CN205262846U - Parallelly connected bionical shoulder joint mechanical testing experiment platform - Google Patents
Parallelly connected bionical shoulder joint mechanical testing experiment platform Download PDFInfo
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- CN205262846U CN205262846U CN201521068411.0U CN201521068411U CN205262846U CN 205262846 U CN205262846 U CN 205262846U CN 201521068411 U CN201521068411 U CN 201521068411U CN 205262846 U CN205262846 U CN 205262846U
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- hinge
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Abstract
The utility model discloses a parallelly connected bionical shoulder joint mechanical testing experiment platform. This mechanical experiment platform mainly by move the platform, allocate the platform, side chain and portable super strain gauges are constituteed in the middle of three the power response collateral branch chains, power response. Article three, the automatic platform of the structure is the same power response collateral branch chain to allocate the platform all in proper order by last U hinge, the hollow connecting rod of power response, revolute pair, down the connecting rod, U hinge, drive slider and inclined travelling pair constitute down. The side chain comprises power hollow connecting rod of response and spherical hinge chain in the middle of the power response. 1 resistance -type foil gage of axial and each of hoop is followed respectively to the hollow connecting rod of every power response surface middle part, and every resistance -type foil gage passes through wire and the hookup of portable super strain gauge. The utility model discloses not only compact structure can realize shoulder joint functional simulation, has advantages such as dynamometry wide range, precision height in addition, is favorable to implementing multiple parallelly connected bionical shoulder articulated mechanism's mechanical testing experiment.
Description
Technical field
The utility model belongs to bionic joint experiment field, particularly relates to a kind of parallel connected bionic shoulder joint mechanical test experiment porch.
Background technology
Shoulder joint is one of joint that scope of activities maximum in all joints of human body, constituent are maximum, kinematics is the most complicated, it links together trunk with upper limbs, make upper limbs can complete complicated action, in people's daily life and sports, the load situation of shoulder joint is not single load, and multiple load compound often. According to bionic principle and characteristics of human body's requirement, using parallel institution as apery joint configuration, meet objective reality, be to realize the bionical important directions of anthropomorphic robot. In the time that parallel institution is applied to bionical shoulder joint, the mechanical characteristics of mechanism for testing in the time of static state and the dynamic characteristics being subject to while imitating the compound movements such as shoulder joint is bent and stretched, taken down the exhibits, rotation thereof are vital. Only have by test experiments and could more objectively understand the force-bearing situation of the each member of bionical shoulder joint mechanism under different operating environment, can this be the experimental verification to mechanism's rational mechanics model, be also the key point that ensure that bionical shoulder joint mechanism's bearing capacity and structural behaviour and human characteristic are more aligned.
Up to the present, parallel institution is also little in the application of mechanical test platform, especially aspect bionic joint mechanism mechanical test platform application, and the domestic relevant report that yet there are no.
Summary of the invention
The purpose of this utility model be to provide a kind of easy to operate, good stability, precision high, can adapt to the compound outer shoulder joint mechanical test experiment porch that carries environment.
For the problems referred to above, the concrete technical scheme that the utility model adopts is: a kind of parallel connected bionic Joint mechanics test experiments platform is mainly made up of moving platform, fixed platform, three power induction collateral branch chains, a power induction middle pole and a portable super deformeter. Article three, power induction collateral branch chain structure is identical, and every power induction collateral branch chain automatic platform to fixed platform is made up of upper U hinge, power induction hollow connecting rod, revolute pair, lower link, lower U hinge, driving slide block and inclination moving sets successively. Drive slide block to be connected with fixed platform by inclination moving sets, the driving pair that inclination moving sets is mechanism. Drive slide block to be connected with lower U hinge, lower U hinge is connected with revolute pair by lower link. Revolute pair is connected with power induction hollow connecting rod, and power induction hollow connecting rod is connected with moving platform by upper U hinge. Power induction middle pole is made up of power induction hollow connecting rod and spherical linkage, and it is connected with moving platform by spherical linkage, responds to hollow connecting rod be connected with fixed platform by power. Each power induction hollow connecting rod is hollow cylinder, respectively pastes 1 resistance strain plate vertically respectively in middle part, power induction hollow connecting rod surface with hoop. Each resistance strain plate connects with portable super deformeter by wire.
Article three, inclination moving sets and horizontal plane angle are 60 °, are circumference uniform distribution on fixed platform, and the extended line of three inclination moving sets guide passages intersects at a point.
The beneficial effect the utlity model has is:
This platform can be tested the static characteristic of bionical shoulder joint mechanism its each member (including driving slide block) in the time of different attitudes, different loads operating mode, can test again the each member dynamics under its moving platform friction speed and acceleration, there is compact conformation, dynamometry scope is wide, simple to operate, precision is high, can show in real time the advantages such as each power change curve, can complete multiple bionical shoulder joint mechanism's statics and dynamic experiment, the theory of mechanics checking relevant for parallel institution provides Practice Platform.
Brief description of the drawings
Fig. 1 is a kind of parallel connected bionic shoulder joint mechanical test experiment porch structural representation;
Fig. 2 is that a kind of parallel connected bionic shoulder joint mechanical test experiment porch power is responded to collateral branch's chain structure schematic diagram.
Detailed description of the invention
With detailed description of the invention, the utility model is elaborated by reference to the accompanying drawings.
A kind of parallel connected bionic shoulder joint mechanical test experiment porch, is mainly made up of moving platform 1, fixed platform 2, three power induction collateral branch chains, a power induction middle pole and portable super deformeter 3. Article three, power induction collateral branch chain structure is identical, and every power induction collateral branch chain automatic platform 1 to fixed platform 2 is made up of upper U hinge 4, power induction hollow connecting rod 5, revolute pair 6, lower link 7, lower U hinge 8, driving slide block 9 and inclination moving sets 10 successively. In power induction collateral branch chain, drive slide block 9 to be connected with fixed platform 2 by inclination moving sets 10, the driving pair that inclination moving sets 10 is mechanism. Drive slide block 9 to be connected with lower U hinge 8, lower U hinge 8 is connected with revolute pair 6 by lower link 7. Revolute pair 6 is connected with power induction hollow connecting rod 5, and power induction hollow connecting rod 5 is connected with moving platform 1 by upper U hinge 4. Middle pole is made up of power induction hollow connecting rod 11 and spherical linkage 12, and it is connected with moving platform 1 by spherical linkage 12, responds to hollow connecting rod 11 be connected with fixed platform 2 by power. Each power induction hollow connecting rod is hollow cylinder, pastes vertically respectively 1 resistance strain plate 13 in the power induction surperficial middle part of hollow connecting rod 5, pastes 1 resistance strain plate 14 along hoop. Each resistance strain plate connects with portable super deformeter 3 by wire. In the time that mechanism is subject to load, power induction hollow connecting rod 11 stress deformations, measuring point produces strain, sticks on the resistance strain plate 13 and 14 at measuring point place with material production distortion, and resistance value changes, and then draws stress value by deformeter.
Article three, inclination moving sets 10 is 60 ° with horizontal plane angle, be circumference uniform distribution on fixed platform 2, and the extended line of three inclination moving sets 10 guide passages intersects at a point.
Claims (1)
1. a parallel connected bionic shoulder joint mechanical test experiment porch, mainly by moving platform (1), fixed platform (2), article three, power induction collateral branch chain, , power induction middle pole and a portable super deformeter (3) composition, it is characterized in that: three power induction collateral branch chain structures are identical, every power induction collateral branch's chain automatic platform (1) to fixed platform (2) successively by upper U hinge (4), power induction hollow connecting rod (5), revolute pair (6), lower link (7), lower U hinge (8), drive slide block (9) and inclination moving sets (10) composition, in power induction collateral branch chain, drive slide block (9) to be connected with fixed platform (2) by inclination moving sets (10), the driving pair that inclination moving sets (10) is mechanism, drive slide block (9) to be connected with lower U hinge (8), lower U hinge (8) is connected with revolute pair (6) by lower link (7), revolute pair (6) is connected with power induction hollow connecting rod (5), and power induction hollow connecting rod (5) is connected with moving platform (1) by upper U hinge (4), middle pole responds to hollow connecting rod (11) by power and spherical linkage (12) forms, it is connected with moving platform (1) by spherical linkage (12), responds to hollow connecting rod (11) be connected with fixed platform (2) by power, paste vertically respectively 1 resistance strain plate (13) in the power induction surperficial middle part of hollow connecting rod (5), paste 1 resistance strain plate (14) along hoop, each resistance strain plate connects with portable super deformeter (3) by wire, article three, inclination moving sets (10) is 60 ° with horizontal plane angle, be circumference uniform distribution upper at fixed platform (2), and the extended line of three inclination moving sets (10) guide passage intersects at a point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521068411.0U CN205262846U (en) | 2015-12-21 | 2015-12-21 | Parallelly connected bionical shoulder joint mechanical testing experiment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521068411.0U CN205262846U (en) | 2015-12-21 | 2015-12-21 | Parallelly connected bionical shoulder joint mechanical testing experiment platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205262846U true CN205262846U (en) | 2016-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521068411.0U Expired - Fee Related CN205262846U (en) | 2015-12-21 | 2015-12-21 | Parallelly connected bionical shoulder joint mechanical testing experiment platform |
Country Status (1)
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| CN (1) | CN205262846U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN107328709A (en) * | 2017-08-16 | 2017-11-07 | 北京大学第三医院 | A kind of device for realizing shoulder joint stability measurement |
| CN108398221A (en) * | 2018-02-05 | 2018-08-14 | 刘子轩 | A kind of mechanical oscillation teaching testing device |
-
2015
- 2015-12-21 CN CN201521068411.0U patent/CN205262846U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN107328709A (en) * | 2017-08-16 | 2017-11-07 | 北京大学第三医院 | A kind of device for realizing shoulder joint stability measurement |
| CN107328709B (en) * | 2017-08-16 | 2023-04-07 | 北京大学第三医院 | Device for realizing shoulder joint stability measurement |
| CN108398221A (en) * | 2018-02-05 | 2018-08-14 | 刘子轩 | A kind of mechanical oscillation teaching testing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20161221 |