CN209841255U - Unidirectional force measuring device for eliminating coupling force - Google Patents
Unidirectional force measuring device for eliminating coupling force Download PDFInfo
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- CN209841255U CN209841255U CN201920102594.5U CN201920102594U CN209841255U CN 209841255 U CN209841255 U CN 209841255U CN 201920102594 U CN201920102594 U CN 201920102594U CN 209841255 U CN209841255 U CN 209841255U
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Abstract
A unidirectional force measuring device for eliminating coupling force comprises a first connecting plate, a second connecting plate and a force measuring device arranged between the first connecting plate and the second connecting plate, wherein the force measuring device comprises a sensor seat and a sensor arranged in the sensor seat, the sensor seat comprises a fixed seat and a rotating seat which are oppositely arranged, the fixed seat is fixedly connected to the second connecting plate, a joint bearing seat is fixedly arranged on the first connecting plate, a joint bearing is arranged in the bearing seat, and a connecting shaft is fixedly arranged in the middle of the rotating seat; the sensor detects the unidirectional force between the fixed seat and the rotating seat; the unidirectional force measuring device releases torsion restraint along three axes under the condition of rigid connection through the joint bearing on one side, avoids the influence on force detection of the sensor due to shaking, rotation and deflection, eliminates coupling force caused by torsion in different directions between two connecting plates, improves the accuracy of the sensor in detecting unidirectional force, and thus accurately analyzes the motion state and the rehabilitation effect of a user.
Description
Technical Field
The utility model relates to a rehabilitation training robot technical field, concretely relates to eliminate one-way measuring force device of coupling force.
Background
With the progress of the robot technology and the improvement of the social medical requirements, the rehabilitation training robot is more and more widely applied to rehabilitation medical treatment. In the reciprocating motion type rehabilitation training robot, a driving device and a limb fixing device are arranged on a guide rail and connected together through a force measuring device, and the driving device and the limb fixing device are used for measuring the one-way force generated by mutual push-pull between the driving device and the limb fixing device. The control system judges the motion state of the user and controls the motion of the driving device according to the measured force so as to realize different training functions, so that the measurement precision of the force is higher. And because these two parts that the sensor connects are installed on guide rail, if the sensor is connected with them rigidly, the deformation of guide rail self and assembly error, limbs to the pressure of device etc. factor can lead to not being by other effort that motion push-and-pull produced act on the sensor, these coupling forces bring great error to push-and-pull measurement of the unidirectional effort, thus can influence the motion control of the rehabilitation robot, and to the accuracy and the recovered effect of user's motion state analysis, there is improvement in prior art.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an eliminate one-way measuring force device of coupling force, this device has released the torsion restraint along three axis under the rigid connection condition through the joint bearing of one side, has eliminated because the not equidirectional coupling force of twisting away the introduction between two connecting plates, improves the accuracy that the sensor detected the one-way power to realize accurate analysis user's motion state and recovered effect.
In order to achieve the above purpose, the technical scheme of the utility model is as follows: a unidirectional force measuring device for eliminating coupling force comprises a first connecting plate, a second connecting plate and a force measuring device arranged between the first connecting plate and the second connecting plate, wherein the force measuring device comprises a sensor seat and a sensor arranged in the sensor seat, the sensor seat comprises a fixed seat and a rotating seat which are oppositely arranged, the fixed seat is fixedly connected to the second connecting plate, a joint bearing seat is fixedly arranged on the first connecting plate, a joint bearing is arranged in the rotating seat, and a connecting shaft matched with the joint bearing is fixedly arranged in the middle of the rotating seat; the sensor detects a unidirectional force between the fixed seat and the rotating seat.
By adopting the technical scheme, the unidirectional force measuring device releases the torsional restraint along three axes under the rigid connection condition through the joint bearing on one side, so that the influence of the first connecting plate on the detection of the force of the sensor due to shaking, rotating and skewing is avoided, the coupling force caused by the torsion in different directions between the two connecting plates is eliminated, the accuracy of the sensor for detecting the unidirectional force is improved, and the accurate analysis of the motion state and the rehabilitation effect of a user is realized.
The utility model discloses further set up to: the sensor seat further comprises a mounting seat for mounting the sensor, the mounting seat comprises two oppositely arranged mounting main bodies, connecting pieces extend from two sides of each mounting main body, and the two connecting pieces are respectively connected with the fixing seat and the rotating seat.
By adopting the technical scheme, the installation main body in the sensor seat is connected with the fixed seat and the rotating seat through the four connecting sheets to form the four-bar mechanism, and the four-bar mechanism has great rigidity in the direction vertical to the sliding direction of the whole device, namely along the force measuring direction of the sensor, so that the action of the acting force along the direction on the sensor is reduced, and the coupling force in the vertical push-pull direction is reduced.
The utility model discloses further set up to: and elastic thin walls are arranged at two ends of the connecting sheet.
Through adopting above-mentioned technical scheme, the elastic thin wall can further eliminate the coupling force between installation main part and fixing base, the rotation seat, further improves sensor measurement's accuracy.
The utility model discloses further set up to: the elastic thin wall is provided with a notch for deformation.
By adopting the technical scheme, the elastic thin wall with the notch can enable the connecting sheet to have a certain deformation space in the deformation process, and the service life of the sensor seat is prolonged.
The utility model discloses further set up to: the connecting piece is obliquely arranged relative to the mounting main body.
Through adopting above-mentioned technical scheme, the connection piece that the slope set up can improve the effect of eliminating the coupling force, improves the detection of sensor to the pulling force that first connecting plate receives.
The utility model discloses further set up to: and two first bolts in threaded connection with the second connecting plate are respectively arranged on two sides of the fixing seat, and two positioning pins penetrating through the fixing seat and the second connecting plate are arranged between the two first bolts.
Through adopting above-mentioned technical scheme, the fixing base passes through first bolt threaded connection on the second connecting plate, and the person's of facilitating the use dismouting sensor seat, the fixing base is through two further fixed of locating pin, places the fixing base and takes place to rotate, slide on the second connecting plate, further improves the measurement accuracy of sensor.
The utility model discloses further set up to: the middle part threaded connection of installation main part has the second bolt, the tip of second bolt with sensor fixed connection.
Through adopting above-mentioned technical scheme, the sensor passes through the second bolt and is fixed with the installation main part, and the initial zero setting of the sensor of being convenient for on the one hand of second bolt, the change of the sensor of being convenient for on the other hand.
The utility model discloses further set up to: the sensor is of an S-shaped or double-shearing beam or cylindrical structure.
Through adopting above-mentioned technical scheme, the sensor can be multiple shape structure, only need realize measuring the unipolar force between two installation main parts can.
To sum up, the utility model discloses following effect has:
1. the device releases the torsion restraint along three axes under the condition of rigid connection through the joint bearing at one side, and eliminates the coupling force caused by torsion in different directions between two connecting plates;
2. the installation main body in the sensor seat is connected with the fixed seat and the rotating seat through four elastic thin walls to form a four-bar linkage mechanism, and the four-bar linkage mechanism has high rigidity in the direction vertical to the sliding direction of the whole device, namely in the force measuring direction of the sensor, so that the action of the acting force in the direction on the sensor is reduced, and the coupling force in the direction vertical to the push-pull direction is reduced;
3. the utility model provides a measuring force device simple structure, simple to operate can effectively eliminate the coupling force, realizes the accurate measurement to the one-way effort of push-and-pull.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below.
FIG. 1 is a schematic view of a unidirectional force measuring device under force;
fig. 2 is a schematic view of the overall structure of the unidirectional force measuring device.
In the figure: 1. a first connecting plate; 2. a second connecting plate; 3. a sensor seat; 31. a rotating seat; 32. a fixed seat; 33. mounting the main body; 34. connecting sheets; 341. an elastic sheet; 342. a notch; 4. a sensor; 5. a joint bearing seat; 6. a knuckle bearing; 7. a connecting shaft; 8. a third bolt; 9. positioning pins; 10. a first bolt; 11. a second bolt; 12. and a nut.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a unidirectional force measuring device for eliminating coupling force comprises a first connecting plate 1, a second connecting plate 2 and a force measuring device between the first connecting plate 1 and the second connecting plate 2, and is characterized in that the force measuring device comprises a sensor seat 3 and a sensor 4 installed in the sensor seat 3, the sensor seat 3 comprises two oppositely arranged fixing seats 32 and a rotating seat 31, the fixing seats 32 are fixedly connected to the second connecting plate 2, a joint bearing 6 seat 5 is fixedly arranged on the first connecting plate 1, a joint bearing 6 is arranged in the rotating seat 31, and a connecting shaft 7 matched with the joint bearing 6 is fixedly arranged in the middle of the rotating seat 31; the sensor 4 detects a unidirectional force between the fixed seat 32 and the rotating seat 31.
Further, the sensor seat 3 further includes a mounting seat for mounting the sensor 4, the mounting seat includes two mounting main bodies 33 arranged oppositely, connecting pieces 34 extend from two sides of the mounting main bodies 33, and the two connecting pieces 34 are respectively connected with the fixing seat 32 and the rotating seat 31.
Further, both ends of the connecting piece 34 are provided with elastic thin walls.
Further, the elastic thin wall has a notch 342 for deformation, and in the actual use process, the notch 342 in the present embodiment may be a one-way or two-way arc notch.
Further, the connecting piece 34 is obliquely arranged relative to the mounting main body 33, and an included angle between the connecting piece 34 and the mounting main body 33 is 30-55 degrees in the actual use process.
Furthermore, two sides of the fixing seat 32 are respectively provided with a first bolt 10 in threaded connection with the second connecting plate 2, and two positioning pins 9 penetrating the fixing seat 32 and the second connecting plate 2 are arranged between the first bolts 10.
Further, a second bolt 11 is connected to the middle of the mounting body 33 in a threaded manner, and an end of the second bolt 11 is fixedly connected to the sensor 4.
Further, the sensor 4 is of an S-shaped or double shear beam or cylindrical structure.
It should be noted that, for those skilled in the art, without departing from the inventive concept, several variations and modifications can be made, which are within the scope of the present invention.
Claims (8)
1. A unidirectional force measuring device for eliminating coupling force comprises a first connecting plate (1), a second connecting plate (2) and a force measuring device arranged between the first connecting plate (1) and the second connecting plate (2), and is characterized in that the force measuring device comprises a sensor seat (3) and a sensor (4) arranged in the sensor seat (3), the sensor seat (3) comprises two oppositely arranged fixing seats (32) and a rotating seat (31), the fixing seats (32) are fixedly connected to the second connecting plate (2), a joint bearing seat (5) is fixedly arranged on the first connecting plate (1), a joint bearing (6) is arranged in the rotating seat (31), and a connecting shaft (7) matched with the joint bearing (6) is fixedly arranged in the middle of the rotating seat (31); the sensor (4) detects a unidirectional force between the fixed seat (32) and the rotating seat (31).
2. The unidirectional force measuring device for eliminating the coupling force according to claim 1, wherein the sensor seat (3) further comprises a mounting seat for mounting the sensor (4), the mounting seat comprises two oppositely arranged mounting main bodies (33), connecting pieces (34) extend from two sides of the mounting main bodies (33), and the two connecting pieces (34) are respectively connected with the fixed seat (32) and the rotating seat (31).
3. A unidirectional force measuring device to eliminate coupling force according to claim 2, characterized in that both ends of the connecting piece (34) are provided with thin elastic walls.
4. A unidirectional force measuring device to eliminate coupling force according to claim 3, wherein said thin elastic wall has indentations (342) for deformation.
5. A unidirectional force measuring device to eliminate coupling force according to claim 2, wherein the connecting piece (34) is arranged obliquely with respect to the mounting body (33).
6. The unidirectional force measuring device for eliminating the coupling force according to claim 1, wherein two sides of the fixed seat (32) are respectively provided with a first bolt (10) in threaded connection with the second connecting plate (2), and two positioning pins (9) penetrating the fixed seat (32) and the second connecting plate (2) are arranged between the two first bolts (10).
7. A unidirectional force measuring device to eliminate coupling force according to claim 2, characterized in that a second bolt (11) is screwed in the middle of the mounting body (33), and the end of the second bolt (11) is fixedly connected with the sensor (4).
8. Unidirectional force-measuring device to eliminate coupling force according to claim 7, characterized in that the sensor (4) is of S-shaped or double shear beam or cylindrical construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920102594.5U CN209841255U (en) | 2019-01-22 | 2019-01-22 | Unidirectional force measuring device for eliminating coupling force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920102594.5U CN209841255U (en) | 2019-01-22 | 2019-01-22 | Unidirectional force measuring device for eliminating coupling force |
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| Publication Number | Publication Date |
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| CN209841255U true CN209841255U (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920102594.5U Active CN209841255U (en) | 2019-01-22 | 2019-01-22 | Unidirectional force measuring device for eliminating coupling force |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724734A (en) * | 2019-01-22 | 2019-05-07 | 杭州瑞必莅机器人科技有限公司 | A kind of Unidirectional force measurement device for eliminating coupling |
| CN112504538A (en) * | 2020-11-24 | 2021-03-16 | 四川省机械技术服务中心 | Mechanical decoupling force cell |
-
2019
- 2019-01-22 CN CN201920102594.5U patent/CN209841255U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724734A (en) * | 2019-01-22 | 2019-05-07 | 杭州瑞必莅机器人科技有限公司 | A kind of Unidirectional force measurement device for eliminating coupling |
| CN109724734B (en) * | 2019-01-22 | 2023-10-03 | 杭州瑞必莅机器人科技有限公司 | One-way force measuring device capable of eliminating coupling |
| CN112504538A (en) * | 2020-11-24 | 2021-03-16 | 四川省机械技术服务中心 | Mechanical decoupling force cell |
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