Three-component force sensor applied to load-bearing walking robot

Abstract

The utility model relates to a three-component force sensor applied to a load-bearing walking robot, which belongs to the technical field of sensors and comprises a sensor body, one side of the sensor body is fixedly connected with a connector lug, the bottom of the sensor body is provided with a mounting plate, the side of the mounting plate is fixedly connected with a connecting plate, and the side of the connecting plate is fixedly connected with the connector lug. A mounting assembly is arranged between the mounting plate and the sensor body; the mounting assembly comprises an inserting block and a limiting rod, the inserting block is fixedly connected to the bottom of the sensor body, the inserting block is inserted into the inner side of the mounting plate, the limiting rod is located in the mounting plate, one end of the limiting rod is inserted into the inner side of the inserting block, and the end, away from the inserting block, of the limiting rod is fixedly connected with an adjusting plate; the ends, away from the limiting rods, of the adjusting plates are fixedly connected with springs. According to the three-component force sensor applied to the load-bearing walking robot, the purpose of quick disassembly is achieved, overhaul and maintenance of the sensor body are greatly facilitated, use is facilitated, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a three-component force sensor used for a load-bearing walking robot. Background Art

[0002] In production, life, military rescue, and other scenarios, personnel often need to carry heavy loads and walk for long periods of time. The loads put great pressure on the human body, increasing the risk of strain and injury. Walking with a load also increases the body's metabolic consumption, increasing the physical and mental effort required for work. Currently, with the development of wearable robot technology, intelligent wearable robots, including wearable exoskeletons, prosthetic limbs, and wearable assisted load-bearing devices, are developing rapidly. A three-component force sensor is a key component of a wearable assisted load-bearing walking robot. Also known as a three-axis force sensor or a three-dimensional force sensor, a three-component force sensor is a device that can simultaneously measure the force applied to an object in three directions.

[0003] The working principle of the three-component force sensor is based on the detection mechanism of the strain gauge. The strain gauge is a sensor that converts external stress into resistance changes. It is made of metal or conductive material. When the force-bearing component is subjected to external force, strain will be generated, causing the strain gauge to show a slight deformation. This deformation will cause the strain gauge resistance to change, and then generate a voltage signal. In the three-component force sensor, each direction is equipped with a single-axis force sensor, and each sensor contains a strain gauge. When an object applies force in a certain direction, the force in that direction will cause the force-bearing component to generate strain, and the strain gauge resistance will change accordingly. The magnitude of the force in that direction is determined by measuring the change in the voltage signal.

[0004] At present, the existing three-component force sensors are usually fixed with screws during the installation process. However, the screws need to be installed and removed during each maintenance, which usually consumes a long time of the staff, has low loading and unloading efficiency, and causes inconvenience in maintenance. Therefore, a three-component force sensor applied to a load-bearing walking robot is proposed to solve the above problems. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model provides a three-component force sensor for use in load-bearing walking robots, which has the advantages of easy maintenance. It solves the problem that the existing three-component force sensor is usually fixed with screws during installation, but the screws need to be installed and removed during each maintenance, which usually consumes a long time of the staff, has low loading and unloading efficiency, and causes inconvenience in maintenance.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a three-component force sensor for a load-bearing walking robot, comprising a sensor body, a terminal head fixedly connected to one side of the sensor body, a mounting plate provided at the bottom of the sensor body, a connecting plate fixedly connected to the side of the mounting plate, and a mounting assembly provided between the mounting plate and the sensor body;

[0007] The mounting assembly includes an insert block and a limit rod. The insert block is fixedly connected to the bottom of the sensor body and is inserted into the inner side of the mounting plate. The limit rod is located inside the mounting plate, and one end of the limit rod is inserted into the inner side of the insert block. The end of the limit rod away from the insert block is fixedly connected to an adjustment plate. The end of the adjustment plate away from the limit rod is fixedly connected to a spring. The adjustment plate is fixedly connected to a push plate on the same side of the limit rod as the limit rod.

[0008] Furthermore, a through hole is opened on the inner side of the connecting plate and passes through from top to bottom. There are two connecting plates, and the two connecting plates are respectively located on the left and right sides of the mounting plate.

[0009] Furthermore, the number of the installation components is set to two groups, and the two groups of installation components are symmetrically distributed on both sides of the interior of the installation plate.

[0010] Furthermore, a groove adapted to the insert block is provided on the inner side of the mounting plate, and a blind hole adapted to the limiting rod is provided on the inner side of the insert block.

[0011] Furthermore, one end of the spring away from the adjustment plate is fixedly connected to the inside of the mounting plate, and sliders are fixedly connected to the upper and lower sides of the adjustment plate. The sliders are slidably connected to the inside of the mounting plate, and a sliding groove adapted to the slider is opened inside the mounting plate.

[0012] Furthermore, one end of the push plate away from the adjustment plate is movably hinged with a rotating plate, and the rotating plate is located outside the mounting plate. The thickness and width of the rotating plate are equal to the thickness and width of the push plate.

[0013] Furthermore, a magnetic block is embedded on the outer wall of the mounting plate, and the magnetic block is located obliquely above the rotating plate. An adsorption plate is embedded on a side of the rotating plate corresponding to the magnetic block.

[0014] Compared with the existing technology, the present invention provides a three-component force sensor for a load-bearing walking robot, which has the following beneficial effects:

[0015] The three-component force sensor used in a load-bearing walking robot is installed for the first time by cooperating with the connecting plate on the outside of the mounting plate and the threaded fasteners, so that the sensor body and the mounting plate are installed as a whole. When the sensor body needs to be maintained later, the angle of the rotating plate is adjusted to make it level with the push plate, and then the rotating plate is pushed to drive the push plate to move, thereby driving the adjustment plate to move. The adjustment plate will drive the limit rod to move, so that the limit rod is separated from the plug block, and the sensor body can be separated from the mounting plate without removing the threaded fasteners on the connecting plate, thereby achieving the purpose of quick disassembly, greatly facilitating the inspection and maintenance of the sensor body, and convenient use, with high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a cross-sectional view of the structure of the utility model;

[0017] Figure 2 For this utility model Figure 1 A schematic diagram of the enlarged structure shown;

[0018] Figure 3 It is a structural schematic diagram of the rotating plate of the utility model.

[0019] In the figure: 1. Sensor body; 2. Wiring connector; 3. Mounting plate; 4. Connecting plate; 5. Through hole; 6. Insert block; 7. Limit rod; 8. Adjustment plate; 9. Spring; 10. Push plate; 11. Rotating plate; 12. Magnetic block; 13. Adsorption plate; 14. Slider. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figures 1 to 3 In this embodiment, a three-component force sensor used for a load-bearing walking robot includes a sensor body 1, a terminal head 2 is fixedly connected to one side of the sensor body 1, a mounting plate 3 is provided at the bottom of the sensor body 1, and a connecting plate 4 is fixedly connected to the side of the mounting plate 3.

[0022] Among them, a through hole 5 is opened on the inner side of the connecting plate 4, which passes through from top to bottom. There are two connecting plates 4, which are respectively located on the left and right sides of the mounting plate 3. The connecting plates 4 can be installed by means of threaded fasteners.

[0023] In this embodiment, a mounting assembly is provided between the mounting plate 3 and the sensor body 1, and the mounting assembly includes an insert block 6 and a limit rod 7. The insert block 6 is fixedly connected to the bottom of the sensor body 1, and the insert block 6 is plugged into the inner side of the mounting plate 3. The limit rod 7 is located inside the mounting plate 3, and one end of the limit rod 7 is plugged into the inner side of the insert block 6. The end of the limit rod 7 away from the insert block 6 is fixedly connected to an adjustment plate 8, and the end of the adjustment plate 8 away from the limit rod 7 is fixedly connected to a spring 9. The end of the spring 9 away from the adjustment plate 8 is fixedly connected to the inside of the mounting plate 3, and the adjustment plate 8 is located on the same side of the limit rod 7 as the push plate 10.

[0024] The inner side of the mounting plate 3 is provided with a groove adapted to the inserting block 6 , and the inner side of the inserting block 6 is provided with a blind hole adapted to the limiting rod 7 .

[0025] It should be noted that the number of mounting components is set to two groups, and the two groups of mounting components are symmetrically distributed on both sides of the interior of the mounting plate 3 .

[0026] It should be added that sliders 14 are fixedly connected to the upper and lower sides of the adjustment plate 8, and the sliders 14 are slidably connected to the inside of the mounting plate 3. A sliding groove adapted to the sliders 14 is provided inside the mounting plate 3. The sliders 14 are set to guide the adjustment plate 8, thereby improving the stability of the structure.

[0027] In this embodiment, the push plate 10 is movably hinged to a rotating plate 11 at one end away from the adjustment plate 8 . The rotating plate 11 is located outside the mounting plate 3 . The thickness and width of the rotating plate 11 are equal to those of the push plate 10 .

[0028] A magnetic block 12, made of a magnet, is embedded in the outer wall of the mounting plate 3 and is located diagonally above the rotating plate 11. An iron attraction plate 13 is embedded in the side of the rotating plate 11 that corresponds to the magnetic block 12. When the rotating plate 11 rotates upward, the attraction plate 13 on its surface is attracted to the magnetic block 12, facilitating positioning.

[0029] The working principle of the above embodiment is:

[0030] When the present invention is in use, during the first installation, the connecting plate 4 on the outside of the mounting plate 3 cooperates with the threaded fasteners to fix it on the load-bearing walking robot, thereby realizing the overall installation of the sensor body 1 and the mounting plate 3. When the sensor body 1 needs to be maintained later, the angle of the rotating plate 11 is adjusted to make it level with the push plate 10, and then the rotating plate 11 is pushed to drive the push plate 10 to move, thereby driving the adjustment plate 8 to move, and the adjustment plate 8 will drive the limit rod 7 to move, so that the limit rod 7 is separated from the insert block 6, and the sensor body 1 can be separated from the mounting plate 3 without removing the threaded fasteners on the connecting plate 4, thereby achieving the purpose of quick disassembly.

[0031] It should be noted that in this article, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0032] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-component force sensor for a load-bearing walking robot, comprising a sensor body (1), one side of the sensor body (1) being fixedly connected to a terminal head (2), characterized in that: A mounting plate (3) is provided at the bottom of the sensor body (1), a connecting plate (4) is fixedly connected to the side of the mounting plate (3), and a mounting assembly is provided between the mounting plate (3) and the sensor body (1); The mounting assembly includes an insert (6) and a limiting rod (7), wherein the insert (6) is fixedly connected to the bottom of the sensor body (1), and the insert (6) is plugged into the inner side of the mounting plate (3), the limiting rod (7) is located inside the mounting plate (3), and one end of the limiting rod (7) is plugged into the inner side of the insert (6), the end of the limiting rod (7) away from the insert (6) is fixedly connected to an adjustment plate (8), the end of the adjustment plate (8) away from the limiting rod (7) is fixedly connected to a spring (9), and the adjustment plate (8) is fixedly connected to a push plate (10) on the same side as the limiting rod (7).

2. A three-component force sensor for a load-bearing walking robot according to claim 1, characterized in that: A through hole (5) is provided on the inner side of the connecting plate (4) and passes through the connecting plate (4) from top to bottom. There are two connecting plates (4), and the two connecting plates (4) are respectively located on the left and right sides of the mounting plate (3).

3. The three-component force sensor for a load-bearing walking robot according to claim 1, characterized in that: The number of the mounting components is set to two groups, and the two groups of mounting components are symmetrically distributed on both sides inside the mounting plate (3).

4. The three-component force sensor for a load-bearing walking robot according to claim 1, characterized in that: A groove adapted to the insert block (6) is provided on the inner side of the mounting plate (3), and a blind hole adapted to the limiting rod (7) is provided on the inner side of the insert block (6).

5. The three-component force sensor for a load-bearing walking robot according to claim 1, characterized in that: One end of the spring (9) away from the adjustment plate (8) is fixedly connected to the inside of the mounting plate (3); the upper and lower sides of the adjustment plate (8) are fixedly connected to sliders (14); the sliders (14) are slidably connected to the inside of the mounting plate (3); and a sliding groove adapted to the sliders (14) is provided inside the mounting plate (3).

6. The three-component force sensor for a load-bearing walking robot according to claim 1, characterized in that: One end of the push plate (10) away from the adjustment plate (8) is movably hinged with a rotating plate (11), and the rotating plate (11) is located outside the mounting plate (3). The thickness and width of the rotating plate (11) are equal to the thickness and width of the push plate (10).

7. The three-component force sensor for a load-bearing walking robot according to claim 6, characterized in that: A magnetic block (12) is embedded on the outer wall of the mounting plate (3), and the magnetic block (12) is located obliquely above the rotating plate (11). An adsorption plate (13) is embedded on one side of the rotating plate (11) corresponding to the magnetic block (12).

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