Electric power assisting device of hand-wrenching torque output structure and hand-wrenching force detection device

Abstract

The invention relates to an electric power assisting device and output force detecting device of a hand torque output structure, which comprises a device shell used for being buckled on one side of a tool shell where a handle is located during use, and a shell avoiding hole used for avoiding the handle and a shell protruding structure is formed in the device shell. A transmission ring which is coaxially arranged with the handle during use is rotationally assembled on the device shell, an inner hole of the transmission ring is used for avoiding the handle in the installation process of the device shell, the transmission ring is located between the tool shell and the rotating handle, a torque output disc is arranged on the transmission ring, and a handle avoiding notch is formed in the torque output disc; the gap side wall of the opposite side of the handle avoiding gap is used for being matched with the corresponding side of the handle in a pushing mode so as to drive the handle to rotate when the torque output disc rotates, a motor is arranged on the device shell, and the motor is in transmission connection with the transmission ring. The electric power assisting device of the hand torque output structure can conduct electric power assisting on the hand torque output structure.

Description

Technical Field

[0001] The present invention relates to the technical field of manual and electric tools, and particularly relates to an electric assist device for a hand wrench torque output structure and a hand wrench force detection device. Background Art

[0002] A hand wrench torque output structure refers to a tool that uses a handle to output torque externally to achieve certain functional purposes. Its typical structure is like a hand winch. The existing hand winches are as Figures 1 - 2 shown, including a tool housing 1, on which a handle 4 is rotatably assembled. The handle 4 is connected to a chain 5 through a torque transmission structure. A hook 6 is provided at the bottom of the chain 5. On the side of the tool housing where the handle is located, there is a housing protrusion structure 7. The housing protrusion structure 7 is usually a strip-shaped structure. The two short sides of the strip-shaped structure are parallel, and the two long sides of the strip-shaped structure have arc segments. A handwheel 3 is connected to the side of the handle facing away from the tool housing, and one end of the handle connected to the handwheel has a handle ear 2.

[0003] During use, the staff rotates the handle, and the torque transmission mechanism drives the hook end of the chain to move upward, so as to achieve the purpose of lifting heavy objects.

[0004] The problems existing in the existing hand wrench torque output structure are as follows: If the staff uses the handle to output torque for a long time, the working intensity is relatively high. Therefore, there is a need for electric assistance. However, to achieve smooth torque output, the handle also needs to rotate, and it is not very convenient to directly perform electric assistance.

[0005] In addition, the hand wrench force of the hand winch is an important index, which matches the load. Under a certain load, its size characterizes the health status of the hand winch. It is not easy to detect the hand wrench force of the hand wrench torque output structure in the prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide an electric assist device for a hand wrench torque output structure that can perform electric assistance on the hand wrench torque output structure; the purpose of the present invention is also to provide a hand wrench force detection device that can detect the hand wrench force of the hand wrench torque output structure.

[0007] To solve the above technical problems, the technical solution of a hand wrench torque output structure in the present invention is as follows: An electric power assist device with a hand-operated torque output structure includes a device housing that is used to be buckled on the side of the handle of the tool housing during use. A housing avoidance hole for avoiding the handle and the housing protrusion structure is provided on the device housing. A transmission ring that is coaxially arranged with the handle during use is rotatably assembled on the device housing. The inner hole of the transmission ring is used to avoid the handle during the installation of the device housing. The transmission ring is located between the tool housing and the rotating handle. A torque output disc is provided on the transmission ring. The torque output disc has a handle avoidance notch. The opposite side notch side walls of the handle avoidance notch are used to be in a pushing fit with the corresponding side of the handle to drive the handle to rotate when the torque output disc rotates. A motor is provided on the device housing, and the motor is in transmission connection with the transmission ring.

[0008] Further, the shape of the handle avoidance hole matches the housing protrusion structure on the tool housing, and the device housing is in a non-rotating fit with the housing protrusion structure.

[0009] Further, the transmission ring is a sprocket ring. A power sprocket with a diameter smaller than the sprocket ring is rotatably assembled on the device housing. The motor is connected to the power sprocket, and the power sprocket is in transmission connection with the transmission ring through a toothed chain.

[0010] Further, the transmission ring is rotatably fitted with the device housing through a rotating bearing. An installation sleeve located around the handle avoidance hole is fixed on the device housing. The inner ring of the rotating bearing is fixed on the installation sleeve, and the transmission ring is fixed on the outer ring of the rotating bearing.

[0011] Further, the electric power assist device further includes a handwheel pressure disc. The handwheel pressure disc includes a U-shaped fastener body. The U-shaped fastener body includes a main body back plate and side plates provided on both sides of the main body back plate. Connecting edges are provided on the opposite sides of the outer sides of the two side plates. The connecting edges are connected to the torque output disc through bolts. Clamping edges are provided on the opposite sides of the inner sides of the two side plates. A clamping space for clamping to the end of the handle along the extension direction of the handle is formed between the clamping edges and the main body back plate. A handle avoidance channel for avoiding the handle is formed between two adjacent clamping edges. A handwheel pressure nail coaxially arranged with the handwheel is rotatably assembled on the main body back plate.

[0012] The technical solution of the output force detection device in the present invention is as follows: An output force detection device with a hand-operated torque output structure includes a device housing that is used to be buckled on the side of the handle of the tool housing during use. A housing avoidance hole for avoiding the handle and the housing protrusion structure is provided on the device housing. A torque transmission disc coaxially arranged with the handle is rotatably assembled on the device housing. A power connection plate is connected to the torque transmission disc. A force measuring sensor is provided between the power connection plate and the device housing. Transmission arms located on both sides of the handle are also connected to the torque transmission disc. The opposite side of the end of the transmission arm far from the axis of the transmission disc is used to be in a force transmission fit with the end of the handle far from the axis of rotation of the handle.

[0013] Further, a thrust bearing for achieving thrust cooperation with one end of the handle away from the handle rotation axis is arranged on the opposite side of the end of the force transmission arm away from the axis of the transmission disc.

[0014] Further, a connecting arm is arranged between one end of the force transmission arm away from the axis of the transmission disc and one end of the handle away from the handle rotation axis.

[0015] Further, the torque transmission disc is rotationally matched with the device housing through a rotating bearing. An installation sleeve located around the handle avoidance hole is fixed on the device housing. The inner ring of the rotating bearing is fixed on the installation sleeve, and the torque transmission disc is fixed on the outer ring of the rotating bearing. Further, an arc-shaped guide rail coaxial with the torque transmission disc is arranged on the device housing. At least two rollers cooperating with the arc-shaped guide rail are arranged on the power connection plate. The rollers are arranged at intervals along the circumferential direction of the torque transmission disc.

[0016] The beneficial effects of the present invention are as follows: Taking the use of an electric power assist device as an example, the device housing, together with the transmission ring and the torque output disc, is sleeved on the handle along the length direction of the handle. When the device housing moves to the position between the handle and the tool housing, the angle of the device housing is adjusted so that the transmission ring is coaxial with the handle. Subsequently, the housing avoidance hole of the device housing is buckled on the housing convex structure of the tool housing. When the motor works, the torque output disc is driven to rotate through the transmission ring. The torque output disc drives the handle to rotate through the handle avoidance notch, thereby realizing the electric power assist for the hand-operated torque output structure. In the present invention, since the transmission ring is located between the tool housing and the rotating handle, when assisting the rotation of the handle, although the handle rotates, the handle will not interfere with other structures of the electric power assist device, and the smooth progress of the power assist can be realized. Description of the Drawings

[0017] By referring to the drawings and reading the detailed description below, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become easily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, where: Figure 1 is a schematic structural diagram of a hand-operated hoist in the prior art of the present invention; Figure 2 is Figure 1 a side view of Figure 3 is a schematic structural diagram of an embodiment of the electric power assist device in the present invention when the torque output disc is missing; Figure 4 is Figure 3 a schematic diagram of the cooperation of the transmission ring, the bearing, and the device housing in Figure 5 isFigure 3 Schematic structural diagram of the middle device housing; Figure 6 is Figure 3 usage state diagram of; Figure 7 is Figure 3 Schematic structural diagram of the torque output disc in; Figure 8 is Figure 7 A - A sectional view of; Figure 9 is Figure 3 Schematic diagram of the cooperation between the transmission ring and the power sprocket in; Figure 10 is the schematic diagram of the cooperation between the handwheel pressure plate and the torque output disc in the present invention; Figure 11 is the schematic diagram of the cooperation between the handwheel pressure plate, the torque output shaft and the handle in the top - view direction of the present invention; Figure 12 is the schematic diagram of the installation process of the electric assist device in the present invention; Figure 13 is the schematic structural diagram of Embodiment 1 of the output force detection device in the present invention; Figure 14 is Figure 13 side view of; Figure 15 is Figure 13 Schematic diagram of the cooperation between the torque output disc and the power connection plate in; Figure 16 is the schematic structural diagram of Embodiment 2 of the output force detection device in the present invention; 1. Tool housing; 2. Handle ear; 3. Handwheel; 4. Handle; 5. Chain; 6. Hook; 7. Housing convex structure; 8. Housing avoidance hole; 9. Square housing; 10. Device housing; 11. Middle avoidance hole; 12. Peripheral avoidance hole; 13. Installation sleeve; 14. Rotating bearing; 15. Transmission ring; 16. Motor; 17. Power sprocket; 18. Torque output disc; 19. Handle avoidance notch; 20. Thin - wall section; 21. Toothed chain; 22. Handwheel pressure plate; 23. Handwheel pressure nail; 24. Connection edge; 25. Clamping edge; 26. Main body back plate; 27. Side plate; 28. Circular housing; 29. Torque transmission disc; 31. Power connection plate; 32. Force - measuring sensor; 33. Force - transmitting arm; 34. Force - transmitting bearing; 35. Connection arm; 36. Arc - shaped guide rail; 37. Roller. Detailed implementation manners

[0018] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0019] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0020] An embodiment of an electric power assist device with a hand-operated torque output structure in the present invention is as follows: Figures 1 - 12 As shown: The lever torque output structure in this embodiment is a lever block, which includes a tool housing 1, a handle 4 is rotatably mounted on the tool housing, the handle 4 is connected to a chain 5 through a torque transmission structure, a hook 6 is provided at the bottom of the chain 5, and a housing protrusion structure 7 is provided on the tool housing at the side where the handle is located. The housing protrusion structure 7 is usually a long strip structure, the two short sides of the long strip structure are parallel, and the two long sides of the long strip structure have arc segments. A hand wheel 3 is connected to the side of the handle away from the tool housing, and a handle ear 2 is provided at one end of the handle connected to the hand wheel. The lever block belongs to the prior art, and its specific structure will not be described in detail here.

[0021] In order to explain the problem more clearly, in this embodiment, it is defined that the handle is located on the right side of the tool housing, and the rotation axis of the handle extends along the left-right direction.

[0022] The electric power assist device includes a device housing 10 for buckling on the side where the handle of the tool housing is located, that is, the right side. Figures 3 - 4 As shown, it includes a circular shell part and a square shell part 9 arranged on the front side of the circular shell part. A shell avoidance hole 8 for avoiding the handle and the shell protrusion structure is arranged in the center of the circular shell part. The shell avoidance hole in this embodiment includes a middle avoidance hole 11 and a peripheral avoidance hole 12 whose size is larger than the middle avoidance hole. The middle avoidance hole 11 can be adapted to the shell protrusion structure of one type of lever hoist, and the peripheral avoidance hole can be adapted to the shell protrusion structure of another type of lever hoist. For example, in this embodiment, the middle avoidance hole can be adapted to the shell protrusion structure of a 3-ton lever hoist, and the peripheral avoidance hole can be adapted to the shell protrusion structure of a 6-ton lever hoist. The lever hoist in this embodiment is a 3-ton lever hoist. When the middle avoidance hole 11 is buckled on the shell protrusion structure 7 of the lever hoist, the device shell 10 cannot rotate relative to the tool shell, that is, the device shell 10 is stopped relative to the tool shell.

[0023] A mounting sleeve 13 located outside the avoidance hole of the shell is fixed on the right side of the circular shell part, and a rotating bearing 14 is installed on the mounting sleeve 13. The rotating bearing 14 is connected to a transmission ring 15 which is coaxially arranged with the handle when in use. Specifically, the inner ring of the rotating bearing 14 is fixed on the mounting sleeve 13, and the outer ring of the rotating bearing is fixedly connected to the transmission ring 15. The rotating bearing 14, the transmission ring 15 and the inner hole of the mounting sleeve 13 are used to avoid the handle during the installation of the device shell. The rotating bearing 14 and the transmission ring 15 are located between the tool shell and the rotating handle.

[0024] In this embodiment, the transmission ring 15 is a sprocket ring, and a power sprocket 17 with a diameter smaller than the sprocket ring is rotatably mounted on the device housing. The power sprocket 17 is driven by a motor 16. The power sprocket 17 and the transmission ring 15 are connected via a toothed chain 21. The power sprocket 17 and the motor 16 are arranged in a square shell 9 of the device shell.

[0025] The transmission ring 15 is fixed with a torque output disc 18 coaxially arranged with the handle when in use by bolts. The torque output disc 18 has a handle avoidance notch 19. The side walls of the notch opposite to the handle avoidance notch 19 are used to push and cooperate with the corresponding side of the handle to drive the handle to rotate when the torque output disc rotates. In this embodiment, the torque output disc has a thin-walled section 20 with an axial thickness thinner than other parts of the torque output disc. The thin-walled section 20 is located on the left side of the handle 4 when in use. The handle avoidance notch 19 is formed on the right side of the thin-walled section 20, and the entire handle avoidance notch 19 is in an "eight" shape with a gradually increasing width from top to bottom.

[0026] In the above embodiments, when in use, the staff only needs to hold the device housing with their hands to work. In order to ensure the reliability of the fixation of the device housing and the tool housing, in the present invention, the electric power assist device also includes a handwheel pressure plate, and the handwheel pressure plate 22 includes a U-shaped fastener body, and the U-shaped fastener body includes a main body back plate 26 and side plates 27 arranged on both sides of the main body back plate. Connecting edges 24 are arranged on the opposite sides of the outer sides of the two side plates, and the connecting edges are connected to the torque output disk 18 through bolts. The inner sides of the two side plates are provided with clamping edges 25 on the opposite sides, and a clamping space for clamping to the end of the handle along the extension direction of the handle is formed between the clamping edge 25 and the main body back plate 26. A handle avoidance channel for avoiding the handle is formed between two adjacent clamping edges. A handwheel pressure nail 23 coaxially arranged with the handwheel is rotatably assembled on the main body back plate, and the end of the handwheel pressure nail 23 is a cone tip structure that is in point contact with the handwheel to reduce the friction between the two.

[0027] The overall use process of the electric power assist device in the present invention is as follows: Figure 13 The device housing of the entire electric power assist device is first installed from bottom to top. Specifically, the handle passes through the housing avoidance hole of the device housing, and the device housing moves from bottom to top.Figure 13 to state a in the device housing until it moves to the upper end of the handle, and then adjust the angle of the device housing. Figure 13 to state b in the device housing until the rotating bearing, the transmission ring and the torque output disk are coaxially arranged with the handle, and then buckle the housing avoidance hole onto the housing convex structure 7. Subsequently, buckle the handwheel pressure plate onto the handle from right to left. The handle passes through the handle avoidance channel and then moves from bottom to top until the clamping edge moves from top to bottom to the left side of the handle ear of the handle. At this time, the handwheel pressure nail abuts against the center position of the first wheel. In the left-right direction, the handwheel pressure plate cannot be disengaged from the handle. Then, fix the connecting edge and the torque output disk through bolts.

[0028] The motor outputs torque to the torque output disk through the power sprocket. The torque output disk pushes the handle to rotate through the corresponding side wall of the handle avoidance notch, so as to realize the electric assistance for the hand-operated torque output structure. In other embodiments of the present invention, the force transmission of the transmission ring can also be realized through other transmission forms such as gear transmission or belt transmission.

[0029] Embodiment 1 of the output force detection device is as Figures 13 - 15 shown: It includes a device housing 10 that is used to be buckled on the side of the handle of the tool housing during use. A housing avoidance hole 8 for avoiding the handle and the housing convex structure is provided on the device housing 10. The device housing includes a circular housing 28 and a square housing 9 provided on the front side of the circular housing 28. The housing avoidance hole 8 is provided on the circular housing 28. The specific structure of the device housing is the same as that of the device housing in the embodiment of the electric assistance device and will not be described in detail here.

[0030] For example, an installation sleeve is provided on the device housing, and a rotating bearing is provided on the installation sleeve. The output force detection device further includes a torque output disk 29 that is rotationally matched with the installation sleeve through the rotating bearing. A power connection plate 31 is connected to the torque output disk 29 through bolts. The power connection plate 31 is arranged in the square housing 9. A force measurement sensor 32 is arranged between the power connection plate 31 and the device housing. In this embodiment, the force measurement sensor is a tension and compression sensor. One end of the force measurement sensor 32 is hinged to the power connection plate 31, and the other end of the force measurement sensor 32 is hinged to the square housing 9.

[0031] The torque transmission disk is also connected with force transmission arms 35 located on both sides of the handle. The relative side of the end of the force transmission arm 35 far from the axis of the transmission disk is used for force transmission cooperation with the end of the handle far from the axis of rotation of the handle. A force transmission bearing 34 for realizing force transmission cooperation with the end of the handle far from the axis of rotation of the handle is arranged on the relative side of the end of the force transmission arm far from the axis of the transmission disk. That is to say, the force transmission bearing 34 is used for force transmission cooperation with the end of the handle 4 far from the tool housing.

[0032] A connecting arm 35 is provided between one end of the force transmission arm away from the axis of the transmission disc and one end of the handle away from the axis of rotation of the handle. The connecting arm 35 is used to increase the structural strength between the two force transmission arms.

[0033] The installation of the device housing is the same as the installation process of the device housing of the above-mentioned electric power assist device. To improve the connection strength between the device housing and the tool housing, the output force measuring device in this embodiment may also include a handwheel pressure plate. The specific structure of the handwheel pressure plate is the same as that of the handwheel pressure plate in the embodiment of the above-mentioned electric power assist device. However, during use, it is necessary to fixedly connect the connecting edge of the handwheel pressure plate to the torque output disc through bolts.

[0034] When it is necessary to detect the hand pulling force of the handle, the device housing of the output force detection device is buckled to the housing convex structure of the tool housing. The staff rotates the handle, and the acting force of the handle is transmitted to the torque transmission disc through the force transmission arm, and then transmitted to the force measuring sensor. The force is measured by the force measuring sensor, and then the torque generated by the handle is calculated.

[0035] Embodiment 2 of the output force detection device is as Figure 16 shown. The difference between Embodiment 2 and Embodiment 1 of the output force detection device is that in this embodiment, a rotating bearing with a larger diameter is used. The cost of the rotating bearing with a larger diameter is higher. In order to reduce the cost, in the present invention, no rotating bearing is used. An arc-shaped guide rail 36 coaxial with the torque transmission disc is provided on the square housing of the device housing. There are two arc-shaped guide rails 36, and the two arc-shaped guide rails are arranged at intervals. Two rollers 37 respectively in guiding rolling fit with the corresponding arc-shaped guide rails are provided on the power connection plate. The rollers 37 are arranged at intervals along the circumferential direction of the torque transmission disc. The movement track of the power connection plate is guided through the cooperation of the arc-shaped guide rail 36 and the rollers 37.

[0036] In the above description of this specification, unless otherwise clearly specified and limited, terms such as "fixed", "installed", "connected" or "coupled" should be understood in a broad sense. For example, with respect to the term "connected", it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components or the interaction relationship between two components. Therefore, unless otherwise clearly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific circumstances.

[0037] Based on the above description of this specification, those skilled in the art can also understand the following terms used, such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise", etc. The terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings of this specification. It is only for the purpose of facilitating the description of the solution of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operated in the specific orientation. Therefore, the above terms of orientation or positional relationship cannot be understood or interpreted as a limitation to the solution of the present invention.

[0038] In addition, the terms "first" or "second" etc. used in this specification to refer to numbers or ordinals are only for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "a plurality" is at least two, such as two, three or more, etc., unless otherwise specifically defined.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An electric power assist device with a hand-operated torque output structure, characterized in that: The invention comprises a device shell which is used to be buckled on the side of the tool shell where the handle is located when in use, the device shell is provided with a shell avoidance hole for avoiding the handle and the shell protrusion structure, the device shell is rotatably equipped with a transmission ring which is coaxial with the handle when in use, the inner hole of the transmission ring is used for avoiding the handle during the installation of the device shell, the transmission ring is located between the tool shell and the rotating handle, the transmission ring is provided with a torque output disk, the torque output disk has a handle avoidance notch, the side wall of the notch on the opposite side of the handle avoidance notch is used to cooperate with the corresponding side push of the handle to drive the handle to rotate when the torque output disk rotates, and the device shell is provided with a motor, which is transmission-connected to the transmission ring.

2. The electric power assist device according to claim 1, characterized in that: The shape of the handle avoidance hole matches the housing protrusion structure on the tool housing, and the device housing is anti-rotationally matched with the housing protrusion structure.

3. The electric power assist device according to claim 1, characterized in that: The transmission ring is a sprocket ring, and a power sprocket with a diameter smaller than the sprocket ring is rotatably mounted on the device housing, the motor is connected to the power sprocket, and the power sprocket is connected to the transmission ring through a toothed chain transmission.

4. The electric power assist device according to claim 1, characterized in that: The transmission ring is rotatably matched with the device housing through a rotating bearing. A mounting sleeve located outside the handle avoidance hole is fixed on the device housing. The inner ring of the rotating bearing is fixed on the mounting sleeve, and the transmission ring is fixed on the outer ring of the rotating bearing.

5. The electric power assist device according to any one of claims 1 to 4, characterized in that: The electric power assist device also includes a handwheel pressure plate, which includes a U-shaped fastener body. The U-shaped fastener body includes a main body back plate and side plates arranged on both sides of the main body back plate. Connecting edges are arranged on the opposite sides of the outer sides of the two side plates, and the connecting edges are connected to the torque output plate through bolts. Clamping edges are arranged on the opposite sides of the inner sides of the two side plates. A clamping space for clamping to the end of the handle along the extension direction of the handle is formed between the clamping edge and the main body back plate, and a handle avoidance channel for avoiding the handle is formed between two adjacent clamping edges. A handwheel pressure pin arranged coaxially with the handwheel is rotatably assembled on the main body back plate.

6. An output force detection device for a hand-operated torque output structure, characterized in that: The utility model comprises a device shell for being buckled on the side of the tool shell where the handle is located when in use, the device shell is provided with a shell avoidance hole for avoiding the handle and the shell protrusion structure, the device shell is rotatably equipped with a torque transmission disk which is arranged coaxially with the handle, the torque transmission disk is connected with a power coupling plate, a force sensor is arranged between the power coupling plate and the device shell, and the torque transmission disk is also connected with force transmission arms located on both sides of the handle, and the opposite side of the force transmission arm away from the end of the transmission disk axis is used for force transmission cooperation with the end of the handle away from the rotation axis of the handle.

7. The output force detection device according to claim 6, characterized in that: A force transmission bearing is arranged on the opposite side of the end of the force transmission arm away from the axis of the transmission disc to achieve force transmission cooperation with the end of the handle away from the rotation axis of the handle.

8. The output force detection device according to claim 6, characterized in that: A connecting arm is arranged between one end of the force transmission arm away from the axis of the transmission disc and one end of the handle away from the rotation axis of the handle.

9. The output force detection device according to any one of claims 6 to 8, characterized in that: The torque transmission plate is rotatably matched with the device housing through a rotating bearing. A mounting sleeve located outside the handle avoidance hole is fixed on the device housing. The inner ring of the rotating bearing is fixed on the mounting sleeve, and the torque transmission plate is fixed on the outer ring of the rotating bearing.

10. The output force detection device according to any one of claims 6 to 8, characterized in that: The device housing is provided with an arc guide rail coaxially arranged with the torque transmission disc, and the power connection plate is provided with at least two rollers cooperating with the arc guide rail, and the rollers are arranged at intervals along the circumference of the torque transmission disc.

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