Hydrogel reciprocating tensile test apparatus

Abstract

The present application provides a hydrogel reciprocating tensile test device. The hydrogel reciprocating tensile test device comprises a clamping jaw device and a driving device, the clamping jaw device comprises a first clamping jaw and a second clamping jaw, the first clamping jaw is used for clamping and releasing one end of a hydrogel sample, the second clamping jaw is used for clamping and releasing the other end of the hydrogel sample, the first clamping jaw and the second clamping jaw can be relatively close and relatively far away, and the driving device is connected with at least one of the first clamping jaw and the second clamping jaw and is used for driving the first clamping jaw and the second clamping jaw to reciprocate relatively close and relatively far away. The hydrogel reciprocating tensile test device of the present application drives the first clamping jaw and the second clamping jaw to reciprocate relatively close and relatively far away, so as to reciprocally stretch the hydrogel sample, thereby simulating the reciprocating stretching process of the hydrogel in use and testing, and the tensile properties and fatigue characteristics of the hydrogel can be obtained.

Description

Technical Field

[0001] This invention relates to the field of testing equipment, and more specifically to a hydrogel reciprocating tensile testing device. Background Technology

[0002] Hydrogels are hydrophilic, three-dimensional network-structured gels used in medical, bioelectronic, and intelligent actuation fields. In related technologies, hydrogel tensile testing equipment uses a tensile testing machine to perform a single stretch of the hydrogel in an indoor environment to obtain its tensile properties, such as tensile strength. However, hydrogels used in devices such as soft robots undergo multiple repeated stretching cycles during use, making a single stretch test with a tensile testing machine insufficient to accurately obtain a comprehensive understanding of the hydrogel's various properties. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of the present invention provide a hydrogel reciprocating tensile testing device.

[0005] The hydrogel reciprocating tensile testing device of this invention includes:

[0006] A gripper device, comprising a first gripper and a second gripper, wherein the first gripper is used to grip and release one end of the hydrogel sample, and the second gripper is used to grip and release the other end of the hydrogel sample, and the first gripper and the second gripper can be relatively close to each other and relatively far apart;

[0007] A driving device, connected to at least one of the first gripper and the second gripper, for driving the first gripper and the second gripper to reciprocate to move closer and further apart.

[0008] The hydrogel reciprocating tensile testing device of this invention drives the first and second grippers to reciprocate to move closer and further apart, thereby reciprocating to stretch the hydrogel sample, thus simulating the reciprocating tensile process of the hydrogel during use and conducting tests, and can obtain the tensile properties and fatigue characteristics of the hydrogel.

[0009] In some embodiments, the driving device includes a driving member and a transmission mechanism, the transmission mechanism being connected between the driving member and the first gripper, the driving member being used to drive the transmission mechanism to move the first gripper reciprocally closer to and further away from the second gripper.

[0010] In some embodiments, the transmission mechanism includes a linkage assembly, one end of which is connected to the drive member and pivotable under the drive of the drive member, and the other end of which is connected to the first gripper and can drive the first gripper to reciprocate towards and away from the second gripper.

[0011] In some embodiments, the dimensions of the transmission mechanism along the arrangement direction of the first gripper and the second gripper are adjustable to change the limit position when the first gripper moves relative to the second gripper.

[0012] In some embodiments, the driving device includes a driving member and a transmission mechanism. The transmission mechanism includes a linkage assembly, which includes a first linkage and a second linkage. One end of the first linkage is connected to the driving member and is pivotable under the drive of the driving member. One end of the second linkage is pivotally connected to the first gripper.

[0013] The first connecting rod is provided with a strip-shaped hole extending along the length direction, and the other end of the second connecting rod is pivotally connected to the strip-shaped hole. The other end of the second connecting rod can move and be fixed along the strip-shaped hole.

[0014] Alternatively, the first link may have a plurality of connecting holes spaced apart along its length, and the other end of the second link may optionally be connected to one of the connecting holes and be pivotable.

[0015] In some embodiments, the hydrogel reciprocating tensile testing device further includes a limiting device connected to at least one of the first gripper and the transmission mechanism to limit the movement of the first gripper along the arrangement direction of the first gripper and the second gripper.

[0016] In some embodiments, the limiting device includes a guide member extending along the arrangement direction of the first gripper and the second gripper, wherein the first gripper is connected to the guide member and is movable along the guide member.

[0017] In some embodiments, the limiting device includes a guide sleeve, and the transmission mechanism includes a linkage assembly. The linkage assembly includes a first link, a second link, and a third link. One end of the first link is connected to the driving member and is pivotally rotatable under the drive of the driving member. The second link is connected between the first link and the third link and is pivotally connected to both the first link and the third link. The third link is connected to the first gripper. The guide sleeve is fitted onto the third link to guide the third link to move along the arrangement direction of the first gripper and the second gripper.

[0018] In some embodiments, the frequency and / or rate at which the driving device drives the first gripper and the second gripper to reciprocate relatively close and relatively far apart is adjustable.

[0019] In some embodiments, the hydrogel reciprocating tensile testing device further includes a force sensing device connected to the second gripper, and a driving device connected to the first gripper for driving the first gripper to move closer to and away from the second gripper. The force sensing device is used to acquire the tensile force on the second gripper.

[0020] In some embodiments, the hydrogel reciprocating tensile testing device further includes a displacement sensing device, the driving device is connected to the first gripper and is used to drive the first gripper to move closer to and away from the second gripper, and the displacement sensing device is used to acquire the displacement of the first gripper.

[0021] In some embodiments, the hydrogel reciprocating tensile testing equipment further includes a constant temperature and humidity chamber, and the gripper device, the driving device, the force sensing device and the displacement sensing device are all located inside the constant temperature and humidity chamber.

[0022] In some embodiments, the hydrogel reciprocating tensile testing apparatus further includes an electrochemical workstation for electrically connecting the hydrogel sample.

[0023] In some embodiments, the hydrogel reciprocating tensile testing device further includes a host computer, which is electrically connected to the electrochemical workstation, the force sensing device, the displacement sensing device, and the drive device.

[0024] In some embodiments, the force sensing device, the displacement sensing device, the constant temperature and humidity chamber, and the electrochemical workstation operate synchronously. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the hydrogel reciprocating tensile testing device according to an embodiment of the present invention;

[0026] Figure 2 This is a partial schematic diagram of the hydrogel reciprocating tensile testing device according to an embodiment of the present invention;

[0027] Figure 3 yes Figure 2 Exploded view of the second gripper and force sensor in the middle;

[0028] Figure 4 yes Figure 2 A schematic diagram of the gripper device, displacement sensing device, and part of the drive device in the process;

[0029] Figure 5 yes Figure 2Exploded view of the first gripper, guide, and part of the drive mechanism;

[0030] Figure 6 yes Figure 2 A schematic diagram of some of the drive devices in the diagram;

[0031] Figure 7 These are some of the test results from the hydrogel reciprocating tensile testing device according to an embodiment of the present invention.

[0032] Figure label:

[0033] 1. Gripper device; 11. First gripper; 111. First main clamping plate; 112. First auxiliary clamping plate; 113. Slider; 12. Second gripper; 121. Second main clamping plate; 122. Second auxiliary clamping plate;

[0034] 2. Drive unit; 21. Drive component; 22. Transmission mechanism; 221. First connecting rod; 222. Second connecting rod; 223. Strip hole; 224. Third connecting rod; 23. Servo speed controller;

[0035] 3. Limiting device; 31. Guide component; 32. Guide sleeve;

[0036] 4. Force sensing device; 41. First support; 42. Force sensor;

[0037] 5. Displacement sensing device; 51. Second support; 52. Displacement sensor;

[0038] 6. Constant temperature and humidity chamber;

[0039] 7. Electrochemical workstation;

[0040] 8. Host computer;

[0041] 9. Base assembly; 91. Base body; 92. First base plate; 93. Second base plate; 94. Support plate;

[0042] 10. Hydrogel sample. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] The following is for reference. Figures 1-6 A hydrogel reciprocating tensile testing apparatus according to an embodiment of the present invention is described.

[0045] like Figures 1-6 As shown, the hydrogel reciprocating tensile testing device of this invention includes a gripper device 1 and a driving device 2.

[0046] The gripper device 1 includes a first gripper 11 and a second gripper 12. The first gripper 11 is used to grip and release one end of the hydrogel sample 10, and the second gripper 12 is used to grip and release the other end of the hydrogel sample 10. The first gripper 11 and the second gripper 12 can be relatively close to each other and relatively far apart.

[0047] like Figure 1 and Figure 2 As shown, the first gripper 11 and the second gripper 12 are arranged opposite each other in the left-right direction. The first gripper 11 is used to grip and release the right end of the hydrogel sample 10, and the second gripper 12 is used to grip and release the left end of the hydrogel sample 10. The first gripper 11 and the second gripper 12 can move closer and further apart relative to each other in the left-right direction, so as to stretch the hydrogel sample 10 when it is relatively far apart, and to reset the hydrogel sample 10 when it is relatively close together.

[0048] The drive device 2 is connected to at least one of the first gripper 11 and the second gripper 12, and is used to drive the first gripper 11 and the second gripper 12 to reciprocate to move relatively closer and relatively farther apart.

[0049] like Figure 1 and Figure 2 As shown, the first gripper 11 and the second gripper 12 can both be connected to the driving device 2, and move back and forth in the left and right direction under the drive of the driving device 2, so that the first gripper 11 and the second gripper 12 move back and forth relatively close and relatively far apart in the left and right direction.

[0050] The first gripper 11 and the second gripper 12 can also have one of them fixed in position, while the other is connected to the driving device 2 and moves back and forth in the left and right direction under the drive of the driving device 2, so that the first gripper 11 and the second gripper 12 move back and forth relatively close and relatively far apart in the left and right direction.

[0051] The hydrogel sample 10 is repeatedly stretched by the first gripper 11 and the second gripper 12, which are relatively close to and relatively far apart, thereby obtaining the tensile properties and fatigue characteristics of the hydrogel.

[0052] The hydrogel reciprocating tensile testing device of this invention uses a driving device 2 to drive the first gripper 11 and the second gripper 12 to reciprocate to move closer and further apart, thereby reciprocating to stretch the hydrogel sample 10, thus simulating the reciprocating tensile process of the hydrogel during use and conducting tests, and can obtain the tensile properties and fatigue characteristics of the hydrogel.

[0053] It should be noted that the hydrogel reciprocating tensile testing equipment in this embodiment of the invention is preferably, but not limited to, performing reciprocating tensile tests on hydrogels used in soft robots. By reciprocating tensile testing of the hydrogel sample 10, the working state of the hydrogel when used in a soft robot is simulated, so as to obtain the tensile properties and fatigue characteristics of the hydrogel, thereby determining whether the hydrogel is qualified for use in a soft robot.

[0054] In some embodiments, the driving device 2 includes a driving member 21 and a transmission mechanism 22. The transmission mechanism 22 is connected between the driving member 21 and the first gripper 11. The driving member 21 is used to drive the transmission mechanism 22 to move the first gripper 11 back and forth towards and away from the second gripper 12.

[0055] like Figure 2 and Figure 6 As shown, the second gripper 12 and the first gripper 11 are arranged from left to right, and the second gripper 12 is preferably, but not limited to, fixed in position.

[0056] The first gripper 11 is connected to the drive member 21 through the transmission mechanism 22. The transmission mechanism 22 is used to convert the driving action of the drive member 21 into reciprocating movement in the left and right direction, so that the first gripper 11 moves closer and further away from the second gripper 12 in the left and right direction under the drive of the drive member 21, thereby making the first gripper 11 and the second gripper 12 move closer and further away from each other in the left and right direction.

[0057] It is understood that the drive element 21 is not limited to being connected to the first gripper 11 via the transmission mechanism 22. In other embodiments, the drive element 21 is a telescopic cylinder connected to the first gripper 11.

[0058] In some embodiments, the transmission mechanism 22 includes a linkage assembly, one end of which is connected to the drive member 21 and is pivotable under the drive of the drive member 21, and the other end of which is connected to the first gripper 11 and can drive the first gripper 11 to reciprocate to approach and move away from the second gripper 12.

[0059] like Figure 2 and Figure 6 As shown, the transmission mechanism 22 preferably, but not limited to, uses a linkage assembly. The right end of the linkage assembly is connected to the drive member 21 and is pivotable in the front-back direction under the drive of the drive member 21. The left end of the linkage assembly is connected to the first gripper 11, which can be a fixed connection or a pivotable connection in the front-back direction, so as to drive the first gripper 11 to reciprocate in the left-right direction. The drive member 21 is preferably, but not limited to, a rotary motor.

[0060] When the drive component 21 is running, it rotates continuously in one direction. The linkage assembly converts the rotation of the drive component 21 into a reciprocating motion in the left and right direction, and drives the first gripper 11 to reciprocate in the left and right direction, so as to ensure the continuity and efficiency of the reciprocating stretching of the hydrogel sample 10.

[0061] It is understood that the transmission mechanism 22 is not limited to a linkage assembly. In other embodiments, the transmission mechanism 22 is a gear and rack transmission assembly, a belt transmission assembly, etc.

[0062] In some embodiments, the dimensions of the transmission mechanism 22 along the arrangement direction of the first gripper 11 and the second gripper 12 are adjustable to change the limit position of the first gripper 11 when it moves relative to the second gripper 12.

[0063] like Figure 2 and Figure 6 As shown, the dimensions of the transmission mechanism 22 are adjustable in the left-right direction. When the transmission mechanism 22 uses a linkage assembly, when one end of the linkage assembly driven by the driving member 21 is at any pivot angle, the distance between the adjusted linkage assembly and the unadjusted linkage assembly in the left-right direction will differ.

[0064] By adjusting the dimensions of the transmission mechanism 22 in the left-right direction, the closest and furthest positions of the first gripper 11 relative to the second gripper 12 when it reciprocates in the left-right direction can be changed. In other words, the shortest and longest distances between the first gripper 11 and the second gripper 12 when it reciprocates in the left-right direction can be changed, thereby changing the stretching distance of the hydrogel sample 10 during reciprocating stretching and ensuring that the hydrogel sample 10 is fully tested.

[0065] In some embodiments, the driving device 2 includes a driving member 21 and a transmission mechanism 22. The transmission mechanism 22 includes a linkage assembly, which includes a first linkage 221 and a second linkage 222. One end of the first linkage 221 is connected to the driving member 21 and is pivotable under the drive of the driving member 21. One end of the second linkage 222 is pivotally connected to the first gripper 11. The first linkage 221 has a strip-shaped hole 223 extending along its length. The other end of the second linkage 222 is pivotally connected to the strip-shaped hole 223, and the other end of the second linkage 222 can move and be fixed along the strip-shaped hole 223.

[0066] like Figure 2 and Figure 6 As shown, the linkage assembly includes a first linkage 221 and a second linkage 222. One end of the first linkage 221 is connected to the shaft of a rotating motor that serves as a drive member 21, and can pivot in the front-back direction under the drive of the drive member 21. The other end and the middle of the first linkage 221 are provided with a strip-shaped hole 223 extending along the length direction of the first linkage 221.

[0067] The left end of the second connecting rod 222 is directly or indirectly pivotally connected to the first gripper 11 in the front-back direction. The right end of the second connecting rod 222 is provided with a threaded rod, which passes through the strip hole 223 and is threadedly connected to a nut arranged side by side with the first connecting rod 221. The threaded rod is also fitted with a sleeve or bearing, which is located inside the strip hole 223 and abuts against the wall of the strip hole 223, so that the right end of the threaded rod and the second connecting rod 222 can always pivot relative to the first connecting rod 221 in the front-back direction. When the nut is loosened, the right end of the threaded rod and the second connecting rod 222 can move along the strip hole 223 to adjust the size of the connecting rod assembly in the left-right direction, thereby adjusting the tensile distance of the hydrogel sample 10 during reciprocating tension. When the nut is tightened, the nut fixes the position of the right end of the threaded rod and the second connecting rod 222 along the strip hole 223 to limit the size of the connecting rod assembly in the left-right direction, thereby limiting the tensile distance of the hydrogel sample 10 during reciprocating tension and performing reciprocating tension.

[0068] It is understood that the right end of the second link 222 is not limited to the slot 233 connected to the first link 221 to adjust the size of the link assembly in the left-right direction.

[0069] In other embodiments, the first link 221 is provided with a plurality of connecting holes spaced apart along the length direction, and the other end of the second link 222 is optionally connected to one of the connecting holes and is pivotable.

[0070] Specifically, the other end and middle of the first connecting rod 221 are provided with a plurality of connecting holes spaced apart along the length direction of the first connecting rod 221. The right end of the second connecting rod 222 is detachable from any connecting hole, so that the right end of the second connecting rod 222 can be connected to any connecting hole. Thus, by changing the connecting hole connected to the right end of the second connecting rod 222, the dimensions of the connecting rod assembly in the left-right direction can be adjusted. When the right end of the second connecting rod 222 is connected to a connecting hole, the right end of the second connecting rod 222 can pivot about the center line of the connecting hole, so that the right end of the second connecting rod 222 can pivot relative to the first connecting rod 221 about the front-back direction.

[0071] In some embodiments, the hydrogel reciprocating tensile testing device further includes a limiting device 3, which is connected to at least one of the first gripper 11 and the transmission mechanism 22 to limit the movement of the first gripper 11 along the arrangement direction of the first gripper 11 and the second gripper 12.

[0072] like Figure 2As shown, the first gripper 11 and the transmission mechanism 22 can both be connected to the limiting device 3, or one of them can be connected to the limiting device 3. The limiting device 3 is used to limit the movement of the connected first gripper 11 and / or transmission mechanism 22 in the left and right direction, so that the first gripper 11 moves in the left and right direction, thereby ensuring that the first gripper 11 and the second gripper 12 are relatively close and relatively far apart in the left and right direction, and ensuring the tensile effect of the hydrogel sample 10.

[0073] In some embodiments, the limiting device 3 includes a guide 31, which extends along the arrangement direction of the first gripper 11 and the second gripper 12. The first gripper 11 is connected to the guide 31 and is movable along the guide 31.

[0074] like Figure 2 , Figure 4 and Figure 5 As shown, the guide 31 extends in the left-right direction, and the first gripper 11 is connected to the guide 31 and is movable along the guide 31, thereby guiding the first gripper 11 to move in the left-right direction through the guide 31.

[0075] Furthermore, the guide 31 is a slide rail extending in the left-right direction, and the bottom of the first gripper 11 has a slider 113. The slider 113 is fitted inside the slide rail and can move along the slide rail so as to guide the first gripper 11 to move left and right through the slide rail, which serves as the guide 31.

[0076] It is understood that the guide 31 is not limited to a slide rail. In other embodiments, the guide 31 is a guide rod extending in the left-right direction. The guide rod passes through the first gripper 11 to guide the first gripper 11 to move in the left-right direction.

[0077] In some embodiments, the limiting device 3 includes a guide sleeve 32, and the transmission mechanism 22 includes a linkage assembly. The linkage assembly includes a first link 221, a second link 222, and a third link 224. One end of the first link 221 is connected to the driving member 21 and can pivot under the drive of the driving member 21. The second link 222 is connected between the first link 221 and the third link 224 and can be pivotally connected to both the first link 221 and the third link 224. The third link 224 is connected to the first gripper 11, and the guide sleeve 32 is sleeved on the third link 224 to guide the third link 224 to move along the arrangement direction of the first gripper 11 and the second gripper 12.

[0078] like Figure 2 and Figure 6 As shown, the linkage assembly also includes a third link 224, the left end of which is connected to the first gripper 11, and the right end of which is pivotally connected to the left end of the second link 222 in a front-back direction, so that the left end of the second link 222 and the first gripper 11 are indirectly pivotally connected in a front-back direction through the third link 224.

[0079] The second gripper 12, the first gripper 11, and the guide sleeve 32 are arranged sequentially from left to right. The guide sleeve 32 has a through hole extending in the left-right direction. The third connecting rod 224 passes through the through hole of the guide sleeve 32. Under the limiting effect of the guide sleeve 32 and the driving effect of the second connecting rod 222, the third connecting rod 224 moves reciprocally in the left-right direction, thereby driving the first gripper 11 to move reciprocally in the left-right direction. Therefore, the guide sleeve 32 indirectly guides the first gripper 11 to move in the left-right direction by guiding the third connecting rod 224 to move in the left-right direction.

[0080] It should be noted that guide element 31 and guide sleeve 32 can be set simultaneously or only one of them can be set. Figure 2 In the example shown, guide 31 and guide sleeve 32 are provided simultaneously. Since guide 31 is a top-opening groove, the guide sleeve 32, by limiting the third link 224, also serves to prevent the first gripper 11 from moving upward and disengaging from the groove under the influence of the link assembly. It is understood that in some embodiments, when the groove serving as guide 31 forms an opening on its side in the front-rear direction, the first gripper 11 can be prevented from disengaging from the groove under the influence of the link assembly; in this case, guide sleeve 32 and third link 224 may not be required. It is understood that in still some embodiments, guide sleeve 32 and third link 224 may be provided without guide 31.

[0081] In some embodiments, the first gripper 11 includes a first main gripper 111 and a first secondary gripper 112. The first main gripper 111 and the first secondary gripper 112 are arranged opposite to each other and are capable of gripping and releasing the hydrogel sample 10. The end face of the first secondary gripper 112 facing the first main gripper 111 is provided with a pattern or a plurality of protrusions arranged in an array. The protrusions are preferably, but not limited to, having rounded corners to avoid damaging the hydrogel sample 10.

[0082] like Figure 5 As shown, the first main clamping plate 111 is preferably, but not limited to, U-shaped. The first main clamping plate 111 includes clamping portions and sliding portions arranged at intervals along the vertical direction. The bottom surface of the sliding portion is provided with a slider 113.

[0083] The clamping part and the first secondary clamping plate 112 are arranged opposite each other in the vertical direction. The clamping part is preferably, but not limited to, connected to the first secondary clamping plate 112 by bolts. By rotating the bolts, the first secondary clamping plate 112 and the clamping part can be moved closer to each other to clamp the hydrogel sample 10, and moved further apart to release the hydrogel sample 10.

[0084] The first secondary clamping plate 112 is preferably, but not limited to, located between the clamping part and the sliding part. The top surface of the first secondary clamping plate 112 faces the first main clamping plate 111. The top surface of the first secondary clamping plate 112 is provided with patterns or multiple protrusions to increase friction with the hydrogel sample 10 and ensure that the first gripper 11 stably clamps the hydrogel sample 10.

[0085] In some embodiments, the frequency and / or rate at which the drive device 2 drives the first gripper 11 and the second gripper 12 to reciprocate relatively close and relatively far apart is adjustable.

[0086] like Figure 2 and Figure 6 As shown, the drive device 2 also includes a servo speed controller 23, which is electrically connected to the drive component 21. The servo speed controller 23 can adjust the rotation frequency and rotation speed of the drive component 21 to adjust the frequency and speed of the reciprocating movement of the first gripper 11, thereby adjusting the frequency and speed of the reciprocating stretching of the hydrogel sample 10 to ensure that the hydrogel sample 10 is fully tested.

[0087] In some embodiments, the hydrogel reciprocating tensile testing device further includes a force sensing device 4, which is connected to a second gripper 12 and a driving device 2 is connected to a first gripper 11. The driving device 4 is used to drive the first gripper 11 to move closer to and away from the second gripper 12, and the force sensing device 4 is used to obtain the tensile force on the second gripper 12.

[0088] like Figure 2 and Figure 3 As shown, the force sensing device 4 includes a first bracket 41 and a force sensor 42. The first bracket 41 is fixedly positioned, and the force sensor 42 is connected between the first bracket 41 and the second gripper 12 so that the second gripper 12 is fixedly positioned. The force sensing device 4 is used to obtain the tensile force transmitted by the hydrogel sample 10 to the second gripper 12, so as to obtain the tensile force of the hydrogel sample 10 during the reciprocating stretching process.

[0089] In some embodiments, the second gripper 12 includes a second main gripper 121 and a second auxiliary gripper 122. The second main gripper 121 and the second auxiliary gripper 122 are arranged opposite to each other and are capable of gripping and releasing the hydrogel sample 10. The end face of the second auxiliary gripper 122 facing the second main gripper 121 is provided with a pattern or a plurality of protrusions arranged in an array. The protrusions are preferably, but not limited to, having rounded corners to avoid damaging the hydrogel sample 10.

[0090] like Figure 3 As shown, the second main clamping plate 121 and the second auxiliary clamping plate 122 are preferably, but not limited to, arranged opposite each other in the vertical direction and connected by bolts. By rotating the bolts, the second main clamping plate 121 and the second auxiliary clamping plate 122 can be moved closer to each other to clamp the hydrogel sample 10, and moved further apart to release the hydrogel sample 10.

[0091] The top surface of the second secondary clamping plate 122 faces the second main clamping plate 121. The top surface of the second secondary clamping plate 122 is provided with patterns or multiple protrusions to increase friction with the hydrogel sample 10 and ensure that the second gripper 12 stably clamps the hydrogel sample 10.

[0092] The left end of the second main clamping plate 121 is provided with a protruding connecting part. Preferably, the connecting part is provided with threads, and the force sensor 42 is provided with a threaded hole. The connecting part is threaded into the threaded hole to connect the second clamping jaw 12 with the force sensor 42.

[0093] In some embodiments, the hydrogel reciprocating tensile testing device further includes a displacement sensing device 5, a driving device 2 connected to a first gripper 11, used to drive the first gripper 11 to move closer to and away from the second gripper 12, and the displacement sensing device 5 is used to obtain the displacement of the first gripper 11.

[0094] like Figure 2 and Figure 4 As shown, the displacement sensing device 5 includes a second support 51 and a displacement sensor 52. The displacement sensor 52 is connected to the second support 51. The displacement sensor 52 can be connected to the first gripper 11 or disposed opposite to the first gripper 11. Preferably, the displacement sensor 52 is located to the right of the first gripper 11 and is arranged side by side with the third connecting rod 224 in the front-back direction. The displacement sensor 52 is disposed opposite to the first gripper 11. In other words, the first gripper 11 is always located on the path of the sensing light of the displacement sensor 52 so that the displacement sensor 52 can obtain the displacement of the first gripper 11. Thus, the tensile distance of the hydrogel sample 10 during the reciprocating tensile process is obtained through the displacement sensor 52. The displacement sensor 52 is preferably, but not limited to, a laser displacement sensor.

[0095] In some embodiments, the hydrogel reciprocating tensile testing equipment further includes a constant temperature and humidity chamber 6, and the gripper device 1, the drive device 2, the force sensing device 4 and the displacement sensing device 5 are all located inside the constant temperature and humidity chamber 6.

[0096] like Figure 1 As shown, the gripper device 1, drive device 2, limit device 3, force sensor device 4, and displacement sensor device 5 are all located inside the constant temperature and humidity chamber 6 to reciprocate and stretch the hydrogel sample 10 for testing. The constant temperature and humidity chamber 6 ensures that the temperature and humidity of the hydrogel sample 10 remain stable during the test process and keeps the hydrogel sample 10 in a stable state, such as preventing the hydrogel sample 10 from losing water, thereby ensuring the accuracy of the test results and avoiding deviations in the test results due to the environment.

[0097] In some embodiments, the hydrogel reciprocating tensile testing equipment further includes a base device 9, and the gripper device 1, the drive device 2, the limiting device 3, the force sensing device 4 and the displacement sensing device 5 are all connected to the base device 9. The base device 9 is detachably connected to the constant temperature and humidity chamber 6.

[0098] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the base device 9 includes a base body 91, a first base plate 92, a second base plate 93, and a support plate 94. The base body 91 is detachably connected to the inner wall of the constant temperature and humidity chamber 6.

[0099] The first bracket 41 is detachably connected to the base body 91, making both the force sensing device 4 and the second gripper 12 detachable from the base body 91 for easy maintenance and repair.

[0100] The first base plate 92 is detachably connected to the base body 91. The first base plate 92 is provided with a slide rail as a guide 31 to facilitate the processing and maintenance of the guide 31.

[0101] The second base plate 93 is detachably connected to the base body 91. The support plate 94, the second bracket 51, and the servo speed controller 23 are connected to the second base plate 93. The connecting rod assembly, the drive component 21, and the guide sleeve 32 are connected to the vertically arranged support plate 94, so that the first gripper 11, the drive device 2, the guide sleeve 32, and the displacement sensing device 5 are detachable from the base body 91 for easy maintenance and repair.

[0102] Meanwhile, the gripper device 1, drive device 2, limit device 3, force sensor device 4 and displacement sensor device 5 can be detachably installed in the constant temperature and humidity chamber 6 through the base body 91, so that the hydrogel sample 10 can be disassembled and installed when the base body 91 is disassembled and removed, thereby facilitating the disassembly and assembly of the hydrogel sample 10.

[0103] In some embodiments, the hydrogel reciprocating tensile testing apparatus further includes an electrochemical workstation 7, which is used to electrically connect the hydrogel sample 10.

[0104] like Figure 1 As shown, the electrochemical workstation 7 is connected to both ends of the hydrogel sample 10 via a circuit to obtain electrochemical properties of the hydrogel sample 10, such as resistance, voltage, and conductivity, when the hydrogel sample 10 is reciprocally stretched. Furthermore, it can obtain the electrochemical properties of the hydrogel sample 10 at different stretching distances.

[0105] In some embodiments, the hydrogel reciprocating tensile testing equipment further includes a host computer 8, which is electrically connected to an electrochemical workstation 7, a force sensing device 4, a displacement sensing device 5, and a drive device 2.

[0106] like Figure 1As shown, the host computer 8 and the electrochemical workstation 7 are preferably, but not limited to, located on the constant temperature and humidity chamber 6. The electrochemical workstation 7, the force sensing device 4, the displacement sensing device 5, and the drive device 2 are all electrically connected to the host computer 8. The host computer 8 is used to receive, display, store, and process the results or operating parameters obtained by the electrochemical workstation 7, the force sensing device 4, the displacement sensing device 5, and the drive device 2. It can also generate charts such as tensile force change curves and calculate parameters such as modulus change, compressive modulus, residual strain, resistivity change rate, and surface voltage of the hydrogel sample 10, thereby fully obtaining the tensile properties, electrochemical properties, and fatigue characteristics of the hydrogel sample 10 under reciprocating tension.

[0107] In some embodiments, the force sensing device 4, the displacement sensing device 5, the constant temperature and humidity chamber 6, and the electrochemical workstation 7 operate synchronously.

[0108] In a single test, the temperature and humidity of the hydrogel sample 10 are kept stable by the constant temperature and humidity chamber 6. The corresponding parameters are acquired synchronously by the force sensor 4, the displacement sensor 5 and the electrochemical workstation 7. Specifically, the force sensor 4 acquires the tensile force of the hydrogel sample 10 during reciprocating stretching in a single test, the displacement sensor 5 acquires the stretching distance of the hydrogel sample 10 during reciprocating stretching in a single test, and the electrochemical workstation 7 acquires the electrochemical performance of the hydrogel sample 10 during reciprocating stretching in a single test, so as to achieve the synchronous acquisition of multiple parameters of the hydrogel sample 10 in a single test.

[0109] The host computer 8 can be configured to operate synchronously with the force sensing device 4, displacement sensing device 5, constant temperature and humidity chamber 6, and electrochemical workstation 7, or it can operate after acquiring parameters synchronously with the force sensing device 4, displacement sensing device 5, and electrochemical workstation 7. Synchronous operation is preferred. The host computer 8 can analyze various parameters synchronously acquired by the force sensing device 4, displacement sensing device 5, and electrochemical workstation 7 to further calculate parameters such as modulus change, compressive modulus, residual strain, resistivity change rate, and surface voltage of the hydrogel sample 10 in a single test. This further enhances the variety of parameters acquired synchronously in a single test of the hydrogel sample 10, enabling the comprehensive acquisition of tensile properties, electrochemical properties, and fatigue characteristics of the hydrogel sample 10 under reciprocating tension in a single test.

[0110] like Figure 7 The figure shown is one of the curves obtained from a single test, where the horizontal axis represents the test time and the vertical axis represents the rate of change of resistivity of the hydrogel sample 10. During the test, the driving device 2 reciprocates the stretching of the hydrogel sample 10 at frequencies of 0.29Hz, 0.66Hz, and 1.11Hz. In addition to the above curves, multiple parameters can be acquired simultaneously in a single test, which is helpful for realizing coupled analysis of multiple parameters.

[0111] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0112] Furthermore, the terms "first" and "second" are used only for distinction and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0113] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0114] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0115] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0116] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A hydrogel reciprocating tensile test apparatus characterized by, include: The gripper device (1) includes a first gripper (11) and a second gripper (12). The first gripper (11) is used to grip and release one end of the hydrogel sample (10), and the second gripper (12) is used to grip and release the other end of the hydrogel sample (10). The first gripper (11) and the second gripper (12) can be relatively close to each other and relatively far apart. A driving device (2) is connected to at least one of the first gripper (11) and the second gripper (12) for driving the first gripper (11) and the second gripper (12) to reciprocate to move closer and further apart; The driving device (2) includes a driving member (21) and a transmission mechanism (22). The transmission mechanism (22) is connected between the driving member (21) and the first gripper (11). The driving member (21) is used to drive the transmission mechanism (22) to move the first gripper (11) back and forth towards the second gripper (12). The transmission mechanism (22) includes a linkage assembly. One end of the linkage assembly is connected to the drive member (21) and can pivot under the drive of the drive member (21). The other end of the linkage assembly is connected to the first gripper (11) and can drive the first gripper (11) to move back and forth towards the second gripper (12). The driving device (2) includes a driving member (21) and a transmission mechanism (22). The transmission mechanism (22) includes a linkage assembly, which includes a first linkage (221) and a second linkage (222). One end of the first linkage (221) is connected to the driving member (21) and can pivot under the drive of the driving member (21). One end of the second linkage (222) is pivotally connected to the first gripper (11). The first connecting rod (221) is provided with a strip hole (223) extending along the length direction, and the other end of the second connecting rod (222) is pivotally connected to the strip hole (223). The other end of the second connecting rod (222) can be moved and fixed along the strip hole (223). Alternatively, the first link (221) may have a plurality of connecting holes spaced apart along its length, and the other end of the second link (222) may optionally be connected to one of the connecting holes and be pivotable.

2. The hydrogel reciprocating extension test apparatus according to claim 1, wherein The transmission mechanism (22) is adjustable in size along the arrangement direction of the first gripper (11) and the second gripper (12) to change the limit position when the first gripper (11) moves relative to the second gripper (12).

3. The hydrogel reciprocating extension test apparatus according to claim 1, wherein It also includes a limiting device (3), which is connected to at least one of the first gripper (11) and the transmission mechanism (22) to limit the movement of the first gripper (11) along the arrangement direction of the first gripper (11) and the second gripper (12).

4. The hydrogel reciprocating extension test apparatus according to claim 3, wherein The limiting device (3) includes: A guide (31) extending along the arrangement direction of the first gripper (11) and the second gripper (12), wherein the first gripper (11) is connected to the guide (31) and movable along the guide (31); and / or The guide sleeve (32) and the transmission mechanism (22) include a linkage assembly, which includes a first linkage (221), a second linkage (222) and a third linkage (224). One end of the first linkage (221) is connected to the driving member (21) and can pivot under the drive of the driving member (21). The second linkage (222) is connected between the first linkage (221) and the third linkage (224) and can be pivotally connected to both the first linkage (221) and the third linkage (224). The third linkage (224) is connected to the first gripper (11). The guide sleeve (32) is sleeved on the third linkage (224) to guide the third linkage (224) to move along the arrangement direction of the first gripper (11) and the second gripper (12).

5. The hydrogel reciprocating tensile testing device according to claim 1, characterized in that, The frequency and / or rate at which the driving device (2) drives the first gripper (11) and the second gripper (12) to reciprocate relatively close and relatively far apart is adjustable.

6. The hydrogel reciprocating tensile testing device according to any one of claims 1-5, characterized in that, Also includes: Force sensing device (4), the force sensing device (4) is connected to the second gripper (12), the driving device (2) is connected to the first gripper (11), and is used to drive the first gripper (11) to move closer to and away from the second gripper (12), the force sensing device (4) is used to obtain the tension force on the second gripper (12); The displacement sensing device (5) is connected to the first gripper (11) and is used to drive the first gripper (11) to move closer to and away from the second gripper (12). The displacement sensing device (5) is used to obtain the displacement of the first gripper (11). The constant temperature and humidity chamber (6) is located inside the constant temperature and humidity chamber (6), where the gripper device (1), the drive device (2), the force sensor device (4) and the displacement sensor device (5) are all located. An electrochemical workstation (7) is used to electrically connect the hydrogel sample (10). The host computer (8) is electrically connected to the electrochemical workstation (7), the force sensing device (4), the displacement sensing device (5), and the drive device (2).

7. The hydrogel reciprocating tensile testing device according to claim 6, characterized in that, The force sensing device (4), the displacement sensing device (5), the constant temperature and humidity chamber (6), and the electrochemical workstation (7) operate synchronously.

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