CN202582805U - Four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training - Google Patents
Four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training Download PDFInfo
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- CN202582805U CN202582805U CN 201120306559 CN201120306559U CN202582805U CN 202582805 U CN202582805 U CN 202582805U CN 201120306559 CN201120306559 CN 201120306559 CN 201120306559 U CN201120306559 U CN 201120306559U CN 202582805 U CN202582805 U CN 202582805U
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- force
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- linear bearing
- torque sensor
- spacefarer
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Abstract
Provided is a four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training. A first grabbing rod pedestal is in rotation connection with a second grabbing rod pedestal; both the first grabbing rod pedestal and the second grabbing rod pedestal are provided with a grabbing force measurement device; the grabbing measurement device is composed of a three dimensional force transducer, a switch block, a torque sensor, a cylindrical grabbing rod, a straight line bearing base, a straight line bearing and a two dimensional force transducer. A flange plate on the three dimensional force transducer is in connection with a lower surface of the switch block; the side surface of the switch block is in connection with the torque sensor; a calibration shaft of the three dimensional force transducer is perpendicular to a calibration shaft of the torque sensor; one end of the cylindrical grabbing rod is sleeved on the calibration shaft of the torque sensor and is in rigid connection with the calibration shaft of the torque sensor; the straight line bearing is assembled in the straight line bearing base through interference fit; an inner ring of the straight line bearing is mounted on the other end of the cylindrical grabbing rod; the straight line bearing is in slide connection with the cylindrical grabbing rod; the lower surface of the straight line bearing base is in connection with a flange plate of the two dimensional force transducer.
Description
Technical field
The utility model relates to a kind of multidimensional power device for measuring force, when particularly a kind of spacefarer carries out the training of climbing activity out of my cabin in the simulation space environment, is used to measure the device for measuring force of the four-dimensional grasp force of spacefarer right-hand man.
Background technology
Airship is during orbital flight, and the spacefarer is under the microgravity environment.When the spacefarer carries out extravehicular activity, often need be assembled to a space equipment on another space equipment, perhaps move to another working position from a working position.When accomplishing above-mentioned deliver from vault task, the most important thing is to make health to remain on certain position or carry out health effectively and move.The best approach that health moves is upside down, and in the face of the direction that will move, arm is done the climbing motion to some fixed object around buttressing.In extravehicular activity, the sportsman grasps fixed object and does the very big difference of climbing motion existence on spacefarer's climbing campaign and the common ground, and the muscular strength and the endurance of spacefarer's hand, wrist and arm are more even more important than cardiovascular function.
In order to guarantee that the spacefarer can successfully accomplish the extravehicular activity task, need strengthen the extravehicular activity training of ground simulation space environment to the spacefarer.The extravehicular activity training comprises that the spacefarer wears extravehicular space suit; Utilize tightrope that spacefarer's waist is hitched and is suspended in the air; Spacefarer's one hand or both hands grasp the training bar that is positioned over ground; How exercise through grasping the stable own health of training bar, prevents arbitrarily to rotatablely move, and with oneself certain location of health maintenance and angle; How exercise moves the health of oneself through grasping the training bar to specific target and direction.For cooperating the spacefarer to accomplish above-mentioned ground simulation extravehicular activity climbing training smoothly; Need research spacefarer arm in simulation extravehicular activity climbing training that the biomechanical characterization of grasping body is designed a kind of measurement mechanism that can measure the four-dimensional grasp force of spacefarer right-hand man.
Chinese patent CN101832834A discloses the lever apparatus of grabbing that is used for climbing training under weightless environment; To the three-dimensional grasp force of training bar, compare in the time of can measuring personnel's climbing training under the weightlessness with the utility model, when two force transmission shafts that are fixed in the three-dimensional force sensor on the support with grab bar when being rigidly connected; The whole lever apparatus of grabbing constitutes statically indeterminate system; Grabbing correct mounting distance on the bar nuance is arranged the time when the actual range of two force transmission shafts and force transmission shaft, grabbing lever apparatus inside, grabbing bar and will produce huge internal force two three-dimensional force sensors along the Y direction; Therefore two three-dimensional force sensors record when making a concerted effort to be not only personnel's climbing training to the three-dimensional grasp force of training bar; Also comprise the effect internal force of grabbing two three-dimensional force sensors of pole pair, the bad measurement of this effect internal force also has changeability, has a strong impact on measuring accuracy; And this is grabbed lever apparatus and is not distinguished the right-hand man; Can not regulate long and two relative angles that bar is long of the bar of grabbing lever apparatus, the moment of torsion that the training bar receives in the time of can not measuring climbing training according to climbing personnel actual needs along training bar central shaft.
The utility model content
The purpose of the utility model provides the device for measuring force that the four-dimensional grasp force of usefulness is trained in a kind of spacefarer's climbing activity out of my cabin that can improve measuring accuracy.
The utility model adopts following technical scheme:
The device for measuring force of the four-dimensional grasp force of a kind of spacefarer climbing activity out of my cabin training usefulness; Comprise that first grabs rod base and second and grab rod base; First grabs rod base and second grabs rod base and is rotationally connected; Grab rod base and second first and grab rod base and all be provided with the grasp force device for measuring force, the grasp force device for measuring force is grabbed bar, linear bearing support, linear bearing, 2 D force sensor by three-dimensional force sensor, switching piece, torque sensor, cylindricality and is formed, and the ring flange on the three-dimensional force sensor is connected with the piece lower surface of transferring; Switching piece side is connected with the matrix of torque sensor; The demarcation axle of three-dimensional force sensor is vertical with the demarcation axle of torque sensor, and cylindricality is grabbed bar one end and is set on the demarcation axle of torque sensor, and is rigidly connected through pin with the demarcation axle of torque sensor; The linear bearing interference fit is in the linear bearing base interior; The linear bearing inner ring is contained in cylindricality and grabs on the other end of bar, and linear bearing and cylindricality grab bar and be slidingly connected, and linear bearing support lower surface is connected with the ring flange of 2 D force sensor.
When the spacefarer carries out climbing training, establish cylindricality and grab bar to receive spacefarer's arm grasp force be F
x, F
y, F
z, be M along Y direction moment of torsion
y, it is f that three-dimensional force sensor records three direction component
X1, F
Y1, F
Z1, it is F that 2 D force sensor records both direction component
X2, F
Y2, it is M that torque sensor records Y direction moment of torsion
Y1, then spacefarer's arm grasp force is F
x, F
y, F
zCan be expressed as:
F
x=F
x1+F
x2，
F
y=F
y1+F
y2，
F
z=F
z1，
M
y=M
y1。
With prior art relatively; The utility model has the advantages that: 1) two grasp force device for measuring force are individually fixed in first and grab the upper surface that rod base, second is grabbed rod base; Can measure left hand, the right hand in the spacefarer's pole-climbing training simultaneously respectively and cylindricality grabbed the four-dimensional grasp force of bar; First grabs rod base and second grabs rod base through the revolute pair fit; Can relatively rotate along rotating shaft each other, make the utility model device to regulate the relative angle that two cylindricalitys are grabbed bar according to spacefarer's build and the actual needs of grabbing the bar posture; 2) the linear bearing inner ring is contained in cylindricality and grabs on the bar; The outer ring is contained on the linear bearing support; Linear bearing support lower surface is connected with the ring flange of 2 D force sensor; The chassis of the matrix of 2 D force sensor is fixed on the diverse location of 2 D force sensor mounting hole, can grabs the length of bar according to spacefarer's build size and actual needs adjusting cylindricality; 3) linear bearing and cylindricality are grabbed bar and are slidingly connected vertically; Avoided the generation of statically indeterminate system, cylindricality is grabbed bar can not produce the internal force along the Y direction to 2 D force sensor and three-dimensional force sensor, has guaranteed measuring accuracy; Otherwise; If 2 D force sensor and three-dimensional force sensor are all grabbed bar with cylindricality and be rigidly connected, the formation statically indeterminate system is when installing actual installation and processing; Owing to reasons such as machine error, mounting meanss; The actual range of the demarcation axle of three-dimensional force sensor and the demarcation axle of 2 D force sensor and above-mentioned two force transmission shafts unavoidably have nuance at the correct mounting distance of grabbing on the bar, and are then inner at device, and cylindricality is grabbed bar can produce the internal force along the Y direction to three-dimensional force sensor and 2 D force sensor; This internal force value is bigger usually; Make three-dimensional force sensor and 2 D force sensor record the power value and not only comprise the grasp force of spacefarer, comprise that also cylindricality grabs bar and can produce the internal force along the Y direction to three-dimensional force sensor and 2 D force sensor, had a strong impact on device four-dimension extracting force measurement to the training bar; 4) linear bearing and cylindricality are grabbed bar except that being in axial sliding connection, and circumferentially are slidingly connected in addition, make that be installed in cylindricality grabs the torque sensor of the bar other end and can accurately measure the spacefarer to grabbing the moment of torsion of bar.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the utility model grabbing device structural representation.
Fig. 3 is the utility model three-dimensional force sensor synoptic diagram.
Fig. 4 is the utility model torque sensor synoptic diagram.
Fig. 5 is the utility model 2 D force sensor synoptic diagram.
Fig. 6 is the utility model linear bearing and linear bearing support synoptic diagram.
Fig. 7 is that the utility model first is grabbed rod base and second and grabbed the rod base synoptic diagram.
Fig. 8 is the grabbing device structural perspective of the utility model.
Embodiment
The device for measuring force of the four-dimensional grasp force of a kind of spacefarer climbing activity out of my cabin training usefulness; First grabs rod base 1 and second grabs rod base 2; First grabs rod base 1 and second grabs rod base 2 and is rotationally connected; Grab rod base 1 and second first and grab rod base 2 and all be provided with the grasp force device for measuring force, this grasp force device for measuring force is grabbed bar 304, linear bearing support 305, linear bearing 306,2 D force sensor 307 by three-dimensional force sensor 301, switching piece 302, torque sensor 303, cylindricality and is formed, and the ring flange 3013 on the three-dimensional force sensor 301 is connected with piece 302 lower surfaces of transferring; Switching piece 302 sides are connected with the matrix 3031 of torque sensor; The demarcation axle 3012 of three-dimensional force sensor is vertical with the demarcation axle 3032 of torque sensor, and cylindricality is grabbed bar 304 1 ends and is set in torque sensor and demarcates on the axle 3032, and is rigidly connected through pin with the demarcation axle of torque sensor 3032; Linear bearing 306 interference fit are in linear bearing pedestal 305 inside; Linear bearing 306 inner rings are contained in cylindricality and grab on the other end of bar 304, and linear bearing 306 grabs bar 304 with cylindricality and be slidingly connected, and linear bearing support 305 lower surfaces are connected with the ring flange 3073 of 2 D force sensor.
Below in conjunction with accompanying drawing and specific embodiment the utility model is described further.
With reference to Fig. 1, be the perspective view of the utility model, the grasp force measurement mechanism is grabbed rod base 1, the second by first and is grabbed rod base 2, the first grasp force device for measuring force 4, the second grasp force device for measuring force 3 and form.
Grasp force device for measuring force structure is with reference to Fig. 2, grabs bar 304, linear bearing support 305, linear bearing 306,2 D force sensor 307 by three-dimensional force sensor 301, switching piece 302, torque sensor 303, cylindricality and forms.With reference to Fig. 3, three-dimensional force sensing 301 comprises the matrix 3011 of three-dimensional force sensor, the demarcation axle 3012 of three-dimensional force sensor, the ring flange 3013 of three-dimensional force sensor.With reference to Fig. 4,2 D force sensor 307 comprises the matrix 3071 of 2 D force sensor, the demarcation axle 3072 of 2 D force sensor, the ring flange 3073 of 2 D force sensor.With reference to Fig. 5, torque sensor 303 comprises the matrix 3031 of torque sensor and the demarcation axle 3032 of torque sensor.The ring flange 3013 of three-dimensional force sensor is connected with switching piece 302 lower surfaces; Switching piece 302 sides are connected with the matrix 3031 of torque sensor; The demarcation axle 3012 of three-dimensional force sensor keeps vertical with the demarcation axle of torque sensor 3032; Cylindricality is grabbed 304 1 sections on bar and is set on the demarcation axle 3032 of torque sensor, and is rigidly connected through pin with the demarcation axle of torque sensor 3032.With reference to Fig. 6, linear bearing 306 interference fit are in linear bearing pedestal 305 inside.With reference to Fig. 2, linear bearing 306 inner rings are contained in cylindricality and grab on the bar 304, and linear bearing 306 is grabbed bar 304 with cylindricality and is slidingly connected, and linear bearing support 305 lower surfaces are connected with 2 D force sensor ring flange 3073.
With reference to Fig. 7; First grabs that an end has the first three-dimensional force sensor mounting hole 101 on the rod base 1; Be used for chassis with three-dimensional force sensor matrix 3011 be fixed on first grab rod base 1 an end; The other end has the first 2 D force sensor mounting hole 102, and the chassis of 2 D force sensor matrix 3071 is fixed on the diverse location of the first 2 D force sensor mounting hole 102, can with 2 D force sensor 307 be fixed on first grab the other end of rod base 1 diverse location; Second grabs that an end has the second three-dimensional force sensor mounting hole 201 on the rod base 2; Be used for chassis with three-dimensional force sensor matrix 3011 be fixed on second grab rod base 2 an end; The other end has the second 2 D force sensor mounting hole 202; The chassis of 2 D force sensor matrix 3071 is fixed on the diverse location of the second 2 D force sensor mounting hole 202, can with 2 D force sensor 307 be fixed on second grab the other end of rod base 2 diverse location.Making two grabbing devices be individually fixed in first grabs rod base 1 and second and grabs rod base 2.First grabs rod base 1 and second grabs rod base 2 and is rotationally connected, and can relatively rotate along rotating shaft.
The device for measuring force dynamometry principle of the four-dimensional grasp force of spacefarer's climbing activity out of my cabin training usefulness is with reference to Fig. 8, when the spacefarer carries out climbing training, establishes cylindricality and grabs bar 304 to receive spacefarer's arm grasp force be F
x, F
y, F
z, be M along Y direction moment of torsion
y, it is F that three-dimensional force sensor records three direction component
X1, F
Y1, F
Z1, it is F that 2 D force sensor records both direction component
X2, F
Y2, it is M that torque sensor records Y direction moment of torsion
Y1, then spacefarer's arm grasp force is F
x, F
y, F
zCan be expressed as:
F
x=F
x1+F
x2，
F
y=F
y1+F
y2，
F
z=F
z1，
M
y=M
y1。
Claims (1)
1. the device for measuring force of the four-dimensional grasp force of spacefarer's climbing activity out of my cabin training usefulness; It is characterized in that; Comprise: first grabs rod base (1) and second grabs rod base (2); First grabs rod base (1) and second grabs rod base (2) and is rotationally connected; Grabbing rod base (1) and second first grabs rod base (2) and all is provided with the grasp force device for measuring force; Described grasp force device for measuring force is grabbed bar (304), linear bearing support (305), linear bearing (306), 2 D force sensor (307) by three-dimensional force sensor (301), switching piece (302), torque sensor (303), cylindricality and is formed; Ring flange (3013) on the three-dimensional force sensor (301) is connected with switching piece (302) lower surface, and switching piece (302) side is connected with the matrix (3031) of torque sensor, and the demarcation axle (3012) of three-dimensional force sensor is vertical with the demarcation axle (3032) of torque sensor; Cylindricality is grabbed bar (304) one ends and is set on the torque sensor demarcation axle (3032); And be rigidly connected through pin with the demarcation axle (3032) of torque sensor, described linear bearing (306) interference fit is in linear bearing pedestal (305) inside, and linear bearing (306) inner ring is contained in cylindricality and grabs on the other end of bar (304); And linear bearing (306) is grabbed bar (304) with cylindricality and is slidingly connected, and linear bearing support (305) lower surface is connected with the ring flange (3073) of 2 D force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120306559 CN202582805U (en) | 2011-08-22 | 2011-08-22 | Four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120306559 CN202582805U (en) | 2011-08-22 | 2011-08-22 | Four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202582805U true CN202582805U (en) | 2012-12-05 |
Family
ID=47252206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120306559 Withdrawn - After Issue CN202582805U (en) | 2011-08-22 | 2011-08-22 | Four-dimensional grabbing force measurement device used for spacefarer outboard climbing activity training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202582805U (en) |
-
2011
- 2011-08-22 CN CN 201120306559 patent/CN202582805U/en not_active Withdrawn - After Issue
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121205 Effective date of abandoning: 20130918 |
|
| RGAV | Abandon patent right to avoid regrant |