CN112304742A - Flexible parallel mechanism test device based on rope drive - Google Patents
Flexible parallel mechanism test device based on rope drive Download PDFInfo
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- CN112304742A CN112304742A CN202011265693.9A CN202011265693A CN112304742A CN 112304742 A CN112304742 A CN 112304742A CN 202011265693 A CN202011265693 A CN 202011265693A CN 112304742 A CN112304742 A CN 112304742A
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- rope
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- fixed platform
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- 238000012360 testing method Methods 0.000 title claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000008092 positive effect Effects 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0026—Combination of several types of applied forces
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention aims to overcome the defects of the prior art and provides a rope-driven flexible parallel mechanism testing device which is reasonable in design, reliable in structure and easy to execute. The technical problem to be solved by the invention is realized by adopting the following technical scheme: a flexible parallel mechanism test device based on rope drive is disclosed, wherein a small support, a support seat and a support large support in a transmission mechanism are connected with a bottom plate in a movable platform mechanism through screws; when the device works, the motor transmits power to the wire winding barrel and winds the rope, one end of the rope is fixed on the rope rotating barrel to tighten the rope, and the attitude sensor and the force measuring sensor measure the tension and the length of the movable platform mechanism and the rope. The invention has the advantages and positive effects that: the invention has reasonable design, simple mechanism and accurate measurement, and can meet the detection requirements under different conditions.
Description
Technical Field
The invention relates to a rope test device, in particular to a flexible parallel mechanism test device based on rope driving, and belongs to a rope detection device.
Background
The rope is an indispensable thing in various industries, for example, in crane, tower crane and ordinary life, etc. all be used, and the detection of current equipment to the rope is only a pure pulling force detection, and the biggest pulling force that the rope bore is not detected the power when rope is when rotating winding and translation, in view of this, need a flexible parallel mechanism test device based on rope drive to detect the power when rope rotates and translates urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rope-driven flexible parallel mechanism testing device which is reasonable in design, reliable in structure and easy to execute.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a flexible parallel mechanism test device based on rope drive, its constitution includes: the device comprises a movable platform mechanism 1 and a transmission mechanism 2, wherein a small bracket 203, a supporting seat 204 and a large bracket 212 of a bracket 210 in the transmission mechanism 2 are connected with a bottom plate 102 in the movable platform mechanism 1 through screws; in operation, the motor 213 transmits power to the winding drum 207, winds the rope 201, tightens the rope 201 because one end of the rope 201 is fixed to the rope rotating drum 106, and then the attitude sensor 109 and the load cell 214 measure the tension and length of the moving platform mechanism 1 and the rope 201.
The small pulley 202 and the large pulley 211 are arranged above and on two sides of the load cell 214, so that when the parallel mechanism moves, the stress direction of the large pulley 211 can be always vertically downward.
The winding drum 207 can simultaneously axially move when rotating, the moving length is determined by the thread pitch of the lead screw 208, the thread pitch of the lead screw 208 is 1mm, so that the stress point of the rope 201 is not changed, the rope 201 cannot be overlapped, and the change of the length of the rope 201 is in a linear relation with the pulse number of the encoder.
The small pulley 202, the small bracket 203, the large pulley 211, the large bracket 212 and the force measuring sensor 214 form a force measuring system;
the supporting seat 204, the winding disc connecting piece 205, the four shafts 206, the winding drum 207, the lead screw 208, the coupler 209, the bracket 210 and the motor 213 form a driving system;
the movable platform mechanism 1 comprises a support 101, a bottom plate 102, a movable platform 103, a spring 104, a fixed platform 105, a rope rotating cylinder 106, a sliding support 107, a fixed platform support column 108 and an attitude sensor 109, wherein the support 101 is connected with the bottom plate 102 through a bolt, the movable platform 103 is connected with the fixed platform 105 through the spring 104, the rope rotating cylinder 106 is coaxially matched with the sliding support 107 and can rotate, the sliding support 107 is connected with the fixed platform 105 through a screw, and the fixed platform support column 108 is fixedly connected with the bottom plate 102 and the fixed platform 105.
The transmission mechanism 2 comprises a rope 201, a small pulley 202, a small bracket 203, a support seat 204, a spool connecting piece 205, a four shaft 206, a spool 207, a lead screw 208, a coupler 209, a support 210, a large pulley 211, a large bracket 212, a motor 213 and a load cell 214, wherein the small pulley 202 is connected with the small bracket 203 through a pin shaft, the support seat 204 is connected with the spool connecting piece 205 through a bearing, the four shaft 206 is fixedly connected with the spool connecting piece 205 and the spool 207, the lead screw 208 is in threaded connection with the spool 207, the lead screw 208 is fixedly connected with the spool connecting piece 205, the coupler 209 is fixedly connected with the motor 213 and the lead screw 208, the support 210 is connected with the motor 213 through a bolt, the large pulley 211 is connected with the large bracket 212 through a pin shaft, and the load cell 214 is connected with the large bracket 212 through a bolt.
Two ends of the spring 104 are respectively fixed with the upper plane of the fixed platform 105 and the lower plane of the movable platform 103, the assembled three meet the coaxial relation, and the movable platform 103 and the fixed platform 105 are parallel to each other in a natural state. A1 mm steel wire rope is used as a driving rope 201, a plurality of mounting holes with the same interval are reserved in three directions of 120 degrees of the movable platform 103 and the fixed platform 105, and the stress radius of the movable platform 103 and the fixed platform 105 can be changed by changing the mounting position of a restraining device of the rope 201.
The invention has the advantages and positive effects that:
the invention has reasonable design, simple mechanism and accurate measurement, and can meet the detection requirements under different conditions.
Drawings
FIG. 1 is a schematic structural diagram of a flexible parallel mechanism testing device based on rope drive;
fig. 2 is a schematic structural diagram of the movable platform mechanism 1 in fig. 1;
FIG. 3 is a schematic structural view of the transmission mechanism 2 in FIG. 1;
Detailed Description
1. Referring to fig. 1, 2 and 3, the flexible parallel mechanism testing device based on rope driving according to the present embodiment includes: the device comprises a movable platform mechanism 1 and a transmission mechanism 2, wherein a small bracket 203, a supporting seat 204 and a large bracket 212 of a bracket 210 in the transmission mechanism 2 are connected with a bottom plate 102 in the movable platform mechanism 1 through screws; in operation, the motor 213 transmits power to the winding drum 207, winds the rope 201, tightens the rope 201 because one end of the rope 201 is fixed to the rope rotating drum 106, and then the attitude sensor 109 and the load cell 214 measure the tension and length of the moving platform mechanism 1 and the rope 201.
The small pulley 202 and the large pulley 211 are arranged above and on two sides of the load cell 214, so that when the parallel mechanism moves, the stress direction of the large pulley 211 can be always vertically downward.
The winding drum 207 can simultaneously axially move when rotating, the moving length is determined by the thread pitch of the lead screw 208, the thread pitch of the lead screw 208 is 1mm, so that the stress point of the rope 201 is not changed, the rope 201 cannot be overlapped, and the change of the length of the rope 201 is in a linear relation with the pulse number of the encoder.
The small pulley 202, the small bracket 203, the large pulley 211, the large bracket 212 and the force measuring sensor 214 form a force measuring system;
the supporting seat 204, the winding disc connecting piece 205, the four shafts 206, the winding drum 207, the lead screw 208, the coupler 209, the bracket 210 and the motor 213 form a driving system;
2. participating in fig. 2, the movable platform mechanism 1 is composed of a support 101, a bottom plate 102, a movable platform 103, a spring 104, a fixed platform 105, a rope rotating cylinder 106, a sliding support 107, a fixed platform support column 108 and an attitude sensor 109, wherein the support 101 and the bottom plate 102 are connected through bolts, the movable platform 103 and the fixed platform 105 are connected through the spring 104, the rope rotating cylinder 106 and the sliding support 107 are coaxially matched and can rotate, the sliding support 107 and the fixed platform 105 are connected through screws, and the fixed platform support column 108 is fixedly connected with the bottom plate 102 and the fixed platform 105.
3. Referring to fig. 3, the transmission mechanism 2 is composed of a rope 201, a small pulley 202, a small bracket 203, a support base 204, a spool connecting piece 205, a four-shaft 206, a spool 207, a lead screw 208, a coupling 209, a support 210, a large pulley 211, a large bracket 212, a motor 213 and a load cell 214, wherein the small pulley 202 is connected with the small bracket 203 through a pin shaft, the support base 204 is connected with the spool connecting piece 205 through a bearing, the four-shaft 206 is fixedly connected with the spool connecting piece 205 and the spool 207, the lead screw 208 is in threaded connection with the spool 207, the lead screw 208 is fixedly connected with the spool connecting piece 205, the coupling 209 is fixedly connected with the motor 213 and the lead screw 208, the support 210 is connected with the motor 213 through a bolt, the large pulley 211 is connected with the large bracket 212 through a pin shaft, and the load cell 214 is connected with.
Two ends of the spring 104 are respectively fixed with the upper plane of the fixed platform 105 and the lower plane of the movable platform 103, the assembled three meet the coaxial relation, and the movable platform 103 and the fixed platform 105 are parallel to each other in a natural state. A1 mm steel wire rope is used as a driving rope 201, a plurality of mounting holes with the same interval are reserved in three directions of 120 degrees of the movable platform 103 and the fixed platform 105, and the stress radius of the movable platform 103 and the fixed platform 105 can be changed by changing the mounting position of a restraining device of the rope 201.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (3)
1. A flexible parallel mechanism test device based on rope driving is characterized by comprising a movable platform mechanism (1) and a transmission mechanism (2), wherein a small support (203), a support seat (204) and a large support (212) of the support (210) in the transmission mechanism (2) are connected with a bottom plate (102) in the movable platform mechanism (1) through screws.
2. The rope-driven flexible parallel mechanism testing device is characterized in that a movable platform mechanism (1) consists of a support (101), a bottom plate (102), a movable platform (103), a spring (104), a fixed platform (105), a rope rotating cylinder (106), a sliding support (107), a fixed platform supporting column (108) and an attitude sensor (109), wherein the support (101) is connected with the bottom plate (102) through a bolt, the movable platform (103) is connected with the fixed platform (105) through the spring (104), the rope rotating cylinder (106) is coaxially matched with the sliding support (107) and can rotate, the sliding support (107) is connected with the fixed platform (105) through a screw, and the fixed platform supporting column (108) is fixedly connected with the bottom plate (102) and the fixed platform (105).
3. The testing device of the flexible parallel mechanism based on the rope drive as claimed in claim 1, wherein the transmission mechanism (2) is composed of a rope (201), a small pulley (202), a small bracket (203), a support seat (204), a winding disc connecting piece (205), four shafts (206), a winding drum (207), a lead screw (208), a coupling (209), a support (210), a large pulley (211), a large support (212), a motor (213) and a force measuring sensor (214), wherein the small pulley (202) is connected with the small bracket (203) through a pin shaft, the support seat (204) is connected with the winding disc connecting piece (205) through a bearing, the four shafts (206) are fixedly connected with the winding disc connecting piece (205) and the winding drum (207), the lead screw (208) is connected with the winding drum (207) through a thread, the lead screw (208) is fixedly connected with the winding disc connecting piece (205), the coupling (209) is fixedly connected with the motor (213) and the lead screw (208), the bracket (210) is connected with the motor (213) through a bolt, the large pulley (211) is connected with the large bracket (212) through a pin shaft, and the load cell (214) is connected with the large bracket (212) through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265693.9A CN112304742A (en) | 2020-11-13 | 2020-11-13 | Flexible parallel mechanism test device based on rope drive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011265693.9A CN112304742A (en) | 2020-11-13 | 2020-11-13 | Flexible parallel mechanism test device based on rope drive |
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| CN112304742A true CN112304742A (en) | 2021-02-02 |
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| CN202011265693.9A Pending CN112304742A (en) | 2020-11-13 | 2020-11-13 | Flexible parallel mechanism test device based on rope drive |
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Application publication date: 20210202 |