CN113916686A - Ball hinge rigidity testing device and testing method for ball hinge rigidity - Google Patents
Ball hinge rigidity testing device and testing method for ball hinge rigidity Download PDFInfo
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- CN113916686A CN113916686A CN202110968796.XA CN202110968796A CN113916686A CN 113916686 A CN113916686 A CN 113916686A CN 202110968796 A CN202110968796 A CN 202110968796A CN 113916686 A CN113916686 A CN 113916686A
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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
- G01N3/22—Investigating strength properties of solid materials by application of mechanical stress by applying steady torsional forces
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- G—PHYSICS
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- 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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- 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
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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
- G01N2203/0021—Torsional
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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
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
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Abstract
The invention discloses a ball hinge rigidity testing device and a ball hinge rigidity testing method thereof. The rigidity measurement of the ball joint is difficult. The spherical hinge pressing mechanism comprises a first circular ring, a guide pillar, a second circular ring, a first universal ball, a suspension rod and a second universal ball; the torque displacement testing mechanism comprises an orthogonal frame, an omnidirectional wheel, a first bevel gear shaft, a second bevel gear shaft, a dynamic torque sensor, a balance shaft and a stepping motor. The dynamic torque sensors of the three torque displacement testing mechanisms are adopted to measure the torque of the output spherical hinge rotating around the axial direction of the three omnidirectional wheels, the torque in the three rotating directions is subjected to angle derivation to obtain the rotating rigidity of the output spherical hinge in the rotating direction around the axial direction of the three omnidirectional wheels, so that a rigidity change curve on any motion track of the output spherical hinge is obtained, and the rigidity test of the spherical hinge mechanism is realized; three omni-directional wheels which are orthogonally arranged on the three torque displacement testing mechanisms can drive the output spherical hinge to rotate at any angle in a three-dimensional space.
Description
Technical Field
The invention relates to a rigidity testing device, in particular to a ball hinge rigidity testing device and a ball hinge rigidity testing method thereof.
Background
Among the kinematic pairs, there are sliding pairs, revolute pairs, cylindrical pairs, spherical hinge pairs, etc., and the rigidity is the value of external force required for generating unit deformation of the object, and the rigidity is related to the material property, the geometry, the boundary support condition and the external force action form of the object. And the stiffness of the kinematic pair is also expressed as the value of the external force required for unit deformation. In a moving pair and a rotating pair, the rigidity is easy to obtain, the movement forms are movement and rotation respectively, the spherical hinge comprises three degrees of freedom, and the movement form is not fixed, so although the spherical hinge is widely applied to joint robots and transmission joints, the rigidity expression of the spherical hinge is difficult, and the rigidity measurement is difficult.
Disclosure of Invention
The invention aims to provide a ball hinge rigidity testing device which is high in reliability, wide in testing range and capable of avoiding slipping and a ball hinge rigidity testing method thereof, aiming at the problem that the ball hinge rigidity is difficult to measure in the prior art.
The invention is realized by adopting the following technical scheme:
the invention relates to a ball hinge rigidity testing device, which comprises a rack, a ball hinge pressing mechanism and a torque displacement testing mechanism, wherein the rack is provided with a support; the torque displacement testing mechanism is positioned below the spherical hinge pressing mechanism; the spherical hinge pressing mechanism comprises a first circular ring, a guide pillar, a second circular ring, a first universal ball, a suspension rod and a second universal ball; a plurality of guide columns are fixed on the top surface of the first circular ring, the vertically arranged guide columns and the rack form a sliding pair, and a first spring is sleeved on each guide column; two ends of the first spring are limited by the rack and the first ring respectively; the bottom surface of the first ring is provided with a plurality of first universal balls which are uniformly distributed along the circumferential direction; all the shells of the first universal ball are fixed with the bottom surface of the first circular ring; the top surface of the second circular ring is provided with an annular groove, and all the first universal balls and the annular groove form a rolling friction pair; the three suspension rods are uniformly distributed along the circumferential direction of the second circular ring, the outer ends of the three suspension rods are fixed with the bottom surface of the second circular ring, and the inner ends of the three suspension rods are respectively fixed with the shell of a second universal ball; the inner end of the suspension rod is arranged in a downward inclined mode.
The torque displacement testing mechanism comprises an orthogonal frame, an omnidirectional wheel, a first bevel gear shaft, a second bevel gear shaft, a dynamic torque sensor, a balance shaft and a stepping motor; the orthogonal frame is fixed on the frame, and the first bevel gear shaft is supported on the bearing block through a bearing; the omnidirectional wheel is fixed with the first bevel gear shaft; the shell of the dynamic torque sensor is fixed on the frame; the second bevel gear shaft is connected with one end of the dynamic torque sensor through a coupler, and one end of the balance shaft is connected with the other end of the dynamic torque sensor through a coupler; an output shaft of the stepping motor is connected with the other end of the balance shaft through a coupler; the second bevel gear shaft and the balance shaft form a rotating pair with the frame; the bevel gear on the second bevel gear shaft is meshed with the bevel gear on the first bevel gear shaft, and the meshing transmission ratio is 1: 1; the base of the stepping motor is fixed on the frame; the stepping motor is controlled by a controller; the torque displacement testing mechanism is provided with three torque displacement testing mechanisms which are uniformly distributed along the circumferential direction, the orthogonal frame comprises three supporting columns which are orthogonal with each other, and a bearing seat which supports the first bevel gear shaft in each torque displacement testing mechanism is fixed on one corresponding supporting column of the orthogonal frame; the omnidirectional wheels of the three torque displacement testing mechanisms are mutually orthogonal, and the central symmetry plane of the omnidirectional wheels of the three torque displacement testing mechanisms, which is vertical to the axis, is intersected at one point.
Preferably, three elastic element mechanisms are also included; the elastic element mechanism comprises a rigid rope assembly, a guide roller and a pre-tightening roller; the guide idler wheel is hinged on the frame; the pre-tightening idler wheel is hinged with a connecting plate, and the connecting plate is fixed on the side part of the rack; the rigid rope assembly consists of a first rope section, a second spring, a second rope section, an S-shaped tension sensor and a third rope section; one end of the first rope section is connected with one end of the second rope section through a second spring, and the other end of the second rope section is connected with one end of the third rope section through an S-shaped tension sensor; the other end of the third rope section is fixed with the pre-tightening roller; the first rope segment bypasses the guide roller; the pre-tightening idler wheel is fixed with a ratchet wheel, the connecting plate is hinged with a claw, the claw is meshed with the ratchet wheel, and the claw is connected with the connecting plate through a torsion spring.
Preferably, the rack is fixedly provided with an upper mounting table and a lower mounting table; a guide post of the spherical hinge pressing mechanism and the upper mounting table form a sliding pair, and the top end of the first spring is limited by the upper mounting table; the orthogonal frame of the torque displacement testing mechanism, the shell of the dynamic torque sensor and the base of the stepping motor are all fixed on the lower mounting table, and the second bevel gear shaft and the balance shaft and the lower mounting table form a revolute pair.
The method for testing the rigidity of the spherical hinge by using the spherical hinge rigidity testing device comprises the following specific steps:
disassembling an output spherical hinge of the spherical hinge mechanism from the spherical hinge mechanism, and fixing a seat body of the spherical hinge mechanism on the rack; then, an output spherical hinge of the spherical hinge mechanism is arranged between three second universal balls of the spherical hinge pressing mechanism and the omnidirectional wheels of the three torque displacement testing mechanisms, and a rotating shaft part of the output spherical hinge penetrates through the spherical hinge pressing mechanism to be reassembled on the spherical hinge mechanism; at the moment, the top of the spherical part of the output spherical hinge is contacted with three second universal balls under the action of the elastic force of a first spring of the spherical hinge pressing mechanism, and the bottom of the spherical part of the output spherical hinge is contacted with the omnidirectional wheels of the three torque displacement testing mechanisms; if the spherical hinge mechanism is of a front power type, three power input parts of the spherical hinge mechanism are respectively connected with three elastic element mechanisms, so that the rigidity test of the flexible spherical hinge mechanism is realized; the elastic element mechanism comprises a rigid rope assembly, a guide roller and a pre-tightening roller; the guide roller is hinged on the frame; the pre-tightening roller is hinged with a connecting plate, and the connecting plate is fixed on the side part of the rack; the rigid rope assembly consists of a first rope section, a second spring, a second rope section, an S-shaped tension sensor and a third rope section; one end of the first rope section is connected with one end of the second rope section through a second spring, and the other end of the second rope section is connected with one end of the third rope section through an S-shaped tension sensor; the other end of the third rope section is fixed with the pre-tightening roller; the first rope segment bypasses the guide roller; a ratchet wheel is fixed on the pre-tightening roller, a claw is hinged on the connecting plate and meshed with the ratchet wheel, and the claw is connected with the connecting plate through a torsional spring; the other ends of the first rope sections of the three elastic element mechanisms are respectively fixed with the three power input parts of the spherical hinge mechanism; then, controlling the rotating speed and the steering of the stepping motors of the three torque displacement testing mechanisms, driving the three omnidirectional wheels to drive the output spherical hinge to move, transmitting the resistance torque of the output spherical hinge to the stepping motors of the three torque displacement testing mechanisms through the three omnidirectional wheels to realize the balance of the output spherical hinge, measuring the torque of the output spherical hinge rotating around the axial line direction of the three omnidirectional wheels by the dynamic torque sensors of the three torque displacement testing mechanisms, and calculating the angle of the torque in the three rotating directions to obtain the rotating rigidity of the output spherical hinge in the rotating direction around the axial lines of the three omnidirectional wheels, so as to obtain a rigidity change curve on any moving track of the output spherical hinge and realize the rigidity test of the spherical hinge mechanism; the stepping motor drives the omnidirectional wheel to rotate through the balance shaft, the dynamic torque sensor, the second bevel gear shaft and the first bevel gear shaft in sequence, and the resistance torque of the output spherical hinge is transmitted to the stepping motor through the omnidirectional wheel, the first bevel gear shaft, the second bevel gear shaft, the dynamic torque sensor and the balance shaft in sequence.
Preferably, if the ball hinge mechanism is of a front power type, before the stepping motors of the three torque displacement testing mechanisms are started, the positions of the jaws on the corresponding ratchet wheels are adjusted through the pre-tightening rollers of the three elastic element mechanisms, so that the pre-tightening force of the second springs of the three elastic element mechanisms is adjusted, and the same pre-tightening force of the second springs of the three elastic element mechanisms is ensured.
Preferably, if the ball hinge mechanism is of a front power type, the three power input parts of the ball hinge mechanism drive the rigid rope assembly of the three elastic element mechanisms to stretch and contract in the process of moving along with the output ball hinge, the S-shaped tension sensor of the rigid rope assembly measures the elastic force of the second spring in the process of moving along with the output ball hinge, so that the change curve of the elastic force borne by the three power input parts of the ball hinge mechanism is obtained, and the rigidity test of the flexible ball hinge mechanism is realized.
Preferably, when the stepping motors of the three torque displacement testing mechanisms drive the three omnidirectional wheels to rotate in the same speed and the same direction, the output spherical hinge rotates around the vertical direction, the obtained torque is changed linearly, and the rigidity obtained by derivation is constant; when one of the omnidirectional wheels is not moved and the other two omnidirectional wheels keep constant speed and reverse rotation, the output spherical hinge rotates around a certain axis of the horizontal plane.
The invention has the beneficial effects that:
1. the dynamic torque sensors of the three torque displacement testing mechanisms are adopted to measure the torque of the output spherical hinge rotating around the axial direction of three omnidirectional wheels which are orthogonally arranged, the torque in the three rotating directions is subjected to angle derivation to obtain the rotating rigidity of the output spherical hinge in the rotating direction around the axial direction of the three omnidirectional wheels, so that the rigidity change curve of the output spherical hinge on any motion track is obtained, and the rigidity test of the spherical hinge mechanism is realized; the three omnidirectional wheels which are orthogonally arranged on the three torque displacement testing mechanisms can drive the output spherical hinge to rotate at any angle in a three-dimensional space, and waist drum-shaped rollers are arranged on the periphery of the omnidirectional wheels and can counteract the force which is not in the tangential direction of the omnidirectional wheels so as to obtain the torque of the output spherical hinge on three orthogonal planes and avoid coupling influence.
2. The output spherical hinge of the spherical hinge mechanism is tightly pressed on the omnidirectional wheels of the three torque displacement testing mechanisms by the spherical hinge pressing mechanism, so that the slipping phenomenon between the output spherical hinge and the omnidirectional wheels can be avoided, the reliability of torque testing is ensured, meanwhile, the first circular ring and the second circular ring are connected through the first universal ball, the relative rotation between the two circular rings can be ensured by the connection mode, the suspension rod is ensured not to interfere with the movement of the spherical hinge mechanism, and the rigidity value of the spherical hinge mechanism in a larger angle range can be measured.
3. Aiming at the preposed power type spherical hinge mechanism, the three elastic element mechanisms can measure the elasticity borne by three power input parts of the spherical hinge mechanism, and the rigidity test of the flexible spherical hinge mechanism is realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the spherical hinge pressing mechanism in the invention.
FIG. 3 is a schematic structural diagram of a torque displacement testing mechanism according to the present invention.
Fig. 4 is a schematic view of the assembly of three omni wheels and an orthogonal frame according to the present invention.
FIG. 5 is a schematic view of the assembly of the pre-tightening roller, ratchet wheel, pawl and web of the present invention.
Fig. 6 is a schematic structural diagram of the front-powered ball joint mechanism.
Fig. 7 is a schematic structural diagram of a ball joint mechanism with power arranged at each joint position.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a spherical hinge rigidity testing device comprises a frame 1, a spherical hinge pressing mechanism 4 and a torque displacement testing mechanism 5; the torque displacement testing mechanism 5 is positioned below the spherical hinge pressing mechanism 4; as shown in fig. 2, the ball-hinge pressing mechanism 4 includes a first ring 40, a guide post 41, a second ring 42, a first universal ball 43, a suspension rod 44, and a second universal ball 45; a plurality of guide posts 41 are fixed on the top surface of the first circular ring 40, the vertically arranged guide posts 41 and the rack 1 form a sliding pair, and a first spring is sleeved on the guide posts 41; the two ends of the first spring are limited by the frame and the first ring 40 respectively; a plurality of first universal balls 43 uniformly distributed along the circumferential direction are arranged on the bottom surface of the first circular ring 40; all the shells of the first universal balls 43 are fixed with the bottom surface of the first circular ring 40; the top surface of the second circular ring 42 is provided with an annular groove 421, and all the first universal balls 43 and the annular groove 421 form a rolling friction pair; the three suspension rods 44 are uniformly distributed along the circumferential direction of the second circular ring 42, the outer ends of the three suspension rods are fixed with the bottom surface of the second circular ring 42, and the inner ends of the three suspension rods are respectively fixed with the shell of a second universal ball 45; the inner end of the cantilevered beam 44 is angled downward.
As shown in fig. 3 and 4, the torque displacement testing mechanism 5 includes an orthogonal frame 50, an omnidirectional wheel 51, a first bevel gear shaft 52, a second bevel gear shaft 53, a dynamic torque sensor 54, a balance shaft 55, and a stepping motor 56; the orthogonal frame 50 is fixed on the frame, and the first bevel gear shaft 52 is supported on the bearing block through a bearing; the omni wheel 51 is fixed with a first bevel gear shaft 52; the housing of the dynamic torque sensor 54 is fixed to the frame; the second bevel gear shaft 53 is connected with one end of the dynamic torque sensor 54 through a coupler, and one end of the balance shaft 55 is connected with the other end of the dynamic torque sensor 54 through a coupler; an output shaft of the stepping motor 56 is connected with the other end of the balance shaft 55 through a coupler; the second bevel gear shaft 53 and the balance shaft 55 form a rotating pair with the frame; the bevel gears on the second bevel gear shaft 53 are meshed with the bevel gears on the first bevel gear shaft 52, and the meshing transmission ratio is 1: 1; the base of the stepper motor 56 is fixed on the frame; the stepping motor 56 is controlled by a controller, the signal output end of the dynamic torque sensor 54 is connected with the controller, and the controller is connected with an upper computer; the torque displacement testing mechanisms 5 are uniformly distributed in the circumferential direction, the orthogonal frame 50 comprises three mutually orthogonal support columns, and a bearing seat for supporting the first bevel gear shaft 52 in each torque displacement testing mechanism 5 is fixed on one corresponding support column of the orthogonal frame 50; the omni wheels 51 of the three torque displacement testing mechanisms 5 are orthogonal to each other, and the omni wheels 51 of the three torque displacement testing mechanisms 5 intersect at a point perpendicular to the central symmetry plane of the axis.
As a preferred embodiment, as shown in fig. 1 and 5, the ball joint stiffness testing device further includes three elastic element mechanisms 3; the elastic element mechanism 3 comprises a rigid rope assembly, a guide roller 32 and a pre-tightening roller 35; the guide roller 32 is hinged on the frame 1; the pre-tightening roller 35 is hinged with a connecting plate 353, and the connecting plate 353 is fixed on the side of the frame 1; the rigid rope assembly consists of a first rope segment 31, a second spring 33, a second rope segment, an S-shaped tension sensor 34 and a third rope segment; one end of the first rope segment 31 is connected with one end of the second rope segment through a second spring 33, and the other end of the second rope segment is connected with one end of the third rope segment through an S-shaped tension sensor 34; the other end of the third rope section is fixed with a pre-tightening roller 35; the first rope portion 31 passes around the guide roller 32; a ratchet wheel 351 is fixed on the pre-tightening roller 35, a claw 352 is hinged on the connecting plate 353, the claw 352 is meshed with the ratchet wheel 351, and the claw 352 is connected with the connecting plate 353 through a torsion spring. Wherein, the signal output end of the S-shaped tension sensor 34 is connected with the controller.
As a preferred embodiment, as shown in fig. 1, an upper mounting table 11 and a lower mounting table 12 are fixedly arranged on a frame 1; a guide post 41 of the spherical hinge pressing mechanism 4 and the upper mounting table 11 form a sliding pair, and the top end of the first spring is limited by the upper mounting table 11; the orthogonal frame 50 of the torque displacement testing mechanism 5, the housing of the dynamic torque sensor 54 and the base of the stepping motor 56 are all fixed on the lower mounting table 12, and the second bevel gear shaft 53 and the balance shaft 55 form a revolute pair with the lower mounting table 12.
The method for testing the rigidity of the spherical hinge by using the spherical hinge rigidity testing device comprises the following specific steps:
the output spherical hinge 25 of the spherical hinge mechanism 2 is detached from the spherical hinge mechanism 2, and the seat body of the spherical hinge mechanism 2 is fixed on the frame 1; then, the output spherical hinge 25 of the spherical hinge mechanism 2 is placed between the three second universal balls 45 of the spherical hinge pressing mechanism 4 and the omnidirectional wheels 51 of the three torque displacement testing mechanisms 5, and the rotating shaft part of the output spherical hinge 25 passes through the spherical hinge pressing mechanism 4 to be reassembled on the spherical hinge mechanism 2; at this time, the top of the sphere part of the output spherical hinge 25 is contacted with the three second universal balls 45 under the action of the first spring elasticity of the spherical hinge pressing mechanism 4, and the bottom of the sphere part is contacted with the omnidirectional wheels 51 of the three torque displacement testing mechanisms 5; if the spherical hinge mechanism 2 is of a front power type, three power input parts of the spherical hinge mechanism 2 are respectively connected with three elastic element mechanisms 3, so that the rigidity test of the flexible spherical hinge mechanism is realized; the elastic element mechanism 3 comprises a rigid rope assembly, a guide roller 32 and a pre-tightening roller 35; the guide roller 32 is hinged on the frame 1; the pre-tightening roller 35 is hinged with a connecting plate 353, and the connecting plate 353 is fixed on the side of the frame 1; the rigid rope assembly consists of a first rope segment 31, a second spring 33, a second rope segment, an S-shaped tension sensor 34 and a third rope segment; one end of the first rope segment 31 is connected with one end of the second rope segment through a second spring 33, and the other end of the second rope segment is connected with one end of the third rope segment through an S-shaped tension sensor 34; the other end of the third rope section is fixed with a pre-tightening roller 35; the first rope portion 31 passes around the guide roller 32; a ratchet wheel 351 is fixed on the pre-tightening roller 35, a claw 352 is hinged on the connecting plate 353, the claw 352 is meshed with the ratchet wheel 351, and the claw 352 is connected with the connecting plate 353 through a torsion spring; the other ends of the first rope segments 31 of the three elastic element mechanisms 3 are respectively fixed with the three power input parts of the spherical hinge mechanism 2; then, the rotating speed and the steering direction of a stepping motor 56 of the three torque displacement testing mechanisms 5 are controlled, the three omnidirectional wheels 51 are driven to drive an output spherical hinge to move, the resisting moment of the output spherical hinge is transmitted to the stepping motor 56 of the three torque displacement testing mechanisms 5 through the three omnidirectional wheels 51, the balance of the output spherical hinge is realized, a dynamic torque sensor 54 of the three torque displacement testing mechanisms 5 measures the torque of the output spherical hinge rotating around the axial direction of the three omnidirectional wheels 51, the torques in the three rotating directions are subjected to derivation on the angle, the rotating rigidity of the output spherical hinge in the rotating direction around the axial direction of the three omnidirectional wheels 51 is obtained, so that a rigidity change curve on any moving track of the output spherical hinge is obtained, and the rigidity test of the spherical hinge mechanism 2 is realized; the stepping motor 56 drives the omnidirectional wheel 51 to rotate through the balance shaft 55, the dynamic torque sensor 54, the second bevel gear shaft 53 and the first bevel gear shaft 52 in sequence, and the resistance torque of the output spherical hinge is transmitted to the stepping motor 56 through the omnidirectional wheel 51, the first bevel gear shaft 52, the second bevel gear shaft 53, the dynamic torque sensor 54 and the balance shaft 55 in sequence.
As a preferred embodiment, if the ball-and-socket joint mechanism 2 is powered in the forward position, before the stepping motors 56 of the three torque displacement testing mechanisms 5 are started, the positions of the jaws 352 on the corresponding ratchet wheels 351 are adjusted by the pre-tightening rollers 35 of the three elastic element mechanisms 3, so as to adjust the pre-tightening force of the second springs 33 of the three elastic element mechanisms 3 and ensure that the pre-tightening force of the second springs 33 of the three elastic element mechanisms 3 is the same.
As a preferred embodiment, if the ball hinge mechanism 2 is of a front power type, the three power input members of the ball hinge mechanism 2 drive the rigid rope assemblies of the three elastic element mechanisms 3 to extend and retract in the process of moving along with the output ball hinge, and the S-shaped tension sensor 34 of the rigid rope assembly measures the elastic force of the second spring 33 in the process of moving along with the output ball hinge, so as to obtain the change curves of the elastic force applied to the three power input members of the ball hinge mechanism 2, thereby realizing the rigidity test of the flexible ball hinge mechanism (the flexible ball hinge mechanism is obtained by mounting torsion springs or tension springs on the three power input members of the ball hinge mechanism 2).
As a preferred embodiment, when the stepping motors 56 of the three torque displacement testing mechanisms 5 drive the three omnidirectional wheels 51 to rotate in equal speed and equal direction, the output spherical hinges rotate around the vertical direction, the obtained torque changes linearly, and the rigidity obtained by derivation is constant; when one of the omnidirectional wheels is not moved and the other two omnidirectional wheels keep constant speed and reverse rotation, the output spherical hinge rotates around a certain axis of the horizontal plane.
As shown in fig. 6, the front-mounted power type spherical hinge mechanism includes a base, a first input shaft 21, a second input shaft 22, a third input shaft 23, a second planet carrier 24, an output spherical hinge 25, a transmission gear 26 and a transmission gear train 27; the first input shaft 21, the second input shaft 22 and the third input shaft 23 are three power input members, and the other ends of the first rope segments 31 of the three elastic element mechanisms 3 are respectively fixed with the first input shaft 21, the second input shaft 22 and the third input shaft 23; the third input shaft 23 is sleeved outside the second input shaft 22, the second input shaft 22 is sleeved outside the first input shaft 21, and the first input shaft 21, the second input shaft 22 and the third input shaft 23 form a revolute pair with the frame; the first input shaft 21 and the second input shaft 22 are both gear shafts; the first planet carrier is fixed with the third input shaft 23; the second planet carrier 24 and the first planet carrier form a revolute pair; a fixed gear is fixed on the second planet carrier 24; the transmission gear 26 and the first planet carrier form a revolute pair and are meshed with the gear teeth and the fixed gear on the first input shaft 21 simultaneously; the output ball joint 25 includes a ball portion and a shaft portion which are integrally formed; the rotating shaft part is hinged to the second planet carrier 24 and is a gear shaft, and gear teeth on the rotating shaft part are connected with gear teeth on the second input shaft 22 through a transmission gear train 27; the central axis of the third input shaft 23, the central axis of the fixed gear, and the central axis of the shaft portion of the output ball joint 25 intersect at a point, and the intersection coincides with the center of the output ball joint 25. Wherein, the transmission gear train 27 comprises a primary intermediate gear, a primary planet gear, a secondary sun gear and a secondary intermediate gear; the first-stage intermediate gear and the first planet carrier form a revolute pair and are simultaneously meshed with gear teeth on the second input shaft 22 and the first-stage planet gear; the first-stage planetary gear and the second-stage sun gear are fixed on a planetary shaft, and the planetary shaft and the first planetary carrier form a rotating pair; the second-stage intermediate gear and the second planet carrier 24 form a revolute pair and are simultaneously meshed with the second-stage sun gear and the upper gear teeth of the rotating shaft part of the output spherical hinge 25. The working principle of the front-mounted power type spherical hinge mechanism is as follows: the third input shaft 23 drives the first planet carrier to rotate; the first input shaft 21 rotates, and the second planet carrier 24 is driven to rotate around the first planet carrier through the transmission gear 26; the second input shaft 22 rotates, and the output spherical hinge 25 is driven to rotate through the transmission gear train 27; rotation of the first input shaft 21, the second input shaft 22 and the third input shaft 23 effects a resultant movement of the output ball joint 25.
As shown in fig. 7, the common spherical hinge mechanism (power is placed at each joint position) includes a first in-wheel motor, a first rotating arm, a second in-wheel motor, a second rotating arm, a third in-wheel motor and an output spherical hinge 25; one end of the first rotating arm is driven by a first hub motor; one end of the second rotating arm is hinged with the other end of the first rotating arm and is driven by a second hub motor; the output ball joint 25 includes a ball portion and a shaft portion which are integrally formed; the rotating shaft part is hinged with the other end of the second rotating arm and is driven by a third hub motor.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110968796.XA CN113916686B (en) | 2021-08-23 | 2021-08-23 | A ball joint stiffness testing device and a ball joint stiffness testing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110968796.XA CN113916686B (en) | 2021-08-23 | 2021-08-23 | A ball joint stiffness testing device and a ball joint stiffness testing method thereof |
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| Publication Number | Publication Date |
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| CN113916686A true CN113916686A (en) | 2022-01-11 |
| CN113916686B CN113916686B (en) | 2024-05-03 |
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| CN202110968796.XA Active CN113916686B (en) | 2021-08-23 | 2021-08-23 | A ball joint stiffness testing device and a ball joint stiffness testing method thereof |
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