CN221037914U - Testing device and testing system for soft rehabilitation robot - Google Patents
Testing device and testing system for soft rehabilitation robot Download PDFInfo
- Publication number
- CN221037914U CN221037914U CN202323177301.5U CN202323177301U CN221037914U CN 221037914 U CN221037914 U CN 221037914U CN 202323177301 U CN202323177301 U CN 202323177301U CN 221037914 U CN221037914 U CN 221037914U
- Authority
- CN
- China
- Prior art keywords
- corrugated pipe
- sliding platform
- bellows
- guide rail
- dynamometer
- 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
- 238000012360 testing method Methods 0.000 title claims abstract description 34
- 238000007789 sealing Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Landscapes
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The utility model provides a testing device and a testing system for a soft rehabilitation robot, wherein the device is used for testing the performance of a corrugated pipe of a power glove and comprises the following components: the support frame is provided with a fixing piece, and the fixing piece is used for fixing one end of the corrugated pipe; the dynamometer is arranged on the sliding platform and slides relative to the supporting frame, and a dynamometer end of the dynamometer is arranged to be connected with the other end of the corrugated pipe when the corrugated pipe is tested; and when the corrugated pipe is tested, the supporting frame is used for supporting the corrugated pipe and keeping the corrugated pipe in a horizontal state. The device is used for obtaining pushing force or pulling force generated by the corrugated pipe under different pneumatic driving.
Description
Technical Field
The utility model relates to the technical field of rehabilitation equipment, in particular to a testing device and a testing system for a soft rehabilitation robot.
Background
Currently, as a commonly used hand rehabilitation device, pneumatic gloves are used for assisting training of hand functions of a patient. The pneumatic glove is provided with a corrugated pipe at the back of the glove corresponding to each finger, and the corrugated pipe stretches and contracts by adjusting the air pressure in the corrugated pipe, so that the finger part can be driven to perform buckling movement.
With the repeated use of the pneumatic glove, the bellows can be synchronously stretched and contracted, and aging or abrasion is difficult to avoid. In the production or maintenance process of pneumatic gloves, it is difficult to accurately obtain the pushing force or pulling force generated by the bellows under different air pressures. The pneumatic glove has the advantages that the pushing force or the pulling force generated by the corrugated pipe is insufficient, so that the power of the pneumatic glove is insufficient during rehabilitation training, and the rehabilitation effect of a patient cannot be expected. Excessive pushing or pulling forces that can be generated by the bellows can cause the patient to be subjected to athletic injuries. Therefore, a new testing device and a testing system for a soft rehabilitation robot are needed to improve the above problems.
Disclosure of utility model
The utility model aims to provide a testing device and a testing system for a soft rehabilitation robot, wherein the testing device is used for obtaining pushing force or pulling force generated by a corrugated pipe under different pneumatic driving.
In a first aspect, the present utility model provides a testing device for testing a bellows, comprising: the support frame is provided with a fixing piece, and the fixing piece is used for fixing one end of the corrugated pipe; the dynamometer is arranged on the sliding platform and slides relative to the supporting frame, and a dynamometer end of the dynamometer is arranged to be connected with the other end of the corrugated pipe when the corrugated pipe is tested; and when the corrugated pipe is tested, the supporting frame is used for supporting the corrugated pipe and keeping the corrugated pipe in a horizontal state.
The device has the beneficial effects that: according to the utility model, by arranging the dynamometer, the tension or the thrust of the corrugated pipe under different pneumatic driving can be tested, the power of the pneumatic glove during rehabilitation training can be ensured to meet the requirement, and the rehabilitation effect is improved while the patient is prevented from being damaged by sports. The support frame is used for supporting the corrugated pipe, so that the corrugated pipe is kept in a horizontal state, and accurate measurement of radial pushing force or pulling force of the corrugated pipe is facilitated.
Optionally, the device further comprises a guide rail; the guide rail is fixed on the support frame; the sliding platform is arranged to slide on the guide rail.
Optionally, the sliding platform is provided with a limiting piece, and the limiting piece is used for fixing the sliding platform relative to the guide rail; or the limiting piece is used for limiting the movable area of the sliding platform relative to the guide rail.
Optionally, the sliding platform or the fixing piece is connected with a range finder; the range finder is used for obtaining the distance between two ends of the corrugated pipe.
Optionally, the fixing piece is a groove structure, and one end of the corrugated pipe is clamped in the groove structure.
Optionally, the device also comprises an air source module; the air source module is connected with an air port at one end of the corrugated pipe and is used for inflating the corrugated pipe or exhausting air from the corrugated pipe.
Optionally, a connector is arranged at the force measuring end of the force measuring meter; the connector is provided as two half-shells which are detachably connected and are used for accommodating and sealing the other end of the corrugated pipe when being connected with each other; the two half-shells are used to release the bellows when separated from each other.
Optionally, the load cell and the load cell end are arranged to be coaxial with the bellows during testing of the bellows.
Optionally, the guide rail is provided as a screw rod, and the screw rod penetrates through the through hole of the sliding platform; the limiting piece is arranged as a nut and is in threaded connection with the screw rod.
Optionally, the guide rail is a columnar rod, and the columnar rod penetrates through the through hole of the sliding platform; the limiting piece is arranged as a flexible conical bushing; the outer diameter of the first end of the flexible conical bushing is smaller than the aperture of the through hole; the first end of the flexible conical bushing faces the sliding platform; the outer diameter of the second end of the flexible conical bushing is larger than the aperture of the through hole; the second end of the flexible tapered bushing is remote from the sliding platform.
In a second aspect, the present utility model provides a test system for a soft rehabilitation robot, comprising: the test device of any one of the first aspects and at least one bellows for testing a push force value and a pull force value of the at least one bellows.
Drawings
FIG. 1 is a schematic perspective view of a testing device according to the present utility model;
FIG. 2 is a schematic view of the structure shown in FIG. 1A according to the present utility model;
FIG. 3 is a schematic diagram of a test system for a soft rehabilitation robot according to the present utility model;
FIG. 4 is a schematic side view of a testing device according to the present utility model;
Fig. 5 is a schematic structural view of a sliding platform and a flexible conical bushing according to the present utility model.
Reference numerals in the drawings:
1. A first fixing member; 2. a second fixing member; 21. a fixing member; 3. a support frame; 31. supporting feet; 4. a sliding platform; 41. a mounting part; 5. a load cell; 51. a connector; 511. a first half shell; 512. a second half shell; 52. a push-pull rod; 53. a range finder; 6. a bellows; 7. a guide rail; 8. a limiting piece; 9. and a gas source module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
In view of the problems of the prior art, as shown in fig. 1 and 2, the present utility model provides a testing device, including: the device comprises a support frame 3, a fixing piece 21, a sliding platform 4 and a dynamometer 5; the support frame 3 is rectangular, the sliding platform 4 and the dynamometer 5 are both arranged on the inner side of the support frame 3, and the dynamometer 5 is positioned on the top side of the sliding platform 4; the movable end of the corrugated pipe 6 is connected with the dynamometer 5, the other end of the corrugated pipe 6 far away from the dynamometer 5 is connected with the fixing piece 21, and the fixing piece 21 is positioned on the supporting frame 3; when the corrugated pipe 6 stretches, the dynamometer 5 and the sliding platform 4 are driven to slide in a first direction; when the bellows 6 is shortened, the load cell 5 and the sliding platform 4 are driven to slide in the opposite direction to the first direction.
Specifically, the top end of the supporting frame 3 is symmetrically provided with a first fixing piece 1 and a second fixing piece 2; the sliding platform 4 is arranged between the first fixing piece 1 and the second fixing piece 2. The fixing member 21 is fixed to the second fixing member 2. According to the embodiment, the sliding platform is arranged, so that the dynamometer can be driven to move, and the corrugated pipes with different lengths can be tested.
In other embodiments, the sliding platform 4 is provided with a mounting portion 41, said mounting portion 41 being detachably connected to said load cell 5. In still other embodiments, the bottom side of the support frame 3 is provided with supporting feet 31, and the supporting feet 31 are used for adjusting the height of the support frame 3 so that the support frame 3 is horizontally arranged.
In still other embodiments, the first fixing member 1 and the second fixing member 2 are both slidably connected to the supporting frame 3; the position of the first fixing member 1 and the second fixing member 2 is convenient to adjust in this embodiment, and then the first fixing member 1 and the second fixing member 2 are fixed on the supporting frame 3 by bolts, so that the position of the first fixing member 1 and the second fixing member 2 can be adjusted in this embodiment. The corrugated pipe 6 is lengthened or shortened along the axial direction of the corrugated pipe in the testing process, so that the testing precision is improved. In still other embodiments, the load cell 5 and the load cell 5 load cell end are arranged to be coaxial with the bellows 6 and in a first direction when the bellows 6 is tested.
As shown in fig. 2 and 3, in some embodiments, the end of the load cell 5 adjacent to the bellows 6 is provided with a connector 51; the connector 51 is used to clamp the moving end of the bellows 6. Specifically, as shown in fig. 3, the connector 51 is configured as a first half shell 511 and a second half shell 512 that are detachably connected, and the first half shell 511 and the second half shell 512 are used for accommodating the moving end of the bellows 6 when being connected to each other; for releasing the mobile end of the bellows 6 when the two half-shells are separated from each other. This embodiment is applicable to the case where the moving end of the bellows 6 is open, and the first half shell 511 and the second half shell 512 are used to accommodate and seal the moving end of the bellows 6 when they are connected to each other.
Illustratively, the first half shell 511 and the second half shell 512 are symmetrically arranged about a central axis of the bellows 6, the central axis being parallel to the first direction, and the first half shell 511 and the second half shell 512 are connected by a snap fit. In other examples, the first half shell 511 is configured as a first flange, and the second half shell 512 is configured as a second flange, where the contact surface between the first flange and the second flange is annular and perpendicular to the first direction.
In still other examples, the fixing member 21 is configured as a clamping groove, and the clamping groove is configured as a U-shaped groove structure. It should be noted that, the radial dimension of the bellows 6 varies periodically along the first direction, and the width W of the clamping groove satisfies:
W1≤W<W2
Wherein W1 is the minimum outer diameter of the bellows 6, and W2 is the maximum outer diameter of the bellows 6. In still other examples, the fixing member 21 may be provided in any shape capable of engaging the bellows 6.
It should be noted that the dynamometer 5 or the sliding platform 4 is connected with a push-pull rod 52; the push-pull rod 52 is arranged on one side far away from the connector 51; the push-pull rod 52 is used for providing a force application point so as to drive the dynamometer 5 and the sliding platform 4 to be close to the fixing piece 21 or far away from the fixing piece 21, and the movable end position of the corrugated pipe is adjusted before testing, so that the indication number of the dynamometer 5 is 0.
In some embodiments, the centers of the connector 51 and the fixing member 21 are located on the same horizontal axis; the horizontal axis is parallel to a first direction; when the bellows 6 is elongated in the first direction, the connector 51 moves the sliding platform 4 and the load cell 5 in the first direction. When the bellows 6 shortens in the opposite direction of the first direction, the connector 51 drives the sliding platform 4 and the load cell 5 to move in the opposite direction of the first direction.
In some embodiments, the sliding platform 4 has a range finder 53 connected thereto; the distance meter 53 faces the fixing member 21. In other embodiments, the fixing member 21 is connected to a distance meter 53; the distance meter 53 is directed towards the sliding platform 4. The distance meter 53 is used to obtain the distance of the sliding platform 4 relative to the fixed part 21, so as to obtain the length of the bellows 6.
As shown in fig. 4, in some embodiments, a guide rail 7 is disposed between the first fixing member 1 and the second fixing member 2, and the sliding platform 4 is slidably connected to the guide rail 7. The direction of extension of the guide rail 7 is along said first direction.
Specifically, a limiting piece 8 is arranged on the outer side of the guide rail 7, and the sliding platform 4 is located in a first direction of the limiting piece 8. Referring to fig. 3 and 4, the end of the bellows 6 remote from the load cell 5 is provided with an air port which communicates with an air source module 9. The air source module 9 is used for inflating the corrugated pipe 6 or exhausting air from the corrugated pipe 6. The embodiment is connected with the corrugated pipe through the arranged air source module; the control air source module is used for providing positive pressure or negative pressure for the corrugated pipe and can detect the air pressure in the corrugated pipe in real time.
The gas source module 9 is, for example, provided as a pneumatic main unit. In another example, the air source module 9 may be configured as any type of bidirectional air pump, so long as the tensile force and the thrust force of the bellows 6 under different air pressures are satisfied.
When the air source module 9 applies negative pressure to the bellows 6, the air pressure in the bellows 6 is smaller than the air pressure outside the bellows 6, the bellows 6 contracts and applies tension to the dynamometer 5 through the connector 51, the dynamometer 5 and the sliding platform 4 move together toward the fixing member 21, the limiting member 8 in this embodiment is used for preventing the sliding platform 4 from continuing to approach the fixing member 21, and the movable area of the sliding platform 4 is locked at the first direction side of the limiting member 8.
In other specific embodiments, the limiting member 8 is located in the first direction of the sliding platform 4, when the air source module 9 applies positive pressure to the bellows 6, the air pressure in the bellows 6 is greater than the air pressure outside the bellows 6, the bellows 6 stretches, and applies thrust to the dynamometer 5 through the connector 51, the dynamometer 5 and the sliding platform 4 together move away from the fixing member 21 in the first direction, the limiting member 8 in this embodiment is used to prevent the sliding platform 4 from moving away from the fixing member 21, and the moving area of the sliding platform 4 is locked on the opposite side of the first direction of the limiting member 8.
It is worth to be noted that, in this embodiment, the air source module is connected to the bellows; the control air source module is used for providing positive pressure or negative pressure for the corrugated pipe and can detect the air pressure in the corrugated pipe in real time; according to the utility model, by arranging the dynamometer, the tension or the thrust of the corrugated pipe under different pneumatic driving can be tested, the power of the pneumatic glove during rehabilitation training can be ensured to meet the requirement, and the rehabilitation effect is improved while the patient is prevented from being damaged by sports. In addition, through setting up slide platform can drive the dynamometer and remove before the test, can satisfy the bellows of different length of test.
Specifically, before the air source module 9 starts to operate, the bellows 6 is horizontally relaxed, and the gauge of the dynamometer 5 is 0. When the air source module 9 applies a negative pressure to the bellows 6, the tension of the bellows 6 on the load cell 5 can be obtained by reading the gauge of the load cell 5. When the air source module 9 applies positive pressure to the bellows 6, the thrust of the bellows 6 against the load cell 5 can be obtained by reading the indication of the load cell 5. Based on the pushing force or the pulling force, the length of each deformation of the corrugated tube 6 is recorded, and the rigidity of the corrugated tube 6 can be calculated. The same corrugated pipe 6 is controlled to stretch and retract for many times, and the deformation quantity of the corrugated pipe 6 can be obtained by comparing the lengths of the corrugated pipe 6 before and after the many times of stretching and retracting movements in a relaxed state, so that the service life of the corrugated pipe 6 is conveniently calculated.
More specifically, the guide rail 7 is provided as a screw that penetrates through the through hole of the sliding platform 4; the limiting piece 8 is arranged as a nut and is in threaded connection with the screw rod.
In other more specific embodiments, as shown in fig. 5, the guide rail 7 is provided as a columnar rod, and the columnar rod penetrates through the through hole of the sliding platform 4; the limiting piece 8 is provided as a flexible conical bushing; the first end of the flexible conical bushing faces the limiting piece 8, and the second end of the flexible conical bushing is far away from the limiting piece 8; the through hole inner diameter D of the sliding platform 4 meets the following conditions:
D1≤D<D2
Wherein D1 is the outer diameter of the first end of the flexible conical bushing, and D2 is the outer diameter of the second end of the flexible conical bushing.
While embodiments of the present utility model have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present utility model as set forth in the following claims. Moreover, the utility model described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (10)
1. A test device for testing a bellows, comprising:
The support frame is provided with a fixing piece, and the fixing piece is used for fixing one end of the corrugated pipe;
The dynamometer is arranged on the sliding platform and slides relative to the supporting frame, and a dynamometer end of the dynamometer is arranged to be connected with the other end of the corrugated pipe when the corrugated pipe is tested;
And when the corrugated pipe is tested, the supporting frame is used for supporting the corrugated pipe and keeping the corrugated pipe in a horizontal state.
2. The apparatus of claim 1, further comprising a guide rail; the guide rail is fixed on the support frame; the sliding platform is arranged to slide on the guide rail.
3. The device according to claim 2, wherein the sliding platform is provided with a stop for fixing the sliding platform relative to the guide rail;
Or the limiting piece is used for limiting the movable area of the sliding platform relative to the guide rail.
4. The device according to claim 2, wherein a range finder is connected to the sliding platform or fixture; the range finder is used for obtaining the distance between two ends of the corrugated pipe.
5. The device of claim 1 or 2, wherein the securing member is a slot-like structure in which one end of the bellows is engaged.
6. The device according to claim 1 or 2, characterized in that the force measuring end of the force measuring meter is provided with a connector; the connector is provided as two half-shells which are detachably connected and are used for accommodating and sealing the other end of the corrugated pipe when being connected with each other; the two half-shells are used to release the bellows when separated from each other.
7. The apparatus of claim 1, wherein the load cell and a load end of the load cell are arranged to be coaxial with the bellows when the bellows is tested.
8. A device according to claim 3, characterized in that the guide rail is provided as a screw which extends through a through-hole of the sliding platform;
the limiting piece is arranged as a nut and is in threaded connection with the screw rod.
9. A device according to claim 3, wherein the guide rail is provided as a cylindrical rod which extends through a through hole of the sliding platform; the limiting piece is arranged as a flexible conical bushing;
The outer diameter of the first end of the flexible conical bushing is smaller than the aperture of the through hole; the first end of the flexible conical bushing faces the sliding platform;
The outer diameter of the second end of the flexible conical bushing is larger than the aperture of the through hole; the second end of the flexible tapered bushing is remote from the sliding platform.
10. A test system for a soft rehabilitation robot, comprising: the test device of any one of claims 1-9 and at least one bellows for testing a push value and a pull value of the at least one bellows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323177301.5U CN221037914U (en) | 2023-11-23 | 2023-11-23 | Testing device and testing system for soft rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323177301.5U CN221037914U (en) | 2023-11-23 | 2023-11-23 | Testing device and testing system for soft rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221037914U true CN221037914U (en) | 2024-05-28 |
Family
ID=91131253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323177301.5U Active CN221037914U (en) | 2023-11-23 | 2023-11-23 | Testing device and testing system for soft rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221037914U (en) |
-
2023
- 2023-11-23 CN CN202323177301.5U patent/CN221037914U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108931425B (en) | Tensile strength test equipment is used in production of fish scale rubber sleeve | |
| KR101213023B1 (en) | Hydro test apparatus | |
| CN112113720B (en) | Multistation ball gas tightness testing arrangement | |
| CN115561078A (en) | Tension testing device for stainless steel corrugated hose | |
| CN221037914U (en) | Testing device and testing system for soft rehabilitation robot | |
| CN110779468A (en) | Metal pipe bending resilience measuring device | |
| CN218192867U (en) | Positioning device for pipeline cutting | |
| CN214893938U (en) | Microcomputer control ring rigidity tester | |
| CN213239371U (en) | Air tightness detection device for hydraulic cylinder | |
| CN116222910A (en) | Hydraulic cylinder body tightness detection equipment and application method thereof | |
| KR20160095350A (en) | Apparatus for checking movement performance of rubber extension joints | |
| CN208443657U (en) | A kind of easy stretching force detecting apparatus | |
| CN219551776U (en) | Nitrogen return cylinder air tightness detection device | |
| CN112518609A (en) | Guide positioning mechanism for catheter | |
| CN108982082B (en) | Test device for static load capacity | |
| CN219178415U (en) | Swelling deformation dimension measuring instrument for pressure-bearing special equipment | |
| CN220217373U (en) | Inner wall ring support unit | |
| CN220650313U (en) | Rubber joint test equipment | |
| CN220838797U (en) | Automatic corrugated pipe assembling machine | |
| CN106918506B (en) | Compression permanent deformation test device for automobile glass guide groove | |
| CN213812847U (en) | Full-automatic stability testing arrangement of expansion joint | |
| CN215574261U (en) | Constant-pressure tension testing machine | |
| CN114166382B (en) | Gastrointestinal tract micro-robot motion mechanics testing system | |
| CN110530719A (en) | Propellant one directional tensile test device and method | |
| CN216816330U (en) | Metal collapsible tube bending rigidity detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |