CN210293511U - Milli-micro Newton level two-dimensional force micro-motion test system with overload protection device - Google Patents
Milli-micro Newton level two-dimensional force micro-motion test system with overload protection device Download PDFInfo
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Abstract
The utility model discloses a nano-Newton two-dimensional force micro-motion test system with an overload protection device, which comprises a test platform component, a horizontal ball screw component, a horizontal force cell sensor component, a vertical ball screw component and a vertical force cell sensor component connected on the vertical ball screw component; the horizontal load cell assembly is provided with a horizontal overload protection structure, and the vertical load cell assembly is provided with a vertical overload protection structure. The utility model discloses can test milli-little ox normal force, adhesive force, frictional force, the penetrating power of thorn that bionical prototype produced, shearing force etc. can satisfy the test requirement in aspects such as test range, measuring accuracy, test accuracy simultaneously. This test platform and attached mechanical mechanism have designed overload protection device in order to prevent that parallel double-reed cantilever beam from surpassing its deformation scope, and parallel double-reed cantilever beam is as solitary device simultaneously, and it is convenient to change, has improved the usability and the flexibility of device.
Description
Technical Field
The utility model belongs to the mechanical testing technique especially relates to a be applied to the test of the power of the small-scale range that produces bionic prototype, high accuracy in the mechanical bionics field, the two-dimensional power fine motion test system and the application method that the measuring accuracy reaches little ox level.
Background
In the process of researching the technology of the disaster-causing agricultural insects through mechanical sliding trapping and control, a trapping sliding plate with a good sliding function needs to be prepared in a bionic mode, and the trapping and the sliding trapping of the disaster-causing agricultural insects are achieved. For the bionic development of the trapping skateboard, the adhesive force and the friction force of insects such as moths, ants, locusts, beetles and the like on the surfaces of a bionic prototype, the trapping skateboard and the like and the shearing force, the breaking force, the penetration force and the like of an insect adhesion system need to be tested, so that a basis is provided for the optimization of the bionic prototype and the quantitative representation of the slippage function of the trapping skateboard. Therefore, it is necessary to develop a micro-force testing system, which is specially used for testing milli-micro Newton force generated by the bionic prototype.
Chinese patent CN100458388C discloses a two-dimensional small-range force sensor capable of measuring forces in the horizontal direction and the vertical direction simultaneously, which adopts a well-shaped hole structure, and combines well with the manufacturing process of the sensor, and the elastomer has high integral rigidity, safety and reliability. However, the resolution of the normal force and the resolution of the tangential force of the sensor are both 2mN, the range of the measuring range is 0-5N, the sensor is more suitable for the force generated by the soles of the animals with larger body types such as geckos and the like, and the sensor can not meet the requirement on the precision for the force generated by the insects with smaller body types such as beetles, ants and the like. Chinese patents CN100412521C and CN100593697C disclose three-dimensional force sensors with a measuring range of 0-1.5N, which have the advantages of simple structure, high sensitivity, and the like, and can measure the contact force of spiders and geckos when crawling. The resolution of the three-dimensional force sensor is 1 mN, and the test range and the test precision of the force generated by smaller insects such as moths, ants and the like can still not meet the requirements.
The references "adhesion test of locust on a trap slide" [ Wanglixin, journal of agricultural machinery, 2010, 41(12):195- "198 ]," efficacy test of locust slip trap slide based on bionics of leaf cage slip region of Nepenthes "[ Wanglixin, journal of agricultural machinery, 2011, 42(5): 222-, the force measuring system cannot completely meet the test requirement on the force generated by smaller insects such as ants, moths and the like. In addition, the test platform and the auxiliary mechanical structure of the system are too simple, and when the adhesive force and the friction force of the insects with small body types and the shearing force of the attachment system are tested, manual operation errors are easily introduced, and the test accuracy is obviously influenced. Chinese patent CN103308232B discloses an insect micro-force measuring device, the measuring range of which is 0-3N, the resolution is 0.5 mN, the device can simultaneously meet the test requirements of the adhesive force, the friction force and the traction force of an insect on the surface of a material in the aspects of measuring range, measuring precision, measuring accuracy and the like, and can meet the test requirements of the shearing force and the breaking force of an insect adhesion system, but the force measuring device can only test one-dimensional force and cannot complete the simultaneous measurement of normal force and friction force.
In summary, the existing force measuring sensor and force measuring system cannot simultaneously meet the requirements of the milli-micro Newton force test generated by the bionic prototype in the aspects of measuring range, testing precision, testing accuracy and the like, and only can test one-dimensional force. It is more critical that the force sensor and the force measuring system have no overload protection device, and the milli-micro Newton force test sensor is expensive and is easy to be damaged due to overload. Therefore, there is a need to develop a milli-micro Newton level two-dimensional force micro-motion test system with an overload protection device, which not only can meet the above requirements, but also has an overload protection function, and can test the milli-micro Newton level force generated by a bionic prototype.
SUMMERY OF THE UTILITY MODEL
Based on the technical background, the utility model, milli-little ox level two dimension power fine motion test system with overload protection device can test milli-little ox level normal force, adhesive force, frictional force, thorn penetrating power and the shearing force that the bionic prototype produced to sensor overload protection device has.
In order to achieve the above technical objective, the utility model discloses the technical scheme who takes is:
a nano-Newton two-dimensional force micro-motion test system with an overload protection device comprises a test platform assembly, a horizontal ball screw assembly fixedly arranged on the right side of the test platform assembly, a horizontal force cell sensor assembly connected to the horizontal ball screw assembly, a vertical ball screw assembly fixedly arranged on the left side of the test platform assembly and positioned above the test platform assembly, and a vertical force cell sensor assembly connected to the vertical ball screw assembly;
the horizontal ball screw assembly controls the horizontal force-measuring sensor assembly to move in the horizontal direction, and the vertical ball screw assembly controls the vertical force-measuring sensor assembly to move in the vertical direction;
the horizontal load cell assembly is provided with a horizontal overload protection structure, and the vertical load cell assembly is provided with a vertical overload protection structure.
As a further improvement of the utility model, the test platform subassembly includes test platform bottom plate, fixed mounting at the left protruding type base of test platform bottom plate and the L type support of fixed mounting at protruding type base top.
As a further improvement of the present invention, the horizontal force cell sensor assembly comprises a horizontal ball screw support end, a horizontal ball screw slider, a horizontal ball screw, a horizontal stepping motor, a horizontal ball screw fixing end and a horizontal ball screw base;
the horizontal ball screw supporting end and the horizontal ball screw fixing end are respectively and fixedly arranged at the left end and the right end of the horizontal ball screw base, the left end and the right end of the horizontal ball screw are respectively and rotatably connected with the horizontal ball screw supporting end and the horizontal ball screw fixing end, and the horizontal ball screw sliding block is connected to the horizontal ball screw;
the horizontal stepping motor is fixed on the right side of the fixed end of the horizontal ball screw, a driving shaft of the horizontal stepping motor is coaxially and fixedly connected with the right end of the horizontal ball screw, and the horizontal stepping motor drives the horizontal ball screw to rotate so as to enable the horizontal ball screw sliding block to move along the horizontal direction of the horizontal ball screw;
and the horizontal ball screw base is fixed on the bottom plate of the test platform.
As a further improvement of the present invention, the vertical ball screw assembly comprises a vertical ball screw support end, a vertical ball screw slider, a vertical ball screw, a vertical stepping motor, a vertical ball screw fixing end and a vertical ball screw base;
the vertical ball screw fixing end and the vertical ball screw supporting end are respectively fixedly arranged on the upper end and the lower end of the vertical ball screw base, the upper end and the lower end of the vertical ball screw are respectively and rotatably connected with the vertical ball screw fixing end and the vertical ball screw supporting end, and the vertical ball screw sliding block is connected to the vertical ball screw;
the vertical stepping motor is fixed on the upper side of the fixed end of the vertical ball screw, a driving shaft of the vertical stepping motor is coaxially and fixedly connected with the upper end of the vertical ball screw, and the vertical stepping motor drives the vertical ball screw to rotate so as to enable the vertical ball screw slider to move along the vertical direction of the vertical ball screw;
the vertical ball screw base is fixed on the right side of the L-shaped support.
As a further improvement of the utility model, horizontal force cell sensor subassembly includes horizontal eddy current displacement sensor mount, the horizontal eddy current displacement sensor of fixed connection on horizontal ball slider and lie in the left horizontal overload protection structure of relative horizontal eddy current displacement sensor on horizontal eddy current displacement sensor mount.
As a further improvement of the present invention, the horizontal overload protection structure comprises a horizontal parallel double-reed cantilever beam fixing frame fixedly connected to the horizontal ball screw slider, a horizontal parallel double-reed cantilever beam fixedly connected to the horizontal parallel double-reed cantilever beam fixing frame, a horizontal test sample placement platform fixedly arranged at the upper end of the horizontal parallel double-reed cantilever beam, a horizontal support connecting frame fixedly connected to the upper end surface of the horizontal parallel double-reed cantilever beam fixing frame and positioned at the right side of the horizontal parallel double-reed cantilever beam, and a horizontal L-shaped overload protection bracket fixedly connected to the horizontal support connecting frame;
the horizontal parallel double-spring-piece cantilever beam comprises an outer side spring piece, an inner side spring piece, a rectangular connecting block and a semi-circular connecting block;
the rectangular connecting block and the semi-circular connecting block are fixedly arranged between the outer spring piece and the inner spring piece;
the lower end of the rectangular connecting block is fixedly connected with a horizontal parallel double-reed cantilever beam fixing frame;
a circular groove for reducing the weight of the semi-circular arc connecting block is formed in the left end face of the semi-circular arc connecting block, and a vertical threaded hole and a horizontal threaded hole are formed in the top end and the side end of the semi-circular arc connecting block respectively;
the horizontal test sample placing platform is fixedly connected with the horizontal threaded hole through a bolt.
As a further improvement of the utility model, vertical force cell sensor subassembly includes vertical eddy current displacement sensor mount, the vertical eddy current displacement sensor of fixed connection on vertical eddy current displacement sensor mount of fixed connection and the vertical overload protection structure of fixed connection on horizontal ball slider and lie in relative vertical eddy current displacement sensor downside on vertical ball slider.
As a further improvement of the present invention, the vertical overload protection structure comprises a vertical parallel double-reed cantilever beam fixing frame fixedly connected to the vertical ball screw slider, a vertical parallel double-reed cantilever beam fixedly connected to the vertical parallel double-reed cantilever beam fixing frame, a vertical test sample placement platform fixedly arranged at the end of the vertical parallel double-reed cantilever beam, a vertical support connecting frame fixedly connected to the end surface of the vertical parallel double-reed cantilever beam fixing frame and located at the upper side of the vertical parallel double-reed cantilever beam, and a vertical L-type overload protection bracket fixedly connected to the vertical support connecting frame;
the vertical parallel double-spring-piece cantilever beam comprises an upper side spring piece, a lower side spring piece, a rectangular connecting block and a semicircular arc connecting block;
the rectangular connecting block and the semicircular connecting block are fixedly arranged between the upper spring piece and the lower spring piece;
the left end of the rectangular connecting block is fixedly connected with a vertical parallel double-reed cantilever beam fixing frame;
the lower side end face of the semicircular arc connecting block is provided with a circular groove for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block are respectively provided with a horizontal screw hole and a vertical screw hole;
the vertical test sample placing platform is fixedly connected with the horizontal screw hole through a bolt.
As a further improvement of the utility model, the device also comprises a data acquisition card, and is used for realizing the conversion from the analog signal to the digital signal of the horizontal force cell sensor assembly and the vertical force cell sensor assembly.
As a further improvement of the utility model, the data acquisition card adopts LabVIEW to compile signal processing and real-time display program, makes the power signal that horizontal force cell sensor subassembly and vertical force cell sensor subassembly were gathered show on the interface in real time.
Compared with the prior art, the utility model discloses the beneficial effect who gains as follows:
the utility model provides a milli-little ox level two dimension power fine motion test system with overload protection device can test milli-little ox level normal force, adhesive force, frictional force, thorn penetrating power, shearing force etc. that the bionic prototype produced, can satisfy the test requirement in aspects such as test range, measuring accuracy, test accuracy simultaneously. This test platform and attached mechanical mechanism have designed overload protection device in order to prevent that parallel double-reed cantilever beam from surpassing its deformation scope, and parallel double-reed cantilever beam is as solitary device simultaneously, and it is convenient to change, has improved the usability and the flexibility of device.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a side view of the horizontal ball screw assembly of the present invention;
FIG. 3 is a side view of the horizontal load cell assembly of the present invention;
FIG. 4 is a side view of the fixing frame of the horizontal eddy current displacement sensor of the present invention;
FIG. 5 is a side view of the horizontal L-shaped overload protection bracket of the present invention;
FIG. 6 is a front view of the horizontal parallel double-reed cantilever of the present invention;
FIG. 7 is a cross-sectional view of the horizontal parallel double-reed cantilever of the present invention;
FIG. 8 is a side view of the horizontal semi-circular arc connecting block of the present invention;
FIG. 9 is a side view of the horizontal parallel double-reed cantilever beam holder of the present invention;
FIG. 10 is an isometric view of a vertical load cell assembly of the present invention;
FIG. 11 is an isometric view of a vertical ball screw assembly of the present invention;
FIG. 12 is a side view of the fixing frame of the vertical eddy current displacement sensor of the present invention;
fig. 13 is a side view of the vertical L-shaped overload protection bracket of the present invention;
FIG. 14 is a front view of a vertical parallel double-reed cantilever of the present invention;
FIG. 15 is a cross-sectional view of a vertical parallel double-reed cantilever of the present invention;
FIG. 16 is a side view of the vertical semi-circular arc connecting block of the present invention;
FIG. 17 is a side view of the vertical parallel double-reed cantilever beam holder of the present invention;
FIG. 18 is a perspective view of the convex base of the present invention;
FIG. 19 is an isometric view of the L-shaped bracket of the present invention;
FIG. 20 is a side view of the bottom plate of the test platform of the present invention;
fig. 21 is a flowchart of a system data processing and real-time display procedure of the present invention.
In the figure: 1. a horizontal ball screw assembly; 1-1, a horizontal ball screw support end; 1-2, a horizontal ball screw slide block; 1-3, a threaded hole of a horizontal cantilever beam fixing frame; 1-4, a threaded hole of a fixing frame of the horizontal eddy current displacement sensor; 1-5, horizontal ball screw; 1-6, a horizontal stepping motor; 1-7, a horizontal ball screw fixing end; 1-8, a horizontal ball screw base; 1-9, a threaded hole of a horizontal ball screw base; 2. a horizontal load cell assembly; 2-1, a horizontal eddy current displacement sensor; 2-2, fastening a nut of the horizontal eddy current displacement sensor; 2-3, fixing frame of horizontal eddy current displacement sensor; 2-3-1, round through holes; 2-3-2, long holes; 2-4, horizontally supporting the connecting frame; 2-5, long screw; 2-6, horizontally testing a sample placing platform; 2-7, a horizontal L-shaped overload protection bracket; 2-7-1, a horizontal L-shaped overload protection bracket long hole; 2-7-2, horizontal L-shaped overload protection bracket plane; 2-8, horizontal parallel double-reed cantilever beam; 2-8-1, a semi-circular arc connecting block; 2-8-1-1, vertical threaded hole; 2-8-1-2, horizontal threaded hole; 2-8-1-3, circular groove; 2-8-2 of outer spring leaf; 2-8-3, inner spring leaf; 2-8-4 of rectangular connecting blocks; 2-9, horizontal parallel double-reed cantilever beam fixing frame; 2-10, fastening screws of the horizontal parallel double-reed cantilever beam; 3. a vertical load cell assembly; 3-1, fixing a vertical eddy current displacement sensor; 3-1-1, circular through holes; 3-1-2, long holes; 3-2, fastening a nut of the vertical eddy current displacement sensor; 3-3, vertically testing a sample placing platform; 3-4, a vertical eddy current displacement sensor; 3-5, vertical L-shaped overload protection bracket; 3-5-1, vertical L-shaped overload protection bracket slot holes; 3-5-2, vertical L-shaped overload protection bracket plane; 3-6, vertical parallel double-reed cantilever; 3-6-1, semicircular arc connecting blocks; 3-6-1-1, horizontal screw holes; 3-6-1-2, vertical screw holes; 3-6-1-3, round groove; 3-6-2 of upper spring leaf; 3-6-3, lower spring leaf; 3-6-4, rectangular connecting blocks; 3-7, fastening screws for the vertical parallel double-reed cantilever beams; 3-8, vertical parallel double-reed cantilever beam fixing frame; 3-8-1, fastening threaded holes of the vertical parallel double-reed cantilever beams; 3-8-2, vertical and parallel double-reed cantilever beam through holes; 3-8-3 of a long through hole of the vertical parallel double-reed cantilever beam; 3-9, vertically supporting the connecting frame; 3-10, long screw; 4. a vertical ball screw assembly; 4-1, a vertical ball screw support end; 4-2, a vertical ball screw slider; 4-3, vertically and parallelly screwing a double-reed cantilever beam fixing frame; 4-4, vertically screwing the sensor fixing frame; 4-5, vertical ball screw; 4-6, a vertical stepping motor; 4-7, fixing end of vertical ball screw; 4-8, a vertical ball screw base; 4-9, vertical ball screw base threaded holes; 5. testing the platform assembly; 5-1, L-shaped bracket; 5-1-1, fixing a through hole of the vertical ball screw group; 5-1-2, through holes on the bottom surface of the L-shaped bracket; 5-2, fastening a nut of the vertical eddy current displacement sensor; 5-3, fastening a screw and a nut by using the L-shaped bracket; 5-4, a convex base; 5-4-1, a convex base through hole; 5-4-2, convex base slot; 5-5, convex base fastening screws; 5-6, testing a platform bottom plate; 5-6-1, testing a horizontal threaded hole of a platform bottom plate; 5-6-2, testing a vertical threaded hole of a platform bottom plate; 5-7, and fastening screws.
Detailed Description
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 only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. 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 is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.
As shown in figure 1, the milli-micro Newton two-dimensional force micro-motion testing system with the overload protection device mainly comprises a horizontal ball screw assembly 1, a horizontal force-measuring sensor assembly 2, a vertical force-measuring sensor assembly 3, a vertical ball screw assembly 4 and a testing platform assembly 5. The horizontal ball screw assembly 1 has the function of controlling the horizontal force measuring sensor assembly 2 to move in the horizontal direction, the vertical force measuring sensor assembly 3 to move in the vertical direction is controlled by the vertical ball screw assembly 4, and the testing platform assembly 5 provides a platform for fixedly mounting the horizontal ball screw assembly 1, the horizontal force measuring sensor assembly 2, the vertical force measuring sensor assembly 3 and the vertical ball screw assembly 4. The horizontal force transducer component 2 mainly realizes the testing of milli-micro Newton normal force, penetration force and shearing force generated by the bionic prototype, and the vertical force transducer component 3 mainly realizes the testing of milli-micro Newton adhesive force and friction force generated by the bionic prototype.
As shown in fig. 1, 2 and 3, a testing platform bottom plate 5-6 in the testing platform assembly 5 provides a fixed mounting carrier for the horizontal ball screw assembly 1, the horizontal ball screw assembly 1 is mounted on the right side of the testing platform bottom plate 5-6 through fastening screws 5-7, and the horizontal force measuring sensor assembly 2 is fixed to the horizontal ball screw slider 1-2 through the fastening screws, so that the horizontal force measuring sensor assembly 2 moves left and right on the horizontal ball screw assembly 1.
As shown in FIG. 4, the horizontal ball screw assembly 1 mainly comprises a horizontal ball screw supporting end 1-1, a horizontal ball screw slider 1-2, a horizontal ball screw 1-5, a horizontal stepping motor 1-6, a horizontal ball screw fixing end 1-7 and a horizontal ball screw base 1-8, wherein the horizontal ball screw assembly 1 is fixed on a testing platform bottom plate 5-6, and the horizontal force measuring sensor assembly 2 moves in the horizontal direction through the horizontal ball screw assembly 1.
As shown in fig. 3, 4, 5, and 9, the horizontal load cell assembly 2 mainly realizes accurate testing of the milli-micro newton normal force, penetration force, and shear force generated by the biomimetic prototype, and also has an overload protection device to protect the milli-micro newton load cell, which is expensive and is easily disabled by overload. Based on the functional requirements, the horizontal force-measuring sensor component 2 is used as a core device of a force-measuring system in the horizontal direction and mainly comprises a horizontal eddy current displacement sensor 2-1, a horizontal eddy current displacement sensor fastening nut 2-2, a horizontal eddy current displacement sensor fixing frame 2-3, a horizontal supporting connecting frame 2-4, a long screw 2-5, a horizontal test sample placing platform 2-6, a horizontal L-shaped overload protection support 2-7, a horizontal parallel double-reed cantilever beam 2-8, a horizontal cantilever beam fixing frame 2-9 and a cantilever beam fastening screw 2-10. The horizontal eddy current displacement sensor fixing frame 2-3 is fixed with two threaded holes 1-3 on the left side of the horizontal ball screw sliding block 1-2 through the circular through holes 2-3-1 in a screw connection mode, and the horizontal parallel double-reed cantilever beam fixing frame 2-9 is fixed with threaded holes 1-4 on the right side of the horizontal eddy current displacement sensor fixing frame of the horizontal ball screw sliding block 1-2 in a screw connection mode. A long hole 2-3-2 is arranged at the upper part of a horizontal eddy current displacement sensor fixing frame 2-3 and used for adjusting the position of the horizontal eddy current sensor 2-1 in the vertical direction in a small range, and the horizontal eddy current displacement sensor 2-1 is fixed on the long hole 2-3-2 of the horizontal eddy current sensor fixing frame 2-3 through a horizontal eddy current displacement sensor fastening nut 2-2; the bottom of the horizontal eddy current displacement sensor fixing frame 2-3 is provided with a circular through hole 2-3-1, so that the horizontal eddy current displacement sensor fixing frame 2-3 is connected with a horizontal ball screw sliding block 1-2 through a bolt, and the horizontal force measuring sensor assembly 2 moves left and right in the horizontal direction. The horizontal parallel double-reed cantilever beams 2-8 are fixed in the long through holes of the horizontal parallel double-reed cantilever beams of the horizontal parallel double-reed cantilever beam fixing frames 2-9 through horizontal parallel double-reed cantilever beam fastening screws 2-10. The upper end face of the long through hole of the horizontal parallel double-reed cantilever beam is provided with a horizontal parallel double-reed cantilever beam fastening threaded hole for fixing and positioning the horizontal parallel double-reed cantilever beams 2-8. In order to prevent the horizontal parallel double-reed cantilever beam 2-8 from exceeding the elastic deformation range, a horizontal L-shaped overload protection bracket 2-7 is arranged, so that the displacement deformation of the outer side spring piece 2-8-2 and the inner side spring piece 2-8-3 of the horizontal parallel double-reed cantilever beam 2-8 does not exceed the safe deformation range. A horizontal support connecting frame 2-4 is fixed at the upper end of a horizontal parallel double-reed cantilever beam fixing frame 2-9, and the horizontal support connecting frame 2-4 is connected with a horizontal L-shaped overload protection bracket 2-7 through a long screw 2-5; the tail end of the horizontal L-shaped overload protection support 2-7 is provided with a horizontal L-shaped overload protection support long hole 2-7-1 which is used for adjusting the distance between the horizontal L-shaped overload protection support plane 2-7-2 and the horizontal parallel double-reed cantilever beam 2-8 in a small range.
As shown in fig. 6, 7 and 8, the horizontal parallel double-spring-piece cantilever beam 2-8 consists of two outer side spring pieces 2-8-2, inner side spring pieces 2-8-3, rectangular connecting blocks 2-8-4 and semi-arc connecting blocks 2-8-1 which are made of the same material and have the same size, the semi-arc connecting blocks 2-8-1 are made of 45# steel, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semi-arc connecting blocks 2-8-1 is smaller than Ra =0.8 microns through polishing treatment; the circular grooves 2-8-1-3 are arranged for reducing the weight of the semi-circular arc connecting blocks 2-8-1 and reducing the axial load of the outer side spring pieces 2-8-2 and the inner side spring pieces 2-8-3. The top end and the side end of the semi-circular arc connecting block 2-8-1 are respectively provided with a vertical threaded hole 2-8-1-1 and a horizontal threaded hole 2-8-1-2. The rectangular connecting block 2-8-4 and the semi-circular connecting block 2-8-1 are fixedly arranged between the outer side spring piece 2-8-2 and the inner side spring piece 2-8-3. 2-8-1 parts of semi-circular arc connecting blocks, 2-8-2 parts of outer side spring pieces, 2-8-3 parts of inner side spring pieces and 2-8-4 parts of rectangular connecting blocks form a horizontal parallel double-reed cantilever beam.
As shown in fig. 1, 10, 11, 18, 19 and 20, the testing platform assembly 5 mainly comprises an L-shaped bracket 5-1, a convex base 5-4 and a testing platform bottom plate 5-6. And the convex base 5-4 is fixedly arranged on a horizontal threaded hole 5-6-1 of the testing platform bottom plate 5-6 by adopting a convex base fastening screw 5-5. The long holes 5-4-2 are arranged to realize the fixed connection of the convex base 5-4 and the testing platform bottom plate 5-6, and the small-range adjustment of the convex base 5-4 in the horizontal direction can be realized. The L-shaped bracket 5-1 is fixedly connected with the convex base 5-4 by adopting an L-shaped bracket fastening screw and a nut 5-3, the vertical ball screw component 4 is fixedly arranged on the right side of the L-shaped bracket 5-1 by adopting a fastening screw 5-2, and the vertical force-measuring sensor component 3 is fixedly arranged on the horizontal ball screw sliding block 4-2 by adopting a fastening screw, so that the vertical force-measuring sensor component 3 can move up and down on the vertical ball screw component 4.
As shown in FIG. 11, the vertical ball screw assembly 4 mainly comprises a vertical ball screw support end 4-1, a vertical ball screw slider 4-2, a vertical ball screw 4-5, a vertical stepping motor 4-6, a vertical ball screw fixing end 4-7 and a vertical ball screw base 4-8, the vertical ball screw assembly 4 is fixed on the right side of the L-shaped support 5-1, and the vertical force measuring sensor assembly 3 is vertically moved up and down by the vertical ball screw assembly 4.
As shown in fig. 10, 12, 13, and 17, the vertical load cell assembly 3 mainly realizes the test of milli-micro newton level adhesion and friction generated by the biomimetic prototype. Based on the functional requirements, the vertical force measuring sensor component 3 is used as a core device of a force measuring system in the vertical direction and mainly comprises a vertical eddy current displacement sensor fixing frame 3-1, a vertical eddy current displacement sensor fastening nut 3-2, a vertical test sample placing platform 3-3, a vertical eddy current displacement sensor 3-4, a vertical L-shaped overload protection support 3-5, a vertical parallel double-reed cantilever beam 3-6, a vertical parallel double-reed cantilever beam fastening screw 3-7, a vertical parallel double-reed cantilever beam fixing frame 3-8, a vertical support connecting frame 3-9 and a long screw 3-10. The vertical eddy current displacement sensor fixing frame 3-1 is fixedly connected with a vertical parallel double-reed cantilever beam fixing frame threaded hole 4-3 on the upper side of the vertical ball screw sliding block 4-2 in a screw connection mode through a circular through hole 3-1-1, and the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly connected with a vertical sensor fixing frame threaded hole 4-4 on the lower side of the vertical ball screw sliding block 4-2 in a screw connection mode. A long hole 3-1-2 is formed in the upper portion of the vertical eddy current displacement sensor fixing frame 3-1 and used for adjusting the position of the vertical eddy current displacement sensor 3-4 in the horizontal direction in a small range, and the vertical eddy current displacement sensor 3-4 is fixed on the long hole 3-1-2 of the vertical eddy current displacement sensor fixing frame 3-1 through a vertical eddy current displacement sensor fastening nut 3-2; the vertical parallel double-reed cantilever beam 3-6 is fixed in a long through hole 3-8-3 of the vertical parallel double-reed cantilever beam fixing frame 3-8 through a parallel double-reed cantilever beam fastening screw 3-7. The upper end face of the long through hole 3-8-3 of the vertical parallel double-reed cantilever beam is provided with a vertical parallel double-reed cantilever beam fastening threaded hole 3-8-1 for fixing and positioning the vertical parallel double-reed cantilever beam 3-6. In order to prevent the vertical parallel double-reed cantilever beam 3-6 from exceeding the elastic deformation range, a vertical L-shaped overload protection bracket 3-5 is arranged, so that the displacement deformation of the upper side spring leaf 3-6-2 and the lower side spring leaf 3-6-3 of the vertical parallel double-reed cantilever beam 3-6 does not exceed the safe deformation range. The upper end of the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly provided with a vertical support connecting frame 3-9, and the vertical support connecting frame 3-9 is connected with a vertical L-shaped overload protection bracket 3-5 through a long screw 3-10; the tail end of the vertical L-shaped overload protection support 3-5 is provided with a vertical L-shaped overload protection support long hole 3-5-1 which is used for adjusting the distance between the vertical L-shaped overload protection support plane 3-5-2 and the vertical parallel double-reed cantilever beam 3-4 in a small range.
As shown in fig. 14, 15 and 16, the vertical parallel double-reed cantilever beam 3-6 is composed of two upper side spring pieces 3-6-2, lower side spring pieces 3-6-3, rectangular connecting blocks 3-6-4 and semicircular arc connecting blocks 3-6-1 which are made of the same material and have the same size, the material of the semicircular arc connecting blocks 3-6-1 is 45# steel, so that the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semicircular arc connecting blocks 3-6-1 is smaller than Ra =0.8 microns through polishing treatment; the round groove 3-6-1-3 is arranged for reducing the weight of the semicircular arc connecting block 3-6-1 and reducing the load of the outer side spring piece 3-6-2 and the inner side spring piece 3-6-3 on the horizontal shaft. The top end and the side part of the semicircular arc connecting block 3-6-1 are respectively provided with a horizontal screw hole 3-6-1-1 and a vertical screw hole 3-6-1-2. The rectangular connecting block 3-6-4 and the semicircular arc connecting block 3-6-1 are fixedly arranged between the upper spring leaf 3-6-2 and the lower spring leaf 3-6-3. The vertical parallel double-reed cantilever beam 3-6 is formed by the semicircular arc connecting block 3-6-1, the upper side spring piece 3-6-2, the lower side spring piece 3-6-3 and the rectangular connecting block 3-6-4.
A data acquisition card is arranged to realize the conversion from the analog signal of the eddy current displacement sensor to the digital signal; and a signal processing and real-time display program is compiled by adopting LabVIEW, so that signals such as normal force, adhesive force, friction force, penetration force, shearing force and the like collected by the force transducer can be displayed on a display interface in real time.
The working process of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the bottom plate 5-6 of the testing platform in the testing platform assembly 5 is made of stainless steel with high rigidity and stable performance, and the size parameter is 210mm × 70mm × 5mm (length × width × height); a fixed mounting platform is provided for the horizontal ball screw assembly 1, and the horizontal ball screw assembly 1 is connected into a vertical threaded hole 5-6-2 of a testing platform bottom plate of the testing platform bottom plate 5-6 through a fastening screw 5-7 and the testing platform bottom plate 5-6; the horizontal force-measuring sensor component 2 is fixed on the horizontal ball screw sliding block 1-2 through a fastening screw, so that the horizontal force-measuring sensor component 2 moves left and right in the horizontal direction.
As shown in fig. 3, 4, 5, 6 and 9, the circular through hole 2-3-1 of the horizontal sensor fixing frame 2-3 is connected with the horizontal ball screw slider 1-2 by a screw connection mode, the size of the connection surface with the horizontal ball screw slider 1-2 is 16mm × 33.5mm × 2mm (length × width × height), the size parameter of the connection surface with the horizontal eddy current displacement sensor 2-1 is 100mm × 33.5mm × 2mm (length × width × height), and the horizontal eddy current displacement sensor 2-1 is fixed on the long hole 2-3-2 of the horizontal eddy current sensor fixing frame 2-3 by a horizontal eddy current displacement sensor fastening nut 2-2; the horizontal parallel double-reed cantilever beam fixing frame 2-9 is arranged in a step shape and used for reducing the bearing of the horizontal ball screw sliding block 1-2, the length of the horizontal parallel double-reed cantilever beam fixing frame 2-9 is 17mm, the width of the horizontal parallel double-reed cantilever beam fixing frame is 33.5mm, the height of the thick end is 6mm, the height of the thin end is 2mm, the thin end is provided with a horizontal parallel double-reed cantilever beam through hole, the thick end is fixedly connected with a horizontal cantilever beam fixing frame threaded hole 1-3 of a horizontal ball screw sliding block 1-2 in a screw connection mode, the thick end is arranged into a horizontal parallel double-reed cantilever beam long through hole which can be inserted into a horizontal parallel double-reed cantilever beam 2-8, the size is 21mm multiplied by 5mm (length multiplied by width), and the upper end face of the horizontal parallel double-reed cantilever beam long through hole is provided with a horizontal parallel double-reed cantilever beam fastening threaded hole for fixing and positioning the horizontal parallel double-reed cantilever beam 2-8. The horizontal parallel double-reed cantilever beam 2-8 is fixed in a long through hole of the horizontal parallel double-reed cantilever beam fixing frame 2-9 through a horizontal parallel double-reed cantilever beam fastening screw 2-10; the upper end of a horizontal parallel double-reed cantilever beam fixing frame 2-9 is fixedly provided with a horizontal support connecting frame 2-4, the length is 42mm, the width is 6mm, the height is 3mm, and the horizontal support connecting frame 2-4 is connected with a horizontal L-shaped overload protection bracket 2-7 through a long screw 2-5; the other end is provided with a horizontal parallel double-reed cantilever beam through hole corresponding to the horizontal parallel double-reed cantilever beam fixing frame 2-9; the horizontal support connecting frame 2-4 is connected with a horizontal L-shaped overload protection support 2-7 through a long screw 2-5, a horizontal L-shaped overload protection support long hole 2-7-1 is arranged at the tail end of the horizontal L-shaped overload protection support 2-7, and the position of the horizontal L-shaped overload protection support long hole 2-7-1 can be adjusted through loosening a fastening nut, so that the distance between the horizontal L-shaped overload protection support protection plane 2-7-2 and the horizontal parallel double-reed cantilever beam 2-8 is adjusted within a small range. The horizontal test sample placing platform 2-6 is fixed on the horizontal threaded hole 2-8-1-2 of the semi-arc connecting block of the horizontal parallel double-reed cantilever beam 2-8 in a bolt connection mode, so that accurate test of milli-micro Newton normal force, penetration force and shearing force generated by a bionic prototype is realized.
As shown in fig. 6, 7 and 8, the horizontal parallel double-spring-piece cantilever beam 2-8 is composed of two outer side spring pieces 2-8-2, inner side spring pieces 2-8-3, rectangular connecting blocks 2-8-4 and semi-arc connecting blocks 2-8-1 which are made of the same material and have the same size, the material of the inner side spring piece and the outer side spring pieces is 65Mn, the size is 60mm × 21mm × 0.1mm (length × width × height), the material of the semi-arc connecting blocks 2-8-1 is 45# steel, the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semi-arc connecting blocks 2-8-1 is smaller than Ra =0.8 microns through polishing treatment; the circular groove 2-8-1-3 is arranged, the diameter is 16mm, the depth is 2mm, the weight of the semi-circular arc connecting block 2-8-1 is reduced, and the axial bearing of the outer side spring piece 2-8-2 and the inner side spring piece 2-8-3 is reduced. The top end and the side end of the semi-circular arc connecting block 2-8-1 are respectively provided with a vertical threaded hole 2-8-1-1 and a horizontal threaded hole 2-8-1-2. The rectangular connecting block 2-8-4 and the semi-circular connecting block 2-8-1 are fixedly arranged between the outer side spring piece 2-8-2 and the inner side spring piece 2-8-3. 2-8-1 parts of semi-circular arc connecting blocks, 2-8-2 parts of outer side spring pieces, 2-8-3 parts of inner side spring pieces and 2-8-4 parts of rectangular connecting blocks form a horizontal parallel double-reed cantilever beam.
As shown in fig. 1, 10, 11, 18, 19 and 20, the testing platform assembly 5 mainly comprises an L-shaped bracket 5-1, a convex base 5-4 and a testing platform bottom plate 5-6. The convex base 5-4 is fixedly arranged on a horizontal threaded hole 5-6-1 of the testing platform bottom plate 5-6 by adopting a convex base fastening screw 5-5, the convex base is made of stainless steel materials for ensuring the mounting strength, and the sizes of two supporting parts of the convex base are 30mm multiplied by 15mm multiplied by 2mm (length multiplied by width multiplied by height); the long holes 5-4-2 are arranged to realize the fixed connection of the convex base 5-4 and the testing platform bottom plate 5-6, and the small-range adjustment of the convex base 5-4 in the horizontal direction can be realized. The L-shaped bracket 5-1 is fixedly connected with the convex base 5-4 by adopting an L-shaped bracket fastening screw and a nut 5-3, the connection surface of the L-shaped bracket fastening screw and the nut is in an equilateral triangle structure formed by 3 through holes to ensure the connection stability of the upper surface 5-4-1 of the convex base and the bottom surface 5-1-2 of the L-shaped bracket, and the size of the connection surface is 33.5mm multiplied by 30mm (length multiplied by width); a vertical ball screw component 4 is fixedly arranged on the right side of an L-shaped support 5-1 by fastening screws 5-2, and a vertical force-measuring sensor component 3 is fixedly arranged on a horizontal ball screw sliding block 4-2 by the fastening screws, so that the vertical force-measuring sensor component 3 can vertically move up and down.
As shown in fig. 10, 12, 13, 14 and 17, a circular through hole 3-1-1 of a vertical eddy current displacement sensor holder 3-1 is connected with a vertical ball screw slider 4-2 by means of screw connection, the size of the connection surface with the vertical ball screw slider 4-2 is 16mm × 33.5mm × 2mm (length × width × height), and the vertical eddy current displacement sensor 3-4 is fixed on a long hole 3-1-2 of a horizontal eddy current sensor holder 3-1 by a vertical eddy current displacement sensor fastening nut 3-2; the vertical parallel double-reed cantilever beam fixing frame 3-8 is set to be in a step shape and used for reducing the bearing of a vertical ball screw slider 4-2, the vertical parallel double-reed cantilever beam fixing frame is 17mm in length, 33.5mm in width, 6mm in thick end height and 2mm in thin end height, a vertical parallel double-reed cantilever beam through hole 3-8-2 is arranged at the thin end and fixedly connected with a vertical cantilever beam fixing frame threaded hole 4-3 of the vertical ball screw slider 4-2 in a screw connection mode, the thick end is set to be a vertical parallel double-reed cantilever beam long through hole 3-8-3 which can be inserted into a vertical parallel double-reed cantilever beam 3-6 and is 21mm multiplied by 5mm in size (length multiplied by width), a vertical parallel double-reed cantilever beam fastening threaded hole 3-8-1 is arranged on the upper end face of the vertical parallel double-reed cantilever beam long through hole 3-8-, used for fixing and positioning the vertical parallel double-reed cantilever beams 3-6. The vertical parallel double-reed cantilever beam 3-6 is fixed in a long through hole 3-8-3 of the vertical parallel double-reed cantilever beam fixing frame 3-8 through a vertical parallel double-reed cantilever beam fastening screw 3-7; the upper end of the vertical parallel double-reed cantilever beam fixing frame 3-8 is fixedly provided with a horizontal supporting connecting frame 3-9, the length is 42mm, the width is 6mm, the height is 3mm, and the vertical supporting connecting frame 3-9 is connected with a vertical L-shaped overload protection bracket 3-5 through a long screw 3-10; the other end is provided with a vertical parallel double-reed cantilever beam through hole 3-8-2 corresponding to the vertical parallel double-reed cantilever beam fixing frame 3-8; the vertical support connecting frame 3-9 is connected with a vertical L-shaped overload protection support 3-5 through a long screw 3-10, a vertical L-shaped overload protection support long hole 3-5-1 is formed in the tail end of the vertical L-shaped overload protection support 3-5, and the position of the vertical L-shaped overload protection support long hole 3-5-1 can be adjusted through loosening a fastening nut, so that the distance between a vertical L-shaped overload protection support protection plane 3-5-2 and a vertical parallel double-reed cantilever beam 3-6 can be adjusted within a small range. The vertical test sample placing platform 3-3 is fixed on the horizontal screw hole 3-6-1-1 of the semi-arc connecting block of the vertical parallel double-reed cantilever beam 3-6 in a bolt connection mode, so that accurate test of milli-micro Newton friction force and adhesive force generated by the bionic prototype is realized.
As shown in fig. 14, 15 and 16, the vertical parallel double-reed cantilever 3-6 is composed of two upper side spring pieces 3-6-2, lower side spring pieces 3-6-3, rectangular connecting blocks 3-6-4 and semi-circular arc connecting blocks 3-6-1 which are made of the same material and have the same size, the upper side spring pieces and the lower side spring pieces are made of 65Mn and have the size of 86mm × 21mm × 0.2mm (length × width × height), the semi-circular arc connecting blocks 3-6-1 are made of 45# steel, the induction sensitivity of the eddy current displacement sensor can be improved, and meanwhile, the surface roughness of the semi-circular arc connecting blocks 3-6-1 is smaller than Ra =0.8 micrometers through polishing treatment; the circular groove 3-6-1-3 is arranged, the diameter is 16mm, the depth is 2mm, the weight of the semicircular arc connecting block 3-6-1 is reduced, and the transverse bearing of the upper spring piece 3-6-2 and the lower spring piece 3-6-3 is reduced. The top end and the side end of the semicircular arc connecting block 3-6-1 are respectively provided with a horizontal screw hole 3-6-1-1 and a vertical screw hole 3-6-1-2. The rectangular connecting block 3-6-4 and the semicircular arc connecting block 3-6-1 are fixedly arranged between the upper spring leaf 3-6-2 and the lower spring leaf 3-6-3. The vertical parallel double-reed cantilever beam 3-6 is formed by the semicircular arc connecting block 3-6-1, the upper side spring piece 3-6-2, the lower side spring piece 3-6-3 and the rectangular connecting block 3-6-4.
As shown in fig. 21, a flow chart of a data processing and real-time display program of a milli-micro newton-level two-dimensional force micro-motion test system with an overload protection device, a data acquisition card adopts USB-6351 of NI corporation to realize the conversion from an analog signal to a digital signal of an eddy current displacement sensor; adopting LabVIEW to compile a signal processing and real-time display program, so that the signals of normal force, adhesive force, friction force, penetration force, shearing force and the like collected by the force transducer are displayed on a display interface in real time in a form of a curve graph; and on the other hand, saving the file into a specified folder in the form of a txt file.
And (3) testing the friction force: taking the surfaces of the spina date tree barb and the nepenthes slippage area as test materials, and testing the friction force of the barb on the surface of the nepenthes slippage area. The measuring ranges of the selected horizontal parallel double-reed cantilever beams 2-8 and vertical parallel double-reed cantilever beams 3-6 are all 50 mN/mm, the resolutions of the horizontal eddy current displacement sensors 2-1 and the vertical eddy current displacement sensors 3-4 are all 1 mu m, and the accuracy of the force measuring sensors is 0.05 mN/mm. The horizontal eddy current displacement sensor 2-1 on the horizontal ball screw component 1 and the vertical eddy current displacement sensor 3-4 on the vertical ball screw component 4 are respectively adjusted to positions 3-4 mm away from the surfaces of the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4, and are respectively fixed to a horizontal parallel double-reed cantilever beam fixing frame 2-9 and a vertical parallel double-reed cantilever beam fixing frame 3-8 through a horizontal parallel double-reed cantilever beam fastening screw 2-10 and a vertical parallel double-reed cantilever beam fastening screw 3-7. The positions of the horizontal ball screw slide block 1-2 and the vertical ball screw slide block 4-2 are adjusted through LabVIEW software, so that the horizontal test sample placing platform 2-6 and the vertical test sample placing platform 3-3 are positioned on the same horizontal plane, and the optimal distance suitable for testing normal force and friction force is achieved. Wild jujube tree barbs are adhered to a horizontal test sample placing platform 2-6 of the horizontal ball screw component 1, and a nepenthes sliding area is adhered to a vertical test sample placing platform 3-3 of the vertical ball screw component 2. The sampling frequency of the data processing and real-time display software is set to be 100Hz, the time for applying the normal force is set to be 10s, the sampling time of the friction force is set to be 50s, and the sampling time of the whole testing process is set to be 60 s. After the test is ready, the working power supplies of the horizontal eddy current displacement sensor 2-1, the vertical eddy current displacement sensor 3-4, the data acquisition card USB-6351 and the like are switched on, data processing and real-time display software is started, and the test of the normal force and the friction force of the spina date tree barb on the surface of the nepenthes slippage area is started. When the normal force and the friction force of the spina date tree barbs on the surface of the nepenthes slippage area are tested, the movement speed is set to be 0.05mm/s, and the test range is 3 mm; in the process, a horizontal ball screw sliding table 1-2 of a horizontal ball screw assembly 1 moves leftwards to generate normal force, a vertical ball screw sliding table 4-2 of a vertical ball screw assembly 4 moves upwards to generate friction force, micro displacement change caused by the normal force and the friction force is obtained through testing of a horizontal eddy current displacement sensor 2-1 and a vertical eddy current displacement sensor 3-4 respectively, the micro displacement change is converted into a voltage signal and is transmitted to data processing and real-time display software after analog-to-digital conversion of a data acquisition card USB-6351, the data is drawn into a curve graph by the software to be displayed on a display interface in real time, and the data is stored in a designated folder. And after the test is finished, storing the data of 6000 normal forces and friction forces of the curves of the normal force and the friction force of the spina date tree thorns on the surface of the nepenthes slippage area in a file folder in a format of jpeg and txt respectively, processing the data, displaying software in real time, and performing operation comparison on the stored data to obtain that the maximum normal force is 30.27 mN and the maximum friction force is 16.36 mN in the test process.
Puncture force test: the method is characterized in that a wild jujube tree spur and a pig liver are used as a test prototype, the range of the selected horizontal parallel double-reed cantilever beam 2-8 is 220mN/mm, the resolution of the horizontal eddy current displacement sensor 2-1 is 1 mu m, and the accuracy of the force sensor is 0.22 mN/mm. The horizontal eddy current displacement sensor 2-1 on the horizontal ball screw component 1 and the vertical eddy current displacement sensor 3-4 on the vertical ball screw component 4 are respectively adjusted to positions 3-4 mm away from the surfaces of the horizontal eddy current displacement sensor 2-1 and the vertical eddy current displacement sensor 3-4, and are respectively fixed to a horizontal parallel double-reed cantilever beam fixing frame 2-9 and a vertical parallel double-reed cantilever beam fixing frame 3-8 through a horizontal parallel double-reed cantilever beam fastening screw 2-10 and a vertical parallel double-reed cantilever beam fastening screw 3-7. The positions of the horizontal ball screw slide block 1-2 and the vertical ball screw slide block 4-2 are adjusted through LabVIEW software, so that the horizontal test sample placing platform 2-6 and the vertical test sample placing platform 3-3 are positioned on the same horizontal plane, and the optimal distance suitable for testing the penetration force is achieved. Wild jujube tree barbs are adhered to a horizontal test sample placing platform 2-6 of the horizontal ball screw component 1, and a nepenthes sliding area is adhered to a vertical test sample placing platform 3-3 of the vertical ball screw component 2. The sampling frequency of the data processing and real-time display software is set to be 100Hz, and the penetration force sampling time of the whole testing process is set to be 60 s. After the test is ready, the working power supplies of the horizontal eddy current displacement sensor 2-1, the vertical eddy current displacement sensor 3-4, the data acquisition card USB-6351 and the like are switched on, data processing and real-time display software is started, and the penetration force test in the process of directly penetrating the wild jujube tree into the pork liver is started. In the micromotion test process of the wild jujube tree for directly puncturing the pork liver, the movement speed is set to be 0.05mm/s, and the test range is 3 mm; the penetration force generated by leftward movement of the horizontal ball screw sliding table 1-2 of the horizontal ball screw assembly 1 is transmitted to data processing and real-time display software after voltage signals generated by distance change between the eddy current displacement sensor 1-2 and the sensing surface of the semi-arc cuboid 2-8-1 are acquired and subjected to analog-to-digital conversion of a data acquisition card USB-6351, the data are drawn into a curve by the software and displayed on a display interface in real time, and the data are stored in a designated folder. And after the test is finished, respectively storing a penetration curve of the wild jujube tree penetrating the pork liver directly and about 6000 penetration data in a format of jpeg and txt into a folder, processing the data, displaying software in real time, and performing operation comparison on the stored data to obtain that the maximum penetration in the test process is 292.76 mN.
Finally, the above embodiments are only used to illustrate the technical solution of the present invention, but are not used to limit the scope of the present invention in any way. Although the present invention has been described in greater detail with reference to the preferred embodiments, those skilled in the art will appreciate that various modifications and equivalent arrangements can be made without departing from the spirit and scope of the present invention, which should be construed as being included in the scope of the appended claims.
Claims (9)
1. A milli-micro Newton level two-dimensional force micro-motion test system with an overload protection device is characterized in that: the device comprises a testing platform assembly (5), a horizontal ball screw assembly (1) fixedly arranged on the right side of the testing platform assembly (5), a horizontal force-measuring sensor assembly (2) connected to the horizontal ball screw assembly (1), a vertical ball screw assembly (4) fixedly arranged on the left side of the testing platform assembly (5) and positioned above the testing platform assembly (5), and a vertical force-measuring sensor assembly (3) connected to the vertical ball screw assembly (4);
the horizontal ball screw assembly (1) controls the horizontal force-measuring sensor assembly (2) to move in the horizontal direction, and the vertical ball screw assembly (4) controls the vertical force-measuring sensor assembly (3) to move in the vertical direction;
the horizontal force-measuring sensor assembly (2) is provided with a horizontal overload protection structure, and the vertical force-measuring sensor assembly (3) is provided with a vertical overload protection structure.
2. A milli-micro newton-scale two-dimensional force micromovement test system with overload protection device as claimed in claim 1 wherein: the test platform assembly (5) comprises a test platform base plate (5-6), a convex base (5-4) fixedly installed on the left side of the test platform base plate (5-6) and an L-shaped support (5-1) fixedly installed at the top of the convex base (5-4).
3. A milli-micro newton-level two-dimensional force micromovement test system with overload protection device as claimed in claim 2 wherein: the horizontal force transducer assembly (2) comprises a horizontal ball screw supporting end (1-1), a horizontal ball screw sliding block (1-2), a horizontal ball screw (1-5), a horizontal stepping motor (1-6), a horizontal ball screw fixing end (1-7) and a horizontal ball screw base (1-8);
the horizontal ball screw supporting end (1-1) and the horizontal ball screw fixing end (1-7) are fixedly arranged on the left end and the right end of the horizontal ball screw base (1-8) respectively, the left end and the right end of the horizontal ball screw (1-5) are rotatably connected with the horizontal ball screw supporting end (1-1) and the horizontal ball screw fixing end (1-7) respectively, and the horizontal ball screw sliding block (1-2) is connected to the horizontal ball screw (1-5);
the horizontal stepping motor (1-6) is fixed on the right side of the fixed end (1-7) of the horizontal ball screw, a driving shaft of the horizontal stepping motor (1-6) is coaxially and fixedly connected with the right end of the horizontal ball screw (1-5), and the horizontal stepping motor (1-6) drives the horizontal ball screw (1-5) to rotate, so that the horizontal ball screw sliding block (1-2) moves along the horizontal direction of the horizontal ball screw (1-5);
the horizontal ball screw bases (1-8) are fixed on the testing platform bottom plates (5-6).
4. A milli-micro newton-level two-dimensional force micromovement test system with overload protection device as claimed in claim 2 wherein: the vertical ball screw assembly (4) comprises a vertical ball screw supporting end (4-1), a vertical ball screw sliding block (4-2), a vertical ball screw (4-5), a vertical stepping motor (4-6), a vertical ball screw fixing end (4-7) and a vertical ball screw base (4-8);
the vertical ball screw fixing end (4-7) and the vertical ball screw supporting end (4-1) are fixedly arranged on the upper end and the lower end of the vertical ball screw base (4-8) respectively, the upper end and the lower end of the vertical ball screw (4-5) are rotatably connected with the vertical ball screw fixing end (4-7) and the vertical ball screw supporting end (4-1) respectively, and the vertical ball screw sliding block (4-2) is connected to the vertical ball screw (4-5);
the vertical stepping motor (4-6) is fixed on the upper side of the fixed end (4-7) of the vertical ball screw, a driving shaft of the vertical stepping motor (4-6) is coaxially and fixedly connected with the upper end of the vertical ball screw (4-5), and the vertical stepping motor (4-6) drives the vertical ball screw (4-5) to rotate, so that the vertical ball screw sliding block (4-2) moves along the vertical direction of the vertical ball screw (4-5);
the vertical ball screw base (4-8) is fixed on the right side of the L-shaped support (5-1).
5. A milli-micro newton-level two-dimensional force micromovement test system with overload protection device as claimed in claim 3 wherein: the horizontal force measuring sensor assembly (2) comprises a horizontal eddy current displacement sensor fixing frame (2-3) fixedly connected to the horizontal ball screw sliding block (1-2), a horizontal eddy current displacement sensor (2-1) fixedly connected to the horizontal eddy current displacement sensor fixing frame (2-3) and a horizontal overload protection structure fixedly connected to the horizontal ball screw sliding block (1-2) and located on the left side of the horizontal eddy current displacement sensor (2-1).
6. A milli-micro Newton two dimensional force micro-motion testing system with overload protection devices in accordance with claim 5 wherein: the horizontal overload protection structure comprises a horizontal parallel double-reed cantilever beam fixing frame (2-9) fixedly connected to a horizontal ball screw sliding block (1-2), a horizontal parallel double-reed cantilever beam (2-8) fixedly connected to the horizontal parallel double-reed cantilever beam fixing frame (2-9), a horizontal test sample placing platform (2-6) fixedly arranged at the upper end part of the horizontal parallel double-reed cantilever beam (2-8), a horizontal support connecting frame (2-4) fixedly connected to the upper end face of the horizontal parallel double-reed cantilever beam fixing frame (2-9) and positioned on the right side of the horizontal parallel double-reed cantilever beam (2-8), and a horizontal L-shaped overload protection support (2-7) fixedly connected to the horizontal support connecting frame (2-4);
the horizontal parallel double-reed cantilever beam (2-8) comprises an outer side spring piece (2-8-2), an inner side spring piece (2-8-3), a rectangular connecting block (2-8-4) and a semi-circular connecting block (2-8-1);
the rectangular connecting block (2-8-4) and the semi-circular connecting block (2-8-1) are fixedly arranged between the outer spring piece (2-8-2) and the inner spring piece (2-8-3);
the lower end of the rectangular connecting block (2-8-4) is fixedly connected with a horizontal parallel double-reed cantilever beam fixing frame (2-9);
a circular groove (2-8-1-3) for reducing the weight of the semi-circular arc connecting block (2-8-1) is formed in the left side end face of the semi-circular arc connecting block (2-8-1), and a vertical threaded hole (2-8-1-1) and a horizontal threaded hole (2-8-1-2) are formed in the top end and the side end of the semi-circular arc connecting block (2-8-1) respectively;
the horizontal test sample placing platform (2-6) is fixedly connected with the horizontal threaded hole (2-8-1-2) through a bolt.
7. A milli-micro Newton two dimensional force micro-motion testing system with overload protection devices in accordance with claim 4 wherein: the vertical force measuring sensor assembly (3) comprises a vertical eddy current displacement sensor fixing frame (3-1) fixedly connected to a vertical ball screw sliding block (4-2), a vertical eddy current displacement sensor (3-4) fixedly connected to the vertical eddy current displacement sensor fixing frame (3-1), and a vertical overload protection structure fixedly connected to a horizontal ball screw sliding block (1-2) and located on the lower side of the vertical eddy current displacement sensor (3-4).
8. A milli-micro newton-level two-dimensional force micromovement test system with overload protection device as claimed in claim 7 wherein: the vertical overload protection structure comprises a vertical parallel double-reed cantilever beam fixing frame (3-8) fixedly connected to a vertical ball screw sliding block (4-2), a vertical parallel double-reed cantilever beam (3-6) fixedly connected to the vertical parallel double-reed cantilever beam fixing frame (3-8), a vertical test sample placing platform (3-3) fixedly arranged at the end part of the vertical parallel double-reed cantilever beam (3-6), a vertical support connecting frame (3-9) fixedly connected to the end surface of the vertical parallel double-reed cantilever beam fixing frame (3-8) and positioned at the upper side of the vertical parallel double-reed cantilever beam (3-6), and a vertical L-shaped overload protection support (3-5) fixedly connected to the vertical support connecting frame (3-9);
the vertical parallel double-reed cantilever beam (3-6) comprises an upper spring leaf (3-6-2), a lower spring leaf (3-6-3), a rectangular connecting block (3-6-4) and a semi-circular connecting block (3-6-1);
the rectangular connecting block (3-6-4) and the semicircular arc connecting block (3-6-1) are fixedly arranged between the upper spring piece (3-6-2) and the lower spring piece (3-6-3);
the left end of the rectangular connecting block (3-6-4) is fixedly connected with a vertical parallel double-reed cantilever beam fixing frame (3-8);
the lower side end face of the semicircular arc connecting block (3-6-1) is provided with a circular groove (3-6-1-3) for reducing the weight of the semicircular arc connecting block, and the top end and the side end of the semicircular arc connecting block (3-6-1) are respectively provided with a horizontal screw hole (3-6-1-1) and a vertical screw hole (3-6-1-2);
the vertical test sample placing platform (3-3) is fixedly connected with the horizontal screw hole (3-6-1-1) through a bolt.
9. A milli-micro newton-level two-dimensional force micromovement test system with overload protection device according to any one of claims 1-8, wherein: the device also comprises a data acquisition card which is used for realizing the conversion from analog signals to digital signals of the horizontal force transducer assembly (2) and the vertical force transducer assembly (3).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274722A (en) * | 2019-07-15 | 2019-09-24 | 河北科技大学 | A kind of milli with overload protection arrangement-micro-ox level two dimension power fine motion test macro |
| CN112098201A (en) * | 2020-07-21 | 2020-12-18 | 浙江定盘星智能科技有限公司 | Door type mechanical testing mechanism and door type mechanical testing machine |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274722A (en) * | 2019-07-15 | 2019-09-24 | 河北科技大学 | A kind of milli with overload protection arrangement-micro-ox level two dimension power fine motion test macro |
| CN110274722B (en) * | 2019-07-15 | 2024-03-01 | 河北科技大学 | Milli-micro bovine two-dimensional force micro-motion test system with overload protection device |
| CN112098201A (en) * | 2020-07-21 | 2020-12-18 | 浙江定盘星智能科技有限公司 | Door type mechanical testing mechanism and door type mechanical testing machine |
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