CN206095903U - Finger friction test equipment - Google Patents
Finger friction test equipment Download PDFInfo
- Publication number
- CN206095903U CN206095903U CN201621129228.1U CN201621129228U CN206095903U CN 206095903 U CN206095903 U CN 206095903U CN 201621129228 U CN201621129228 U CN 201621129228U CN 206095903 U CN206095903 U CN 206095903U
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- expansion link
- finger
- connecting rod
- optical axis
- fixed
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Abstract
The utility model provides a finger friction test equipment which the constitution mainly is: servo motor on the rectangular base passes through lead screw nut mechanism drive slip table horizontal slip, the slip table upper surface is through answering variant two to be connected with the sample platform to force transducer, three -dimensional acceleration sensor is installed to the sample bench, the sound sensor, install left connecting rod and right connecting rod rotatable and that can lock on the base, fixed finger tray on the connecting rod of the right side, left connecting rod is through installing the piece, and load plate is connected with the finger briquetting that can reciprocate and can lock, servo motor, answer variant two to force transducer, three -dimensional acceleration sensor and sound sensor all with control and signal acquisition and processing system electric connection. The device can be reliably, when accurately the analytical study finger is with the object contact friction, test parameter such as friction angle, friction normal force, relative slip speed and coefficient of friction, vibrational acceleration, sound sound signal's relation is provided the basis for the surface design of relevant product and intelligent robot's sense of touch simulation design.
Description
Technical field
The utility model is related to a kind of finger friction testing equipment.
Background technology
Finger friction is an important subject of bio-tribology body surface class.Connect in the middle finger that moves while still alive of the mankind
Tactile friction behavior is seen everywhere, and such as to button, the operation of action bars, touch operation, twist-off closure to touch-screen, uses key
The actions such as disk, mouse.Friction is produced due to touching, sliding between finger meeting and various materials in these behaviors, it is right to produce
The impact of finger, deforms upon finger surface skin, such as：Finger bubbles with the scratch of the work tool of production, sports goods etc.
Phenomenon；Comfortableness of the material friction such as finger and touch-screen etc..Accordingly, it would be desirable to test with research finger when friction is contacted
Rule, the i.e. finger such as friction force vector, vibration acceleration vector friction mechanical characteristic.So as to according to the finger friction measured
Mechanical characteristic, instructs the design and manufacture of Related product, to improve reliability and the sensitivity of product operation, and improves the hand of people
Refer to the comfortableness and health of operation.
Meanwhile, the emulation of the tactile of intelligent robot, be by artificial finger when body surface is touched with frictional force, vibrate
The signals such as acceleration, sound and glide direction carry out respective angles, loading force, speed of sliding as feedback signal control artificial finger
The behaviors such as the operation of degree is touched with simulating finger true to nature, grasping.Therefore finger is rubbed in different objects surface touch
The experimental study of the signals such as power, vibration acceleration, voice signal Changing Pattern, can be intelligent robot tactile simulation hardware with
Software for Design provides test basis.
Existing finger friction testing equipment, mainly by the manually operated rubbing angle to change in testing of experimenter
With normal force (load), cause the variable in test that there is uncertainty.In addition, when rubbing angle changes, finger with
Contact area between object changes very greatly, and the impact to tribological properties such as frictional force is very big, so as to cause test result not
Accurately, error is very big, it is impossible to which the design and manufacture to Related product provides reliable, accurate test basis.
Utility model content
The purpose of this utility model is to provide a kind of finger friction testing equipment.The device can study finger in different cunnings
The Changing Pattern of frictional force, vibration acceleration, voice signal under the relevant parameters such as dynamic angle, speed and load, is related finger
The design of frictional product and the tactile design of Simulation of intelligent robot provide more accurate, reliable test basis.
The utility model realizes that the technical scheme that its goal of the invention is adopted is, a kind of finger friction testing equipment, its group
Cheng Shi：Rectangular base upper surface is sequentially installed with from left to right riser, left support plate, right support plate；Servomotor is horizontal
On the left facade of riser, the output shaft of servomotor is connected by shaft coupling with screw mandrel left end；The left part of screw mandrel passes through
The dynamic bearing that rolls left is arranged in left support plate, and the right part of screw mandrel is arranged in right support plate by right rolling bearing (10a)；Front light
Axle, the left end of rear optical axis are both secured in left support plate, and front optical axis, the right-hand member of rear optical axis are both secured in right support plate, front light
Axle, rear optical axis are parallel with screw mandrel, and respectively positioned at the front side of screw mandrel and rear side；
Ball screw nut is installed on described screw mandrel；Rectangular slide unit is fixed on ball screw nut, front optical axis,
Afterwards optical axis is respectively penetrated in the front-side holes and rear side aperture of slide unit；The upper surface of slide unit is by strain-type two to force snesor and sample
Platform connects；The edge of the upper surface of sample stage is provided with three dimension acceleration sensor；Sound transducer is fixed on bottom by support
On seat, and sound transducer is located near sample stage；
Described base is located at the position on front left side, rear left side, front right side and the rear right side of slide unit, is respectively fixed with front left
Expansion link, rear left expansion link, front right expansion link and rear right expansion link；
Be installed with left connecting rod between described front left expansion link top and rear left expansion link top, and front left expansion link top and
Rear left expansion link top is equipped with the lock-screw of locking left connecting rod；Wear between front right expansion link top and rear right expansion link top
There is right connecting rod, and front right expansion link top and rear right expansion link top top are equipped with the lock-screw of locking right connecting rod；
Described left connecting rod is fixedly arranged in the middle of mounting blocks, and load plate is through mounting blocks and by the lock-screw on mounting blocks
It is fixed；The bottom of load plate is fixed with finger briquetting, and the bottom of finger briquetting is the downward circular groove of breach；Right connecting rod
Middle part fixed finger tray, the top of finger tray is breach circular groove upwards；
Described servomotor, strain-type two to force snesor, three dimension acceleration sensor and sound transducer with control
System and signal acquiring processing system electrical connection.
Working process and principle of the present utility model are：
The flexible height on front left expansion link, rear left expansion link, front right expansion link and rear right expansion link is adjusted, makes four to stretch
The finger length of the height adequacy test person of contracting bar.
Detected materials are fixed on sample stage.Rotation right connecting rod adjusts finger tray to set angle, then by front right
Lock-screw on expansion link and rear right expansion link is locked right connecting rod, so as to finger contact rubbing angle be fixed.Again
The finger joint of finger is placed at the circular groove of finger tray, and makes the finger tip of finger positioned at the circular groove of finger briquetting
Lower section.Subsequently, by moving down load plate, the circular groove for making finger briquetting is fitted with finger, at the same finger with treat
Survey material；Continue to move down load plate, to finger and detected materials normal force is applied, and by control and signal acquisition process
System reads two force signals to force snesor；When two reach setting value to the normal force of force snesor, tighten on mounting blocks
Lock-screw；So that finger briquetting is fixed in left connecting rod and it constant to the normal force that finger and detected materials apply is
Setting value.
Start servomotor so as to make forward and backward motion by the rotating speed of setting, and then by shaft coupling, screw mandrel, ball wire
Thick stick nut, slide unit and the detected materials on slide unit are driven to do straight reciprocating motion so that detected materials sample and static
The relative fricting movement for sliding is realized between finger, finger friction test is carried out.
In process of the test, strain-type two is big to the normal force and tangential force in force snesor real-time detection friction process
It is little, the vibration signal of three-dimensional, sound during the three dimension acceleration sensor collection finger friction on sample stage
Sensor sense collected sound signal.These detection signals send control to and signal acquiring processing system is analyzed process.
Compared with prior art, the beneficial effects of the utility model are：
First, testing equipment of the present utility model can arbitrarily be set by finger tray and automatically keep test in finger with
The contact rubbing angle of detected materials sample surfaces；Simultaneously by adjusting simultaneously fixed finger briquetting so that apply on finger and sample
Plus load be maintained in setting value.Avoid that experimenter is manually operated, keep the error that rubbing angle and load brings；It sets
Fixed experimental condition, parameter is accurately, reliably.So as to more accurately, reliable test draw, different slip angle, speed and
Under the relevant parameters such as load, frictional force, vibration acceleration, the Changing Pattern of voice signal；And then be related finger friction product
Design and the tactile design of Simulation of intelligent robot more accurate, reliable test basis are provided.
2nd, the height of adjustable telescopic rod, you can the experimenter of different finger lengths is tested, it is applied widely.
Above-mentioned front left expansion link (16), rear left expansion link (18), front right expansion link (17) and rear right expansion link (19)
Specifically constituting is：Sleeve is fixed on base (11), and interior bar is linked in the inner chamber of sleeve, and sleeve is provided with for locking
The lock-screw of interior bar.
As such, it is possible to the height of expansion link is easily adjusted and locks, and its simple structure, reliability.
Description of the drawings：
Fig. 1 is the structural representation of the friction test equipment of the utility model embodiment.
The expression detected materials sample of label 27 in figure.
Specific embodiment：
Fig. 1 illustrates that a kind of specific embodiment of the present utility model is that a kind of finger friction testing equipment, its feature exists
In：The upper surface of rectangular base 11 is sequentially installed with from left to right riser 2, left support plate 4, right support plate 10；Servomotor 1
It is transversely mounted on the left facade of riser 2, the output shaft of servomotor 1 is connected by shaft coupling 3 with the left end of screw mandrel 5；Screw mandrel 5
By rolling left dynamic bearing 4a in left support plate 4, the right part of screw mandrel 5 is arranged on right to left part by right rolling bearing 10a
On fagging 10；Front optical axis 6, the left end of rear optical axis 7 are both secured in left support plate 4, and front optical axis 6, the right-hand member of rear optical axis 7 are fixed
In right support plate 10, front optical axis 6, rear optical axis 7 are parallel with screw mandrel 5, and respectively positioned at the front side of screw mandrel 5 and rear side；
Ball screw nut 9 is installed on described screw mandrel 5；Rectangular slide unit 8 is fixed on ball screw nut 9, front
Optical axis 6, rear optical axis 7 are respectively penetrated in the front-side holes and rear side aperture of slide unit 8；The upper surface of slide unit 8 is passed by strain-type two to power
Sensor 13 is connected with sample stage 14；The edge of the upper surface of sample stage 14 is provided with three dimension acceleration sensor 15；Sound sensor
Device 26 is fixed on the pedestal 11 by support 28, and sound transducer 26 is located near sample stage 14；
Described base 11 is located at the position on front left side, rear left side, front right side and the rear right side of slide unit 8, is respectively fixed with
Front left expansion link 16, rear left expansion link 18, front right expansion link 17 and rear right expansion link 19；
Left connecting rod 20, and front left expansion link are installed between the described top of front left expansion link 16 and the top of rear left expansion link 18
16 tops and the top of rear left expansion link 18 are equipped with the lock-screw of locking left connecting rod 20；The top of front right expansion link 17 and rear right are stretched
Right connecting rod 23 is installed between the top of contracting bar 19, and the top of front right expansion link 17 and the top top of rear right expansion link 19 are equipped with locking
The lock-screw of right connecting rod 23；
Described left connecting rod 20 is fixedly arranged in the middle of mounting blocks 21, and load plate 22 is through mounting blocks 21 and by mounting blocks 21
Lock-screw fix；The bottom of load plate 22 is fixed with finger briquetting 25, and the bottom of finger briquetting 25 is the downward circle of breach
Arc groove；The middle part fixed finger tray 24 of right connecting rod 23, the top of finger tray 24 is breach circular groove upwards；
Described servomotor 1, strain-type two is to force snesor 13, three dimension acceleration sensor 15 and sound transducer 26
Electrically connect with control and signal acquiring processing system.
Claims (2)
1. a kind of finger friction testing equipment, it is characterised in that：Install successively from left to right rectangular base (11) upper surface
There are riser (2), left support plate (4), right support plate (10)；Servomotor (1) is transversely mounted on the left facade of riser (2), is watched
The output shaft for taking motor (1) is connected by shaft coupling (3) with screw mandrel (5) left end；The left part of screw mandrel (5) is by the dynamic bearing that rolls left
(4a) it is arranged in left support plate (4), the right part of screw mandrel (5) is arranged in right support plate (10) by right rolling bearing (10a)；
Front optical axis (6), the left end of rear optical axis (7) are both secured in left support plate (4), front optical axis (6), rear optical axis (7) right-hand member it is solid
In right support plate (10), front optical axis (6), rear optical axis (7) are parallel with screw mandrel (5), and respectively positioned at the front side of screw mandrel (5)
And rear side；
Ball screw nut (9) is installed on described screw mandrel (5)；Rectangular slide unit (8) is fixed on ball screw nut (9)
On, front optical axis (6), rear optical axis (7) are respectively penetrated in the front-side holes and rear side aperture of slide unit (8)；The upper surface of slide unit (8) is by answering
Variant two to force snesor (13) is connected with sample stage (14)；The edge of the upper surface of sample stage (14) is provided with three-dimensional acceleration
Sensor (15)；Sound transducer (26) is fixed on base (11) by support (28), and sound transducer (26) is positioned at sample
Near sample platform (14)；
Described base (11) is respectively fixed with positioned at the position on the front left side of slide unit (8), rear left side, front right side and rear right side
Front left expansion link (16), rear left expansion link (18), front right expansion link (17) and rear right expansion link (19)；
Left connecting rod (20) is installed between described front left expansion link (16) top and rear left expansion link (18) top, and front left is flexible
Bar (16) top and rear left expansion link (18) top are equipped with the lock-screw of locking left connecting rod (20)；On front right expansion link (17)
Right connecting rod (23), and front right expansion link (17) top and rear right expansion link (19) are installed between portion and rear right expansion link (19) top
Top top is equipped with the lock-screw of locking right connecting rod (23)；
Described left connecting rod (20) is fixedly arranged in the middle of mounting blocks (21), and load plate (22) is through mounting blocks (21) and by mounting blocks
(21) lock-screw on is fixed；The bottom of load plate (22) is fixed with finger briquetting (25), and the bottom of finger briquetting (25) is
The downward circular groove of breach；Middle part fixed finger tray (24) of right connecting rod (23), the top of finger tray (24) is scarce
Mouth circular groove upwards；
Described servomotor (1), strain-type two is to force snesor (13), three dimension acceleration sensor (15) and sound transducer
(26) electrically connect with control and signal acquiring processing system.
2. a kind of finger friction testing equipment according to claim 1, it is characterised in that described front left expansion link
(16), the concrete composition of rear left expansion link (18), front right expansion link (17) and rear right expansion link (19) is：Sleeve is fixed on bottom
On seat (11), interior bar is linked in the inner chamber of sleeve, and sleeve is provided with the lock-screw for locking interior bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621129228.1U CN206095903U (en) | 2016-10-17 | 2016-10-17 | Finger friction test equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621129228.1U CN206095903U (en) | 2016-10-17 | 2016-10-17 | Finger friction test equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206095903U true CN206095903U (en) | 2017-04-12 |
Family
ID=58483494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621129228.1U Expired - Fee Related CN206095903U (en) | 2016-10-17 | 2016-10-17 | Finger friction test equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206095903U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568705A (en) * | 2016-10-17 | 2017-04-19 | 西南交通大学 | Finger friction test device |
| CN108461077A (en) * | 2018-02-28 | 2018-08-28 | 西南交通大学 | A kind of efficient acoustical generator based on Bionic Design |
| CN108896478A (en) * | 2018-07-26 | 2018-11-27 | 西南交通大学 | Multi-functional finger friction test equipment |
| CN109900861A (en) * | 2019-02-21 | 2019-06-18 | 中国矿业大学 | Material surface sense of touch test device and method |
-
2016
- 2016-10-17 CN CN201621129228.1U patent/CN206095903U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568705A (en) * | 2016-10-17 | 2017-04-19 | 西南交通大学 | Finger friction test device |
| CN106568705B (en) * | 2016-10-17 | 2023-06-16 | 西南交通大学 | Finger friction test device |
| CN108461077A (en) * | 2018-02-28 | 2018-08-28 | 西南交通大学 | A kind of efficient acoustical generator based on Bionic Design |
| CN108896478A (en) * | 2018-07-26 | 2018-11-27 | 西南交通大学 | Multi-functional finger friction test equipment |
| CN108896478B (en) * | 2018-07-26 | 2024-04-30 | 西南交通大学 | Multifunctional finger friction test equipment |
| CN109900861A (en) * | 2019-02-21 | 2019-06-18 | 中国矿业大学 | Material surface sense of touch test device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20191017 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |