gear is selected to be meshed with one of the first driven gear and the second driven gear;
the rotary encoder is arranged between the fixed supporting plate and the rotating supporting plate;
the first tension sensor is arranged between the turntable and the rotating support plate;
a second tension sensor mounted between the pneumatic artificial muscle and the moving support plate; and
a pneumatic module for inflating the pneumatic artificial muscle.
2. The pneumatic artificial muscle static characteristic comprehensive test system according to claim 1, wherein the box body is provided with two control grooves which are communicated through a connecting hole, the control structure further comprises a limiting strip, the limiting strip is mounted on the control rod, the diameter of the limiting strip is smaller than or equal to that of the connecting hole, the length of the limiting strip is equal to that of the control grooves, and when the limiting strip rotates in one of the control grooves, the driving gear is meshed with the first driven gear or the second driven gear.
3. The system for comprehensively testing the static characteristics of pneumatic artificial muscles according to claim 2, characterized in that a sliding groove is further formed in the box body, the sliding groove is communicated with the connecting hole, the extending direction of the sliding groove is perpendicular to the direction of the connecting line of the two control grooves, the control structure further comprises a knob and a limiting block, the limiting block is connected with the box body in a sliding mode, the limiting block is connected with the sliding groove in a clamped mode, a rack is arranged on the limiting block, the knob is connected with the box body in a rotating mode, a gear matched with the rack is arranged on the knob, and the knob can be rotated to enable the limiting block to enter or leave the connecting hole.
4. The system for comprehensively testing the static characteristics of the pneumatic artificial muscle as claimed in claim 3, wherein two sides of the limiting block corresponding to the two control grooves are respectively provided with an arc surface, and the diameter corresponding to the arc surface is equal to the diameter of the control groove.
5. The pneumatic artificial muscle static characteristic comprehensive testing system according to claim 3, wherein the control structure further comprises a fixing strip, the fixing strip is slidably connected with the box body, the sliding direction of the fixing strip is parallel to the sliding direction of the control rod, first clamping teeth are respectively arranged at two ends of the fixing strip, the first clamping teeth can be meshed with the first driven gear or the second driven gear, the fixing strip is connected with the control rod, the moving direction of the fixing strip is opposite to the moving direction of the control rod, and when the driving gear is meshed with one of the first driven gear and the second driven gear, the fixing strip is meshed with the other of the first driven gear and the second driven gear.
6. The pneumatic artificial muscle static characteristic comprehensive testing system according to claim 5, wherein a lever is arranged on the box body, the lever is rotatably connected with the box body, one end of the lever is rotatably connected with the control rod, and the other end of the lever is rotatably connected with the fixing strip.
7. The system for comprehensively testing the static characteristics of the pneumatic artificial muscles according to claim 5, wherein the control structure further comprises an auxiliary fixing strip, the auxiliary fixing strip is slidably connected with the box body, the sliding direction of the auxiliary fixing strip is perpendicular to the sliding direction of the control rod, second clamping teeth are respectively arranged at two ends of the auxiliary fixing strip, the two second clamping teeth can be respectively meshed with the first driven gear and the second driven gear, the auxiliary fixing strip is in threaded connection with the knob, when the limiting block is controlled by the knob to leave the connecting hole, the auxiliary fixing strip faces the first driven gear and the second driven gear to be close to each other, and the two second clamping teeth are respectively meshed with the first driven gear and the second driven gear.
8. The pneumatic artificial muscle static characteristic comprehensive test system according to claim 1, wherein the driving gear is a helical gear, the first driven gear is a helical gear, and the second driven gear is a helical gear.
9. The pneumatic artificial muscle static characteristic comprehensive test system according to claim 1, wherein an intermediate member is disposed between the connecting rod and the sliding rod, a first end of the intermediate member is mounted on the connecting rod, the intermediate member is rotatably connected with the connecting rod, a second end of the intermediate member is mounted on the sliding rod, the intermediate member is slidably connected with the sliding rod, a sliding direction of the intermediate member is perpendicular to a sliding direction of the sliding rod, and the sliding direction of the intermediate member is parallel to a rotating plane of the rotary table.
10. The pneumatic artificial muscle static characteristic comprehensive test system according to claim 9, wherein the cross section of the first end of the middle piece is circular, and the cross section of the second end of the middle piece is rectangular.
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