CN101832834B - Grasping rod force measuring device for climbing training under weightless environment - Google Patents

Abstract

The invention discloses a grasping rod force measuring device for climbing training under a weightless environment, which belongs to the field of force measurement and is a device for measuring the load-carrying capability of a rod and particularly a grasping rod force measuring device for the climbing training of people under the weightless environment. The device comprises a bracket which is respectively provided with a first three-dimensional force sensor and a second three-dimensional force sensor, and a grasping rod is connected with a force transmission shaft of the first three-dimensional sensor and a force transmission shaft of the second three-dimensional sensor. An axis of the force transmission shaft of the first three-dimensional sensor and an axis of the force transmission shaft of the second three-dimensional sensor are parallel with same direction. The invention realizes the measurement of the external force applied on the grasping rod and has the advantages of simple structure and high measuring precision.

Description

The grasping rod force measuring device that is used for climbing training under weightless environment

One, technical field

The invention belongs to the force measurement field, is a kind of device of sounding rod stressing conditions, especially a kind of grasping rod force measuring device that is applied to personnel's climbing training under the weightlessness.

Two, background technology

The people need utilize upper limbs to climb usually and realize moving under weightlessness.Exist very big difference under this manner and the conventional environment between the manner of land; Biomechanical characterization when studying personnel activity under the weightlessness for ease, the present invention has designed the grasping rod force measuring device that is used for personnel's climbing training under the weightlessness.

Three, summary of the invention

The present invention provides a kind of grasping rod force measuring device that is applied to personnel's climbing training under the weightlessness, and this apparatus structure is simple, has realized the high-acruracy survey of grabbing the size and Orientation of power on the bar to being applied to.

The present invention adopts following technical scheme:

A kind of grasping rod force measuring device that is used for climbing training under weightless environment; Comprise: support; On support, be respectively equipped with first three-dimensional force sensor and second three-dimensional force sensor, on the force transmission shaft of the force transmission shaft of first three-dimensional force sensor and second three-dimensional force sensor, be connected with and grab bar.

The present invention is applied to the external force of grabbing on the bar by 2 three-dimensional force sensor measurements, and its principle is: record X respectively, and Y, the component of three directions of Z is established the component F that two three-dimension sensors record three directions respectively _X1, F _Y1, F _Z1, F _X2, F _Y2And F _Z2, then each direction make a concerted effort be respectively

${{\stackrel{\→}{F}}_x=\stackrel{\→}{F}}_{x1}+{\stackrel{\→}{F}}_{x2}$

${\stackrel{\&RightArrow;}{F}}_y={\stackrel{\&RightArrow;}{F}}_{y1}+{\stackrel{\&RightArrow;}{F}}_{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000069168200011.png"\; state="\{\{state\}\}">y</figure-callout>}2}$

${\stackrel{\&RightArrow;}{F}}_z={\stackrel{\&RightArrow;}{F}}_{z1}+{\stackrel{\&RightArrow;}{F}}_{\mathrm{<figure-callout\; id="2"\; label="z"\; filenames="HSA00000069168200011.png"\; state="\{\{state\}\}">z</figure-callout>}2}$

Then grabbing bar does suffered making a concerted effort

Numerically, make a concerted effort to be worth

On the direction, the projection on X-Y plane and the angle of Y axle are α=arctan (F with joint efforts _x/ F _y), and make a concerted effort with the angle of Z axle do

The present invention has reduced the stressed arm of force length of sensor, thereby has reduced the coupling error of sensor through proposing a kind of mounting means of three-dimensional force sensor, has improved the force measurement precision.

Compared with prior art, the present invention has following advantage:

(1) simple in structure, only need 2 sensors just to accomplish the measurement of the size and Orientation of power.(2) need not expend additional hardware and software overhead, just reduce coupling error greatly, improve measuring accuracy.

Four, description of drawings

Fig. 1 is the structural representation of the embodiment of the invention.

Fig. 2 is the loading direction synoptic diagram of the embodiment of the invention.

Fig. 3 is the control Example structural representation of the embodiment of the invention.

Fig. 4 is the loading direction and the position view of control Example.

Five, embodiment

With reference to Fig. 1; A kind of grasping rod force measuring device that is used for climbing training under weightless environment; Comprise: support 3; On support 3, be respectively equipped with first three-dimensional force sensor 11 and second three-dimensional force sensor 12, on the force transmission shaft 121 of the force transmission shaft 111 of first three-dimensional force sensor 11 and second three-dimensional force sensor 12, be connected with and grab bar 2; The axis of the force transmission shaft 111 of said first three-dimensional force sensor 11 is identical with the parallel axes and the direction of the force transmission shaft 121 of said second three-dimensional force sensor 12.

When personnel carry out climbing training, grab the effect that bar receives power, record 2 three-dimensional force sensor X respectively, Y, the component of three directions of Z is established the component F that two three-dimension sensors record three directions respectively _X1, F _Y1, F _Z1, F _X2, F _Y2And F _Z2, then each direction make a concerted effort be respectively

${{\stackrel{\&RightArrow;}{F}}_x=\stackrel{\&RightArrow;}{F}}_{x1}+{\stackrel{\&RightArrow;}{F}}_{x2}$

${\stackrel{\&RightArrow;}{F}}_y={\stackrel{\&RightArrow;}{F}}_{y1}+{\stackrel{\&RightArrow;}{F}}_{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000069168200011.png"\; state="\{\{state\}\}">y</figure-callout>}2}$

${\stackrel{\&RightArrow;}{F}}_z={\stackrel{\&RightArrow;}{F}}_{z1}+{\stackrel{\&RightArrow;}{F}}_{\mathrm{<figure-callout\; id="2"\; label="z"\; filenames="HSA00000069168200011.png"\; state="\{\{state\}\}">z</figure-callout>}2}$

Then grabbing bar does suffered making a concerted effort

Numerically, make a concerted effort to be worth

On the direction, the projection on X-Y plane and the angle of Y axle are α=arctan (F with joint efforts _x/ F _y), and make a concerted effort with the angle of Z axle do

Thereby obtain the size and Orientation of power.

The range of present embodiment is 100N, and the range of first three-dimensional force sensor and second three-dimensional force sensor is 100N, and its signal acquisition circuit has been selected 10 figure place weighted-voltage D/A converters for use, and then sensor is output as 1024 during the three-dimensional force sensor full scale.Grabbing pole length is 800mm, and this grasping rod force measuring device is carried out rating test, and loading direction is with reference to Fig. 2, and the loading point is positioned at the mid point of grabbing bar.At first apply the load of X negative direction, demarcate and begin, increase 20N load at every turn, begin unloading when load is increased to 100N, reduce 20N up to 0N, calibration result such as table 1 at every turn from zero load to grabbing bar.In the calibration result,

Difference=output maximal value-output minimum value;

Coupling error=difference/range * 100%.

Calibration result when table 1 load is the X negative direction

Table 2 is respectively that load is the X positive dirction to table 6, Y negative direction, Y positive dirction, the calibration result when Z negative direction and Z positive dirction.

Calibration result when table 2 load is the X positive dirction

Calibration result when table 3 load is the Y negative direction

Calibration result when table 4 load is the Y positive dirction

Calibration result when table 5 load is the Z negative direction

Calibration result when table 6 load is the Z positive dirction

Can know that by above result it is less to be coupled between the dimension of two three-dimensional force sensors, is about 3%; Test result is carried out linear fit; Find because the setting angle problem of sensor; The coupling between all directions and the size of load are all linear; Therefore can set up the linear relationship of load and coupling error, decoupling zero is carried out in the output of three-dimensional force sensor, the measurement result precision after the decoupling zero has reached 1%.

Compare with the embodiment of the invention for convenient; With two three-dimensional force sensors, grab grasping rod force measuring device that bar and support install composition with other a kind of mode as control Example; With reference to Fig. 3; The force transmission shaft 111 of first three-dimensional force sensor 11 and the force transmission shaft of second three-dimensional force sensor 12 are installed on the support 3 relatively, and the axis of above-mentioned 2 force transmission shafts and the axis of grabbing bar 2 are grabbed bar 2 two ends and all fixed with sensor 11 and sensor 12 on same straight line.

The range of control Example is 100N, and the range of first three-dimensional force sensor and second three-dimensional force sensor is 100N, and its signal acquisition circuit has been selected 10 figure place weighted-voltage D/A converters for use, and then sensor is output as 1024 during the three-dimensional force sensor full scale.Grabbing pole length is 800mm, and control Example is carried out following rating test, and loading direction and position are with reference to Fig. 4, and the loading point is positioned at the mid point C that grabs bar.Demarcation begins from zero load, increases 20N load at every turn, begins unloading when load is increased to 100N, reduces 20N up to 0N at every turn.In the calibration result,

Difference=output maximal value-output minimum value;

Coupling error=difference/range * 100%.

Table 7 is respectively that control Example load is the X negative direction to table 9, the calibration result when Y negative direction and Z negative direction.

Table 7 load is X negative direction and the output of sensor when acting on the C place

Table 8 load is Y negative direction and the output of sensor when acting on the C place

Table 9 load is Z negative direction and the output of sensor when acting on the C place

Can know that by above test figure in the control Example, when the Y of three-dimensional force sensor or directions X were stressed, Z had very big coupling error to output, is about 10%; Separately to Z when adding load, Z is less to the coupling of X and Y direction, error is about 3%; Coupling between X and Y two directions is also less, is about 2%.

In another test, with reference to Fig. 4, the active position that changes load on the control Example is to A or B point, and loading direction is the negative direction of Y, carries out rating test, calibration result such as table 10, table 11.

Table 10 load is Y direction and the output of sensor when acting on the A place

Table 11 load is Y direction and the output of sensor when acting on the B place

Can know relatively that by test findings table 7,8,9,10 and 11 when counterweight was suspended on C place, centre position, coupling error was maximum, is about 10%; When counterweight was suspended on the position near sensor, coupling error was minimum, is about 4%.Therefore the sensor of control Example output coupling error is relevant with the position of loading is that sensor output can receive the influence of moment of flexure and error is increased; And because the coupled relation of load and output is uncertain; The decoupling zero amount of calculation is big, is difficult for realizing.

Through contrast, structure according to the invention is with respect to other structures, and coupling error is very little, is easy to decoupling zero, has the measuring accuracy height, simple in structure and the characteristics that are easy to realize.

Claims (1)

1. grasping rod force measuring device that is used for climbing training under weightless environment; It is characterized in that; Comprise: support (3); On support (3), be respectively equipped with first three-dimensional force sensor (11) and second three-dimensional force sensor (12); On the force transmission shaft (121) of the force transmission shaft (111) of first three-dimensional force sensor (11) and second three-dimensional force sensor (12), be connected with and grab bar (2), the axis of the force transmission shaft (111) of said first three-dimensional force sensor (11) is identical with the parallel axes and the direction of the force transmission shaft (121) of said second three-dimensional force sensor (12).

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