Inclined force measuring device

Abstract

The present invention provides an inclined force measuring device, comprising: a measurement system, a support system, a fixed bracket, an angular displacement sensor, and a processing system; wherein, the measurement system is used to measure the torque applied by a force-applying object to the measurement system and output it to the processing system; one end of the support system is mounted on the fixed bracket, and the other end is mounted on the measurement system. The telescopic movement of the support system drives the measurement system to rotate around the fixed bracket; the angular displacement sensor is mounted at the rotational connection between the fixed bracket and the measurement system and is used to measure the included angle formed by the extension line of the measurement system and the fixed bracket and output it to the processing system; the processing system is used to calculate the weight of the force-applying object and the magnitude of the applied force according to the torque measured by the torque sensor and the angle value measured by the angular displacement sensor. The present invention can achieve all-round inclined force measurement (horizontal, vertical, and inclined forces are all applicable), and is applicable to fields such as medical rehabilitation and industry.

Description

Technical Field

[0001] The present invention relates to the technical field of force measurement, and particularly relates to a device for detecting weight / force in an inclined state. Background Art

[0002] In the field of medical rehabilitation, it is often necessary to measure the force exerted in an inclined state. For example, in the rehabilitation training of the neck and waist, when the patient's neck and waist move to different angles, it is required to provide real-time feedback on the magnitude of the training load; in the industrial field, it is required to measure the weight of goods hanging obliquely. For example, when a single-arm tower crane is handling goods, measuring the weight of the goods being lifted can reduce the weighing link, save working time, and improve work efficiency.

[0003] Therefore, there is an urgent need for a device that can measure weight / force in an inclined state. Summary of the Invention

[0004] The object of the present invention is to provide an inclined force measuring device that can measure weight / force in real time at different inclined angles.

[0005] To achieve the above object, the present invention adopts the following specific technical solutions:

[0006] The present invention provides an inclined force measuring device, including: a measurement system, a support system, a fixed bracket, an angular displacement sensor, and a processing system; wherein, the measurement system is used to measure the torque value T applied by the force-applying object to the measurement system and output it to the processing system; one end of the support system is installed on the fixed bracket, and the other end is installed on the measurement system. The measurement system rotates around the fixed bracket by the telescopic movement of the support system; the angular displacement sensor is installed at the rotational connection between the fixed bracket and the measurement system, and is used to measure the included angle θ formed by the extension line of the measurement system and the fixed bracket and output it to the processing system; the processing system is used to calculate the weight of the force-applying object according to the force value F measured by the measurement system and the angle value θ measured by the angular displacement sensor. The force applied by the force-applying object to the measurement system.

[0007] Preferably, the measurement system includes a first special-shaped member, a second special-shaped member, and a torque sensor. One end of the first special-shaped member is rotatably connected to one end of the second special-shaped member. The other end of the first special-shaped member hangs a heavy object or contacts a person. The other end of the second special-shaped member is rotatably connected to the fixed bracket. The torque sensor is fixed on the second special-shaped member and is in clearance fit with the first special-shaped member, and is used to measure the torque value F applied by the force-applying object to the first special-shaped member.

[0008] Preferably, the first special-shaped member and the second special-shaped member are arranged crosswise, and the intersection of the first special-shaped member and the second special-shaped member is rotatably connected through a bearing.

[0009] Preferably, the bearing is installed within a bearing end block, and a bearing end cover is installed on the bearing end block by means of screws.

[0010] Preferably, a spring hole is formed on the second special-shaped member, a spring is placed within the spring hole, a steel ball is pressed against the top of the spring, a V-shaped groove is formed on the first special-shaped member, and the spring presses the steel ball into the V-shaped groove.

[0011] Preferably, the fixing bracket includes a rotating shaft, the second special-shaped member is installed on the rotating shaft by means of a bearing, and a bearing end cover is installed on the bearing.

[0012] Preferably, the fixed end of the angular displacement sensor is installed on the fixing bracket by means of a mounting bracket, and the axial side end of the angular displacement sensor is installed on the bearing end cover to rotate synchronously with the second special-shaped member.

[0013] Preferably, the support system is a hydraulic or pneumatic transmission system.

[0014] Preferably, the processing system calculates the weight G2 of the force application object through the following formula:

[0015]

[0016] wherein, G1 is the weight of the first special-shaped member, and L1 is the length of the first special-shaped member.

[0017] Preferably, the processing system calculates the force F applied by the force application object to the measurement system through the following formula:

[0018]

[0019] wherein, L1 is the length of the first special-shaped member.

[0020] The present invention can achieve the following technical effects:

[0021] (1) The error caused by processing, installation, friction, etc. of the torque sensor is eliminated through the shafting structure composed of the bearing and the bearing end block, making the structure infinitely close to the theoretical formula, and the measurement accuracy of the device can be improved.

[0022] (2) It has a wide range of applications, can achieve all-round inclined force measurement (horizontal, vertical, and inclined forces are all applicable), and is suitable for fields such as medical rehabilitation and industry.

[0023] (3) When applied to the field of medical rehabilitation, it can provide real-time feedback on the magnitude of the training load when the neck and waist of the patient move to different angles.

[0024] (4) When applied to the industrial field, it can measure the weight of the suspended goods during the process of suspending a single item, thereby reducing the weighing link, saving working time, and improving work efficiency. Description of the Drawings

[0025] Figure 1 is a schematic structural diagram of an inclined force measuring device according to an embodiment of the present invention;

[0026] Figure 2 is a schematic structural diagram of a measurement system according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of the measurement principle of the force applied by a patient perpendicular to the direction of the first special-shaped member;

[0028] Figure 4 is a schematic diagram of the measurement principle of the weight of a heavy object according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the measurement principle of the force in any force application direction according to an embodiment of the present invention.

[0030] The reference numerals therein include: measurement system 1, support system 2, fixed bracket 3, angular displacement sensor 4, processing system 5, first special-shaped member 101, hanging hole 1011, second special-shaped member 102, first bearing 103, second bearing 104, third bearing 105, first bearing end block 106, second bearing end block 107, first screw 108, second screw 109, first bearing end cover 110, second bearing end cover 111, torque sensor 112, spring 113, steel ball 114, third bearing 115, second bearing end cover 116, mounting bracket 6, heavy object 7. Detailed implementation manners

[0031] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention.

[0032] The inclined force measuring device provided by the embodiment of the present invention will be described in detail below.

[0033] Figure 1 Shows the structure of an inclined force measuring device according to an embodiment of the present invention.

[0034] As Figure 1As shown in the figure, the tilt force measuring device provided by the embodiment of the present invention includes: a measurement system 1, a support system 2, a fixed bracket 3, an angular displacement sensor 4, and a processing system 5. The measurement system 1 is used to measure the torque value applied to the measurement system and output it to the processing system 5. The force application object can be a heavy object hanging on the measurement system 1 or a patient applying force to the measurement system 1. One end of the support system 2 is installed on the fixed bracket 3, and the other end is installed on the measurement system 1. The telescopic movement of the support system 2 drives the measurement system 1 to rotate around the fixed bracket 3. The angular displacement sensor 4 is installed at the rotational connection between the fixed bracket 3 and the measurement system 1, and is used to measure the included angle θ formed by the extension line of the measurement system 1 and the fixed bracket 3, and output it to the processing system 5. The processing system 5 is used to calculate the weight of the heavy object or the force applied by the patient to the measurement system 1 according to the torque value T output by the measurement system 1 and the angle value θ output by the angular displacement sensor 4.

[0035] The fixed bracket 3 can be fixed on rehabilitation equipment, lifting equipment, or a moving vehicle body to fix the tilt force measuring device.

[0036] When the fixed bracket 3 is fixed on the rehabilitation equipment, the torque value applied to the measurement system 1 by the part of the patient that needs rehabilitation at different angles is measured in real time through the measurement system 1. The force applied by the patient is calculated according to the torque value, and the size of the training load is fed back in real time and displayed through the processing system 5.

[0037] When the fixed bracket 3 is fixed on the lifting equipment or a moving vehicle body, the heavy object to be weighed is hung on the measurement system 1. The torque value applied by the heavy object to itself is measured through the measurement system 1 and then transmitted to the processing system 5. After converting the analog signal into a digital signal, the processing system 5 calculates the weight of the heavy object. Thus, the weighing of the heavy object can be realized during the process of hanging the heavy object, which can reduce the weighing link, save working time, and improve work efficiency.

[0038] The processing system 5 can be a hardware device with data processing capabilities such as a desktop computer, a laptop computer, a single-chip microcomputer, etc.

[0039] Figure 2 The structure of the measurement system according to an embodiment of the present invention is shown.

[0040] As Figure 2 shown, the measurement system 1 includes a first special-shaped member 101, a hanging hole 1011, a second special-shaped member 102, a first bearing 103, a second bearing 104, a third bearing 105, a first bearing end block 106, a second bearing end block 107, a first screw 108, a second screw 109, a first bearing end cover 110, a second bearing end cover 111, a torque sensor 112, a spring 113, and a steel ball 114.

[0041] Both the first special-shaped member 101 and the second special-shaped member 102 are two-finger fork-shaped structures, enabling the first special-shaped member 101 and the second special-shaped member 102 to be arranged in a crossed manner. A hanging hole 1011 is provided at one end of the first special-shaped member 101 that does not cross the second special-shaped member 102 for hanging heavy objects. The other end of the second special-shaped member 102 is connected to the rotating shaft of the fixed bracket 3 through a third bearing 114 and is rotatably connected to the fixed bracket 3. A second bearing end cover 111 is installed on the third bearing 114 to position the second special-shaped member 102 through the second bearing end cover 111.

[0042] The first bearing 103 and the second bearing 104 are respectively installed at two free ends of the intersection of the first special-shaped member 101 and the second special-shaped member 102. The first bearing end block 106 and the second bearing end block 107 are respectively installed at two free ends of the intersection of the second special-shaped member 102 and the first special-shaped member 101. The first special-shaped member 101 and the second special-shaped member 102 are installed with the first bearing 103, the second bearing 104, the first bearing end block 106, and the second bearing end block 107. The first bearing 103 is installed on the first bearing end block 106, and the second bearing 104 is installed in the second bearing end block 107 to realize the rotation of the first special-shaped member 101 and the second special-shaped member 102 around the first bearing 103 and the second bearing 104.

[0043] First bearing end covers 110 are respectively installed on the first bearing end block 106 and the second bearing end block 107 through first screws 108 to position the up-and-down movement of the first special-shaped member 101 and the second special-shaped member 102, so that the first special-shaped member 101 and the second special-shaped member 102 can only rotate around the centers of the first bearing 103 and the second bearing 104. The first bearing 103 and the second bearing 104 act as the rotating shafts between the first special-shaped member 101 and the second special-shaped member 102.

[0044] The torque sensor 112 is installed at the intersection of the first special-shaped member 101 and the second special-shaped member 102. Specifically, the fixed end of the torque sensor 112 is installed on the second special-shaped member 102, and the force-measuring end of the torque sensor 112 is connected to the left E-shaped member 12 with a clearance. When the first special-shaped member 101 and the second special-shaped member 102 rotate around the first bearing 103 and the second bearing 104, the force-measuring end of the torque sensor 112 is driven to rotate. The torque sensor 112 can then measure the torque T exerted by the heavy object / patient on the first special-shaped member 101 and transmit it to the processing system 5. Since the clearance between the rotating first bearing 103 and the second bearing 104 is much smaller than the movement clearance between the force-measuring end of the torque sensor 112 and the first special-shaped member 101, errors caused by factors such as system friction can be eliminated, enabling the torque sensor 112 to only measure the weight component brought by the self-weight of the first special-shaped member 101, making the structure infinitely close to the theoretical formula. After system conversion and compensation, its load weight / force can be accurately measured.

[0045] A spring hole is opened on the second special-shaped member 102, and the spring 113 is placed in the spring hole. A steel ball 114 is pressed against the top of the spring 113. A V-shaped groove is opened on the first special-shaped member 101, and the spring 113 presses the steel ball 114 into the V-shaped groove, positioning the first special-shaped member 101 and the second special-shaped member 102 at the zero position when there is no external force, so that the torque sensor 112 is not affected by external forces. The angle of the V-shaped groove is preferably 120°, but is not limited to 120° and can also be other angles.

[0046] One end of the support system 2 is installed on the fixed bracket 3, and the other end is installed on the second special-shaped member 102. The telescopic movement of the support system 2 drives the measurement system 1 to rotate around the fixed bracket 3. The support system 2 can be a hydraulic transmission system or a pneumatic transmission system to achieve the telescopic function.

[0047] The fixed end of the angular displacement sensor 4 is installed on the fixed bracket 3 through the mounting bracket 6, and the axial side end of the angular displacement sensor 4 is installed on the second bearing end cover 116 and rotates synchronously with the second special-shaped member 102. After the support system 2 drives the second special-shaped member 102 to rotate and fix at a certain angle, the angle rotated by the second special-shaped member 102, that is, the included angle θ formed by the extension line of the second special-shaped member 102 and the fixed bracket 3, is measured by the angular displacement sensor 4 and transmitted to the processing system 5.

[0048] The angular displacement sensor 4 is a device for measuring angles such as an encoder or an angle sensor.

[0049] The processing system 5 is used to receive the angular value θ measured by the angular displacement sensor 4 and the torque value T measured by the measurement system 1. The torque value T is the torque applied by the patient to the first special-shaped member 101 or the torque applied by the heavy object to the first special-shaped member 101. According to this torque, the weight of the heavy object and the magnitude of the force applied by the patient perpendicular to the direction of the first special-shaped member can be calculated.

[0050] Figure 3 Fig. shows the measurement principle of the force applied by the patient perpendicular to the direction of the first special-shaped member according to an embodiment of the present invention.

[0051] As Figure 3 shown, when the force-applying object is the patient, after analog-to-digital conversion by the processing system 1, the force F applied by the patient perpendicular to the first special-shaped member 101 is calculated according to the following formula to implement feedback on the muscle training load of the patient and display it.

[0052] When the measured value of the torque sensor 112 is T and the centroid position of the first special-shaped member 101 itself is measured in advance as L1 / 2, then there is:

[0053]

[0054]

[0055] T2 = F × L1;

[0056] Wherein, T1 is the torque of the first special-shaped member 101 acting on the rotating shaft between the first special-shaped member 101 and the second special-shaped member 102, G1 is the weight of the first special-shaped member 101, T2 is the torque of the force F acting on the rotating shaft, and L1 is the length of the first special-shaped member 101.

[0057] According to the above formula, it can be deduced that:

[0058] Figure 4 Fig. shows the measurement principle of the weight of the heavy object according to an embodiment of the present invention.

[0059] As Figure 4 shown, when the force-applying person is the heavy object, after analog-to-digital conversion by the processing system 1, the weight G2 of the heavy object 7 is calculated according to the following formula:

[0060] When the measured value of the torque sensor 112 is T and the centroid position of the first special-shaped member 101 itself is measured in advance as L1 / 2, then there is:

[0061]

[0062]

[0063] T2 = G2 × sinθ × L1;

[0064] Wherein, T1 is the torque exerted by the first special-shaped member 101 on the rotating shaft between the first special-shaped member 101 and the second special-shaped member 102, G1 is the weight of the first special-shaped member 101, T2 is the torque exerted by the heavy object 7 on this rotating shaft, and L1 is the length of the first special-shaped member 101.

[0065] It can be deduced from the above formula that:

[0066] As an extension, an angle sensor can be added to the terminal of the first special-shaped member 101 to measure the force value N at any angle attached to the terminal of the first special-shaped member 101.

[0067] Figure 5 The measurement principle of the force N in any force application direction according to an embodiment of the present invention is shown.

[0068] As Figure 5 shown, when the measured value of the torque sensor 112 is T, and the position of the centroid of the first special-shaped member 101 itself is previously measured as L1 / 2, then there is:

[0069]

[0070]

[0071] T2 = N × sinα × L1;

[0072] Wherein, T1 is the torque exerted by the first special-shaped member 101 on the rotating shaft between the first special-shaped member 101 and the second special-shaped member 102, G1 is the weight of the first special-shaped member 101, T2 is the torque exerted by the force N on the rotating shaft, L1 is the length of the first special-shaped member 101, α is the angle between the force N and the first special-shaped member 101, and α is measured by the angle sensor installed at the terminal of the first special-shaped member 101.

[0073] The present invention can measure the weight of a heavy object when hanging the heavy object on the first special-shaped member 101, and an angle sensor can be additionally installed to measure the force value applied in any angular direction. It has a wide range of applications, and the measured value can be infinitely close to the true value as the number of sensors increases. It can reduce the weighing link, save working time, and improve work efficiency.

[0074] The present invention can achieve all-round inclined force measurement (horizontal, vertical, and inclined forces are all applicable), and is widely applicable to fields such as medical rehabilitation and industry.

[0075] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0076] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0077] The above specific implementation manners of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An inclined force measuring device, characterized in that, Including: A measurement system, a support system, a fixed bracket, an angular displacement sensor, and a processing system. Among them, The measurement system is used to measure the torque value applied by the force-applying object to the measurement system , and output it to the processing system; the measurement system includes a first special-shaped member, a second special-shaped member and a torque sensor. One end of the first special-shaped member is rotatably connected to one end of the second special-shaped member. The other end of the first special-shaped member hangs a heavy object or contacts a person. The other end of the second special-shaped member is rotatably connected to the fixed bracket. The torque sensor is fixed on the second special-shaped member and is in clearance fit with the first special-shaped member, and is used to measure the torque value applied by the force-applying object to the first special-shaped member ; One end of the support system is installed on the fixed bracket, and the other end is installed on the measurement system. The telescoping of the support system drives the measurement system to rotate around the fixed bracket. The angular displacement sensor is installed at the rotational connection between the fixed bracket and the measurement system, and is used to measure the included angle formed by the extension line of the measurement system and the fixed bracket, and output the measurement result to the processing system. , and output the measurement result to the processing system. The processing system is used to calculate the weight of the force-applied object or the force applied by the force-applied object to the measurement system according to the torque value measured by the measurement system and the angle value measured by the angular displacement sensor ​ 2. The tilt force measuring device according to claim 1, wherein, The first special-shaped member and the second special-shaped member are arranged crosswise, and the intersection of the first special-shaped member and the second special-shaped member is rotatably connected through a bearing.

3. The tilt force measuring device according to claim 2, wherein, The bearing is installed in the bearing end block, and a bearing end cover is installed on the bearing end block through screws.

4. The tilt force measuring device according to claim 1, wherein A spring hole is opened on the second special-shaped member, a spring is placed in the spring hole, a steel ball is pressed against the top of the spring, and a V-shaped groove is opened on the first special-shaped member. The spring presses the steel ball into the V-shaped groove.

5. The tilt force measuring device according to claim 1, wherein, The fixed bracket includes a rotating shaft, the second special-shaped member is installed on the rotating shaft through a bearing, and a bearing end cover is installed on the bearing.

6. The tilt force measuring device according to claim 5, wherein, The fixed end of the angular displacement sensor is installed on the fixed bracket through a mounting bracket, and the axial side end of the angular displacement sensor is installed on the bearing end cover to rotate synchronously with the second special-shaped member.

7. The tilt force measuring device according to claim 1, wherein The support system is a hydraulic or pneumatic transmission system.

8. The tilt force measuring device according to claim 1, wherein, The processing system calculates the weight of the force-applied object through the following formula :[[]]END]] ； Among them, is the weight of the first special-shaped member, is the length of the first special-shaped member.

9. The tilt force measuring device according to claim 1, wherein The processing system calculates the force exerted by the force - applying object on the measurement system through the following formula : ； Wherein, is the length of the first special-shaped member.

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