A measuring device for the planar force of a bionic claw thorn piece

Abstract

The present invention relates to the field of space exploration technology, and particularly relates to a measuring device for the planar force of a bionic claw thorn piece. The device includes a profile main frame, a two-dimensional moving platform, a bionic claw thorn piece to be measured, a lateral tension sensor, and a longitudinal tension sensor. Among them, the two-dimensional moving platform is arranged on the profile main frame, and the two-dimensional moving platform has degrees of freedom to move in the lateral and vertical directions; the longitudinal tension sensor is arranged on the two-dimensional moving platform, the lateral tension sensor is perpendicularly connected to the longitudinal tension sensor, and the bionic claw thorn piece to be measured is connected to the lateral tension sensor; when the bionic claw thorn piece to be measured grabs the surface to be measured, the lateral tension sensor measures the lateral tension, and the longitudinal tension sensor measures the vertical normal tension. The present invention can accurately measure the magnitude of the vertical planar force of the bionic claw thorn piece, has high test accuracy, is simple to operate, and the collected data is accurate and effective.

Description

Technical Field

[0001] The present invention relates to the technical field of space exploration, and particularly relates to a measuring device for the planar force of a bionic claw thorn piece. Background Art

[0002] Chang'e-5 successfully brought back nearly 1,800 grams of lunar soil from the moon to China, which provides materials for Chinese scientists to study the moon. Undifferentiated lunar rock cores play a key role in exploring the origin of the moon. In recent years, deep-space sampling technologies have emerged in an endless stream, but all of them are at the cost of destroying samples and can only bring back relevant fragments and gravels. The samples collected are all partially or fully differentiated surface substances. Drilling can maximize the retention of the original state of the samples and can achieve sampling of substances 1 meter or even deeper below the lunar surface, rather than just surface substances. The bionic claw thorn piece provides the grasping force for resisting the recoil force and torsion to achieve this drilling task. To successfully implement this drilling method, a large number of ground tests and simulations need to be carried out. To ensure the authenticity and reliability of the simulation results, the simulation and test of the bionic claw thorn piece need to be benchmarked, which requires recording relevant force data during the test process to provide support for optimizing and adjusting the bionic claw thorn piece through simulation in the future. Summary of the Invention

[0003] Aiming at the above problems, the purpose of the present invention is to provide a measuring device for the planar force of a bionic claw thorn piece, which can accurately measure the magnitude of the vertical planar force of the bionic claw thorn piece. This device has high test accuracy, simple operation, and accurate and effective data collection.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The present invention provides a measuring device for the planar force of a bionic claw thorn piece, including a profile main frame, a two-dimensional moving platform, a bionic claw thorn piece to be measured, a transverse tension sensor, and a longitudinal tension sensor. The two-dimensional moving platform is arranged on the profile main frame, and the two-dimensional moving platform has degrees of freedom to move in the transverse and vertical directions; the longitudinal tension sensor is arranged on the two-dimensional moving platform, the transverse tension sensor is perpendicularly connected to the longitudinal tension sensor, and the bionic claw thorn piece to be measured is connected to the transverse tension sensor; when the bionic claw thorn piece to be measured grasps the surface to be measured, the transverse tension sensor measures the transverse tension, and the longitudinal tension sensor measures the vertical normal tension.

[0006] The bionic claw thorn piece to be measured is arranged on a connecting piece I, the connecting piece I is connected to one end of the transverse tension sensor, the other end of the transverse tension sensor is connected to the lower end of the longitudinal tension sensor through a connecting piece II, and the upper end of the longitudinal tension sensor is connected to the two-dimensional moving platform through a connecting piece III.

[0007] The two-dimensional moving platform includes a first connecting plate, a second connecting plate, a third connecting plate, a horizontal linear driving mechanism, and a vertical linear driving mechanism. The first connecting plate is vertically arranged, and its left and right ends are connected to the main profile frame. The horizontal linear driving mechanism is arranged on the first connecting plate, and its output end is connected to the second connecting plate. The vertical linear driving mechanism is arranged on the second connecting plate, and its output end is connected to the third connecting plate. The third connecting plate is connected to the adapter III.

[0008] The horizontal linear driving mechanism includes a first motor, a first coupling, and a first ball screw and slide rail group connected in sequence. The first ball screw and slide rail group is arranged horizontally on the first connecting plate, and the first ball screw and slide rail group is connected to the second connecting plate.

[0009] The first ball screw and slide rail group includes a first ball screw and two first slide rails arranged in parallel on both sides of the first ball screw. The left and right ends of the first ball screw are respectively supported by two first bearing seats, and the two first bearing seats are connected to the horizontal adjustment slotted holes provided on the first connecting plate by bolts.

[0010] The second connecting plate is threadedly connected to the first ball screw through a first nut, and the second connecting plate is slidably connected to the two first slide rails.

[0011] The vertical linear driving mechanism includes a second motor, a second coupling, and a second ball screw and slide rail group connected in sequence. The second ball screw and slide rail group is arranged vertically on the second connecting plate, and the second ball screw and slide rail group is connected to the third connecting plate.

[0012] The second ball screw and slide rail group includes a second ball screw and a second slide rail arranged in parallel on one side of the second ball screw. The upper and lower ends of the second ball screw are respectively supported by two second bearing seats, and the two second bearing seats are connected to the vertical adjustment slotted holes provided on the second connecting plate by bolts.

[0013] The third connecting plate is threadedly connected to the second ball screw through a second nut, and the third connecting plate is slidably connected to the second slide rail.

[0014] Both the horizontal tension sensor and the vertical tension sensor adopt S-type tension sensors.

[0015] The advantages and beneficial effects of the present invention are:

[0016] 1. The present invention uses an S-type tension sensor, a ball screw and slide rail group, and a motor to measure the magnitude of force. The measurement accuracy depends on the accuracy of the S-type tension sensor. Therefore, when higher-precision force measurement data is required, only an S-type or other-shaped and -modeled tension sensor with the corresponding accuracy and range needs to be replaced, rather than being limited to the S-type tension sensor.

[0017] 2. Except for the connecting plate, the tension sensor, and the adapter, all other components of the present invention are standard parts, with high interchangeability and low manufacturing costs;

[0018] 3. The present invention greatly reduces the complexity of the test, is easy to operate, and can easily and accurately obtain force data;

[0019] 4. The present invention can accurately obtain the dynamic force parameters of the claw spines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is an axonometric view of a measuring device for the planar force of a bionic claw spine sheet according to the present invention;

[0021] Figure 2 is a model diagram of the bionic claw spine sheet to be tested in the present invention;

[0022] Figure 3 is a schematic structural diagram of the S-shaped tension sensor in the present invention;

[0023] Figure 4 is a schematic circuit diagram of the S-shaped tension sensor in the present invention;

[0024] In the figure: 1 is the main frame of the profile, 2 is the second connecting plate, 3 is the second coupling, 4 is the second motor, 5 is the second ball screw slide rail group, 501 is the second ball screw, 502 is the second slide rail, 6 is the third connecting plate, 7 is the adapter III, 8 is the first ball screw slide rail group, 801 is the first ball screw, 802 is the first slide rail, 9 is the first motor, 10 is the first coupling, 11 is the bionic claw spine sheet to be tested, 12 is the lateral tension sensor, 13 is the longitudinal tension sensor, 14 is the first connecting plate, 15 is the adapter II, and 16 is the adapter I. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] As Figures 1-3 shown, the present invention provides a measuring device for the planar force of a bionic claw spine sheet, including a main frame 1 of the profile, a two-dimensional moving platform, a bionic claw spine sheet 11 to be tested, a lateral tension sensor 12, and a longitudinal tension sensor 13. The two-dimensional moving platform is arranged on the main frame 1 of the profile and has degrees of freedom to move in the lateral and vertical directions; the longitudinal tension sensor 13 is arranged on the two-dimensional moving platform, the lateral tension sensor 12 is perpendicularly connected to the longitudinal tension sensor 13, and the bionic claw spine sheet 11 to be tested is connected to the lateral tension sensor 12; when the bionic claw spine sheet 11 to be tested grabs the surface to be tested, the lateral tension sensor 12 measures the lateral tension, and the longitudinal tension sensor 13 measures the vertical normal tension.

[0027] Further, the bionic claw thorn piece 11 to be measured is arranged on the adapter I 16. One end of the adapter I 16 is connected to one end of the lateral tension sensor 12. The other end of the lateral tension sensor 12 is connected to the lower end of the longitudinal tension sensor 13 through the adapter II 15. The upper end of the longitudinal tension sensor 13 is connected to the two-dimensional moving platform through the adapter III 7.

[0028] As Figure 1 shown, in the embodiment of the present invention, the two-dimensional moving platform includes a first connecting plate 14, a second connecting plate 2, a third connecting plate 6, a lateral linear driving mechanism and a longitudinal linear driving mechanism. The first connecting plate 14 is vertically arranged, and the left and right ends are connected to the profile main frame 1 through connecting parts such as angle blocks and nuts. The lateral linear driving mechanism is arranged on the first connecting plate 14, and the output end is connected to the second connecting plate 2. The longitudinal linear driving mechanism is arranged on the second connecting plate 2, and the output end is connected to the third connecting plate 6. The third connecting plate 6 is connected to the adapter III 7.

[0029] In this embodiment, the lateral linear driving mechanism includes a first motor 9, a first coupling 10 and a first ball screw slide rail group 8 connected in sequence. The first ball screw slide rail group 8 is arranged on the first connecting plate 14 along the lateral direction, and the first ball screw slide rail group 8 is connected to the second connecting plate 2.

[0030] Specifically, the first ball screw slide rail group 8 includes a first ball screw 801 and two first slide rails 802 arranged in parallel on both sides of the first ball screw 801. The left and right ends of the first ball screw 801 are respectively supported by two first bearing seats. The two first bearing seats are connected to the lateral adjustment waist-shaped holes provided on the first connecting plate 14 through bolts. The first ball screw 801 can freely adjust its position within a certain lateral range through the lateral adjustment waist-shaped holes and be fixed. The second connecting plate 2 is threadedly connected to the first ball screw 801 through a first nut, and the second connecting plate 2 is slidably connected to the two first slide rails 802.

[0031] In this embodiment, the longitudinal linear driving mechanism includes a second motor 4, a second coupling 3 and a second ball screw slide rail group 5 connected in sequence. The second ball screw slide rail group 5 is arranged on the second connecting plate 2 along the vertical direction, and the second ball screw slide rail group 5 is connected to the third connecting plate 6.

[0032] Specifically, the second ball screw slide rail group 5 includes a second ball screw 501 and a second slide rail 502 arranged in parallel on one side of the second ball screw 501. The upper and lower ends of the second ball screw 501 are respectively supported by two second bearing seats, and the two second bearing seats are connected to the longitudinal adjustment waist-shaped holes provided on the second connecting plate 2 through bolts; the second ball screw 501 can freely adjust its position within a certain longitudinal range through the longitudinal adjustment waist-shaped holes and be fixed. The third connecting plate 6 is threadedly connected to the second ball screw 501 through a second nut, and the third connecting plate 6 is slidably connected to the second slide rail 502. In this embodiment, both the first motor 9 and the second motor 4 use 42CM04 motors.

[0033] As Figures 3-4 shown, in this embodiment, both the lateral tension sensor 12 and the longitudinal tension sensor 13 use S-type tension sensors. The lateral tension sensor 12 and the longitudinal tension sensor 13 are based on the following principle: When an elastic body (elastic element, sensitive beam) is subjected to an external force, it undergoes elastic deformation, causing the resistance strain gauges (conversion elements) pasted on its surface to also deform accordingly. After the resistance strain gauges deform, their resistance values will change (increase or decrease), and then through a corresponding measurement circuit, this resistance change is converted into an electrical signal (voltage or current), thus completing the process of converting the external force into an electrical signal. To ensure the accuracy of relevant data, it is necessary to calibrate the two tension sensors before installing them. The calibration work is prior art and will not be elaborated here.

[0034] The working principle of a measuring device for the planar force of a bionic claw thorn piece provided by the present invention is as follows:

[0035] The bionic claw thorn piece 11 to be measured is connected to the lateral tension sensor 12, and the lateral tension sensor 12 is connected to the longitudinal tension sensor 13 through a connector II 15. The two tension sensors are arranged vertically. Among them, the lateral tension sensor 12 measures the lateral tension, and the longitudinal tension sensor 13 measures the vertical normal tension; when the bionic claw thorn piece 11 to be measured grabs the surface to be measured, due to the external force, the internal resistance of the two S-type tension sensors changes, resulting in changes in the voltage and current at both ends of the sensors. The external auxiliary electronic control device displays the corresponding real-time data and records it according to the real-time voltage and current, so that the magnitude of the force to be measured can be displayed in digital form. The structure of the present invention is simple, easy to assemble, and convenient to operate.

[0036] The above description is only for the implementation manner of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, expansions, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A measuring device for the planar force of a bionic claw thorn piece, characterized in that, It includes a profile main frame (1), a two-dimensional moving platform, a bionic claw spike to be tested (11), a lateral tension sensor (12) and a longitudinal tension sensor (13). The two-dimensional moving platform is arranged on the profile main frame (1) and has degrees of freedom to move in the lateral and vertical directions. The longitudinal tension sensor (13) is arranged on the two-dimensional moving platform. The lateral tension sensor (12) is perpendicularly connected to the longitudinal tension sensor (13), and the bionic claw spike to be tested (11) is connected to the lateral tension sensor (12). When the bionic claw spike to be tested (11) grabs the surface to be tested, the lateral tension sensor (12) measures the lateral tension, and the longitudinal tension sensor (13) measures the vertical normal tension. The bionic claw spike to be tested (11) is arranged on a connecting piece I (16). The connecting piece I (16) is connected to one end of the lateral tension sensor (12). The other end of the lateral tension sensor (12) is connected to the lower end of the longitudinal tension sensor (13) through a connecting piece II (15). The upper end of the longitudinal tension sensor (13) is connected to the two-dimensional moving platform through a connecting piece III (7). Both the lateral tension sensor (12) and the longitudinal tension sensor (13) adopt S-type tension sensors.

2. The measuring device for the planar force of the bionic claw thorn piece according to claim 1, characterized in that, The two-dimensional moving platform includes a first connecting plate (14), a second connecting plate (2), a third connecting plate (6), a lateral linear driving mechanism and a longitudinal linear driving mechanism. The first connecting plate (14) is vertically arranged and its left and right ends are connected to the profile main frame (1). The lateral linear driving mechanism is arranged on the first connecting plate (14) and its output end is connected to the second connecting plate (2). The longitudinal linear driving mechanism is arranged on the second connecting plate (2) and its output end is connected to the third connecting plate (6). The third connecting plate (6) is connected to the connecting piece III (7).

3. The measuring device for the planar force of the bionic claw spines according to claim 2, wherein The lateral linear driving mechanism includes a first motor (9), a first coupling (10) and a first ball screw slide rail group (8) connected in sequence. The first ball screw slide rail group (8) is arranged horizontally on the first connecting plate (14), and the first ball screw slide rail group (8) is connected to the second connecting plate (2).

4. The measuring device for the planar force of the bionic claw thorn piece according to claim 3, characterized in that, The first ball screw slide rail group (8) includes a first ball screw (801) and two first slide rails (802) arranged in parallel on both sides of the first ball screw (801). The left and right ends of the first ball screw (801) are respectively supported by two first bearing seats. The two first bearing seats are connected to the horizontally-adjustable waist-shaped holes provided on the first connecting plate (14) through bolts. The second connecting plate (2) is threadedly connected to the first ball screw (801) through a first nut, and the second connecting plate (2) is slidably connected to the two first slide rails (802).

5. The measuring device for the planar force of the bionic claw thorn piece according to claim 2, wherein, The longitudinal linear driving mechanism includes a second motor (4), a second coupling (3) and a second ball screw slide rail group (5) connected in sequence. The second ball screw slide rail group (5) is arranged vertically on the second connecting plate (2), and the second ball screw slide rail group (5) is connected to the third connecting plate (6).

6. The measuring device for the planar force of the bionic claw thorn piece according to claim 5, characterized in that, The second ball screw slide rail group (5) includes a second ball screw (501) and a second slide rail (502) arranged in parallel on one side of the second ball screw (501). The upper and lower ends of the second ball screw (501) are respectively supported by two second bearing seats, and the two second bearing seats are connected to longitudinal adjustment waist-shaped holes provided on the second connecting plate (2) by bolts; The third connecting plate (6) is threadedly connected to the second ball screw (501) through a second nut, and the third connecting plate (6) is slidably connected to the second slide rail (502).

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