CN111687884A - Hydraulic artificial muscle comprehensive characteristic test system comprising load blocks - Google Patents
Hydraulic artificial muscle comprehensive characteristic test system comprising load blocks Download PDFInfo
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- CN111687884A CN111687884A CN202010531636.4A CN202010531636A CN111687884A CN 111687884 A CN111687884 A CN 111687884A CN 202010531636 A CN202010531636 A CN 202010531636A CN 111687884 A CN111687884 A CN 111687884A
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- artificial muscle
- hydraulic artificial
- guide rail
- connecting bolt
- load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention provides a hydraulic artificial muscle comprehensive characteristic test system comprising a load block, which comprises a linear guide rail module, a fixed block, a force sensor, a water injection piece, a hydraulic artificial muscle, a displacement measurement unit, a load module and a transition piece, wherein the linear guide rail module is arranged on the linear guide rail module; the linear guide rail module comprises a bottom plate, a linear guide rail, a first group of sliding blocks and a first sliding block workbench; the fixed block is fixedly arranged at one end of the bottom plate, and two ends of the force sensor are respectively connected with the fixed block and the water injection piece; the two ends of the hydraulic artificial muscle are respectively connected with the water injection piece and the first sliding block workbench; the load module and the hydraulic artificial muscle are respectively arranged on two sides of the first sliding block workbench; the load module comprises a fixed plate, a fixed pulley supporting seat, a fixed pulley, a load adjusting block and a transmission wire. The invention solves the problem that the existing pneumatic artificial muscle testing system can not be directly used for testing the driving characteristics of the hydraulic artificial muscle.
Description
Technical Field
The invention relates to the field of hydraulic artificial muscle testing, in particular to a hydraulic artificial muscle comprehensive characteristic testing system comprising a load block.
Background
At present, the fluid-driven artificial muscle is a novel driver, and can be divided into pneumatic artificial muscle and hydraulic artificial muscle. The pneumatic hydraulic artificial muscle is a flexible driver, has the advantages of simple structure, smooth action, large output force/weight ratio and the like, and is applied to the fields of robots, automatic production lines and the like. The hydraulic artificial muscle not only has the advantages of simple structure and contribution to realizing miniaturization and light weight, but also has larger output force, faster response speed and lower working noise compared with a pneumatic artificial muscle. The output force of the fluid-driven artificial muscle is increased along with the increase of the working pressure, and the output force can be improved by increasing the working pressure of the artificial muscle.
The existing artificial muscle comprehensive characteristic testing system is generally a pneumatic artificial muscle testing system. Since the hydraulic artificial muscle has a greater working pressure and output force, such a test system cannot be directly used to test the driving characteristics of the hydraulic artificial muscle.
Disclosure of Invention
According to the technical problem that the existing pneumatic artificial muscle testing system cannot be directly used for testing the driving characteristics of the hydraulic artificial muscle, the hydraulic artificial muscle comprehensive characteristic testing system comprising the load block is provided. The invention adopts the load module to control the position of the non-water injection end of the hydraulic artificial muscle, has simple operation and control and can realize various performance tests on the hydraulic artificial muscle.
The technical means adopted by the invention are as follows:
a hydraulic artificial muscle comprehensive characteristic test system comprising a load block comprises a linear guide rail module, a fixed block, a force sensor, a water injection piece, a hydraulic artificial muscle, a displacement measurement unit, a load module and a transition piece;
the linear guide rail module comprises a bottom plate, a linear guide rail, a first group of sliding blocks and a first sliding block workbench; the bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly arranged in the guide rail groove; the first group of sliding blocks are slidably mounted on the linear guide rail; the first sliding block workbench is fixedly arranged on the first group of sliding blocks;
the fixed block is fixedly arranged at one end of the bottom plate, one end of the force sensor is fixedly connected with the fixed block through a first connecting bolt, and the other end of the force sensor is fixedly connected with the water injection piece through a second connecting bolt;
a cube structure is arranged in the middle of the water injection piece, and water injection threaded holes are formed in three side faces of the cube structure respectively;
the water inlet end of the hydraulic artificial muscle is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench through a third connecting bolt;
the first sliding block workbench is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat and a displacement sensor; the displacement sensor supporting seat is fixedly arranged on the bottom plate; one end of the displacement sensor is mounted on the displacement sensor supporting seat, and the other end of the displacement sensor extends into the displacement sensor through hole;
the load module and the hydraulic artificial muscle are respectively arranged on two sides of the first sliding block workbench; the load module comprises a fixed plate, a fixed pulley supporting seat, a fixed pulley, a load adjusting block and a transmission wire; the fixing plate is fixedly arranged on the bottom plate; the fixed pulley supporting seat is fixedly arranged on the fixed plate, the fixed pulley is arranged on the fixed pulley supporting seat, the load adjusting block is arranged on the fixed plate, one end of the transmission wire is connected with the third connecting bolt through the transition piece, and the other end of the transmission wire is connected with the load adjusting block after bypassing the fixed pulley.
Further, the first connecting bolt, the force sensor, the second connecting bolt, the water injection piece, the hydraulic artificial muscle, the third connecting bolt and the transition piece are coaxially arranged.
Furthermore, the left end and the right end of the first connecting bolt are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connecting bolt is an optical axis, and the left side of the thread structure at the right end of the first connecting bolt is provided with a regular hexahedron structure;
the left end and the right end of the second connecting bolt are respectively provided with a thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure;
the third connecting bolt left end sets up regular hexahedron structure and opens and has the internal thread, and the right-hand member sets up the helicitic texture, and the mid portion is the optical axis.
Compared with the prior art, the invention has the following advantages:
according to the hydraulic artificial muscle comprehensive characteristic test system comprising the load block, the load adjusting block is connected with the third connecting bolt through the fixed pulley and the transmission wire, so that stable transmission of loads is realized, and various performance tests on the hydraulic artificial muscle can be realized.
In conclusion, the technical scheme of the invention adopts the load module to control the position of the non-water-injection end of the hydraulic artificial muscle, has simple operation and control, and can realize various performance tests on the hydraulic artificial muscle. Therefore, the technical scheme of the invention solves the problem that the existing pneumatic artificial muscle testing system cannot be directly used for testing the driving characteristics of the hydraulic artificial muscle.
Based on the reasons, the invention can be widely popularized in the fields of hydraulic artificial muscle testing and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a hydraulic artificial muscle comprehensive characteristic test system including a load block according to the present invention.
In the figure: 1. a base plate; 2. a first connecting bolt; 3. a linear guide rail; 4. a fixed block; 5. a force sensor; 6. a second connecting bolt; 7. a water injection piece; 8. hydraulic artificial muscle; 9. a third connecting bolt; 15. a displacement sensor supporting seat; 16. a displacement sensor; 20. a transition piece; 21. a drive wire; 22. a fixing plate; 23. a fixed pulley supporting seat; 24. a fixed pulley; 25. a load adjusting block.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention, 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 invention.
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 exemplary embodiments according to the invention. 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 invention 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. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as 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.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
As shown in fig. 1, the invention provides a hydraulic artificial muscle comprehensive property test system comprising a load block, which comprises a linear guide rail module, a fixed block 4, a force sensor 5, a water injection piece 7, a hydraulic artificial muscle 8, a displacement measurement unit, a load module and a transition piece 20;
the linear guide rail module comprises a bottom plate 1, a linear guide rail 3, a first group of sliding blocks 171 and a first sliding block workbench 172; the bottom plate 1 is provided with a guide rail groove, and the linear guide rail 3 is fixedly arranged in the guide rail groove; the first group of sliding blocks 171 are slidably mounted on the linear guide 3; the first slider table 172 is fixedly mounted to the first set of sliders 171;
the fixed block 4 is fixedly arranged at one end of the bottom plate 1, one end of the force sensor 5 is fixedly connected with the fixed block 4 through a first connecting bolt 2, and the other end of the force sensor is fixedly connected with the water injection piece 7 through a second connecting bolt 6;
a cube structure is arranged in the middle of the water injection piece 7, and water injection threaded holes are formed in three side faces of the cube structure respectively;
the water inlet end of the hydraulic artificial muscle 8 is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench 172 through a third connecting bolt 9;
the first slider workbench 172 is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat 15 and a displacement sensor 16; the displacement sensor supporting seat 15 is fixedly arranged on the bottom plate 1; one end of the displacement sensor 16 is mounted on the displacement sensor support seat 15, and the other end of the displacement sensor 16 extends into the displacement sensor through hole;
the load module and the hydraulic artificial muscle 8 are respectively arranged at two sides of the first sliding block workbench 172; the load module comprises a fixed plate 22, a fixed pulley supporting seat 23, a fixed pulley 24, a load adjusting block 25 and a transmission wire 21; the fixing plate 22 is fixedly mounted on the bottom plate 1; the fixed pulley supporting seat 23 is fixedly installed on the fixed plate 22, the fixed pulley 24 is installed on the fixed pulley supporting seat 23, the load adjusting block 25 is installed on the fixed plate 22, one end of the transmission wire 21 is connected to the third connecting bolt 9 through the transition piece 20, and the other end of the transmission wire is connected to the load adjusting block 25 after passing through the fixed pulley 24.
Further, the first connecting bolt 2, the force sensor 5, the second connecting bolt 6, the water injection member 7, the hydraulic artificial muscle 8, the third connecting bolt 9, and the transition member 20 are coaxially arranged.
Furthermore, the left end and the right end of the first connecting bolt 2 are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connecting bolt 2 is an optical axis, and the left side of the thread structure at the right end of the first connecting bolt 2 is provided with a regular hexahedron structure; the left end and the right end of the second connecting bolt 6 are respectively provided with a thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure; the left end of the third connecting bolt 9 is provided with a regular hexahedron structure and is provided with an internal thread, the right end of the third connecting bolt is provided with a thread structure, and the middle part of the third connecting bolt is an optical axis.
The hydraulic artificial muscle comprehensive characteristic test system comprising the load block can be used for carrying out a constant pressure test and an inertia load test on the hydraulic artificial muscle, and the working processes of carrying out the two tests are specifically described below.
(1) And (3) constant pressure test: the working pressure of the hydraulic artificial muscle is constant, and the relation between the output force and the displacement of the hydraulic artificial muscle is researched.
The hydraulic artificial muscle 8 is installed on a test system, firstly, the transmission wire 21 is ensured to be in a natural state, namely, the force sensor 5 is displayed as 0N, then, the hydraulic artificial muscle 8 is enabled to be in a first working pressure, and the relationship between the output force and the displacement of the hydraulic artificial muscle 8 under the working pressure can be obtained by changing the load of the hydraulic artificial muscle 5 through the load adjusting block 25; and changing the working pressure of the hydraulic artificial muscle 8 again, and repeating the steps to obtain the relation between the output force and the displacement of the hydraulic artificial muscle 8 under different working pressures.
(2) And (3) inertia load test: the output force of the hydraulic artificial muscle is constant, and the relation between the working pressure and the displacement of the hydraulic artificial muscle is researched.
The hydraulic artificial muscle 8 is installed on a test system, firstly, the transmission wire 21 is ensured to be in a natural state, namely, the force sensor 5 is displayed as 0N, then, the hydraulic artificial muscle 8 is under a first load condition, and then, the hydraulic artificial muscle 8 is under a first working pressure, at this time, the transmission wire 21 drives the hydraulic artificial muscle 8 to be connected with one end (closed end) of the first slider workbench 172 to reciprocate along the linear guide rail 3 through the first slider workbench 172 until the hydraulic artificial muscle stops moving, so that a single-group inertial load test is performed, and the driving characteristics of the hydraulic artificial muscle 8 are obtained through the force sensor 5 and the displacement sensor 16; and changing the working pressure and the load condition of the hydraulic artificial muscle 8 again, and repeating the steps to obtain the driving characteristics of the hydraulic artificial muscle 8 under different working pressures.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A hydraulic artificial muscle comprehensive characteristic test system comprising a load block is characterized by comprising a linear guide rail module, a fixed block, a force sensor, a water injection piece, a hydraulic artificial muscle, a displacement measurement unit, a load module and a transition piece;
the linear guide rail module comprises a bottom plate, a linear guide rail, a first group of sliding blocks and a first sliding block workbench; the bottom plate is provided with a guide rail groove, and the linear guide rail is fixedly arranged in the guide rail groove; the first group of sliding blocks are slidably mounted on the linear guide rail; the first sliding block workbench is fixedly arranged on the first group of sliding blocks;
the fixed block is fixedly arranged at one end of the bottom plate, one end of the force sensor is fixedly connected with the fixed block through a first connecting bolt, and the other end of the force sensor is fixedly connected with the water injection piece through a second connecting bolt;
a cube structure is arranged in the middle of the water injection piece, and water injection threaded holes are formed in three side faces of the cube structure respectively;
the water inlet end of the hydraulic artificial muscle is connected with the water injection piece, and the other end of the hydraulic artificial muscle is fixedly connected with the first sliding block workbench through a third connecting bolt;
the first sliding block workbench is provided with a displacement sensor through hole;
the displacement measuring unit comprises a displacement sensor supporting seat and a displacement sensor; the displacement sensor supporting seat is fixedly arranged on the bottom plate; one end of the displacement sensor is mounted on the displacement sensor supporting seat, and the other end of the displacement sensor extends into the displacement sensor through hole;
the load module and the hydraulic artificial muscle are respectively arranged on two sides of the first sliding block workbench; the load module comprises a fixed plate, a fixed pulley supporting seat, a fixed pulley, a load adjusting block and a transmission wire; the fixing plate is fixedly arranged on the bottom plate; the fixed pulley supporting seat is fixedly arranged on the fixed plate, the fixed pulley is arranged on the fixed pulley supporting seat, the load adjusting block is arranged on the fixed plate, one end of the transmission wire is connected with the third connecting bolt through the transition piece, and the other end of the transmission wire is connected with the load adjusting block after bypassing the fixed pulley.
2. The hydraulic artificial muscle comprehensive property testing system including the load block as set forth in claim 1, wherein the first connecting bolt, the force sensor, the second connecting bolt, the water injection member, the hydraulic artificial muscle, the third connecting bolt and the transition member are coaxially arranged.
3. The hydraulic artificial muscle comprehensive property test system comprising the load block as claimed in claim 1, wherein the left end and the right end of the first connection bolt are respectively provided with a thread structure, the right side of the thread structure at the left end of the first connection bolt is an optical axis, and the left side of the thread structure at the right end of the first connection bolt is provided with a regular hexahedron structure;
the left end and the right end of the second connecting bolt are respectively provided with a thread structure, and the middle part of the second connecting bolt is provided with a regular hexahedron structure;
the third connecting bolt left end sets up regular hexahedron structure and opens and has the internal thread, and the right-hand member sets up the helicitic texture, and the mid portion is the optical axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010531636.4A CN111687884A (en) | 2020-06-11 | 2020-06-11 | Hydraulic artificial muscle comprehensive characteristic test system comprising load blocks |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010531636.4A CN111687884A (en) | 2020-06-11 | 2020-06-11 | Hydraulic artificial muscle comprehensive characteristic test system comprising load blocks |
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| CN111687884A true CN111687884A (en) | 2020-09-22 |
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| CN202010531636.4A Pending CN111687884A (en) | 2020-06-11 | 2020-06-11 | Hydraulic artificial muscle comprehensive characteristic test system comprising load blocks |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6912900B1 (en) * | 2004-07-30 | 2005-07-05 | Seoul National University Industry Foundation | Muscular motion simulating system |
| CN102829009A (en) * | 2012-09-13 | 2012-12-19 | 大连海事大学 | Hydraulic artificial muscle hydraulic drive and control system |
| JP5126919B1 (en) * | 2012-04-09 | 2013-01-23 | 英治 川西 | Walking assist device |
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN105445008A (en) * | 2015-11-25 | 2016-03-30 | 天津大学 | Pneumatic artificial muscle static state characteristic comprehensive testing device and driving system |
-
2020
- 2020-06-11 CN CN202010531636.4A patent/CN111687884A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6912900B1 (en) * | 2004-07-30 | 2005-07-05 | Seoul National University Industry Foundation | Muscular motion simulating system |
| JP5126919B1 (en) * | 2012-04-09 | 2013-01-23 | 英治 川西 | Walking assist device |
| CN102829009A (en) * | 2012-09-13 | 2012-12-19 | 大连海事大学 | Hydraulic artificial muscle hydraulic drive and control system |
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN105445008A (en) * | 2015-11-25 | 2016-03-30 | 天津大学 | Pneumatic artificial muscle static state characteristic comprehensive testing device and driving system |
Non-Patent Citations (1)
| Title |
|---|
| YUTA K, ET AL.: "LS-SVM Based Modeling and Model Predictive Control for a Water-Hydraulic Artificial Muscle Actuator", 《SICE JCMSI》 * |
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