A force measuring device

Abstract

The present application relates to a kind of force measuring devices, including driving mechanism, variable force mechanism and the force sensor being arranged between driving mechanism and variable force mechanism, variable force mechanism includes first component and the second component capable of linear motion or rotary motion in Y direction, first component is stationary relative to second component or first component can linearly move in X direction relative to second component, X direction and direction are perpendicular to each other, first component is provided with first component inclined surface on the side facing second component, second component is provided with second component first inclined surface being arranged in parallel with first component inclined surface with interval, first component inclined surface, second component first inclined surface are provided with first rolling element between first component, second component to realize force transmission between first component and second component.The present application provides a kind of force measuring devices capable of reducing loss in force transmission process and capable of realizing force value measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of force value measurement, in particular to a force measuring device capable of measuring force value. BACKGROUND

[0002] In the field of force value measurement, there are often working environments that require force value measurement. The traditional measuring device is a hydraulic force measuring device, which includes a cylinder, a piston rod guided and moved by a sealing ring relative to the cylinder, and a pressure sensor connected to the cylinder for detecting the liquid pressure in the cylinder.

[0003] In use, the measured member is pushed by the piston rod, the pressure sensor measures the liquid pressure in the force cylinder, and the force on the piston rod can be calculated according to the effective force area of the piston rod. However, in the prior art, the hydraulic structure not only has large size and high processing difficulty, but also the maximum pressure of the hydraulic pressure is only 150 MPa. If the pressure is higher, the sealing ring will fail.

[0004] That is, the force measuring device in the prior art has the following problems: the sealing ring has limited load capacity, and the force measuring range is also limited; since the force measuring device cannot change the force proportionally, the pressure sensor is required to be high, and a large force value pressure sensor must be used to realize large force value measurement, which has high measurement cost. SUMMARY

[0005] The purpose of the present application is to provide a force measuring device capable of reducing the loss in the force transmission process and capable of realizing force value measurement.

[0006] To solve the above technical problems, the technical scheme of the force measuring device in the present application is as follows:

[0007] A force measuring device, comprising a driving mechanism, a force changing mechanism, and a force measuring sensor arranged between the driving mechanism and the force changing mechanism, the force changing mechanism comprising a first member and a second member capable of linear motion or rotary motion in the Y direction, the first member being stationary relative to the second member or the first member being capable of linear motion in the X direction relative to the second member, the X direction being perpendicular to the Y direction, the first member having a first member inclined surface arranged on the side facing the second member, the second member having a second member first inclined surface arranged in parallel with the first member inclined surface, and a first rolling body arranged between the first member inclined surface and the second member first inclined surface to realize force transmission between the first member and the second member.

[0008] Further, the first member is capable of linear motion in the X direction relative to the second member, and the force changing mechanism further comprises a support rolling body in rolling cooperation with the second member, the support rolling body being located on the opposite side of the second member first inclined surface.

[0009] Further, the first member is capable of linear movement in the X direction relative to the second member, and the variable force mechanism further comprises a static member that is incapable of movement, the static member being provided with a static member inclined surface on a side facing the second member, the second member being provided with a second member second inclined surface arranged in parallel with the static member inclined surface at a spacing therebetween, and the static member inclined surface and the second member second inclined surface being located on opposite sides of the second member in the X direction, the static member inclined surface and the second member second inclined surface being oppositely inclined.

[0010] Further, the first member is stationary relative to the second member, and the variable force mechanism further comprises a third member capable of linear movement in the X direction, the first member and the third member being located on opposite sides of the second member, the third member being provided with a third member plane extending in the Y direction on a side facing the second member, the second member being provided with a second member plane arranged in parallel with the third member plane at a spacing therebetween, and the third member plane and the second member plane being provided with a plurality of second rolling elements therebetween.

[0011] Further, the second member is capable of linear movement in the Y direction, the first member inclined surface and the second member first inclined surface forming a first linear track inclined in the X direction, the static member inclined surface and the second member second inclined surface forming a second linear track oppositely inclined to the first linear track, and the first linear track being provided with a plurality of the first rolling elements distributed therein, and the second linear track being provided with a plurality of the second rolling elements distributed therein.

[0012] Further, the second member is capable of linear movement in the Y direction, the first member inclined surface and the second member first inclined surface forming a plurality of first rolling element tracks sequentially connected head to tail in the Y direction, the lowest position of adjacent two first rolling element tracks being the same in height and the highest position of the adjacent two first rolling element tracks being the same in height, and each first rolling element track being provided with at least one of the first rolling elements distributed therein, and the static member inclined surface and the second member second inclined surface forming a plurality of second rolling element tracks sequentially connected head to tail in the Y direction, the lowest position of adjacent two second rolling element tracks being the same in height and the highest position of the adjacent two second rolling element tracks being the same in height, and each second rolling element track being provided with at least one of the second rolling elements distributed therein.

[0013] Further, the first member inclined surface on the first member comprises two first member inclined surfaces arranged in left-right symmetry, the static member inclined surface on the static member comprises two static member inclined surfaces arranged in left-right symmetry, and the second member comprises a second member first portion located between one set of the first member inclined surface and the static member inclined surface and a second member second portion located between another set of the first member inclined surface and the static member inclined surface, the second member first portion and the second member second portion driving the first member to move in the X direction through relative movement or opposite movement in the Y direction.

[0014] Further, the first rolling body comprises a first rolling body body, the first rolling body body is a flat structure, the first rolling body body has a first rolling body body side arranged in parallel and a first rolling body arc surface at both ends of the first rolling body body side and in contact with the first member inclined surface and the second member first inclined surface respectively; the second rolling body comprises a second rolling body body, the second rolling body body is a flat structure, the second rolling body body has a second rolling body body side arranged in parallel and a second rolling body arc surface at both ends of the second rolling body body side and in contact with the static member inclined surface and the second member second inclined surface respectively.

[0015] Further, the diameters of the first rolling body and the second rolling body are different, wherein there are at least two rolling bodies with smaller diameters and one rolling body with a larger diameter, the rolling body with the larger diameter is a flat structure, and the flat structure rolling body comprises a rolling body body having a rolling body body side arranged in parallel and a rolling body arc surface at both ends of the rolling body body side.

[0016] Further, each rolling body is a cylindrical rolling body.

[0017] Further, the second member can rotate circumferentially in a direction perpendicular to the X direction, the first member inclined surface and the second member first inclined surface form a plurality of first rolling body tracks sequentially connected in a circumferential direction, the lowest position of the adjacent two first rolling body tracks is the same in height and the highest position is the same in height, and at least one first rolling body is distributed in each first rolling body track; the static member inclined surface and the second member second inclined surface form a plurality of second rolling body tracks sequentially connected in a circumferential direction, the lowest position of the adjacent two second rolling body tracks is the same in height and the highest position is the same in height, and at least one second rolling body is distributed in each second rolling body track, and the first rolling body and the second rolling body are both conical rolling bodies.

[0018] Further, the second member can rotate circumferentially in a direction perpendicular to the X direction, the first member inclined surface and the second member first inclined surface form a first spiral track with the first member center line as an axis, the static member inclined surface and the second member second inclined surface form a second spiral track, a plurality of first rolling bodies are distributed in the first spiral track, a plurality of second rolling bodies are distributed in the second spiral track, and the first rolling body and the second rolling body are both conical rolling bodies.

[0019] The beneficial effects of the present application are: the variable force mechanism in the application can realize the change in the force transmission process, taking the linear action or rotary action of the second member as an example, when the second member performs linear action or rotary action, the second member drives the first member to perform linear action through the first rolling body, due to the force transmission effect of the first member inclined surface and the first inclined surface of the second member, the displacement of the second member and the displacement of the first member are different, and the force is related to the displacement, the change of displacement leads to the output force of the second member and the input force of the first member are different, thereby realizing the change of force transmission, adopting the rolling force transmission of the rolling body, the rolling body has small friction force in the rolling process, therefore, the energy loss in the force transmission process is small, and high-efficiency force transmission can be realized. When in use, the driving mechanism is in transmission connection with a member through the force sensor, the force sensor can measure the output force value of the driving mechanism, and through conversion, the stress of another member can be obtained. BRIEF DESCRIPTION OF DRAWINGS

[0020] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example, and wherein like or corresponding elements show like or corresponding parts, wherein:

[0021] Figure 1 is a structural schematic diagram of embodiment 1 of the force measuring device in the application;

[0022] Figure 2 is a structural schematic diagram of embodiment 2 of the force measuring device in the application;

[0023] Figure 3 is a structural schematic diagram of embodiment 3 of the force measuring device in the application;

[0024] Figure 4 is a structural schematic diagram of embodiment 4 of the force measuring device in the application;

[0025] Figure 5 is Figure 4 is a schematic diagram of the state after the second member moves to the left in the application;

[0026] Figure 6 is a structural schematic diagram of embodiment 5 of the variable force mechanism in the application;

[0027] Figure 7 is Figure 6 is a schematic diagram of the state after the second member moves to the left in the application;

[0028] Figure 8 is a structural schematic diagram of embodiment 6 of the force measuring device in the application;

[0029] Figure 9 isFigure 8 Fig. 7 is a schematic diagram of the state of the second member first part moving to the left and the second member second part moving to the right in the force measuring device of the present application;

[0030] Figure 10 Fig. 8 is a schematic diagram of the structure of embodiment 7 of the force measuring device of the present application;

[0031] Figure 11 Fig. 9 is a schematic diagram of the structure of embodiment 8 of the force measuring device of the present application;

[0032] Figure 12 Fig. 10 is a schematic diagram of the structure of embodiment 9 of the force measuring device of the present application; Figure 11 Fig. 11 is a schematic diagram of the state of the second member first part moving to the right and the second member second part moving to the left in the force measuring device of the present application;

[0033] Figure 13 Fig. 12 is a schematic diagram of the structure of embodiment 10 of the force measuring device of the present application;

[0034] Figure 14 Fig. 13 is a schematic diagram of the structure of embodiment 11 of the force measuring device of the present application; Figure 13 Fig. 14 is a schematic diagram of the state of the second member first part and the second member second part moving relative to each other in the force measuring device of the present application;

[0035] Figure 15 Fig. 15 is a schematic diagram of the structure of embodiment 12 of the force measuring device of the present application; Figure 13 Fig. 16 is a schematic diagram of the cooperation of the force measuring device and the driving mechanism in the present application;

[0036] Figure 16 Fig. 17 is a top view of the present application; Figure 15

[0037] Figure 17 Fig. 21 is a schematic diagram of the structure of the first rolling body in the present application; Figure 13

[0038] Figure 18 Fig. 25 is a side view of the present application; Figure 17

[0039] Figure 19 Fig. 29 is a top view of the present application; Figure 18

[0040] Figure 20 Fig. 33 is a schematic diagram of the application of embodiment 9;

[0041] Figure 21 Fig. 34 is a schematic diagram of the cooperation of the force changing mechanism and the driving mechanism in embodiment 10 of the force measuring device of the present application;

[0042] Figure 22 Fig. 35 is a schematic diagram of the structure of embodiment 11 of the force measuring device of the present application;

[0043] Figure 23 Fig. 36 is a schematic diagram of the structure of embodiment 12 of the force measuring device of the present application;

[0044] Figure 24 ​​​​is a structural schematic diagram of embodiment 13 of the force measuring device in the present application;

[0045] Figure 25 is a schematic diagram of the cooperation between the force measuring device and the variable force mechanism in embodiment 13;

[0046] Figure 26 is an expanded schematic diagram of the first rolling body track and the second rolling body track in embodiment 13;

[0047] Figure 27 is a structural schematic diagram of embodiment 14 of the force measuring device in the present application;

[0048] Figure 28 is a force analysis diagram of the first component in embodiment 1;

[0049] BRIEF DESCRIPTION OF DRAWINGS: 1, centralizing bearing; 2, first component; 3, first component inclined surface; 4, first rolling body; 5, second component first inclined surface; 6, second component; 7, supporting rolling body; 8, static component; 9, static component inclined surface; 10, second rolling body; 11, second component second inclined surface; 6-1, first part of the second component; 6-2, second part of the second component; 12, first rolling body track; 13, second rolling body track; 14, aligning spherical surface; 15, aligning spherical head; 16, third rolling body; 17, third component; 18, third component plane; 19, second component plane; 20, first rolling body body; 21, first rolling body body side surface; 22, first rolling body arc surface; 23, first motor; 24, second motor; 25, driving mechanism support; 26, force sensor; 27, first lead screw; 28, second lead screw; 29, power source; 30, synchronous belt; 31, screw rod; 32, nut; 33, force sensor to be calibrated; 34, vertical pin. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described in the specification. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0051] It should be noted that, unless otherwise defined, all technical and scientific terms used in the specification have the same meaning as commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0052] Embodiment 1 of the force measuring device in the present application is as shown in Figure 1 , Figure 28The driving mechanism (not shown in the figure) and the force changing mechanism,

[0053] The force changing mechanism includes a first member 2 which can move linearly along the X direction and a second member 6 which can move linearly along the Y direction, the X direction and the Y direction being perpendicular to each other, the X direction being the up-down direction and the Y direction being the horizontal direction in this embodiment. The force changing mechanism in this embodiment refers to a mechanism which can change the force value during the force transmission. The second member 6 is driven by the driving mechanism to move actively in this embodiment.

[0054] The lower side of the first member 2 is provided with a first member inclined surface 3 which is arranged obliquely to the X direction, and the upper side of the second member is provided with a second member first inclined surface 5 which is arranged in parallel to the first member inclined surface. The first member inclined surface and the second member first inclined surface form a linear track, and a first rolling body 4 is arranged in the linear track. The first rolling body 4 is a cylindrical rolling body, and the first rolling body is used to contact and roll with the first member inclined surface and the second member first inclined surface.

[0055] The force changing mechanism further includes a supporting rolling body 7 which is arranged on the lower side of the second member, and the lower end of the second member is provided with a matching plane which is used to contact and roll with the supporting rolling body. The force changing mechanism further includes a centralizing bearing 1 whose rotation axis extends along the front-back direction, and the centralizing bearing 1 is arranged on the left and right sides of the first member. The centralizing bearing can ensure that the second member moves left and right and the first member moves up and down.

[0056] In use, the force sensor to be calibrated is arranged on the upper end of the first member, the driving mechanism can be a hydraulic cylinder or an electric push rod, the driving mechanism pushes the second member to the left, a force sensor is arranged between the driving mechanism and the second member, the second member is pushed by the hydraulic cylinder to move to the left, the second member drives the first member to move up through the first rolling body, the first rolling body does not need to roll for too long a distance, and the distance basically does not exceed the diameter of the first rolling body. The slope of the first member inclined surface and the second member first inclined surface determines the change of the output force value of the second member. If the displacement of the second member is greater than the displacement of the first member, according to the law of conservation of energy, the second member inputs a smaller acting force, and the first member can output a larger acting force. Therefore, a smaller force sensor can be used to calibrate the force sensor to be calibrated.

[0057] The second member is driven by the driving mechanism to move linearly along the Y direction, and the force value F of the force sensor to be calibrated is equal to fk, wherein f represents the output force value of the driving mechanism, and k represents the force changing ratio of the force changing mechanism. k = 1 / tanα, wherein α represents the included angle between the second member first inclined surface and the Y direction. The value of k can be obtained according to the mechanical force analysis, such as Figure 28 As shown in the figure, the included angle α between the second member first inclined surface, the first member inclined surface and the Y direction. According to the mechanical analysis, it can be known that F = f / tanα.

[0058] In addition, the rolling friction coefficient between the first rolling body and the first member and the second member is only 0.003, and the energy loss caused by the friction of the first rolling body is basically negligible, so the variable force mechanism is a high-efficiency variable force mechanism, which can realize accurate transmission and measurement of the force value.

[0059] Embodiment 2 of the force measuring device is shown in Figure 2 The difference between embodiment 2 and embodiment 1 is that, in order to increase the ratio of the input force value to the output force value, the variable force mechanism further comprises a static member 8 arranged below the second member 6, the static member 8 is stationary relative to the second member 6, the upper end of the static member is provided with a static member inclined surface 9, the lower end of the second member 6 is provided with a second member second inclined surface 11 arranged in parallel with the static member inclined surface, the second member first inclined surface and the second member second inclined surface are respectively located on opposite sides of the second member, and the second rolling body 10 is arranged between the static member inclined surface and the second member second inclined surface. The second rolling body is also a cylindrical rolling body.

[0060] The inclinations of the second member first inclined surface and the second member second inclined surface are opposite, so that when the second member moves to the left, the first member 2 can generate a larger change in displacement value, and thus the output change of the force value input will be larger.

[0061] Embodiment 3 of the force measuring device is shown in Figure 3 The difference between embodiment 3 and embodiment 2 is that, in order to ensure the stability of the up-down movement of the first member, in this embodiment, the first member 2 and the static member 8 are both disc-shaped structures, the first member on the first member has two first member inclined surfaces 3, the two first member inclined surfaces are arranged symmetrically left and right, the static member on the static member has two static member inclined surfaces 9, the two static member inclined surfaces are arranged symmetrically left and right, the second member includes a second member first part located between one set of first member inclined surfaces and static member inclined surfaces and a second member second part located between another set of first member inclined surfaces and static member inclined surfaces, and the second member first part and the second member second part drive the first member to move in the X direction by relative movement or opposite movement in the Y direction.

[0062] In this embodiment, the force output mechanism drives the relative movement or opposite movement of the second member first part 6-1 and the second member second part 6-2, and the cooperation of the force output mechanism with the second member first part and the second member second part can be referred to in the following embodiments. In this way, the horizontal component forces of the two first rolling bodies on the first member cancel each other out, so that the first member can move up and down smoothly.

[0063] Embodiment 4 of the force measuring device is shown in Figures 4-5As shown in the figure: the difference between example 4 and example 2 is that a plurality of first rolling bodies 4 are distributed in the linear first rolling body track formed between the first member inclined surface 3 and the second member first inclined surface 5; a plurality of second rolling bodies 10 are distributed in the linear second rolling body track formed between the static member inclined surface 9 and the second member second inclined surface 11.

[0064] Each first rolling body is sequentially arranged along the extension direction of the first rolling body track, and each second rolling body is sequentially arranged along the extension direction of the second rolling body track. The plurality of first rolling bodies are used to realize the force transmission between the second member and the first member, and the plurality of second rolling bodies are used to realize the force transmission between the second member and the static member. The plurality of first rolling bodies and the plurality of second rolling bodies can increase the force transmission limit therebetween, and the rolling bodies are not easy to break.

[0065] The embodiment 5 of the force measuring device is as shown in the figure: Figures 6-7

[0066] The difference between example 5 and example 4 is:

[0067] A plurality of first rolling body tracks 12 along the Y direction are sequentially connected in the first member inclined surface 3 and the second member first inclined surface 5, the lowest position of the adjacent two first rolling body tracks 12 is the same height and the highest position is the same height, and one first rolling body is distributed in each first rolling body track 12; a plurality of second rolling body tracks 13 along the Y direction are sequentially connected in the static member inclined surface 9 and the second member second inclined surface 11, the lowest position of the adjacent two second rolling body tracks is the same height and the highest position is the same height, and one second rolling body 10 is distributed in each second rolling body track. Each first rolling body is linearly arranged along the Y direction, and each second rolling body is linearly arranged along the Y direction.

[0068] Compared with example 4, the embodiment has a plurality of rolling bodies between the second member and the first member and between the second member and the static member, which guarantees the force transmission limit therebetween, and each rolling body is used for a separate rolling body track, and the running length of each rolling body in the corresponding rolling body track does not exceed the diameter of the rolling body, which can greatly reduce the X direction size of the product, i.e. the axial size. In other embodiments of the present application, two or more first rolling bodies can also be distributed in each first rolling body track, and two or more second rolling bodies can also be distributed in each second rolling body track.

[0069] The embodiment 6 of the force measuring device is as shown in the figure: Figures 8-9 ​As shown in the figure, the difference between example 6 and example 3 is that two first rolling body tracks 12 are formed between the first part 6-1 of the second member and the first member and between the second part of the second member and the first member, the lowest position of the two first rolling body tracks 12 is the same, the highest position of the two first rolling body tracks is the same, and a plurality of first rolling bodies 4 are distributed in each first rolling body track.

[0070] Two second rolling body tracks 13 are formed between the first part 6-1 of the second member and the static member 8 and between the second part 6-2 of the second member and the static member 8, the lowest position of the two second rolling body tracks 13 is the same, the highest position of the two second rolling body tracks is the same, and a plurality of second rolling bodies are distributed in each second rolling body track. The upper end of the first member is provided with a self-aligning spherical surface 14, and the self-aligning spherical head 15 is arranged at the self-aligning spherical surface.

[0071] In use, the first part of the second member and the second part of the second member move away from each other under the driving of the corresponding driving mechanism, thereby driving the first member to move upwards. The structure in this embodiment not only increases the number of rolling bodies and improves the force transmission capacity, but also does not make the overall size of the product, i.e. the axial size, too large.

[0072] An embodiment 7 of a force measuring device is shown in the figure. Figure 10

[0073] The difference between example 7 and example 3 is that a plurality of first rolling bodies 4 are distributed in the linear first rolling body track 12 formed between the first part of the second member and the first member and between the second part of the second member and the first member.

[0074] A plurality of second rolling bodies 10 are distributed in the linear second rolling body track 13 formed between the first part of the second member and the static member and between the second part of the second member and the static member. By arranging a plurality of first rolling bodies and a plurality of second rolling bodies, the force transmission capacity is higher than that of example 3.

[0075] An embodiment 8 of a force measuring device is shown in the figure. Figures 11-12

[0076] The difference between example 8 and example 7 is that the first member 2 is arranged on the lower side of the second member, the first member is a static member, that is, the first member cannot move when it is working, and a third member 17 is arranged on the upper side of the second member, the self-aligning spherical surface 14 is arranged on the third member, and the self-aligning spherical head 15 is arranged at the self-aligning spherical surface.

[0077] ​​The lower side of the first part and the second part of the second component is provided with a first inclined surface 5 of the second component, and the upper side of the first component is provided with a first inclined surface 3 of the first component arranged in parallel and spaced apart from the corresponding first inclined surface of the second component, and a plurality of first rolling bodies 4 are distributed in the linear first rolling body track formed between the first inclined surface of the first component and the corresponding first inclined surface of the second component.

[0078] The upper end of the first part 6-1 and the second part 6-2 of the second component is provided with a second component plane 19, and the lower end of the third component is provided with a third component plane 18 arranged in parallel and spaced apart from the second component plane, and a rolling body track is formed between the third component plane 18 and the corresponding second component plane, and a plurality of third rolling bodies 16 are distributed in each rolling body track. Each rolling body is a cylindrical rolling body. Figure 12 A schematic diagram showing the state of the third component being jacked up after the first part of the second component moves to the right and the second part of the second component moves to the left, Figures 11-12 The jacking height of the third component is 1.7-2.5mm.

[0079] An embodiment 9 of a force measuring device is shown in Figures 13-19 The difference between embodiment 9 and embodiment 3 is that the use of complete cylindrical rolling bodies increases the radial size of the product, and in this embodiment,

[0080] The first rolling body 4 includes a first rolling body body 20, which is a flat structure, and has a first rolling body body side 21 arranged in parallel and a first rolling body arc surface 22 located at both ends of the first rolling body body side and in contact with the first inclined surface of the first component and the first inclined surface of the second component, respectively, and the axes of the two first rolling body arc surfaces are the same axis; the second rolling body includes a second rolling body body, which is a flat structure, and has a second rolling body body side arranged in parallel and a second rolling body arc surface located at both ends of the second rolling body body side and in contact with the first inclined surface of the first component and the second inclined surface of the second component, respectively. That is, the outer periphery of the first rolling body and the second rolling body is not a complete circle, so that the occupied space of the first rolling body and the second rolling body in the Y direction can be reduced, and the occupied space of the first part and the second part of the second component in the Y direction can also be reduced. The structure of the first rolling body and the second rolling body is the same.

[0081] When the first part and the second part of the second component move relative to each other, the rolling distance of the first rolling body is less than the circumference of the first rolling body arc surface, and the rolling distance of the second rolling body is less than the circumference of the second rolling body arc surface.

[0082] The first part and the second part of the second component are driven by the driving mechanism to move relatively and move away from each other. The driving mechanism comprises a driving mechanism support 25 extending along the front-rear direction, and a power source arranged on the driving mechanism support 25. The power source comprises a first motor 23 and a second motor 24 arranged in front-rear direction. The first motor 23 and the second motor 24 act synchronously. A first screw rod 27 extending along the Y direction is connected to the motor shaft of the first motor 23. A second screw rod 28 parallel to the first screw rod 27 is connected to the motor shaft of the second motor 24.

[0083] The two ends of the first part of the second component are threadedly connected to the first screw rod and the second screw rod respectively. The two ends of the second part of the second component are threadedly connected to the first screw rod and the second screw rod respectively. The thread direction of the first screw rod threadedly connected to the first part and the second part of the second component is opposite to that of the second screw rod threadedly connected to the first part and the second part of the second component. Therefore, when the first motor and the second motor rotate in one direction, the first part and the second part of the second component can move relatively. When the first motor and the second motor rotate in the other direction, the first part and the second part of the second component can move away from each other. A force sensor 5 is arranged between the second part of the second component and the driving mechanism. The output force value of the first motor and the second motor can be measured by the force sensor 5.

[0084] The application of embodiment 9 is shown in Figure 20 When the force sensor 33 to be calibrated needs to be calibrated, the force sensor 33 to be calibrated is a hollow structure. The self-aligning ball head 15 is sleeved on the screw rod, the force sensor 33 to be calibrated is sleeved on the screw rod, the nut 32 is screwed on the screw rod above the force sensor 33 to be calibrated, the first part and the second part of the second component are driven by the driving mechanism to move relatively, the self-aligning ball head presses upward on the force sensor 33 to be calibrated, the force sensor has a reading f, the force sensor 33 to be calibrated has a reading F, and the calibration of F is performed by 2fk. The force ratio of the variable force mechanism k can be obtained by force analysis calculation or energy conservation calculation.

[0085] Embodiment 10 of a force measuring device is shown in Figure 21 The difference between embodiment 10 and embodiment 9 is that the power source 29 of the embodiment only comprises a speed reducer motor. The speed reducer motor is connected to the second screw rod, and the speed reducer motor is connected to the first screw rod through a synchronous belt 30, so as to drive the first screw rod and the second screw rod to act synchronously.

[0086] Embodiment 11 of a force measuring device is shown in Figure 22As shown in the figure, in this embodiment, the structure of the first rolling body 4 is the same as that of the first rolling body in Embodiment 9. The difference between Embodiment 11 and Embodiment 9 is that, in this embodiment, the second rolling body between the second member first part and the static member is two cylindrical rollers, the second rolling body between the second member second part and the static member is two cylindrical rollers, and the diameter of the second rolling body is smaller than that of the first rolling body.

[0087] An embodiment 12 of the force measuring device is shown in the figure Figure 23 As shown in the figure, in this embodiment, the structure of the second rolling body 10 is the same as that of the second rolling body in Embodiment 9. The difference between Embodiment 12 and Embodiment 9 is that, in this embodiment, the first rolling body between the second member first part and the first member is two cylindrical rollers, the first rolling body between the second member second part and the first member is two cylindrical rollers, and the diameter of the first rolling body is smaller than that of the second rolling body. Embodiments 11 and 12 can avoid over-positioning.

[0088] An embodiment 13 of the force measuring device is shown in the figure Figures 24-26 As shown in the figure, Embodiment 13 is different from Embodiments 1-12, in this embodiment, the second member 6 is a ring-shaped disc structure, and the driving mechanism drives the second member to rotate in the Y-direction plane.

[0089] The lower side of the second member 6 is provided with the static member 2, and the upper side of the second member 6 is provided with the first member 17 which can move up and down, the upper end of the second member has the second member first inclined surface 5, and the lower end of the first member has the first member inclined surface 3 which is arranged in parallel with the second member first inclined surface; the lower end of the second member has the second member second inclined surface 11, and the upper end of the static member has the static member inclined surface 9 which is arranged in parallel with the second member second inclined surface.

[0090] The first member inclined surface and the second member first inclined surface form a plurality of first rolling body tracks 12 which are sequentially connected in the circumferential direction, the lowest position height of adjacent two first rolling body tracks is the same and the highest position height is the same, and one (or more than two) first rolling body is distributed in each first rolling body track; the static member inclined surface and the second member second inclined surface form a plurality of second rolling body tracks 13 which are sequentially connected in the circumferential direction, the lowest position height of adjacent two second rolling body tracks is the same and the highest position height is the same, and one (or more than two) second rolling body is distributed in each second rolling body track, and the first rolling body and the second rolling body are both conical rolling bodies. The axis of the first rolling body is inclined to the X-direction, and the axis of the second rolling body is perpendicular to the X-direction.

[0091] The second member is fixed with a force transmission arm 34 extending radially along the second member, and the static member is fixed with a driving mechanism support 25 extending radially along the static member, the driving mechanism comprising a power source 29 arranged on the driving mechanism support, and the power source 29 is connected with the force transmission arm 24 through a force sensor 26. The power source 29 is a driving cylinder (or an electric push rod), and the power source can drive the second member to rotate within a range of 10 degrees through the force transmission arm.

[0092] The two ends of the power source are connected with the driving mechanism support and the force sensor through vertical pins 34, so that the vertical pins do not limit the upward movement of the force transmission arm.

[0093] In other embodiments of the present application:

[0094] The first member inclined surface and the second member first inclined surface form a first spiral track with the center line of the first member as the axis, and the static member inclined surface and the second member second inclined surface form a second spiral track, the first spiral track is distributed with a plurality of first rolling bodies, and the second spiral track is distributed with a plurality of second rolling bodies.

[0095] An embodiment 14 of the force measuring device is shown in Figure 27 The embodiment is different from the embodiment 13 in that the axis of the second rolling body 10 is also inclined to the X direction.

[0096] In the above description of the present application, unless otherwise explicitly specified and limited, the terms "fixed", "mounted", "connected" or "linked" and the like should be understood in a broad sense. For example, as to the term "connected", it can be fixed connection, detachable connection, or integral; it can be mechanical connection, electrical connection; it can be direct connection, indirect connection through intermediate medium, or internal connection of two elements or interaction relationship between two elements. Therefore, unless otherwise explicitly specified in the present application, the above terms in the present application can be understood by those skilled in the art according to the specific meaning of the terms in the present application.

[0097] According to the above description of the present specification, those skilled in the art can also understand that the terms used such as "upper", "lower", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings of the present specification, which are only for the purpose of facilitating the description of the present application and simplifying the description, and are not explicitly or implicitly indicating that the devices or elements involved must have the specific orientation, be constructed and operated in a specific orientation, therefore the above orientation or positional relationship terms cannot be understood or interpreted as a limitation on the technical solutions of the present application.

[0098] In addition, the terms "first" or "second" and the like used in the present specification are terms used to refer to numbers or ordinal numbers only for the purpose of description and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" or "second" can explicitly or implicitly include at least one of the features. In the description of the present specification, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise explicitly and specifically limited.

[0099] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A force measuring device, characterized in that: Includes a drive mechanism, a power transmission mechanism, and components disposed between the drive mechanism and the power transmission mechanism. The force sensor and force-changing mechanism include a first component and a second component capable of linear motion in the Y direction or rotational motion in the Y-plane. The first component is stationary relative to the second component, or the first component can move linearly in the X direction relative to the second component, with the X and Y directions perpendicular to each other. A first component inclined surface is provided on the side of the first component facing the second component, and a second component first inclined surface is provided on the second component, spaced apart from the first component inclined surface. A first rolling element is provided between the first component inclined surface and the second component first inclined surface to realize force transmission between the first component and the second component. The first component is capable of linear motion relative to the second component in the X direction. The force-changing mechanism also includes a stationary component that cannot move. The stationary component has a stationary component inclined surface on its side facing the second component. The second component has a second component inclined surface arranged parallel to the stationary component inclined surface at intervals. A second rolling element is disposed between the stationary component inclined surface and the second component inclined surface. The first and second inclined surfaces of the second component are located on opposite sides of the second component in the X direction, and their inclination directions are opposite. The first rolling element includes a first rolling element body, which has a flat structure. The first rolling element body has parallel first rolling element body sides and first rolling element arc surfaces located at both ends of the first rolling element body sides, which respectively contact and engage with the inclined surface of the first component and the first inclined surface of the second component. The second rolling element includes a second rolling element body, which has a flat structure. The second rolling element body has parallel second rolling element sides and second rolling element arc surfaces located at both ends of the second rolling element sides, which respectively contact and engage with the inclined surface of the stationary component and the second inclined surface of the second component. The axes of the two first rolling element arc surfaces are the same axis. When the first part of the second component and the second part of the second component move relative to each other, the rolling distance of the first rolling element is less than the circumference of the first rolling element arc surface, and the rolling distance of the second rolling element is less than the circumference of the second rolling element arc surface.

2. The force measuring device according to claim 1, characterized in that: The first component can move linearly in the X direction relative to the second component. The variable force mechanism also includes a support rolling element that supports and rolls with the second component. The support rolling element is located on the opposite side of the first inclined surface of the second component.

3. The force measuring device according to claim 1, characterized in that: The second component can move linearly in the Y direction. A first linear track is formed between the inclined surface of the first component and the first inclined surface of the second component, which is inclined in the X direction. A second linear track is formed between the inclined surface of the stationary component and the second inclined surface of the second component, which is inclined in the opposite direction to the first linear track. Multiple first rolling elements are distributed in the first linear track, and multiple second rolling elements are distributed in the second linear track.

4. The force measuring device according to claim 1, characterized in that: The second component is capable of linear movement in the Y direction. Multiple first rolling body tracks are formed between the inclined surface of the first component and the first inclined surface of the second component, which are connected end to end in the Y direction. The lowest and highest positions of two adjacent first rolling body tracks are at the same height, and at least one first rolling body is distributed in each first rolling body track. Multiple second rolling body tracks are formed between the inclined surface of the stationary component and the second inclined surface of the second component, which are connected end to end in the Y direction. The lowest and highest positions of two adjacent second rolling body tracks are at the same height, and at least one second rolling body is distributed in each second rolling body track.

5. The force measuring device according to claim 1, characterized in that: The first component has two inclined surfaces, which are arranged symmetrically from left to right. The stationary component has two inclined surfaces, which are also arranged symmetrically from left to right. The second component includes a first part of the second component located between one set of inclined surfaces of the first component and the inclined surfaces of the stationary component, and a second part of the second component located between another set of inclined surfaces of the first component and the inclined surfaces of the stationary component. The first part of the second component and the second part of the second component drive the first component to move in the X direction by moving relative to each other or moving away from each other in the Y direction.

6. The force measuring device according to claim 1, characterized in that: The first rolling element includes a first rolling element body, which has a flat structure. The first rolling element body has parallel first rolling element body sides and first rolling element arc surfaces located at both ends of the first rolling element body sides, which respectively contact and engage with the inclined surface of the first component and the first inclined surface of the second component. The second rolling element includes a second rolling element body, which has a flat structure. The second rolling element body has parallel second rolling element sides and second rolling element arc surfaces located at both ends of the second rolling element sides, which respectively contact and engage with the inclined surface of the stationary component and the second inclined surface of the second component.

7. The force measuring device according to claim 1, characterized in that: The first and second rolling elements have different diameters. There are at least two rolling elements with smaller diameters and one rolling element with larger diameter. The rolling element with larger diameter has a flat structure. The flat rolling element includes a rolling element body, which has rolling element body sides arranged in parallel and rolling element arc surfaces located at both ends of the rolling element body sides.

8. The force measuring device according to claim 1, characterized in that: The second component is capable of circumferential rotation in the direction perpendicular to X. Multiple first rolling body tracks are formed between the inclined surface of the first component and the first inclined surface of the second component, which are connected end to end in the circumferential direction. The lowest and highest positions of two adjacent first rolling body tracks are at the same height. At least one first rolling body is distributed in each first rolling body track. Multiple second rolling body tracks are formed between the inclined surface of the stationary component and the second inclined surface of the second component, which are connected end to end in the circumferential direction. The lowest and highest positions of two adjacent second rolling body tracks are at the same height. At least one second rolling body is distributed in each second rolling body track. Both the first and second rolling bodies are conical rolling bodies.

9. The force measuring device according to claim 1, characterized in that: The second component can rotate circumferentially in a direction perpendicular to X. A first spiral track is formed between the inclined surface of the first component and the first inclined surface of the second component, with the center line of the first component as the axis. A second spiral track is formed between the inclined surface of the stationary component and the second inclined surface of the second component. Multiple first rolling elements are distributed in the first spiral track, and multiple second rolling elements are distributed in the second spiral track. Both the first and second rolling elements are conical rolling elements.

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