CN105643609B - A kind of man-machine interaction force checking device - Google Patents

Abstract

A human-computer interaction force detection device relates to detection, in particular to a human-computer interaction force detection device. The invention aims to solve the problems of poor stability, low accuracy and poor human body comfort in the existing interaction force detection mode. The lower end of the first exoskeleton rod of the present invention is connected to the upper end of the first joint head, and the lateral wall on one side of the first joint head is rotationally connected to the inner wall on one side of the second joint head through the first connection assembly. The outer wall on the other side is rotatably connected to the inner wall on the other side of the second joint head through the second connection assembly, one end of the connecting shaft is connected to the outer side wall on one side of the second joint head through a bolt, the magnetic encoder, the second bearing, The elastic body is sequentially sleeved on the connecting shaft from outside to inside, and the elastic body is connected with the outer side wall of the connecting shaft through a key, and the upper end of the binding rod is sleeved on the second bearing. It belongs to the field of robots or the field of medical equipment.

Description

A human-computer interaction force detection device

technical field

The invention relates to a detection, in particular to a human-computer interaction force detection device, which belongs to the field of robots or medical equipment.

Background technique

Wearable exoskeleton robots enable people to enhance their ability to walk with a load. In its application, the detection of the interaction force between the human body and the exoskeleton has always been a major difficulty in the application of exoskeletons. The accuracy of interaction force detection Effectiveness is the key to ensure the coordination and consistency of wearable exoskeleton and human body movement. The current interaction force detection methods mostly use pressure sensors at the exoskeleton and human body straps to obtain interaction force information. Since human muscles are soft tissues, this The method not only has instability in detecting the interaction force, but also has defects in the detection accuracy of the interaction force and the comfort of the human body.

Contents of the invention

In order to solve the problems of poor stability, low accuracy and poor human body comfort in the existing interaction force detection method, the present invention further proposes a human-computer interaction force detection device.

The technical scheme adopted by the present invention to solve the above problems is: the present invention includes a first exoskeleton rod, a first joint head, a connecting shaft, a key, a second bearing, a magnetic encoder, a binding rod, an elastic body, and a second joint head , a first connection component and a second connection component, the lower end of the first exoskeleton rod is connected to the upper end of the first joint head, and the outer side wall of the first joint head is connected to the inner side of the second joint head through the first connection component The wall is rotationally connected, the outer wall on the other side of the first joint head is rotationally connected to the inner wall on the other side of the second joint head through the second connection assembly, and one end of the connecting shaft is connected to the outer wall on one side of the second joint head through a bolt. The magnetic encoder, the second bearing, and the elastic body are sequentially set on the connecting shaft from outside to inside, and the elastic body is connected with the outer side wall of the connecting shaft through a key, and the upper end of the binding rod is set on the second bearing.

Further, the first connection assembly includes a first bearing, a support shaft and a fifth bearing, the first bearing is embedded on the outer side wall of the first joint head, and the fifth bearing is embedded on the inner side of the second joint head On the wall, one end of the support shaft is inserted in the first bearing, and the other end of the support shaft is inserted in the fifth bearing.

Further, the second connection assembly includes a third bearing, an optical shaft and a fourth bearing, the third bearing is embedded on the outer wall on the other side of the first joint head, and the fourth bearing is embedded on the other side of the second joint head. On the inner side wall, one end of the optical axis is inserted in the third bearing, and the other end of the optical axis is inserted in the fourth bearing.

Further, the magnetic encoder is composed of a chip and a disk, the chip is connected to the upper end of the binding rod, and the disk is connected to the other end of the connecting shaft.

Further, the present invention also includes a protective shell, which is fastened on the outer surface of the upper end of the binding rod.

The beneficial effects of the present invention are: the present invention can greatly improve the accuracy of interaction force detection, effectively reduce the sensitivity of interaction force detection and make the overall structure very compact. Controlling the exoskeleton by detecting the interaction force information can effectively ensure the coordination and consistency between the load-bearing exoskeleton and the human body while making the exoskeleton robot more practical.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

detailed description

Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1. A human-computer interaction force detection device described in this embodiment includes a first exoskeleton rod 1, a first joint head 2, a connecting shaft 5, a key 6, and a second bearing 7. Magnetic encoder 8, binding rod 9, elastic body 10, second joint head 14, first connection assembly and second connection assembly, the lower end of the first exoskeleton rod 1 is connected to the upper end of the first joint head 2, The outer side wall of the first joint head 2 is rotationally connected with the inner side wall of the second joint head 14 through the first connecting assembly, and the outer side wall of the other side of the first joint head 2 is connected with the second joint through the second connecting assembly. The inner side wall on the other side of the head 14 is rotationally connected, and one end of the connecting shaft 5 is connected to the outer side wall of the second joint head 14 through bolts. On the shaft 5, and the elastic body 10 is connected with the outer sidewall of the connecting shaft 5 through the key 6, and the upper end of the binding rod 9 is sleeved on the second bearing 7.

Specific Embodiment 2: This embodiment is described in conjunction with FIG. 1. The first connection assembly of a human-computer interaction force detection device described in this embodiment includes a first bearing 3, a support shaft 4 and a fifth bearing 15. The first bearing 3 Embedded on the outer side wall of the first joint head 2, the fifth bearing 15 is embedded on the inner side wall of the second joint head 14, one end of the support shaft 4 is inserted into the first bearing 3, and the support shaft 4 The other end is inserted into the fifth bearing 15 . Other components and connections are the same as those in the first embodiment.

Specific Embodiment Three: This embodiment is described in conjunction with FIG. 1. The second connection assembly of a human-computer interaction force detection device described in this embodiment includes a third bearing 11, an optical axis 12, and a fourth bearing 13. The third bearing 11 It is embedded on the outer wall on the other side of the first joint head 2, and the fourth bearing 13 is embedded on the inner wall on the other side of the second joint head 14. One end of the optical axis 12 is inserted into the third bearing 11, and the optical axis The other end of 12 is inserted in the fourth bearing 13. Other components and connections are the same as those in the first embodiment.

Embodiment 4: This embodiment is described in conjunction with FIG. 1. The magnetic encoder 8 of a human-computer interaction force detection device described in this embodiment is composed of a chip and a magnetic disk. The chip is connected to the upper end of the binding rod 9, and the magnetic disk is connected to the The other end of shaft 5 is connected. Other components and connections are the same as those in the first embodiment.

Embodiment 5: This embodiment is described with reference to FIG. 1 . The human-computer interaction force detection device described in this embodiment further includes a protective case 16 , and the protective case 16 is fastened on the outer surface of the upper end of the binding rod 9 . Other components and connections are the same as those in the first embodiment.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but as long as they do not depart from the technical solution of the present invention, according to the technical content of the present invention Within the spirit and principles of the present invention, any simple modifications, equivalent replacements and improvements made to the above embodiments still fall within the scope of protection of the technical solutions of the present invention.

Claims (5)

1. A kind of 1. man-machine interaction force checking device, it is characterised in that：A kind of man-machine interaction force checking device is included outside first Bone bar (1), the first ball and socket joint (2), connecting shaft (5), key (6), second bearing (7), magnetic coder (8), bondage bar (9), bullet Property body (10), second joint head (14), the first connection component and the second connection component, the lower end of the first ectoskeleton bar (1) and the The upper end connection of one ball and socket joint (2), the first ball and socket joint (2) side lateral wall pass through first connection component and second joint head (14) side madial wall is rotatablely connected, and the first ball and socket joint (2) opposite side lateral wall is closed by second connection component and second Section header (14) opposite side madial wall is rotatablely connected, and one end of connecting shaft (5) passes through bolt and second joint head (14) side outside Wall is connected, and magnetic coder (8), second bearing (7), elastomer (10) are sleeved in connecting shaft (5) successively from outside to inside, and elasticity Body (10) is connected by key (6) with the lateral wall of connecting shaft (5), and the upper end of bondage bar (9) is sleeved in second bearing (7).
2. A kind of 2. man-machine interaction force checking device according to claim 1, it is characterised in that：First connection component includes Clutch shaft bearing (3), support shaft (4) and 5th bearing (15), clutch shaft bearing (3) are inlaid in the first ball and socket joint (2) side lateral wall On, 5th bearing (15) is inlaid on the madial wall of second joint head (14) side, and one end of support shaft (4) is inserted into clutch shaft bearing (3) in, the other end of support shaft (4) is inserted into 5th bearing (15).
3. A kind of 3. man-machine interaction force checking device according to claim 1, it is characterised in that：Second connection component includes 3rd bearing (11), optical axis (12) and fourth bearing (13), 3rd bearing (11) are inlaid on the outside of the first ball and socket joint (2) opposite side On wall, fourth bearing (13) is inlaid on second joint head (14) opposite side madial wall, and one end of optical axis (12) is inserted into the 3rd In bearing (11), the other end of optical axis (12) is inserted into fourth bearing (13).
4. A kind of 4. man-machine interaction force checking device according to claim 1, it is characterised in that：Magnetic coder (8) by chip and Disk is formed, and chip is connected with the upper end of bondage bar (9), and disk is connected with the other end of connecting shaft (5).
5. A kind of 5. man-machine interaction force checking device according to claim 1, it is characterised in that：A kind of man-machine interaction power inspection Surveying device also includes containment vessel (16), and containment vessel (16) spiral-lock is on the lateral surface of bondage bar (9) upper end.