CN112345284A - Device for testing reciprocating motion dynamic performance of magnetic field driven cableless pipeline robot - Google Patents
Device for testing reciprocating motion dynamic performance of magnetic field driven cableless pipeline robot Download PDFInfo
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- CN112345284A CN112345284A CN202011343068.1A CN202011343068A CN112345284A CN 112345284 A CN112345284 A CN 112345284A CN 202011343068 A CN202011343068 A CN 202011343068A CN 112345284 A CN112345284 A CN 112345284A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention provides a device for testing reciprocating dynamic performance of a magnetic field driven cableless pipeline robot, which mainly comprises a power supply system, a data acquisition unit, a magnetic drive system, a support system, a closed liquid path system, auxiliary equipment and the like. Magnetic cableless pipeline robots with different shapes are arranged in organic glass tubes with replaceable inner and outer diameters and liquid media, and realize reciprocating motion under the driving of permanent magnets; the magnetic field distribution is changed by adjusting the relative position of the glass tube and the permanent magnet and installing the permanent magnets with different shapes; the position and the state of the robot and the permanent magnet are monitored in real time through the camera and the displacement sensor, the force sensor measures the interaction force of the robot and the permanent magnet, and the flowmeter measures the flow rate of liquid in the operation center and processes data; the dynamic response performance of the robot to the high-speed reciprocating motion magnetic field in different medium environments is researched, so that the driving capability of the magnetic field is further researched, the cableless pipeline robot is designed, and reference is provided for practical medical treatment and engineering application.
Description
Technical Field
The invention belongs to the field of control and test of a magnetic control micro-robot, and relates to driving, controlling, testing and positioning of the reciprocating motion of the magnetic control micro-robot in a pipeline.
Background
The magnetic control micro robot has small volume and high flexibility, and has wide application prospect in the field of medical treatment and health. The magnetic control capsule detection is an emerging medical detection means, and is widely applied to digestive system exploration, especially stomach exploration, due to the superior performance of the magnetic control capsule detection. Compared with the traditional gastroscope exploration, the magnetic control capsule has small volume, no foreign body sensation and discomfort when entering the body, no anesthesia, no wound, no adverse reaction, reduced pain of patients, simple and convenient operation mode, capability of providing clear and bright clinical images and wide market application value.
In the aspect of driving the magnetic control micro-robot, two driving modes, namely self-driving mode and external magnetic field driving mode, are commonly used at present. The main working mode of self-driving is to create a complex magnetic control micro-robot submarine with self-propulsion and navigation, and the driving mode has higher cost and more complex design and manufacture and is not suitable for market popularization in the current technical level. The main working mode of external magnetic field driving is divided into two modes of permanent magnet driving and electromagnet driving, the permanent magnet driving is realized by changing the strength and direction of a magnetic field by changing the size and shape of a permanent magnet and the relative position and angle between the permanent magnet and the magnetic control micro-robot through design; the electromagnet drive changes the direction and the magnitude of current by controlling the change of voltage, thereby controlling the direction and the strength of a magnetic field to realize the drive of the magnetic control micro robot.
In the research fields of blood vessel blockage removal, water pipe dredging and the like, high-frequency reciprocating impact vibration on a blocked part is an effective pipeline dredging mode, so that the research on high-speed reciprocating motion of a cableless pipeline robot is particularly important. At present, in the research field of magnetic control robots, researches on configurations, motion modes, speeds, efficiency and the like of magnetic control micro robots are popular at home and abroad, but the researches on dynamic response and motion performance of magnetic cableless pipeline robots driven by high-speed reciprocating magnetic fields are less, so that a testing device for testing the reciprocating motion dynamic performance of the cableless pipeline robots driven by the magnetic fields is very necessary to design and manufacture.
In summary, the development of the magnetic control micro-robot urgently needs a performance testing device which can dynamically observe the motion state of the micro-robot under the drive of a magnetic field and can research the influence of the change of an external magnetic field on the dynamic response effect of the micro-robot, so as to achieve the purpose of testing the motion dynamic response performance of the magnetic control micro-robot.
Disclosure of Invention
The invention aims to provide a device for testing reciprocating dynamic performance of a magnetic field-driven cableless pipeline robot, which can dynamically observe the motion state and the dynamic response change effect of the magnetic cableless pipeline robot with different design shapes under the action of an external high-speed reciprocating magnetic field in different liquids and working media with different flow rates, and provide a solution and theoretical research data for practical working conditions such as blood vessel blockage removal, water pipe dredging and the like.
In order to achieve the above purpose, the technical scheme adopted in the experiment is as follows:
a device for testing the reciprocating dynamic performance of a magnetic field driven cableless pipeline robot mainly comprises a power supply system, a data acquisition unit, a magnetic drive system, a support system, a closed liquid path system and auxiliary equipment. The power supply system consists of 220V alternating current and power adapters of corresponding models of all electric equipment; the data acquisition unit comprises elements such as a laser displacement sensor, a CCD camera, a force sensor, a flowmeter, a data acquisition card and a computer; the magnetic driving system comprises a servo motor driver, a large-torque servo motor, a crank slider mechanism assembly, a permanent magnet, a magnet clamp, a guide rail slider mechanism assembly and the like; the supporting system comprises a leveling support, a base, a servo motor support, a guide rail support, a liquid path system mounting support, a camera support, a laser displacement sensor support, an operation center support, a control center support and the like; the closed liquid path system comprises an organic glass tube operation center, a peristaltic pump, a stepping motor driver, a stepping motor, a liquid containing box, a liquid path pipeline, a rubber sealing plug, a short glass tube and the like; the auxiliary equipment comprises a background plate, a background plate supporting device, a shading sheet and the like.
The base is an L-shaped plate part, 4 threaded holes are formed in the outer side face of a lower base plate of the base and used for mounting a bottom surface leveling support, and a plurality of threaded holes are formed in the inner side face of the base and used for mounting an operation center assembly, a magnetic driving system assembly, a data acquisition unit assembly and a control center assembly; and 4 threaded holes are formed in the outer side surface of the left side plate and used for mounting a side surface leveling support, and 4 threaded holes are formed in the inner side surface and used for mounting a liquid path system component.
The organic glass tube operation center is a transparent organic glass tube with a certain radial dimension, is used for placing magnetic cableless pipeline robots with different design shapes, contains different types of liquid media, and is a main body part for experimental study on reciprocating motion dynamic response characteristics of the magnetic cableless pipeline robots;
a plurality of connecting holes are arranged on the surface of the crank disc at different radial positions away from the axis and are connected with the connecting rod to change the working stroke of the crank slider, so that the change and control of the permanent magnet stroke are realized;
the operation center support is provided with an elongated slot, so that the fixing of the riding clamp to the organic glass tube operation centers with different sizes is convenient to realize, and meanwhile, the inclined installation of the organic glass tube operation centers can be met;
two ends of the operation center are sealed by rubber sealing plugs and are connected with the flowmeter and the liquid containing box through a liquid pipeline; according to research needs, organic glass pipe operation center self can design and change the organic glass pipe of the different inside and outside footpath sizes, the inside medium of operation center can select the liquid medium of different grade type to can set for the liquid medium velocity of flow as required.
The invention has the advantages that: the device is designed and built on the basis of the permanent magnet interaction principle, the experiment table is convenient to assemble and disassemble, and the dynamic response state of the magnetic cableless pipeline robot in high-speed reciprocating motion in an operation space under the driving action of the permanent magnet can be clearly and definitely represented; the size of the operation center of the organic glass tube, the type and the flow rate of a liquid medium, the appearance of the magnetic cableless pipeline robot, the specification and the direction of the permanent magnet can be replaced according to the relevant experimental requirements, so that the high-speed reciprocating motion characteristic of the magnetic cableless pipeline robot under various working conditions can be simulated; the motion image that acquires magnetism cableless pipeline robot that can be clear through the CCD camera in the experiment, can obtain the motion path and the frequency of magnet through laser displacement sensor, can obtain the axial interaction power between magnetism cableless pipeline robot and the permanent magnet through force transducer, can obtain the interior liquid medium velocity of flow of organic glass pipe operation center through the flowmeter, can realize the automatic control to magnetism cableless pipeline robot after handling each data analysis.
Drawings
FIG. 1 is a schematic view of the connection between the components and the base of the present invention
FIG. 2 is a schematic view of the installation of the base support assembly of the present invention
FIG. 3 is a schematic view of the operation center assembly installation of the present invention
FIG. 4 is a schematic view of the assembly of the magnetic drive system of the present invention
FIG. 5 is a schematic view of the front mounting of the fluid path system component of the present invention
FIG. 6 is a schematic view of the back side mounting of the fluid routing system assembly of the present invention
FIG. 7 is a schematic view of the image capture unit assembly installation of the present invention
FIG. 8 is a schematic view of the displacement pick-up unit assembly of the present invention
FIG. 9 is a schematic view of the control center assembly installation of the present invention
FIG. 10 is an experimental flow chart of the present invention
FIG. 11 is a diagram of the hardware architecture of the present invention
Detailed description of the invention
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the invention relates to a device for testing reciprocating dynamic performance of a magnetic field-driven cableless pipeline robot, which comprises a base support assembly (000), an operation center assembly (100), a magnetic drive system assembly (200), a liquid path system assembly (300), a data acquisition unit assembly (400) and a control center assembly (500) in sequence;
the base supporting component (000) consists of a base (001), a leveling support mounting screw (002), an operation center mounting screw (003), a background plate mounting screw (004), an image acquisition unit mounting screw (005), a control center mounting screw (006), a displacement acquisition unit mounting screw (007), a servo motor support mounting screw (008), a guide rail support mounting screw (009), a liquid path system support mounting screw (010), a side leveling support (011) and a bottom leveling support (012);
the operation center component (100) consists of a background plate fixing nut (101), a background plate fixing screw (102), a background plate (103), a background plate support (104), a background plate pressing plate (105), an operation center support (106), a riding card fixing screw (107), a riding card fixing nut (108), a riding card (109), an organic glass tube operation center (110), a rubber sealing plug (111) and a short glass tube (112);
the magnetic drive system component (200) is composed of a permanent magnet locking screw (201), a permanent magnet (202), a magnet clamp (203), a force sensor (204), a guide rail (205), a guide rail fixing screw (206), a guide rail bracket (207), a guide rail sliding block (208), a motor fixing screw (209), a high-torque servo motor (210), a servo motor bracket (211), a crank disc (212), a connecting rod (213), a motor shaft locking screw (214), a connecting rod connecting pin (215), a crank sliding block (216), a locking nut (217), an L-shaped bracket (218), a shading sheet (219), a screw rod (220), an L-shaped bracket fixing screw (221) and a stepped threaded shaft (222);
the liquid path system component (300) consists of a flow meter (301), a liquid path pipeline (302), a peristaltic pump (303), a peristaltic pump fixing screw (304), a stepping motor driver fixing screw (305), a stepping motor driver (306), a direct current signal isolator fixing plate (307), a direct current signal isolator (308), a flow meter fixing screw (309), a liquid path system bracket (310) and a stepping motor (311);
the data acquisition unit assembly (400) consists of a CCD camera (401), a camera fixing screw (402), a camera fixing nut (403), a camera support (404), a laser displacement sensor support (405), a laser displacement sensor (406) and a laser displacement sensor fixing screw (407);
the control center component (500) consists of a servo motor driver (501), a servo motor driver fixing screw (502), a signal amplifier (503), a signal amplifier fixing screw (504) and a control center bracket (505);
the components of the computer, data acquisition card, water tank, etc. are not shown in the figure.
The installation schematic diagram of the base support component of the invention is shown in figure 2, a base (001) is an L-shaped plate-shaped part, and four side surface leveling supports (011) and four bottom surface leveling supports (012) are installed on the base. Four bottom surface leveling supports (012) are fixed on the outer side surface of the lower bottom plate of the base (001) through leveling support mounting screws (002), four side surface leveling supports (011) are fixed on the outer side surface of the left side plate of the base (001) through leveling support mounting screws (002), and the base supporting component is completely mounted and fixed.
The operation center assembly installation schematic diagram of the invention is shown in FIG. 3: the operating center bracket (106) is fixed on the base (001) through an operating center mounting screw (003), and the distance between the two brackets corresponds to the length of the operating center (110) of the organic glass tube; an elongated slot is formed in the operating center support (106), so that the mounting of the riding clamp (109) on the organic glass tube operating centers (110) of different sizes is facilitated, and meanwhile, the requirement for oblique mounting of the organic glass tube operating centers (110) can be met; two ends of the organic glass tube operation center (110) are tightly plugged and sealed by rubber sealing plugs (111), the rubber sealing plugs (111) are provided with through holes, and the through holes are connected with the organic glass tube operation center (110) and a liquid pipeline (302) through short glass tubes (112) so as to realize the communication of the two ends; in order to observe the position of the magnetic cableless pipeline robot conveniently, a colored background plate (103) is placed on the back of an organic glass pipe operation center (110), the background plate is positioned through a background plate support (104), clamping and fixing are achieved through a background plate pressing plate (105), and the operation center assembly is installed and fixed completely.
The magnetic drive system assembly installation schematic diagram of the invention is shown in fig. 4: the power output device is a large-torque servo motor (210), and the large-torque servo motor (210) is arranged on a servo motor bracket (211) through a motor fixing screw (209); the output shaft of the motor is connected with a crank disc (212) through a key connection, and is fixed by a motor shaft locking screw (214), and is sequentially connected with a connecting rod (213) and a crank block (216) by a connecting rod connecting pin (215), namely a crank block mechanism; in order to enable the crank sliding block (216) to move according to a fixed axis so as to improve the stability of the crank sliding block, the crank sliding block (216) is connected with a screw rod (220) through a self threaded hole, an L-shaped bracket (218) is sleeved on the screw rod, the other end of the L-shaped bracket (218) is fixed on the guide rail sliding block (208), and the guide rail (205) is connected with a guide rail bracket (207) fixed on the base (001) through a guide rail fixing screw (206); in order to measure the motion track of the sliding block to obtain the motion frequency of the permanent magnet, a shading sheet (219) is arranged at the position where the screw (220) is tightly attached to the L-shaped bracket (218), and the L-shaped bracket (218), the shading sheet (219) and the screw (220) are screwed and fixed by a locking nut (217) so as to enable the L-shaped bracket (218) and the shading sheet (219) to move synchronously with the screw (220); in order to measure the axial acting force borne by the permanent magnet (202) in the movement process, a force sensor (204) is arranged between a screw (220) and a magnet clamp (203) and is respectively connected with two ends by a thread structure, and a stepped thread shaft (222) is designed and arranged between the screw and the force sensor because the screw is large in size; the permanent magnet (202) is fixed on the magnet clamp (203) through the permanent magnet locking screw (201), and the magnet clamps in various shapes are designed, so that the clamping requirements of magnets in various specifications can be met; and finally, the whole device is fixedly installed on the base (001) through a servo motor bracket installation screw (008) and a guide rail bracket installation screw (009) respectively, and the magnetic drive system assembly is installed and fixed.
The front and back mounting schematic diagram of the liquid path system component in the invention is shown in fig. 5 and fig. 6: the stepping motor (311) is connected with the peristaltic pump (303) to serve as a power device, and the stepping motor and the peristaltic pump are fixedly arranged on the liquid path system bracket (310) through a peristaltic pump fixing screw (304); a stepping motor driver (306) is arranged on a liquid path system bracket (310) by a stepping motor driver fixing screw (305) below the stepping motor driver to drive a stepping motor (311) to rotate; a flow meter (301) is fixed on a liquid path system bracket (310) through a flow meter fixing screw (309) from the upper part, and a water inlet of the flow meter is connected with a water outlet of a peristaltic pump through a liquid path pipeline (302); meanwhile, the direct current signal isolator (308) is fixed on the liquid path system bracket (310) through the direct current signal isolator fixing plate (307); and finally, the whole liquid path system component (300) is installed on the base (001) through a liquid path system bracket installation screw (010), and the installation and the fixation of the liquid path system component are finished.
The image acquisition unit assembly installation schematic diagram of the invention is shown in fig. 7: the device comprises a CCD camera (401), a camera support (404), a subsequent data acquisition processing device and other components, wherein the CCD camera (401) is fixed on the camera support (404) through a camera fixing screw (402) and a camera fixing nut (403), the camera support (404) is fixed on a base (001) through an image acquisition unit mounting screw (005), and the image acquisition unit is mounted and fixed completely.
The displacement acquisition unit assembly of the present invention is schematically installed as shown in fig. 8: the laser displacement sensor (406) is installed on the laser displacement sensor support (405) through a laser displacement sensor fixing screw (407) and is fixed on the base (001) through a displacement acquisition unit installation screw (007), and the displacement acquisition unit is installed and fixed.
The installation schematic diagram of the control center component of the invention is shown in FIG. 9: the servo motor driver (501) and the signal amplifier (503) are fixedly installed on the control center support (505) through respective fixing screws and are connected with the base (001) through the control center installation screw (006), and the installation and the fixation of the control center component are finished.
The structural design principle of each component of the present invention is further explained with reference to the attached drawing 1 as follows:
the base supporting component (000) comprises four bottom surface leveling supports (012) and four side surface leveling supports (011), and when the four bottom surface leveling supports (012) are used as a support, the experiment table can be horizontally placed; when four side leveling supports (011) are used as supports, the experiment table can be vertically placed. When only considering electromagnetic acting force, frictional resistance, fluid resistance and other acting forces on the magnetic cableless pipeline robot and neglecting the direct influence of the gravity of the magnetic cableless pipeline robot on the motion, the whole experiment table is horizontally placed by taking the lower bottom plate of the base as the bottom surface, is supported by the bottom surface leveling support (012), adjusts the axes of the organic glass pipe operation center (110) and the permanent magnet (202) to be horizontal, and at the moment, the gravity is vertical to the motion direction, so the action effect of the gravity on the reciprocating motion dynamic response of the magnetic cableless pipeline robot can be neglected; and when the experiment table is vertically placed by taking the left side plate of the base (001) as the bottom surface, the side leveling support (011) is used for supporting, the axes of the organic glass tube operation center (110) and the permanent magnet (202) are vertical, the gravity direction and the magnetic force driving direction are on the same axis, and the reciprocating motion performance of the magnetic cableless pipeline robot under the simultaneous action of gravity and electromagnetic force can be researched. In addition, no matter the laboratory bench is vertical to be placed or horizontal placing, organic glass pipe operation center (110) all can be adjusted into certain angle with the bottom plate face under the laboratory bench, dynamic response effect when can study magnetism cableless pipeline robot motion path and permanent magnet direction nonconformity this moment, can explore magnetism cableless pipeline robot self gravity simultaneously under this kind of situation, liquid medium buoyancy, liquid medium viscous resistance, organic glass pipe operation center holding power, frictional force, effort such as permanent magnet magnetic force is to magnetism cableless pipeline robot dynamic response's combined action effect, angle and response characteristic's law can be studied simultaneously, thereby path optimization to permanent magnet drive cableless pipeline robot operating mode provides theoretical scheme.
The inner diameter of the organic glass tube operation center (110) can be designed into different sizes according to requirements so as to meet the reciprocating motion research of magnetic cableless pipeline robots in different shapes and sizes. According to different research purposes, liquid media such as water, oil and the like are injected into the organic glass tube operation center (110) by using the peristaltic pump (303), and the reciprocating motion performance of the magnetic cableless pipeline robot in different medium environments is researched. The flow rate of liquid is monitored in real time through the flow meter (301) to adjust the power of the peristaltic pump (303), and the flow rate control of a medium is realized, so that the dynamic response motion effect of the magnetic cableless pipeline robot under different working conditions is simulated.
The following describes the operation process of the magnetic drive system with reference to fig. 1 and 4:
the magnetic drive system takes a large-torque servo motor (210) as a power output element, the large-torque servo motor (210) realizes the control of the rotating speed through a servo motor driver (501), and the output power of the large-torque servo motor (210) is transmitted to the permanent magnet (202) through a crank disc (212), a connecting rod (213), a crank slider (216), a screw rod (220), a stepped threaded shaft (222), a force sensor (204) and a magnet clamp (203), so that the periodic reciprocating motion of the permanent magnet (202) is realized; a shading sheet (219) is fixedly sleeved on the screw rod (220) to enable the screw rod and the shading sheet to move synchronously, and the shading sheet (219) is matched with the laser displacement sensor (406) to be used for quantitatively measuring the reciprocating frequency of the permanent magnet (202); the L-shaped support (218) is tightly attached to the shading sheet (219), two sides of the L-shaped support are fixed by the locking nuts (217), one end of the L-shaped support (218) is connected with the screw (220) and can be used as a support to avoid the overturning of the crank-slider mechanism, the other end of the L-shaped support is connected with the guide rail (205), the movement path is uniquely determined, and the guiding of the crank-slider mechanism can be realized.
The laboratory liquid environment generating device is described below with reference to fig. 3, 5 and 6:
the liquid path system takes a stepping motor (311) as a power source, the stepping motor (311) rotates at a set rotating speed under the control of a stepping motor driver (306) to drive a peristaltic pump (303) to pump a liquid medium from a liquid containing box through a liquid path pipeline (302), and the liquid medium flows through a flowmeter (301) and is pumped into an organic glass tube operation center (110); the flowmeter (301) monitors the flow velocity of the liquid medium in real time, and feeds data back to the computer, and the computer controls the rotating speed of the stepping motor (311) according to the real-time flow velocity so as to ensure the accurate and stable flow velocity of the liquid medium; two ends of the organic glass tube operation center (110) are tightly plugged by rubber sealing plugs (111), small holes are formed in the rubber sealing plugs (111), and the organic glass tube operation center (110) is connected with the liquid pipeline (302) through a short glass tube (112); the short glass tube (112) is a right-angle bent tube, and the bent tube can enable the organic glass tube operation center (110) to be filled with a liquid medium, so that the influence of bubbles on experimental data is avoided; the other end of the plexiglass tube operating center (110) is connected with a liquid pipeline (302) in the same way, and the tail end of the pipeline is inserted into the liquid containing box, so that a closed liquid circulation loop is formed.
The data acquisition and processing process is described below in conjunction with fig. 1, 4, 5, 7, and 8:
two ends of the force sensor (204) are respectively connected with the magnet clamp (203) and the stepped threaded shaft (222), when the rotating speed of the large-torque servo motor (210) is stable, all parts connected in a reciprocating motion are relatively static, impact and sudden change do not exist, only the permanent magnet (202) and the magnetic cableless pipeline robot have interaction force, and therefore the axial interaction force between the permanent magnet (202) and the magnetic cableless pipeline robot can be measured through data processing.
A plurality of threaded holes are formed in the corresponding mounting positions of the camera support (404) and the base (001), the relative position between the CCD camera (401) and the organic glass tube operation center (110) is adjusted by changing the fixing position of an image acquisition unit mounting screw (005), and therefore the observation visual field can be adjusted according to different sliding block strokes, and the optimal image observation data can be obtained.
During slider-crank mechanism drove permanent magnet (202) working process, laser displacement sensor (406) and anti-dazzling screen (219) remain at same height throughout, can satisfy the collection processing to overall process displacement signal, anti-dazzling screen (219) adopt the rigid material preparation to guarantee that anti-dazzling screen can not produce great elastic bending because of inertia when slider-crank mechanism high frequency reciprocating motion, guarantee displacement data's accuracy.
In the experimental process, according to the liquid flow rate to be researched in the experiment, the rotating speed of the stepping motor (311) is calculated by using a fluid mechanics calculation formula, and the stepping motor (311) is controlled to rotate by using a computer, so that the aim of controlling the flow rate of the liquid medium in the organic glass tube operation center (110) is fulfilled, the liquid flow rate is monitored in real time through the flowmeter (301) and fed back to the computer, and the flow rate is ensured to be stable and accurate.
The acquisition time among the force signal, the displacement signal, the image signal and the flow velocity signal is ensured to be corresponding in the signal processing process, so that the dynamic response of the magnetic cableless pipeline robot under the driving action of the permanent magnet can be visually and accurately observed in the subsequent data processing process.
The experimental procedure is described below with reference to fig. 1, 10 and 11:
before the experiment begins, the relative position between the organic glass tube operation center (110) and the permanent magnet (202) is adjusted, and a CCD camera (401) is adjusted to ensure that the optimal observation visual field is obtained; according to research content and purposes, a magnetic cableless pipeline robot with a specific size and a specific shape is placed in an organic glass tube operation center (110) with a certain inner and outer diameter, the organic glass tube operation center (110) is fixedly installed on an operation center support (106) through a horseback (109), the angle of the organic glass tube operation center (110) is adjusted according to the research purposes, and a rubber sealing plug (111) is plugged tightly; and mounting different types of magnet clamps (203) to fix permanent magnets (202) in various types and directions so as to control the magnetic field distribution around the magnetic cableless micro robot.
Starting a test, firstly, turning on a power supply of a water supply system to fill a liquid medium into an organic glass tube operation center (110), controlling the rotating speed of a stepping motor (311) by using a computer to control the flow rate of the liquid medium in the operation center, and monitoring the flow rate in real time by using a flowmeter (301) to form closed-loop control; starting a CCD camera (401) and a laser displacement sensor (406) to calibrate the initial positions of the permanent magnet (202) and the magnetic cableless pipeline robot; according to research content, a computer is used for setting the rotating speed of a large-torque servo motor (210), and a crank-slider mechanism is used for driving a permanent magnet (202) to reciprocate at a high speed so as to drive a magnetic cableless pipeline robot to move in an organic glass pipe operation center (110).
In the experimental process, a laser displacement sensor (406) is used for collecting displacement information of the permanent magnet (202), a CCD camera (401) is used for collecting the position and the posture of the magnetic cableless pipeline robot, a force sensor (204) is used for measuring the axial force generated by the interaction of the permanent magnet (202) and the magnetic cableless pipeline robot, a flow meter (301) is used for measuring the flow velocity of a liquid medium in the organic glass pipe operation center (110), and real-time data are transmitted to a computer. The test is repeated by changing the preset conditions until the measurement requirement is completed.
After the experiment is finished, the experimental data obtained by each acquisition assembly is processed, and the change condition of each measurement parameter along with the test condition is researched, so that the driving and response characteristics of the reciprocating motion magnetic field to the magnetic cableless pipeline robot are researched.
Claims (9)
1. A testing device for reciprocating dynamic performance of a magnetic field driven cableless pipeline robot mainly comprises a base supporting assembly (000), an operation center assembly (100), a magnetic driving system assembly (200), a liquid path system assembly (300), a data acquisition unit assembly (400) and a control center assembly (500); the base supporting component (000) consists of a base (001), leveling support mounting screws (002), component mounting screws and leveling supports; the operation center assembly (100) comprises a background plate (103), a background plate support (104), a background plate pressing plate (105), an operation center support (106), a riding card (109), an organic glass tube operation center (110), a rubber sealing plug (111) and the like; the magnetic drive system assembly (200) comprises a permanent magnet (202), a magnet clamp (203), a force sensor (204), a guide rail (205), a guide rail bracket (207), a guide rail sliding block (208), a high-torque servo motor (210), a servo motor bracket (211), a crank disc (212), a connecting rod (213), a crank sliding block (216), an L-shaped bracket (218), a shading sheet (219), a screw rod (220) and the like; the liquid path system component (300) consists of a flow meter (301), a liquid path pipeline (302), a peristaltic pump (303), a stepping motor driver (306), a direct current signal isolator fixing plate (307), a direct current signal isolator (308), a liquid path system bracket (310) and a stepping motor (311); the data acquisition unit assembly (400) comprises a CCD camera (401), a camera support (404), a laser displacement sensor support (405), a laser displacement sensor (406) and other parts; the control center assembly (500) comprises a servo motor driver (501), a signal amplifier (503), a control center support (505) and other parts.
2. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the base (001) is an L-shaped plate part, and a plurality of threaded holes are formed in the base and used for mounting different components; the operation center assembly (100), the magnetic driving system assembly (200), the liquid path system assembly (300), the data acquisition unit assembly (400) and the control center assembly (500) are respectively fixed on the base (001) through mounting screws.
3. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the background plate (103) is clamped and fixed through a background plate support (104) and a background plate pressing plate (105), the operating center support (106) is fixedly installed on an organic glass tube operating center (110) through a riding card (109), and two ends of the organic glass tube operating center (110) are plugged and sealed through rubber sealing plugs (111).
4. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the high-torque servo motor (210) is fixed on the servo motor bracket (211) through a screw, is connected with the crank disc (212) through a key connection, and is sequentially connected with the connecting rod (213) and the crank slider (216) through a connecting pin; the screw rod (220) is connected with the crank sliding block (216) through a thread structure, and an L-shaped bracket (218) with the other end fixed on the guide rail sliding block (208) is sleeved on the screw rod (220); the light shading sheet (219) is arranged at the position where the screw rod (220) is tightly attached to the L-shaped bracket (218), and the L-shaped bracket (218) and the light shading sheet (219) are screwed and fixed by a locking nut (217); the force sensor (204) is arranged between the screw rod (220) and the magnet clamp (203), and a stepped threaded shaft (222) is designed and arranged between the screw rod (220) and the force sensor (204); the permanent magnet (202) is fixed on the magnet clamp (203) through a locking screw.
5. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the stepping motor (311) is connected with the peristaltic pump (303) to serve as a power device, the stepping motor and the peristaltic pump are fixedly installed on the liquid path system support (310), and the stepping motor driver (306) installed on the liquid path system support (310) is used for realizing rotation speed control; the flowmeter (301) is mounted on the liquid path system bracket (310) through a screw; the direct current signal isolator (308) is fixed on the liquid path system bracket (310) by a direct current signal isolator fixing plate (307).
6. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the CCD camera (401) is fixed on a camera support (404) through screws, the laser displacement sensor (406) is installed on the laser displacement sensor support (405) through screws (407), and the servo motor driver (501) and the signal amplifier (503) are respectively and fixedly installed on a control center support (505) through respective fixing screws.
7. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: before the experiment, according to the motion characteristics of the magnetic cableless pipeline robot which needs to be researched, the magnetic cableless pipeline robot with a specific shape is placed in an organic glass pipe operation center with replaceable inner and outer diameters and replaceable inner media; the magnitude and the direction of the initial magnetic force are changed by changing the relative position of the operation center and the permanent magnet; different types of permanent magnets are fixedly installed by installing different magnet clamps so as to change the magnetic field distribution around the magnetic cableless pipeline robot; the motion stroke of the permanent magnet is preset by changing the connecting position of the crank disc and the connecting rod; liquid medium is pumped from the liquid containing tank through a peristaltic pump and injected into the operation center, and the flow rate of the liquid is monitored in real time by a flow meter and fed back to the computer.
8. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: during the experiment, plan the reciprocating motion frequency of magnetism cableless pipeline robot through the computer, drive servo motor is rotatory according to appointed rotational speed to drive the permanent magnet and carry out reciprocating motion according to planning the frequency, thereby control magnetism cableless pipeline robot realizes high-speed reciprocating motion in the pipeline.
9. The reciprocating dynamic performance testing device of the magnetic field driven cableless pipeline robot according to claim 1, characterized in that: the CCD camera is arranged right in front of the operation center of the organic glass pipe and is used for shooting the position and the posture of the magnetic cableless pipeline robot in real time; the laser displacement sensor is matched with the shading sheet to monitor the position and the motion state of the permanent magnet in real time; the force sensor collects the axial force of the interaction of the permanent magnet and the magnetic cableless pipeline robot in real time; the flowmeter measures the flow rate of the liquid in real time and feeds the flow rate back to the computer; through carrying out correlation analysis on various acquired data, the dynamic response characteristic of the magnetic field driven magnetic cableless pipeline robot for high-speed reciprocating motion under various working conditions is obtained.
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