Internal force transducer for health robot

Abstract

The utility model relates to an internal force transducer for a health robot, which belongs to the technical field of sensors and comprises a force measuring assembly, a cable and a signal reading assembly, the signal reading assembly is connected with the force measuring assembly through the cable, the force measuring assembly comprises an outer cover, an elastic body and a strain gauge, the elastic body is located in a shell, and a transverse plate is arranged in the shell. The elastic body is fixed to the transverse plate through the rivet, the strain gauge is attached to the elastic body and connected with the cable, the magnitude change of force generated by the health robot on the human body during working can be detected with high precision, and control is convenient.

Description

TECHNICAL FIELD

[0001] The utility model belongs to sensor technical field, more specifically, relate to a health robot with internal force sensor. BACKGROUND

[0002] Strain gauge technology is a relatively mature technology, metal material, once subjected to tensile effect, resistance value will change. With this characteristic, can stick on the material of pre-designed material with strain gauge, because the deformation of material and the force or torque is proportional, so the deformation can be measured by electric quantity, that is, the force through material deformation and strain gauge, achieve measurement and subsequent automatic control etc. Health care robot in working, in order to be able to satisfy massage, physiotherapy, relaxation etc. Purpose, need to load on the force of real-time control on the human body, to avoid the harm of force too big or force too small and not to achieve efficacy, the reliability and accuracy of existing products cannot meet the needs of customers, because in actual use, there will be other direction force loaded on the robot, at the same time, cannot because other direction force and make the precision and life of sensor be influenced. The original design cannot well avoid the influence of lateral force, thereby reducing precision and service life. SUMMARY

[0003] 1. The technical problem to be solved by the utility model

[0004] The utility model aims at solving the above-mentioned defects.

[0005] 2. Technical scheme

[0006] In order to achieve the above object, the utility model provides the technical scheme as follows:

[0007] The utility model relates to an internal force sensor for health robot, which comprises a force measuring assembly, a cable and a signal reading assembly, the signal reading assembly is connected to the force measuring assembly through the cable, the force measuring assembly comprises an outer cover, an elastic body and a strain gauge, the elastic body is located in the outer shell, a horizontal plate is arranged in the outer shell, the elastic body is fixed to the horizontal plate through rivets, the strain gauge is attached to the elastic body, and the strain gauge is connected to the cable.

[0008] Preferably, the elastic body comprises an upper plate structure, a lower plate structure and a bridging structure, the upper plate structure and the lower plate structure are arranged in parallel, the two ends of the upper plate structure and the lower plate structure are connected through the bridging structure, a gap is arranged between the upper plate structure and the lower plate structure, and the strain gauge is located on the bridging structure.

[0009] Preferably, a rivet hole is arranged on the upper plate structure, corresponding through holes are arranged on the upper plate structure and the lower plate structure, and a strain hole is arranged on the bridging structure, and the strain hole is communicated with the gap.

[0010] Preferably, the shell is a box structure without top and bottom, the inner side wall of the shell is not in contact with the side wall of the elastic body, and the contour of the shell is similar to the contour of the elastic body.

[0011] Preferably, the signal reading assembly comprises a PCBA box and a connector plug, the connector plug is mounted on the PCBA box, the connector plug is connected with the cable, and the circuit board in the PCBA box is connected with the strain gauge through the cable.

[0012] Preferably, the thickness of the elastic body is greater than the thickness of the shell.

[0013] Preferably, the bridge structure is C-shaped as a whole, and the connection between the bridge structure and the upper plate structure and the lower plate structure is smooth.

[0014] 3. Beneficial effects

[0015] Compared with the prior art, the technical scheme has the following beneficial effects:

[0016] (1) The internal force measuring sensor for a health robot can detect the size change of force generated by the health robot on the human body during work with high precision, and facilitate control of the force.

[0017] (2) The internal force measuring sensor for a health robot has stable elastic body structure and high rigidity, and the deformation after force is not obvious, so that high-precision detection can be performed. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 is a structural schematic view of the internal force measuring sensor for a health robot of the utility model;

[0019] Fig. 2 is a three-dimensional structural schematic view of the internal force measuring sensor for a health robot of the utility model;

[0020] Fig. 3 is a structural schematic view of the elastic body of the internal force measuring sensor for a health robot of the utility model.

[0021] Explanation of reference numerals in the schematic view:

[0022] 100, force measuring assembly; 110, shell; 120, elastic body; 121, upper plate structure; 122, lower plate structure; 123, bridge structure; 130, strain gauge; 140, cross plate;

[0023] 200, cable;

[0024] 300, signal reading assembly; 310, PCBA box; 320, connector plug. DETAILED DESCRIPTION

[0025] For the convenience of understanding the utility model, the utility model will be described more fully below with reference to the relevant drawings, the drawings show several embodiments of the utility model, however, the utility model can be realized in many different forms, and is not limited to the embodiments described herein, on the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0026] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be intervening elements; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present; the terms "vertical", "horizontal", "left", "right", and the like as used herein are for purposes of illustration and description only and are not intended to limit the utility model.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs; the terminology used in the specification of the utility model herein is only for the purpose of describing specific embodiments and is not intended to limit the utility model; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] Embodiment 1

[0029] Referring to the drawings Figs. 1-3 As shown in the drawings, the internal force sensor for a health robot of the embodiment comprises a force measuring assembly 100, a cable 200 and a signal reading assembly 300, the signal reading assembly 300 is connected to the force measuring assembly 100 through the cable 200, the force measuring assembly 100 comprises an outer cover 110, an elastic body 120 and a strain gauge 130, the elastic body 120 is located in the outer cover, a horizontal plate 140 is arranged inside the outer cover, the elastic body 120 is fixed to the horizontal plate 140 through a rivet, the strain gauge 130 is attached to the elastic body 120, and the strain gauge 130 is connected to the cable 200; the structure of the design is that the strain gauge 130 is attached to the specially designed elastic body 120, the strain gauge 130 is formed into a Wheatstone bridge, and the Wheatstone bridge is output through the cable 200 with a connector, and the entire Wheatstone bridge is protected by sealing glue.

[0030] The elastic body 120 of the embodiment comprises an upper plate structure 121, a lower plate structure 122 and a bridging structure 123, the upper plate structure 121 and the lower plate structure 122 are arranged in parallel, both ends of the upper plate structure 121 and the lower plate structure 122 are connected through the bridging structure 123, a gap is arranged between the upper plate structure 121 and the lower plate structure 122, the strain gauge 130 is located on the bridging structure 123, a rivet hole is arranged on the upper plate structure 121, corresponding through holes are arranged on the upper plate structure 121 and the lower plate structure 122, a strain hole is arranged on the bridging structure 123, and the strain hole is communicated with the gap.

[0031] The shell of the embodiment is a box structure without top and bottom, the inner side wall of the shell is not in contact with the side wall of the elastic body 120, and the contour of the shell is similar to the contour of the elastic body 120.

[0032] The signal reading assembly 300 of the embodiment comprises a PCBA box 310 and a connector plug-in 320, the connector plug-in 320 is mounted on the PCBA box 310, the connector plug-in 320 is connected with the cable 200, and the circuit board in the PCBA box 310 is connected with the strain gauge 130 through the cable 200.

[0033] The thickness of the elastic body 120 of the embodiment is greater than the thickness of the shell.

[0034] The bridging structure 123 of the embodiment is C-shaped as a whole, and the connection part of the bridging structure 123 with the upper plate structure 121 and the lower plate structure 122 is smooth.

[0035] In the robot massage or health care process, the deformation of the elastic body 120 material caused by the force applied on the human body is detected, the signal is amplified and output through the strain gauge 130 and the PCBA, so that the monitoring of the applied force is realized. At the same time, the working life and the accuracy meet the needs of customers.

[0036] The life, reliability and accuracy of the product are improved, the influence of the force in other directions on the accuracy in the non-monitoring direction is reduced, the installation size provided by the customer is implemented, the customization is realized, the force of the health care massage robot is more accurate, the feedback is more timely, and the health care feeling of the health care personnel is improved.

[0037] The above-described embodiments only express certain implementation manners of the utility model, the description is more specific and detailed, but it cannot be understood as the limitation of the patent range of the utility model; it should be noted that for ordinary skilled persons in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which belong to the protection range of the utility model; therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. An internal force sensor for a health robot, characterized by: The force measuring assembly (100), the cable (200) and the signal reading assembly (300) are connected by the cable (200), the force measuring assembly (100) comprises a housing (110), an elastomer (120) and a strain gauge (130), the elastomer (120) is located in the housing, the housing is internally provided with a horizontal plate (140), the elastomer (120) is fixed with the horizontal plate (140) by a rivet, the strain gauge (130) is attached to the elastomer (120), and the strain gauge (130) is connected with the cable (200).

2. The internal force sensor for a health robot according to claim 1, characterized in that: The elastomer (120) comprises an upper plate structure (121), a lower plate structure (122) and a bridging structure (123), the upper plate structure (121) and the lower plate structure (122) are arranged in parallel, both ends of the upper plate structure (121) and the lower plate structure (122) are connected by the bridging structure (123), and a gap is arranged between the upper plate structure (121) and the lower plate structure (122), and the strain gauge (130) is located on the bridging structure.

3. The internal force sensor for a health robot according to claim 2, characterized in that: The upper plate structure (121) is provided with a rivet hole, the upper plate structure (121) and the lower plate structure (122) are provided with corresponding through holes, and the bridging structure (123) is provided with a strain hole, and the strain hole is communicated with the gap.

4. The internal force sensor for a health robot according to claim 1, characterized in that: The housing is a box structure without top and bottom, the inner side wall of the housing is not in contact with the side wall of the elastomer (120), and the profile of the housing is similar to the profile of the elastomer (120).

5. The internal force sensor for a health robot according to claim 1, characterized in that: The signal reading assembly (300) comprises a PCBA box (310) and a connector plug-in (320), the connector plug-in (320) is installed on the PCBA box (310), the connector plug-in (320) is connected with the cable (200), and the circuit board in the PCBA box (310) is connected with the strain gauge (130) through the cable (200).

6. The internal force sensor for a health robot according to claim 1, wherein: The thickness of the elastomer (120) is greater than the thickness of the housing.

7. The internal force sensor for a health robot according to claim 2, characterized in that: The bridging structure (123) is C-shaped as a whole, and the connection portions of the bridging structure (123) with the upper plate structure (121) and the lower plate structure (122) are smoothly connected.

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