CN217765304U - Measuring device for plane force of bionic claw-thorn sheet - Google Patents
Measuring device for plane force of bionic claw-thorn sheet Download PDFInfo
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- CN217765304U CN217765304U CN202221881702.1U CN202221881702U CN217765304U CN 217765304 U CN217765304 U CN 217765304U CN 202221881702 U CN202221881702 U CN 202221881702U CN 217765304 U CN217765304 U CN 217765304U
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Abstract
The utility model relates to a space detection technical field, in particular to measurement device of bionical claw thorn piece plane force. The device comprises a section bar main frame, a two-dimensional moving platform, a bionic claw thorn sheet to be measured, a transverse tension sensor and a longitudinal tension sensor, wherein the two-dimensional moving platform is arranged on the section bar main frame and has freedom degrees of moving along the transverse direction and the vertical direction; the bionic claw thorn piece to be tested is connected with the transverse tension sensor; when the bionic claw thorn piece to be measured is caught on the surface to be measured, the transverse tension sensor measures transverse tension, and the longitudinal tension sensor measures vertical normal tension. The utility model discloses can the accurate size of measuring the vertical plane power of bionical claw thorn piece, the measuring accuracy is high, and is easy and simple to handle, and data acquisition is accurate effective.
Description
Technical Field
The utility model relates to a space detection technical field, in particular to measurement device of bionical claw thorn piece plane force.
Background
Chang' e five successfully brought back to 1800 g lunar soil from the moon, which provides materials for the scientists in China to research the moon, while the undifferentiated lunar rock core plays a critical role in exploration of origin of the moon, in recent years, deep space sampling techniques are endless, but only relevant fragments and gravels can be brought back at the cost of damaging the sample, the sampled products are all partial or complete differentiated surface substances, and the original state of the sample can be furthest reserved by drilling, and the sampling of substances 1 meter or even deeper below the moon surface can be realized, but not only the surface substances. The bionic claw-stabbing piece provides a gripping force for resisting recoil and torsion for realizing the task of drilling. In order to realize the successful implementation of the drilling mode, a large amount of ground tests and simulation work are required, in order to ensure that the simulation result is real and reliable, the simulation and the test of the bionic claw-pricking sheet need to carry out benchmarking work, so that the data of relevant force is required to be recorded in the test process, and support is provided for optimizing and adjusting the bionic claw-pricking sheet through simulation in the follow-up process.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a measurement device of bionical claw thorn piece plane force, the device can the accurate size of measuring the vertical plane force of bionical claw thorn piece, and this device measuring accuracy is high, easy and simple to handle, the data acquisition is accurate effective.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a measuring device for plane force of a bionic claw thorn piece, which comprises a section bar main frame, a two-dimensional moving platform, a bionic claw thorn piece to be measured, a transverse tension sensor and a longitudinal tension sensor, wherein the two-dimensional moving platform is arranged on the section bar main frame and has freedom degrees of movement along the transverse direction and the vertical direction; the bionic claw thorn piece to be tested is connected with the transverse tension sensor; when the bionic claw thorn piece to be measured is caught on the surface to be measured, the transverse tension sensor measures transverse tension, and the longitudinal tension sensor measures vertical normal tension.
The bionic claw thorn piece that awaits measuring sets up on adaptor I, adaptor I with horizontal tension sensor's one end is connected, horizontal tension sensor's the other end pass through adaptor II with vertical tension sensor's lower extreme is connected, vertical tension sensor's upper end pass through adaptor III with the two-dimensional moving platform is connected.
The two-dimensional moving platform comprises a first connecting plate, a second connecting plate, a third connecting plate, a transverse linear driving mechanism and a longitudinal linear driving mechanism, wherein the first connecting plate is vertically arranged, and the left end and the right end of the first connecting plate are connected with the main section frame; the transverse linear driving mechanism is arranged on the first connecting plate, and the output end of the transverse linear driving mechanism is connected with the second connecting plate; the longitudinal linear driving mechanism is arranged on the second connecting plate, the output end of the longitudinal linear driving mechanism is connected with the third connecting plate, and the third connecting plate is connected with the adapter III.
The transverse linear driving mechanism comprises a motor, a coupler and a ball screw sliding rail set which are sequentially connected, wherein the ball screw sliding rail set is transversely arranged on the connecting plate, and the ball screw sliding rail set is connected with the connecting plate II.
The first ball screw sliding rail set comprises a first ball screw and two first sliding rails arranged on two sides of the first ball screw in parallel, the left end and the right end of the first ball screw are respectively supported by two first bearing blocks, and the two first bearing blocks are connected with a transverse adjusting waist-shaped hole arranged on the first connecting plate through bolts;
and the second connecting plate is in threaded connection with the first ball screw through a first nut, and is in sliding connection with the first two sliding rails.
The longitudinal linear driving mechanism comprises a second motor, a second coupler and a second ball screw sliding rail set which are sequentially connected, wherein the second ball screw sliding rail set is arranged on the second connecting plate along the vertical direction, and the second ball screw sliding rail set is connected with the third connecting plate.
The second ball screw sliding rail set comprises a second ball screw and a second sliding rail arranged on one side of the second ball screw in parallel, wherein the upper end and the lower end of the second ball screw are respectively supported by two second bearing seats, and the two second bearing seats are connected with a longitudinal adjusting waist-shaped hole arranged on the second connecting plate through bolts;
and the third connecting plate is in threaded connection with the second ball screw through a second nut, and is in sliding connection with the second sliding rail.
And the transverse tension sensor and the longitudinal tension sensor both adopt S-shaped tension sensors.
The utility model has the advantages and beneficial effects that:
1. the utility model utilizes the S-shaped tension sensor, the ball screw slide rail set and the motor to measure the force, the measuring precision lies in the precision of the S-shaped tension sensor, therefore, the S-shaped tension sensor or other shapes and models of corresponding precision and range only need to be replaced when the measuring force data with higher precision is required, and the measuring device is not limited to the S-shaped tension sensor;
2. all parts of the utility model are standard parts except the connecting plate, the tension sensor and the adapter, so that the interchangeability is high and the manufacturing cost is low;
3. the utility model greatly reduces the complexity of the test, has simple operation, and is easy to obtain force data accurately;
4. the utility model discloses can accurately acquire the thorn developments force parameter of claw.
Drawings
Fig. 1 is an axonometric view of the measuring device for the plane force of the bionic claw-prick sheet of the utility model;
FIG. 2 is a model diagram of a bionic claw-thorn piece to be tested in the utility model;
fig. 3 is a schematic structural diagram of an S-shaped tension sensor according to the present invention;
fig. 4 is a schematic circuit diagram of the S-shaped tension sensor of the present invention;
in the figure: 1 is the section bar body frame, 2 is the connecting plate No. two, 3 is the shaft coupling No. two, 4 is the motor No. two, 5 is ball slide rail set No. two, 501 is ball No. two, 502 is the slide rail No. two, 6 is the connecting plate No. three, 7 is adaptor III, 8 is ball slide rail set No. one, 801 is ball, 802 is the slide rail No. one, 9 is the motor No. one, 10 is the shaft coupling No. one, 11 is the bionical claw thorn piece that awaits measuring, 12 is horizontal tension sensor, 13 is vertical tension sensor, 14 is the connecting plate No. one, 15 is adaptor II, 16 is adaptor I.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the utility model provides a bionic claw thorn piece plane force measuring device, which comprises a section bar main frame 1, a two-dimensional moving platform, a bionic claw thorn piece 11 to be measured, a transverse tension sensor 12 and a longitudinal tension sensor 13, wherein the two-dimensional moving platform is arranged on the section bar main frame 1, and the two-dimensional moving platform has the freedom degree of moving along the transverse direction and the vertical direction; the longitudinal tension sensor 13 is arranged on the two-dimensional moving platform, the transverse tension sensor 12 is vertically connected with the longitudinal tension sensor 13, and the bionic claw thorn sheet 11 to be tested is connected with the transverse tension sensor 12; when the bionic claw sheets 11 to be measured are attached to the surface to be measured, the transverse tension sensor 12 measures transverse tension, and the longitudinal tension sensor 13 measures vertical normal tension.
Further, the bionic claw-pricking piece 11 to be measured is arranged on the adapter I16, the adapter I16 is connected with one end of the transverse tension sensor 12, the other end of the transverse tension sensor 12 is connected with the lower end of the longitudinal tension sensor 13 through the adapter II 15, and the upper end of the longitudinal tension sensor 13 is connected with the two-dimensional moving platform through the adapter III 7.
As shown in fig. 1, in the embodiment of the present invention, the two-dimensional moving platform includes a first connecting plate 14, a second connecting plate 2, a third connecting plate 6, a horizontal linear driving mechanism and a vertical linear driving mechanism, wherein the first connecting plate 14 is vertically disposed, and the left and right ends are connected to the profile main frame 1 through connecting members such as angle blocks and nuts; the transverse linear driving mechanism is arranged on the first connecting plate 14, and the output end of the transverse linear driving mechanism is connected with the second connecting plate 2; the longitudinal linear driving mechanism is arranged on the second connecting plate 2, the output end of the longitudinal linear driving mechanism is connected with the third connecting plate 6, and the third connecting plate 6 is connected with the adaptor III 7.
In this embodiment, the horizontal linear driving mechanism includes a motor 9, a shaft coupling 10 and a ball screw slide rail set 8 that connect gradually, and wherein a ball screw slide rail set 8 transversely sets up on a connecting plate 14, and a ball screw slide rail set 8 is connected with No. two connecting plates 2.
Specifically, a ball screw slide rail group 8 includes ball screw 801 and two slide rails 802 that parallel arrangement is in ball screw 801 both sides No. one, and ball screw 801 controls both ends and supports through two bearing frames No. one respectively, and two bearing frames pass through the horizontal adjustment waist type jogged joint that is equipped with on bolt and the connecting plate 14 No. one, and ball screw 801 can be through horizontal adjustment waist type hole free adjusting position and fixed in certain horizontal range. No. two connecting plates 2 are in threaded connection with a ball screw 801 through a nut, and No. two connecting plates 2 are in sliding connection with two first sliding rails 802.
In this embodiment, vertical linear drive mechanism is including No. two motors 4, no. two shaft couplings 3 and No. two ball slide rail sets 5 that connect gradually, and wherein No. two ball slide rail sets 5 set up in No. two connecting plates 2 along vertical direction, and No. two ball slide rail sets 5 are connected with No. three connecting plates 6.
Specifically, the second ball screw slide rail group 5 comprises a second ball screw 501 and a second slide rail 502 arranged on one side of the second ball screw 501 in parallel, wherein the upper end and the lower end of the second ball screw 501 are respectively supported by two second bearing seats, and the two second bearing seats are connected with a longitudinal adjustment kidney-shaped hole arranged on the second connecting plate 2 through bolts; the second ball screw 501 can be freely adjusted and fixed in position within a certain longitudinal range through a longitudinal adjustment waist-shaped hole. No. three connecting plate 6 is connected with No. two ball 501 threaded connections through No. two nuts, and No. three connecting plate 6 and No. two slide rail 502 sliding connection. In this embodiment, the first motor 9 and the second motor 4 both adopt 42CM04 motors.
As shown in fig. 3-4, in the present embodiment, both the transverse tension sensor 12 and the longitudinal tension sensor 13 are S-shaped tension sensors. The transverse tension sensor 12 and the longitudinal tension sensor 13 are based on the principle that: the elastic body (elastic element, sensitive beam) generates elastic deformation under the action of external force, so that the resistance strain gauge (conversion element) adhered to the surface of the elastic body also generates deformation, after the resistance strain gauge is deformed, the resistance value of the resistance strain gauge is changed (increased or decreased), and the resistance change is converted into an electric signal (voltage or current) through a corresponding measuring circuit, thereby completing the process of converting the external force into the electric signal. In order to ensure the accuracy of the related data, the two tension sensors need to be calibrated before being installed, and the calibration work is taken as the prior art and is not repeated herein.
The utility model provides a pair of measurement device of bionical claw thorn piece plane force, its theory of operation is:
the bionic claw thorn piece 11 to be measured is connected to a transverse tension sensor 12, the transverse tension sensor 12 is connected to a longitudinal tension sensor 13 through an adapter II 15, the two tension sensors are vertically arranged, the transverse tension sensor 12 measures transverse tension, and the longitudinal tension sensor 13 measures vertical normal tension; when the bionic claw thorn piece 11 to be measured grabs the surface to be measured, the internal resistance of the two S-shaped tension sensors changes due to external force, so that the voltage and current at the two ends of the sensors change, the external auxiliary electric control device displays corresponding real-time data and records according to the real-time voltage and current, and the size of the force to be measured can be displayed in a digital mode. The utility model discloses simple structure easily assembles convenient operation.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (8)
1. A measuring device for plane force of a bionic claw thorn sheet is characterized by comprising a section bar main frame (1), a two-dimensional moving platform, a bionic claw thorn sheet to be measured (11), a transverse tension sensor (12) and a longitudinal tension sensor (13), wherein the two-dimensional moving platform is arranged on the section bar main frame (1), and has freedom degrees of movement in the transverse direction and the vertical direction; a longitudinal tension sensor (13) is arranged on the two-dimensional moving platform, a transverse tension sensor (12) is vertically connected with the longitudinal tension sensor (13), and a bionic claw thorn sheet (11) to be tested is connected with the transverse tension sensor (12); when the bionic claw thorn piece (11) to be measured is grabbed on the surface to be measured, the transverse tension sensor (12) measures transverse tension, and the longitudinal tension sensor (13) measures vertical normal tension.
2. The device for measuring the plane force of the bionic claw-pricking sheet according to claim 1, wherein the bionic claw-pricking sheet (11) to be measured is arranged on an adapter I (16), the adapter I (16) is connected with one end of the transverse tension sensor (12), the other end of the transverse tension sensor (12) is connected with the lower end of the longitudinal tension sensor (13) through an adapter II (15), and the upper end of the longitudinal tension sensor (13) is connected with the two-dimensional moving platform through an adapter III (7).
3. The bionic claw-pricking piece plane force measuring device according to claim 2, wherein the two-dimensional moving platform comprises a first connecting plate (14), a second connecting plate (2), a third connecting plate (6), a transverse linear driving mechanism and a longitudinal linear driving mechanism, wherein the first connecting plate (14) is vertically arranged, and the left end and the right end of the first connecting plate are connected with the section main frame (1); the transverse linear driving mechanism is arranged on the first connecting plate (14), and the output end of the transverse linear driving mechanism is connected with the second connecting plate (2); the longitudinal linear driving mechanism is arranged on the second connecting plate (2), the output end of the longitudinal linear driving mechanism is connected with the third connecting plate (6), and the third connecting plate (6) is connected with the adaptor III (7).
4. The bionic claw-pricking piece plane force measuring device according to claim 3, wherein the transverse linear driving mechanism comprises a first motor (9), a first coupler (10) and a first ball screw sliding rail set (8) which are connected in sequence, wherein the first ball screw sliding rail set (8) is transversely arranged on the first connecting plate (14), and the first ball screw sliding rail set (8) is connected with the second connecting plate (2).
5. The bionic claw-pricking sheet plane force measuring device according to claim 4, wherein the first ball screw sliding rail set (8) comprises a first ball screw (801) and two first sliding rails (802) arranged on two sides of the first ball screw (801) in parallel, the left end and the right end of the first ball screw (801) are respectively supported by two first bearing seats, and the two first bearing seats are connected with transverse adjusting waist-shaped holes formed in the first connecting plate (14) through bolts;
no. two connecting plate (2) through a screw and ball (801) threaded connection, just No. two connecting plate (2) and two slide rail (802) sliding connection.
6. The bionic claw-pricking piece plane force measuring device according to claim 3, wherein the longitudinal linear driving mechanism comprises a second motor (4), a second coupler (3) and a second ball screw sliding rail set (5) which are sequentially connected, wherein the second ball screw sliding rail set (5) is arranged on the second connecting plate (2) in the vertical direction, and the second ball screw sliding rail set (5) is connected with the third connecting plate (6).
7. The bionic claw-pricking sheet plane force measuring device according to claim 6, wherein the second ball screw sliding rail set (5) comprises a second ball screw (501) and a second sliding rail (502) arranged on one side of the second ball screw (501) in parallel, wherein the upper end and the lower end of the second ball screw (501) are respectively supported by two second bearing seats, and the two second bearing seats are connected with a longitudinal adjusting kidney-shaped hole arranged on the second connecting plate (2) through bolts;
and the third connecting plate (6) is in threaded connection with the second ball screw (501) through a second screw nut, and the third connecting plate (6) is in sliding connection with the second sliding rail (502).
8. The bionic claw-stab plate plane force measuring device according to claim 1, wherein the transverse tension sensor (12) and the longitudinal tension sensor (13) both adopt S-shaped tension sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221881702.1U CN217765304U (en) | 2022-07-20 | 2022-07-20 | Measuring device for plane force of bionic claw-thorn sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221881702.1U CN217765304U (en) | 2022-07-20 | 2022-07-20 | Measuring device for plane force of bionic claw-thorn sheet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217765304U true CN217765304U (en) | 2022-11-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221881702.1U Active CN217765304U (en) | 2022-07-20 | 2022-07-20 | Measuring device for plane force of bionic claw-thorn sheet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217765304U (en) |
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2022
- 2022-07-20 CN CN202221881702.1U patent/CN217765304U/en active Active
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