CN110243515B - Manual measuring device for performance parameters of negative pressure adsorption mechanism - Google Patents
Manual measuring device for performance parameters of negative pressure adsorption mechanism Download PDFInfo
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- CN110243515B CN110243515B CN201910268391.8A CN201910268391A CN110243515B CN 110243515 B CN110243515 B CN 110243515B CN 201910268391 A CN201910268391 A CN 201910268391A CN 110243515 B CN110243515 B CN 110243515B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 112
- 230000007246 mechanism Effects 0.000 title claims abstract description 104
- 238000005259 measurement Methods 0.000 claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 description 6
- 230000009194 climbing Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 239000011664 nicotinic acid Substances 0.000 description 2
- 241000192710 Microcystis aeruginosa Species 0.000 description 1
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- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/13—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
- G01L5/133—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles for measuring thrust of propulsive devices, e.g. of propellers
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- Ocean & Marine Engineering (AREA)
- Measuring Fluid Pressure (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a manual measuring device for performance parameters of a negative pressure adsorption mechanism, in particular relates to the field of performance parameter measurement of the negative pressure adsorption mechanism, and solves the defects of overlarge error, low point type measurement efficiency and too narrow application range caused by high requirement on measurement environment in the conventional performance curve measurement process of the negative pressure mechanism. The device comprises a frame, a base, a distance-adjusting mechanism, a force measuring mechanism and a measuring platform, wherein the frame comprises a first support at the upper part and a second support at the lower part, the first support and the second support are movably connected through a self-locking hinge, the base comprises a supporting seat, the supporting seat is positioned at the bottom end of the second support, and a baffle is arranged on the supporting seat; the adjustable distance mechanism comprises a hand wheel, a screw rod, a nut and a coupler, wherein the hand wheel is arranged at the uppermost end of the screw rod, the screw rod is sleeved at the center of a nut seat, the nut is vertically fixed at the middle part of an upper arm of the first bracket, the coupler is fixed at the lowermost end of the screw rod, the lowermost end of the coupler is connected with a force measuring assembly, and the lower end of a connecting ring in the force measuring mechanism is connected with a measuring platform.
Description
Technical Field
The invention relates to the field of performance parameter measurement of negative pressure adsorption mechanisms, in particular to a manual performance parameter measurement device of a negative pressure adsorption mechanism.
Background
The most important characteristic of the wall climbing robot is that the robot can overcome gravity and realize adsorption on a vertical or inclined plane. The robot adsorption method mainly comprises the following steps: negative pressure adsorption, thrust adsorption, magnetic adsorption, vacuum adsorption and bionic adsorption. When in negative pressure adsorption, a negative pressure generator such as a propeller sucks fluid to the sucker, the fluid in the sucker generates pressure difference between the inner fluid and the outer fluid, and the fluid presses the sucker to realize the pressure adsorption on the robot; the thrust force is absorbed by using a mechanism such as a propeller to generate a proper thrust force, and the robot is attached to the wall surface. The magnetic adsorption, the vacuum adsorption and the bionic adsorption respectively utilize magnetic materials, a vacuum generator and simulation materials to realize the adsorption to the specific wall surface. The application range of negative pressure adsorption and thrust adsorption is the most wide at present under the influence of materials and application scenes.
The adsorption force parameter curve directly determines the stability and safety of the wall climbing robot, so the performance test of the adsorption mechanism of the wall climbing robot is an important link for realizing the static or moving of the wall climbing robot. At present, a mode of directly measuring a hooked scale or a pressure sensor is adopted for measuring the performance curve of the negative pressure adsorption mechanism; in addition to adopting a direct hanging measurement mode, a frame or a water tank mechanism can be used for guaranteeing stability of a measurement process, and China patent number 201610020650.1 discloses an underwater propeller test platform and China patent number 201810207439.X discloses an underwater propeller test device.
The prior measurement of the performance curve parameters of the negative pressure adsorption mechanism has the following defects: 1) The measuring error is large, and the subsequent practical application of the device is greatly influenced, so that the safety and stability of the robot work are threatened; 2) The measurement cost is high, single-point measurement is time-consuming seriously, and practical popularization and application are not facilitated; 3) The application range is narrow, for the measurement of the underwater adsorption mechanism, a coupler is used for connecting a hook scale or a pressure sensor, and when the water depth is insufficient, the power of an adsorption motor or a propeller becomes large, water spray can be generated, and the parameter measurement of the adsorption mechanism fails.
Disclosure of Invention
The invention aims to overcome the defects, and provides a manual measuring device for performance parameters of a negative pressure adsorption mechanism, which is adjustable in height, improves the working efficiency of parameter measurement and reduces the complexity of measurement.
The invention adopts the following technical scheme:
The manual measuring device for the performance parameters of the negative pressure adsorption mechanism comprises a frame, a base, a distance adjusting mechanism, a force measuring mechanism and a measuring platform:
the frame comprises a first bracket at the upper part and a second bracket at the lower part, the first bracket and the second bracket are movably connected through a self-locking hinge,
The base comprises a supporting seat, the supporting seat is positioned at the bottom end of the second bracket, and a baffle is arranged on the supporting seat;
The adjustable distance mechanism comprises a hand wheel, a screw rod, a nut and a coupling, wherein the hand wheel is arranged at the uppermost end of the screw rod, the screw rod is sleeved in the center of the nut, the nut is vertically fixed at the middle part of the upper arm of the first bracket, the coupling is fixed at the lowermost end of the screw rod, and the lowermost end of the coupling is connected with the force measuring assembly;
the force measuring mechanism comprises a force sensor, a connecting rope and a connecting ring, wherein the upper end of the force sensor is connected with a coupler, the lower end of the force sensor is connected with the connecting rope, the lower end of the connecting rope is connected with the connecting ring in series, and the lower end of the connecting ring is connected with the measuring platform;
The measuring platform comprises a guide sleeve, support arms, connecting blocks, sliding rails and an adsorption mechanism, wherein the guide sleeve is cylindrical, an adsorption water channel is formed by penetrating through the lower part and the upper part of the guide sleeve, and is used for installing and fixing an adsorption power source;
Preferably, the two sets of self-locking foldouts are symmetrically arranged left and right, the upper end of each set of self-locking foldout is connected with the lower arm of the first bracket, the lower end of each set of self-locking foldout is connected with the upper arm of the second bracket, and the self-locking foldouts realize the locking and the holding of the first bracket and the second bracket at 90 degrees and 180 degrees.
Preferably, a cross arm is arranged at the lower end of the first bracket, and two fixed pulleys are arranged in the middle of the cross arm along the 45-degree direction of the two sides obliquely downwards.
Preferably, the base further comprises supporting legs, the supporting legs are sequentially connected through three long strips and fixed on one side of the upper end of the second support, and support in transverse measurement is achieved.
Preferably, the center of the baffle is provided with a plurality of groups of position switches to realize the touch position detection of the adsorption mechanism, so that the distance adjustment and zero correction of the adsorption mechanism relative to the bottom plate are realized, the position switches are connected with an external universal meter or a circuit through waterproof wires to realize the on-off electric signal detection of the position switches, and the adsorption mechanism is judged whether to contact the bottom plate or not.
Preferably, in the working process of the manual measuring device for the performance parameters of the negative pressure adsorption mechanism, the manual measuring device comprises zero calibration, deformation and step calibration of the negative pressure adsorption mechanism:
61. Zero calibration of the negative pressure adsorption mechanism:
the manual adjusting hand wheel enables the screw rod to descend, so that the force sensor and the connecting rope are driven to descend through the fixed pulley, the connecting ring and the flow guiding sleeve, and the adsorption mechanism drives the whole set of support arms, the whole set of connecting blocks and the whole set of sliding blocks to vertically descend along the sliding rail;
When the hand wheel falls to the lowest critical position, the lowest end wall surface of the adsorption mechanism touches the position switch, so that a contact signal is given, and at the moment, the hand wheel is manually stopped from shaking; the position is the position where the distance between the adsorption mechanism and the bottom plate is zero;
62. The negative pressure adsorption mechanism deforms:
When the included angle between the first bracket and the second bracket is 180 degrees, the device is suitable for being vertically placed in deep water to measure the adsorption force of the adsorption mechanism or the thrust curve of the propeller, and at the moment, water flow generated by the operation of the thrust or the negative pressure generator flows along the guide sleeve without generating water spray;
when the depth of the environmental water is measured to be shallower, the hinge of the self-locking switch is manually and simultaneously pulled, the first support is pulled along the direction away from the supporting leg, and the first support is enabled to rotate along the direction away from the second support until the included angle between the first support and the second support is 90 degrees. At the moment, the second bracket is transversely placed in the shallow water, the first bracket is vertical, the guide cylinder is in a transverse state, the water generated by the operation of the thrust or negative pressure generator is transverse, and water spray can not be generated on the water surface;
63. After the negative pressure adsorption mechanism is calibrated, manually adjusting the hand wheel to enable the adsorption mechanism to ascend, and recording the total rotation number of turns of the hand wheel, thereby obtaining the displacement value of the adsorption mechanism corresponding to each turn of rotation of the hand wheel; and then, when the adsorption mechanism is in a zeroing state, the hand wheel is rocked, and the values of force sensors at different positions of the adsorption mechanism from the bottom plate, the thrust or the working voltage and current parameters of the negative pressure generator are recorded.
The invention has the following beneficial effects:
the device adopts the foldable hinge with self-locking function to realize the deformation of the measuring frame, is suitable for measuring underwater or underwater adsorption parameters with different depths, and has wider application range;
The screw rod and the screw rod are matched with the hand wheel structure, so that the distance between the adsorption mechanism and the bottom plate can be accurately regulated and controlled, the measurement process is more accurate, and a test research foundation is laid for the application of the subsequent adsorption mechanism; the composite sliding rail structure is adopted, so that the bidirectional sliding limit of the adsorption mechanism is realized, the low resistance and the precision of the measurement process of the adsorption mechanism are ensured, and the measurement precision is effectively improved;
the touch detection of the adsorption mechanism and the bottom plate is realized through the position switch mechanism, the underwater non-contact zeroing can be realized, the complexity and cost of the measuring mechanism are reduced, the measuring and manual zeroing steps are greatly simplified, and the measuring efficiency of the adsorption mechanism is improved.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of a manual measuring device for performance parameters of a negative pressure adsorption mechanism;
FIG. 2 is a front view of a manual measuring device for performance parameters of a negative pressure adsorption mechanism;
FIG. 3 is a left side view of a manual measuring device for performance parameters of the negative pressure adsorption mechanism;
FIG. 4 is a top view of a manual measurement device for performance parameters of a negative pressure adsorption mechanism;
FIG. 5 is a schematic diagram of a three-dimensional structure of a manual measuring device for performance parameters of a negative pressure adsorption mechanism after folding and deforming;
FIG. 6 is a side view of a manual measuring device for performance parameters of a negative pressure adsorption mechanism after folding deformation.
The device comprises a frame 1, a first support 11, a second support 12, a self-locking hinge 13, a cross arm 14, a fixed pulley 15, a base 2, a supporting seat 21, a supporting leg 22, a baffle 23, a position switch 24, a distance adjusting mechanism 3, a hand wheel 31, a screw rod 32, a nut 33, a coupler 34, a force measuring mechanism 4, a force sensor 41, a connecting rope 42, a connecting ring 43, a measuring platform 5, a guide sleeve 51, a supporting arm 52, a connecting block 53, a sliding block 54, a sliding rail 55 and an adsorption mechanism 56.
Detailed Description
The following description of the embodiments of the invention will be given with reference to the accompanying drawings and examples:
As shown in fig. 1-4, a manual measuring device for performance parameters of a negative pressure adsorption mechanism comprises a frame 1, a base 2, a distance adjusting mechanism 3, a force measuring mechanism 4 and a measuring platform 5:
the frame 2 comprises a first bracket 11 at the upper part and a second bracket 12 at the lower part, the first bracket 11 and the second bracket 12 are movably connected through a self-locking hinge 13,
The base 2 comprises a supporting seat 21, the supporting seat 21 is positioned at the bottom end of the second bracket 12, and a baffle 23 is arranged on the supporting seat 21;
the adjustable distance mechanism 3 comprises a hand wheel 31, a screw rod 32, a nut 33 and a coupler 34, wherein the hand wheel 31 is arranged at the uppermost end of the screw rod 32, the screw rod 32 is sleeved in the center of the nut 33, the nut 33 is vertically fixed in the middle of the upper arm of the first bracket 11, the coupler 34 is fixed at the lowermost end of the screw rod, and the lowermost end of the coupler 34 is connected with the force measuring component;
The force measuring mechanism 4 comprises a force sensor 41, a connecting rope 42 and a connecting ring 43, wherein the upper end of the force sensor 41 is connected with the coupler 34, the lower end of the force sensor is connected with the connecting rope 42, the lower end of the connecting rope 42 is connected with the connecting ring 43 in series, and the lower end of the connecting ring 43 is connected with the measuring platform 5;
the measuring platform 5 comprises a guide sleeve 51, support arms 52, connecting blocks 53, sliding blocks 54, sliding rails 55 and an adsorption mechanism 56, wherein the guide sleeve 51 is cylindrical, an adsorption water channel is formed by penetrating the lower part and the upper part of the guide sleeve, the guide sleeve is used for installing and fixing an adsorption power source, the support arms 52 are arranged at the upper end and the lower end of the two sides of the guide sleeve 51, the tail ends of the support arms 52 are connected with the connecting blocks 53, the sliding rails 55 are distributed symmetrically left and right and are vertically arranged at the inner wall of the lower end of the second bracket 12, two sliding blocks 54 are arranged on each sliding rail 55, the sliding blocks 54 are respectively fixed with the connecting blocks 53, and a polished rod and a supporting seat are arranged on the sliding rails;
The two sets of self-locking foldouts 13 are symmetrically arranged left and right, the upper end of each set of self-locking foldout is connected with the lower arm of the first bracket 11, the lower end is connected with the upper arm of the second bracket 12, and the self-locking foldouts realize the locking and the holding of the first bracket and the second bracket at 90 degrees and 180 degrees.
The lower end of the first bracket 11 is provided with a cross arm 14, and the center of the cross arm 14 is provided with two fixed pulleys along two sides obliquely downwards at 45 degrees.
The base 2 further comprises supporting legs 22, the supporting legs 22 are sequentially connected through three long strips and fixed on one side of the upper end of the second support 12, and support in transverse measurement is achieved.
The center of the baffle 23 is provided with a plurality of groups of position switches 24, so that the touch position detection of the adsorption mechanism is realized, the distance adjustment and zero correction of the adsorption mechanism relative to the bottom plate are realized, the position switches 24 are connected with an external universal meter or a circuit through waterproof wires, the detection of on-off electric signals of the position switches is realized, and whether the adsorption mechanism contacts the bottom plate is judged.
In the working process of the manual measuring device for the performance parameters of the negative pressure adsorption mechanism, the manual measuring device comprises zero calibration, deformation and step fixing of the negative pressure adsorption mechanism:
61. Zero calibration of the negative pressure adsorption mechanism:
The manual adjusting hand wheel 31 enables the screw rod 32 to descend, so that the force sensor 41 and the connecting rope 42 are driven to descend through the fixed pulley, the connecting ring 43 and the guide sleeve 51, and the adsorption mechanism drives the whole set of support arms, the whole set of connecting blocks and the whole set of sliding blocks to vertically descend along the sliding rail;
When the hand wheel falls to the lowest critical position, the lowest end wall surface of the adsorption mechanism touches the position switch, so that a contact signal is given, and at the moment, the hand wheel is manually stopped from shaking; the position is the position where the distance between the adsorption mechanism and the bottom plate is zero;
62. The negative pressure adsorption mechanism deforms:
As shown in fig. 5 and 6, when the included angle between the first bracket 11 and the second bracket 12 is 180 degrees, the device is suitable for being vertically placed in deep water to measure the adsorption force of the adsorption mechanism or the thrust curve of the propeller, and at the moment, the water flow generated by the operation of the thrust or the negative pressure generator flows along the guide sleeve without generating water bloom;
when the depth of the environmental water is measured to be shallower, the hinge of the self-locking switch is manually and simultaneously pulled, the first support is pulled along the direction away from the supporting leg, and the first support is enabled to rotate along the direction away from the second support until the included angle between the first support and the second support is 90 degrees. At the moment, the second bracket is transversely placed in the shallow water, the first bracket is vertical, the guide cylinder is in a transverse state, the water generated by the operation of the thrust or negative pressure generator is transverse, and water spray can not be generated on the water surface;
63. After the negative pressure adsorption mechanism is calibrated, manually adjusting the hand wheel to enable the adsorption mechanism to ascend, and recording the total rotation number of turns of the hand wheel, thereby obtaining the displacement value of the adsorption mechanism corresponding to each turn of rotation of the hand wheel; and then, when the adsorption mechanism is in a zeroing state, the hand wheel is rocked, and the values of force sensors at different positions of the adsorption mechanism from the bottom plate, the thrust or the working voltage and current parameters of the negative pressure generator are recorded. The hand wheel can be continuously rotated, and the corresponding numerical value of the force sensor can be continuously recorded.
The numerical value of the force sensor corresponds to the sum of the buoyancy value and the adsorption force of the adsorption mechanism and other parts of auxiliary mechanisms in water;
the device can also be placed in air or other fluids to realize the performance curve measurement of the adsorption mechanism.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. The utility model provides a manual survey device of negative pressure adsorption equipment performance parameter, includes frame, base, adjustable distance mechanism, dynamometry mechanism and survey platform, its characterized in that:
the frame comprises a first bracket at the upper part and a second bracket at the lower part, the first bracket and the second bracket are movably connected through a self-locking hinge,
The base comprises a supporting seat, the supporting seat is positioned at the bottom end of the second bracket, and a baffle is arranged on the supporting seat;
The adjustable distance mechanism comprises a hand wheel, a screw rod, a nut and a coupling, wherein the hand wheel is arranged at the uppermost end of the screw rod, the screw rod is sleeved in the center of the nut, the nut is vertically fixed at the middle part of the upper arm of the first bracket, the coupling is fixed at the lowermost end of the screw rod, and the lowermost end of the coupling is connected with the force measuring assembly;
the force measuring mechanism comprises a force sensor, a connecting rope and a connecting ring, wherein the upper end of the force sensor is connected with a coupler, the lower end of the force sensor is connected with the connecting rope, the lower end of the connecting rope is connected with the connecting ring in series, and the lower end of the connecting ring is connected with the measuring platform;
The measuring platform comprises a guide sleeve, support arms, connecting blocks, sliding rails and an adsorption mechanism, wherein the guide sleeve is cylindrical, an adsorption water channel is formed by penetrating through the lower part and the upper part of the guide sleeve, and is used for installing and fixing an adsorption power source;
The two sets of self-locking foldouts are symmetrically arranged left and right, the upper end of each set of self-locking foldout is connected with the lower arm of the first bracket, the lower end of each set of self-locking foldout is connected with the upper arm of the second bracket, and the self-locking foldouts realize the locking and the holding of the first bracket and the second bracket at 90 degrees and 180 degrees;
The center of baffle is equipped with multiunit position switch, realizes the touching position detection to adsorption equipment to the realization is to the adjustment of adsorption equipment relative bottom plate apart from and school zero, and position switch passes through waterproof line and external universal meter or circuit connection, realizes the detection of position switch break-make signal of telecommunication, thereby judges whether adsorption equipment contacts the bottom plate.
2. The manual measuring device for performance parameters of a negative pressure adsorption mechanism according to claim 1, wherein a cross arm is arranged at the lower end of the first bracket, and two fixed pulleys are arranged in the middle of the cross arm along the 45-degree direction of two sides obliquely downwards.
3. The manual measuring device for performance parameters of a negative pressure adsorption mechanism according to claim 1, wherein the base further comprises supporting legs, the supporting legs are sequentially connected through three long strips and fixed on one side of the upper end of the second support, and support in transverse measurement is achieved.
4. A manual measuring device for performance parameters of a negative pressure adsorption mechanism according to any one of claims 1-3, wherein the manual measuring device for performance parameters of a negative pressure adsorption mechanism comprises zero calibration, deformation and step setting of the negative pressure adsorption mechanism:
S1, zeroing the negative pressure adsorption mechanism:
the manual adjusting hand wheel enables the screw rod to descend, so that the force sensor and the connecting rope are driven to descend through the fixed pulley, the connecting ring and the flow guiding sleeve, and the adsorption mechanism drives the whole set of support arms, the whole set of connecting blocks and the whole set of sliding blocks to vertically descend along the sliding rail;
When the hand wheel falls to the lowest critical position, the lowest end wall surface of the adsorption mechanism touches the position switch, so that a contact signal is given, and at the moment, the hand wheel is manually stopped from shaking; the position is the position where the distance between the adsorption mechanism and the bottom plate is zero;
s2, deforming the negative pressure adsorption mechanism:
When the included angle between the first bracket and the second bracket is 180 degrees, the device is suitable for being vertically placed in deep water to measure the adsorption force of the adsorption mechanism or the thrust curve of the propeller, and at the moment, water flow generated by the operation of the thrust or the negative pressure generator flows along the guide sleeve without generating water spray;
When the depth of the environmental water is measured to be shallower, the hinge of the self-locking switch is manually and simultaneously wrenched, the first support is wrenched along the direction away from the supporting leg, the first support is enabled to rotate along the direction away from the second support until the included angle between the first support and the second support is 90 degrees, at the moment, the second support is transversely placed in the shallow water, the first support is vertical, the guide cylinder is in a transverse state, the water flow generated by the operation of the thrust or negative pressure generator is transverse, and water spray is not generated on the water surface;
s3, after the negative pressure adsorption mechanism is calibrated, manually adjusting the hand wheel to enable the adsorption mechanism to ascend, and recording the total rotation number of the hand wheel, so as to obtain a displacement value of the adsorption mechanism corresponding to each rotation of the hand wheel; and then, when the adsorption mechanism is in a zeroing state, the hand wheel is rocked, and the values of force sensors at different positions of the adsorption mechanism from the bottom plate, the thrust or the working voltage and current parameters of the negative pressure generator are recorded.
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| CN203606067U (en) * | 2013-11-19 | 2014-05-21 | 广州广电计量检测无锡有限公司 | Force sensor detection support |
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