CN109724734B - One-way force measuring device capable of eliminating coupling - Google Patents
One-way force measuring device capable of eliminating coupling Download PDFInfo
- Publication number
- CN109724734B CN109724734B CN201910058292.7A CN201910058292A CN109724734B CN 109724734 B CN109724734 B CN 109724734B CN 201910058292 A CN201910058292 A CN 201910058292A CN 109724734 B CN109724734 B CN 109724734B
- Authority
- CN
- China
- Prior art keywords
- seat
- sensor
- connecting plate
- measuring device
- force measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The unidirectional force measuring device for eliminating the coupling force comprises a first connecting plate, a second connecting plate and a force measuring device 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 fixing seat and a rotating seat which are arranged oppositely, the fixing 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 checks the unidirectional force between the fixed seat and the rotating seat; the unidirectional force measuring device releases torsion constraint along three axes under the condition of rigid connection through the joint bearing at one side, avoids the influence of shaking, rotation and deflection on the detection of the force by the sensor, eliminates the coupling force caused by torsion in different directions between the two connecting plates, improves the accuracy of the sensor in detecting the unidirectional force, and further accurately analyzes the motion state and rehabilitation effect of a user.
Description
Technical Field
The invention relates to the technical field of rehabilitation training robots, in particular to a one-way force measuring device capable of eliminating coupling.
Background
Along with the progress of robot technology and the improvement of social medical demands, the rehabilitation training robots are increasingly widely applied to rehabilitation medical treatment. In the reciprocating rehabilitation training robot, a driving device and a limb fixing device are arranged on a guide rail and are connected together through a force measuring device, and unidirectional force generated by mutual push-pull between the driving device and the limb fixing device is measured. 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 force measurement precision is required to be high. Since the two parts connected by the sensor are arranged on the guide rail, if the sensor is rigidly connected with the sensor, the deformation and assembly errors of the guide rail, the pressure of limbs to the device and other acting forces not generated by movement push-pull can act on the sensor, and the coupling forces bring larger errors to the measurement of the push-pull unidirectional acting force, thereby influencing the movement control of the rehabilitation robot, and the accuracy and rehabilitation effect of the movement state analysis of a user, the prior art has improvement.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unidirectional force measuring device for eliminating the coupling force, which releases torsional constraint along three axes under the condition of rigid connection through the joint bearing on one side, eliminates the coupling force caused by torsion in different directions between two connecting plates, improves the accuracy of detecting the unidirectional force by the sensor, and further realizes accurate analysis of the motion state and rehabilitation effect of a user.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the unidirectional force measuring device for eliminating the coupling force comprises a first connecting plate, a second connecting plate and a force measuring device 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 fixing seat and a rotating seat which are arranged oppositely, the fixing 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 joint bearing seat, and a connecting shaft matched with the joint bearing is fixedly arranged in the middle of the rotating seat; the sensor detects unidirectional force between the fixed seat and the rotating seat.
Through adopting above-mentioned technical scheme, the one-way force measuring device has released the torsional constraint along three axis under the rigid connection condition through the joint bearing of one side, has avoided first connecting plate to influence sensor to the detection of force owing to rocking, rotation and crooked, has eliminated the coupling force that twists in different directions and introduce owing to between two connecting plates, improves the accuracy that the sensor detected the one-way force to realize accurate analysis user's motion state and recovered effect.
The invention is further provided with: the sensor seat also comprises a mounting seat for mounting the sensor, the mounting seat comprises a mounting main body which is arranged oppositely, connecting pieces are extended from two sides of the mounting main body, and the two connecting pieces are respectively connected with the fixing seat and the rotating seat.
Through adopting above-mentioned technical scheme, the installation main part in the sensor seat and fixing base, rotate and connect through four connection pieces between the seat and form a four-bar linkage, this link mechanism is perpendicular whole device slip direction, promptly along the sensor dynamometry direction, has very big rigidity to reduce the effect of effort to the sensor along this direction, reduce the coupling force of perpendicular push-and-pull direction.
The invention is further provided with: elastic thin walls are arranged at two ends of the connecting sheet.
By adopting the technical scheme, the elastic thin wall can further eliminate the coupling force between the installation main body and the fixed seat as well as between the installation main body and the rotating seat, and the accuracy of the sensor measurement is further improved.
The invention is further provided with: 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, so that the service life of the sensor seat is prolonged.
The invention is further provided with: 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 coupling force, improves the sensor and receives tensile detection of first connecting plate.
The invention is further provided with: the two sides of the fixing seat are respectively provided with a first bolt in threaded connection with the second connecting plate, and two locating 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 user's dismouting sensor seat of facilitating the use, the fixing base is further fixed through two locating pins, places the fixing base and takes place to rotate, slide on the second connecting plate, further improves the measurement accuracy of sensor.
The invention is further provided with: 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 sensor initial zero setting of being convenient for of second bolt on the one hand, the change of sensor of being convenient for on the other hand.
The invention is further provided with: the sensor is of an S-shaped or double-shear beam or column structure.
By adopting the technical scheme, the sensor can be of various shape structures, and only the single-axis force between two installation main bodies is required to be measured.
In summary, the invention has the following effects:
1. the device releases torsional constraint along three axes under the condition of rigid connection through the knuckle bearing at one side, and eliminates coupling force caused by torsion in different directions between the two connecting plates;
2. the mounting 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 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 acting force along the direction on the sensor is reduced, and the coupling force in the vertical push-pull direction is reduced;
3. the force measuring device is simple in structure and convenient to install, can effectively eliminate coupling force, and can accurately measure push-pull unidirectional acting force.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic illustration of a unidirectional force measuring device when it is under force;
FIG. 2 is a schematic diagram of the overall structure of the unidirectional force measuring device.
In the figure: 1. a first connection plate; 2. a second connecting plate; 3. a sensor mount; 31. a rotating seat; 32. a fixing seat; 33. a mounting main body; 34. a connecting sheet; 341. an elastic thin wall; 342. a notch; 4. a sensor; 5. a joint bearing seat; 6. a knuckle bearing; 7. a connecting shaft; 8. a third bolt; 9. a positioning pin; 10. a first bolt; 11. a second bolt; 12. and (3) a nut.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and fig. 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 arranged in the sensor seat 3, the sensor seat 3 comprises a fixed seat 32 and a rotating seat 31 which are oppositely arranged, the fixed seat 32 is 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 joint bearing seat 5, 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 a mounting main body 33 disposed opposite to the mounting main body 33, and connecting pieces 34 extend from two sides of the mounting main body 33, where the two connecting pieces 34 are respectively connected with the fixing seat 32 and the rotating seat 31.
Further, elastic thin walls 341 are disposed at both ends of the connecting piece 34.
Further, the elastic thin wall 341 has a notch 342 for deformation, and in the practical use process, the notch 342 in the present embodiment may be a one-way or two-way circular arc notch.
Further, the connecting piece 34 is disposed obliquely with respect to the mounting main body 33, and an included angle between the connecting piece 34 and the mounting main body 33 is between 30 ° and 55 ° in actual use.
Further, 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 through the fixed seat 32 and the second connecting plate 2 are arranged between the two first bolts 10.
Further, a second bolt 11 is screwed to the middle of the mounting main body 33, 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 column structure.
It should be noted that modifications and improvements can be made by those skilled in the art without departing from the inventive concept, and these are all within the scope of the present invention.
Claims (4)
1. The unidirectional force measuring device for eliminating the 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 by comprising a sensor seat (3) and a sensor (4) arranged in the sensor seat (3), wherein the sensor seat (3) comprises a fixing seat (32) and a rotating seat (31) which are oppositely arranged, the fixing seat (32) is fixedly connected onto 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 joint bearing seat, and a connecting shaft (7) matched with the joint bearing (6) is fixedly arranged in the middle part of the rotating seat (31); the sensor (4) detects unidirectional force between the fixed seat (32) and the rotating seat (31); the sensor seat (3) further comprises a mounting seat for mounting the sensor (4), the mounting seat comprises a mounting main body (33) which is arranged oppositely, connecting pieces (34) are extended from two sides of the mounting main body (33), and the two connecting pieces (34) are respectively connected with the fixing seat (32) and the rotating seat (31); elastic thin walls are arranged at two ends of the connecting sheet (34); the elastic thin wall is provided with a notch (342) for deformation; the connecting piece (34) is arranged obliquely relative to the mounting body (33).
2. A unidirectional force measuring device for eliminating coupling force according to claim 1, characterized in that the 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 through the fixed seat (32) and the second connecting plate (2) are arranged between the two first bolts (10).
3. A unidirectional force measuring device as claimed in claim 1, characterized in that the middle of the mounting body (33) is threaded with a second bolt (11), the end of the second bolt (11) being fixedly connected with the sensor (4).
4. A unidirectional force measuring device according to claim 3, characterized in that the sensor (4) is of S-type or double shear beam or cylindrical construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058292.7A CN109724734B (en) | 2019-01-22 | 2019-01-22 | One-way force measuring device capable of eliminating coupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058292.7A CN109724734B (en) | 2019-01-22 | 2019-01-22 | One-way force measuring device capable of eliminating coupling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109724734A CN109724734A (en) | 2019-05-07 |
| CN109724734B true CN109724734B (en) | 2023-10-03 |
Family
ID=66299210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910058292.7A Active CN109724734B (en) | 2019-01-22 | 2019-01-22 | One-way force measuring device capable of eliminating coupling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109724734B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246062A (en) * | 2008-03-15 | 2008-08-20 | 燕山大学 | 3-SPR parallel decoupling structure six-dimension force-measuring platform |
| CN101329207A (en) * | 2008-07-02 | 2008-12-24 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry seven-rod parallel connection structure |
| CN201697776U (en) * | 2010-05-31 | 2011-01-05 | 中国航空工业空气动力研究院 | Unidirectional force measurement device with disturbance resistance |
| CN102052983A (en) * | 2010-12-31 | 2011-05-11 | 朱晓东 | Monitoring device for bow net contact pressure |
| CN102435375A (en) * | 2011-09-19 | 2012-05-02 | 燕山大学 | Triple-parallel legged decoupling six-dimensional force measurement sensor comprising elastic mass motion pairs |
| CN103487194A (en) * | 2013-10-15 | 2014-01-01 | 河北联合大学 | Orthogonal decoupling six-dimensional force sensor |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN104236781A (en) * | 2014-09-05 | 2014-12-24 | 燕山大学 | Pulling and pressing both-way decoupling and parallel connecting three-dimensional force sensor |
| CN105571750A (en) * | 2016-03-08 | 2016-05-11 | 武汉理工大学 | Distributed pressure sensing system |
| CN105596018A (en) * | 2016-03-25 | 2016-05-25 | 上海电气集团股份有限公司 | Force sensor-based human motion tendency detection device and detection method |
| CN106109166A (en) * | 2016-06-19 | 2016-11-16 | 河北工业大学 | One drives upper limb rehabilitation robot indirectly |
| CN106225977A (en) * | 2016-07-08 | 2016-12-14 | 燕山大学 | Shunting three plane branch parallel force transducer in six dimensions |
| CN205826188U (en) * | 2016-07-08 | 2016-12-21 | 中国电子科技集团公司第二十一研究所 | Three-dimensional pressure sensor |
| CN106595935A (en) * | 2016-12-14 | 2017-04-26 | 中国燃气涡轮研究院 | Aero-engine vector force test stand capable of realizing self-decoupling |
| CN106595936A (en) * | 2016-12-30 | 2017-04-26 | 北京盘天新技术有限公司 | Three-dimensional combination force measuring device |
| CN107702835A (en) * | 2017-09-18 | 2018-02-16 | 燕山大学 | Restructural parallel connection three-dimensional force/torque sensor |
| CN109100107A (en) * | 2018-08-17 | 2018-12-28 | 中航飞机起落架有限责任公司 | A kind of lateral slip three-dimensional force plate/platform |
| CN209841255U (en) * | 2019-01-22 | 2019-12-24 | 杭州瑞必莅机器人科技有限公司 | Unidirectional force measuring device for eliminating coupling force |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3999729B2 (en) * | 2003-11-28 | 2007-10-31 | 株式会社シロク | Pressure detection device using electromagnetic coupling |
| DE102006060648A1 (en) * | 2006-12-21 | 2008-06-26 | Wabco Gmbh | Sensor device for use with motor vehicle i.e. lorry, has coupling unit with conductor having core and cladding made of different materials, where one material has less thermal conductivity, and sensor partially surrounded by extrusion mass |
| JP2009288198A (en) * | 2008-05-30 | 2009-12-10 | Sony Corp | Torque measuring device and actuator drive control system |
| US8835779B2 (en) * | 2012-09-19 | 2014-09-16 | Honeywell International Inc. | Coordinated ratiometric compensation for high-precision load-cells |
| FR3030036B1 (en) * | 2014-12-16 | 2016-12-09 | Commissariat Energie Atomique | MULTI-DIMENSIONALLY RESPONSIVE EFFORTS SENSOR. |
-
2019
- 2019-01-22 CN CN201910058292.7A patent/CN109724734B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246062A (en) * | 2008-03-15 | 2008-08-20 | 燕山大学 | 3-SPR parallel decoupling structure six-dimension force-measuring platform |
| CN101329207A (en) * | 2008-07-02 | 2008-12-24 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry seven-rod parallel connection structure |
| CN201697776U (en) * | 2010-05-31 | 2011-01-05 | 中国航空工业空气动力研究院 | Unidirectional force measurement device with disturbance resistance |
| CN102052983A (en) * | 2010-12-31 | 2011-05-11 | 朱晓东 | Monitoring device for bow net contact pressure |
| CN102435375A (en) * | 2011-09-19 | 2012-05-02 | 燕山大学 | Triple-parallel legged decoupling six-dimensional force measurement sensor comprising elastic mass motion pairs |
| CN103487194A (en) * | 2013-10-15 | 2014-01-01 | 河北联合大学 | Orthogonal decoupling six-dimensional force sensor |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN104236781A (en) * | 2014-09-05 | 2014-12-24 | 燕山大学 | Pulling and pressing both-way decoupling and parallel connecting three-dimensional force sensor |
| CN105571750A (en) * | 2016-03-08 | 2016-05-11 | 武汉理工大学 | Distributed pressure sensing system |
| CN105596018A (en) * | 2016-03-25 | 2016-05-25 | 上海电气集团股份有限公司 | Force sensor-based human motion tendency detection device and detection method |
| CN106109166A (en) * | 2016-06-19 | 2016-11-16 | 河北工业大学 | One drives upper limb rehabilitation robot indirectly |
| CN106225977A (en) * | 2016-07-08 | 2016-12-14 | 燕山大学 | Shunting three plane branch parallel force transducer in six dimensions |
| CN205826188U (en) * | 2016-07-08 | 2016-12-21 | 中国电子科技集团公司第二十一研究所 | Three-dimensional pressure sensor |
| CN106595935A (en) * | 2016-12-14 | 2017-04-26 | 中国燃气涡轮研究院 | Aero-engine vector force test stand capable of realizing self-decoupling |
| CN106595936A (en) * | 2016-12-30 | 2017-04-26 | 北京盘天新技术有限公司 | Three-dimensional combination force measuring device |
| CN107702835A (en) * | 2017-09-18 | 2018-02-16 | 燕山大学 | Restructural parallel connection three-dimensional force/torque sensor |
| CN109100107A (en) * | 2018-08-17 | 2018-12-28 | 中航飞机起落架有限责任公司 | A kind of lateral slip three-dimensional force plate/platform |
| CN209841255U (en) * | 2019-01-22 | 2019-12-24 | 杭州瑞必莅机器人科技有限公司 | Unidirectional force measuring device for eliminating coupling force |
Non-Patent Citations (1)
| Title |
|---|
| 《一种基于双E型膜片的微小六维力传感器的设计》;余永;《传感技术学报》;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109724734A (en) | 2019-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6108551B2 (en) | Operation assistance device | |
| Knabe et al. | Design of a compact, lightweight, electromechanical linear series elastic actuator | |
| CN209841255U (en) | Unidirectional force measuring device for eliminating coupling force | |
| JP2000074691A (en) | Planar coupler for coordinate measuring apparatus | |
| US7716998B2 (en) | Device for measuring reaction moments and forces on a lever | |
| JPH0295229A (en) | Measuring base | |
| CA1171884A (en) | Adjustable linkage constraining the motion of a member to the motion along a reference axis | |
| JPS61270622A (en) | Mass and force measuring device | |
| JP2012255780A (en) | Force transferring mechanism with attachable and detachable calibration weight | |
| CN100580400C (en) | 3-SPR parallel decoupling structure six-dimension force-measuring platform | |
| US6337547B1 (en) | Linking element with screw jack and its use for an industrial robot arm | |
| CN109724734B (en) | One-way force measuring device capable of eliminating coupling | |
| CN106644257B (en) | Torque measurement verification device | |
| KR100500591B1 (en) | apparatus for measuring of pushing force for a vehicle pedal | |
| CN110154065A (en) | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint | |
| CN110148436B (en) | Large-stroke rotatable three-degree-of-freedom parallel flexible micro-motion platform | |
| US20230123289A1 (en) | Compliant Mechanism for Improving Axial Load Sensing in Robotic Actuators | |
| JP2015154858A (en) | Motion assisting device | |
| US20210060793A1 (en) | Robotic arm and robot | |
| CN109702765B (en) | Power joint device and lower limb assisting equipment | |
| CN214930219U (en) | Sufficient robot joint moment detection mechanism and sufficient robot | |
| US20230266186A1 (en) | Torque sensor element and torque sensor | |
| JP2617489B2 (en) | Joint sensor | |
| CN114441070A (en) | Roeberg structure sensor with unbalance loading resisting function and weighing equipment | |
| US20230173659A1 (en) | Compliant Mechanism for Improving Reaction Torque Sensing in Robotic Actuators |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |