One-way force measuring device for eliminating coupling
A force measuring device and a technology for eliminating coupling, applied in the field of rehabilitation training robots, can solve the problems of push-pull one-way force measurement error, affecting the motion control of rehabilitation robots, etc., and achieve the effects of eliminating coupling force, simple structure and convenient installation.
Active Publication Date: 2019-05-07
杭州瑞必莅机器人科技有限公司
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Problems solved by technology
Since the two parts connected by the sensor are installed on the guide rail, if the sensor is rigidly connected to them, the deformation and assembly error of the guide rail itself, the pressure of the limb on the device and other factors will cause other forces that are not caused by the movement push and pull Acting on the sensor, these coupling forces will cause large errors in the measurement of the push-pull unidirectional force, which will affect the motion control of the rehabilitation robot, as well as the accuracy of the analysis of the user's motion state and the rehabilitation effect. Improvements
Method used
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[0028] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0029] like figure 1 and figure 2 As shown, a unidirectional force measuring device that eliminates coupling force includes 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 its characteristics That is, the force measuring device includes a sensor base 3 and a sensor 4 installed in the sensor base 3, and the sensor base 3 includes two oppositely arranged fixed seats 32 and a rotating seat 31, and the fixed seats 32 are fixed Connected to the second connecting plate 2, the first connecting plate 1 is fixedly provided with a joint bearing 6 seat 5, the bearing seat is provided with a joint bearing 6, and the middle part of the rotating seat 31 is fixedly provided with The connecting shaft 7 matched with the joint bearing 6 ; the sensor 4 detects th...
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The invention discloses a one-way force measuring device for eliminating a coupling force. The one-way force measuring device comprises a first connecting plate, a second connecting plate and a forcemeasuring device between the first connecting plate and the second connecting plate; the force measuring device comprises a sensor base and a sensor mounted in the sensor base; the sensor base comprises a fixed base and a rotating base which are oppositely arranged; the fixed base is fixedly connected to the second connecting plate; a knuckle bearing seat is fixedly arranged on the first connecting plate; a knuckle bearing is arranged in the bearing seat; a connecting shaft is fixedly arranged in the middle of the rotating base; and the sensor is used for checking a one-way force between the fixed base and the rotating base. According to the one-way force measuring device, the torsion constraint along three axes under the condition of rigid connection is released through the knuckle bearing on one side, so that the detection of the force by the sensor is prevented from being influenced due to shake, rotation and skew, the coupling force introduced by torsion between the two connectingplates in different directions is eliminated, and the accuracy of detecting the one-way force by the sensor is improved; and therefore, a motion state and a rehabilitation effect of a user can be accurately analyzed.
Description
technical field [0001] The invention relates to the technical field of rehabilitation training robots, in particular to a one-way force measuring device that eliminates coupling. Background technique [0002] With the advancement of robot technology and the improvement of social medical needs, rehabilitation training robots are more and more widely used in rehabilitation medicine. In the reciprocating rehabilitation training robot, the driving device and the limb fixing device are installed on the guide rail, and connected together by the force measuring device, and the unidirectional force generated by mutual pushing and pulling between the two is measured. The control system judges the user's motion state and controls the motion of the driving device according to the measured force to achieve different training functions, so there is a high requirement for force measurement accuracy. Since the two parts connected by the sensor are installed on the guide rail, if the senso...
Claims
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IPC IPC(8): G01L5/00
Inventor 余永朱立奇孟明陈峰
Owner 杭州瑞必莅机器人科技有限公司