Method for calculating the pressure applied by a workpiece pressing device and workpiece pressing device

Abstract

The application relates to the field of mechanical equipment, in particular to a workpiece pressing device and a method for calculating the pressing force applied by the workpiece pressing device. The workpiece pressing device comprises a linear driving source, a force sensor and a pressing plate. The linear driving source has an output rod capable of reciprocating in a vertical direction. The upper end of the force sensor is connected with the lower end of the output rod, and the lower end of the force sensor is connected with the pressing plate. The method for calculating the pressing force comprises the following steps: (1) controlling the output rod of the linear driving source to uniformly ascend at a constant speed, and measuring the tension data Sup of the force sensor at this time; (2) controlling the output rod of the linear driving source to be static and non-pressing, and measuring the tension data S0 of the force sensor at this time; (3) controlling the output rod of the linear driving source to descend and press the workpiece, and measuring the pressing force data Sdown of the force sensor at this time; and (4) calculating the pressing force N = nK (Sdown + S0 - Sup). The application has the advantages of high calculation precision of the pressing force.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical equipment, in particular to a method for calculating the pressing force applied by a workpiece pressing device. BACKGROUND

[0002] In the process of processing workpieces such as welding, a set of pressing devices are usually designed to fix the workpieces, and a cylinder or an electric cylinder is usually used to press the workpieces. In order to improve the precision of welding, the actual pressing force of the cylinder or electric cylinder acting on the workpiece needs to be known.

[0003] However, when the current pressing device presses the workpiece, the force acting on the workpiece includes not only the pressing force of the cylinder or electric cylinder acting on the workpiece, but also the pressure generated by the self-weight of the upper clamp, the cylinder rod or electric cylinder rod, the guide column and other parts in the pressing device, and the friction force generated when the guide column moves along the bearing. These forces act on the workpiece together. The pressing force data of the pressing device acting on the workpiece that the operator needs to obtain is the pressing force of the cylinder or electric cylinder acting on the workpiece, which leads to low accuracy of the actual pressing force of the workpiece detected by the sensor. SUMMARY

[0004] In order to improve the test accuracy of the pressing force of the workpiece, the present application provides a method for calculating the pressing force applied by a workpiece pressing device and a workpiece pressing device.

[0005] In a first aspect, the present application provides a method for calculating the pressing force applied by a workpiece pressing device, which adopts the following technical solution:

[0006] A method for calculating the pressing force applied by a workpiece pressing device, the workpiece pressing device comprising a linear driving source, a force sensor and a pressing plate, the linear driving source having an output rod capable of reciprocating vertically, the upper end of the force sensor being connected to the lower end of the output rod, and the lower end of the force sensor being connected to the pressing plate.

[0007] The method for calculating the pressing force comprises:

[0008] (1) controlling the output rod of the linear driving source to rise at a constant speed, and measuring the tension data Sup of the force sensor at this time;

[0009] (2) controlling the output rod of the linear driving source to be stationary and in a non-pressing state, and measuring the tension data S0 of the force sensor at this time;

[0010] (3) controlling the output rod of the linear driving source to move downward, pressing the workpiece through the pressing plate, and measuring the pressure data Sdown of the force sensor at this time;

[0011] (4) the pressing force N of the workpiece pressing device is calculated as N = nK (Sdown + S0 - Sup), n is the number of linear driving sources acting on the pressing plate, and K is a calibration value of the ratio of the actual pressure value to the pressure signal data.

[0012] By using the above technical solution, when the output rod of the linear driving source rises at a constant speed, the tension data Sup measured by the force sensor includes the self-gravity G of the pressing plate and other parts and the friction force f when the parts move, and Sup = G + f in general; when the output rod of the linear driving source is at rest and in a non-pressing state, the tension data S0 measured by the force sensor includes the self-gravity G of the pressing plate and other parts, and S0 = G in general; when the output rod of the linear driving source presses the workpiece through the pressing plate, the pressure data Sdown measured by the force sensor comprehensively includes the self-gravity G of the pressing plate and other parts and the friction force f; the pressing force N of the workpiece pressing device is calculated as N = nK (Sdown + S0 - Sup), so that the interference of the friction force on the pressing force when the pressing device presses the workpiece is eliminated, and even if a different important upper clamp is additionally installed below the pressing plate or the weight of other parts is changed, the weight change factor of the parts can be eliminated by the above calculation method to obtain an accurate pressing force.

[0013] Preferably, the number n of linear driving sources acting on the pressing plate is 1, and the number of force sensors is also 1, and the force sensor is a tensile and compressive bidirectional force sensor.

[0014] By using the above technical solution, the tensile and compressive bidirectional force sensor can simultaneously measure the tension and the pressure, Sup, S0 and Sdown are detected by the same force sensor, and the structure is simple.

[0015] Preferably, the number n of linear driving sources acting on the pressing plate is 2, the two linear driving sources are defined as a first linear driving source and a second linear driving source, the number of force sensors is 2, and the two force sensors are defined as a first force sensor and a second force sensor, the first force sensor is connected with the output rod of the first linear driving source and is used for measuring the tension data Sup and the tension data S0, and the second force sensor is connected with the output rod of the second linear driving source and is used for measuring the pressure data Sdown.

[0016] By using the above technical solution, two linear driving sources are designed, the applied pressure is more stable, the pressing plate has an additional force receiving position, the force receiving is more uniform, and the pressure of the pressing plate on the workpiece is more stable.

[0017] In a second aspect, the application provides a workpiece pressing device, which adopts the following technical solution:

[0018] A workpiece pressing device comprises a linear driving source, a force sensor and a pressing plate, the linear driving source has an output rod capable of reciprocating vertically, the upper end of the force sensor is connected with the lower end of the output rod, the lower end of the force sensor is connected with the pressing plate, and the force sensor is capable of detecting the following three states of pressure data:

[0019] 1. The output rod of the linear driving source rises at a constant speed, at which time the tension data measured by the force sensor is Sup;

[0020] 2. The output rod of the linear driving source is at rest and in a non-pressing state, at which time the tension data measured by the force sensor is S0;

[0021] 3. The output rod of the linear driving source moves downward to press the workpiece through the pressing plate, at which time the pressure data measured by the force sensor is Sdown.

[0022] By adopting the technical scheme, the tension data Sup measured by the force sensor includes the self-gravity G of the pressing plate and other parts and the friction f when the parts move, and Sup is usually G+f, the tension data S0 measured by the force sensor includes the self-gravity G of the pressing plate and other parts, and S0 is usually G, and the pressure data Sdown measured by the force sensor comprehensively includes the self-gravity G of the pressing plate and other parts and the friction f, through detection of the three values by the force sensor, an operator can conveniently reduce the gravity and friction of the parts to obtain more accurate pressing force. The pressing force can be calculated in the following manner, such as N=K(Sdown+S0-Sup), so that the interference of the friction on the pressing force when the pressing device extrudes the workpiece is eliminated, and even if a different important upper clamp is additionally arranged below the pressing plate or the weight of other parts is changed, the change of the weight of the parts can be eliminated through the calculation method to obtain accurate pressing force.

[0023] Preferably, the number of the linear driving sources and the number of the force sensors are both 1, and the force sensor is a tensile and compressive bidirectional force sensor.

[0024] By adopting the technical scheme, the tensile and compressive bidirectional force sensor can simultaneously measure the tension and the pressure, Sup, S0 and Sdown are all detected by the same force sensor, and the structure is simple.

[0025] Preferably, the number of the linear driving sources and the number of the force sensors are both 2, the two linear driving sources are defined as a first linear driving source and a second linear driving source, the two force sensors are defined as a first force sensor and a second force sensor, the first force sensor is connected with the output rod of the first linear driving source and is used for measuring the tension data Sup and the tension data S0, and the second force sensor is connected with the output rod of the second linear driving source and is used for measuring the pressure data Sdown.

[0026] By adopting the technical scheme, two linear driving sources are designed, the applied pressure is more stable, the pressing plate has one more force receiving position, the force is more uniform, and the pressure of the pressing plate on the workpiece is more stable.

[0027] Preferably, the first force sensor is a tensile force sensor, and the second force sensor is a compression force sensor.

[0028] By adopting the technical scheme, the first force sensor is designed as a tensile force sensor, when the output rod of the first linear driving source is uniformly raised and kept stationary, the tensile force sensor can be applied with a tensile force, the first force sensor can measure the tensile force at this time, so that the pressure data of Sup and S0 are obtained, and since the second force sensor is a compression force sensor, the compression force sensor does not measure at this time; the output rod of the second linear driving source is lowered to press the workpiece through the pressing plate, the second force sensor is a compression force sensor and can measure the pressure data Sdown at this time, and the first force sensor does not measure.

[0029] Preferably, the output rod of the first linear driving source comprises a first rod body and a first connecting piece, the upper end of the first connecting piece is connected with the lower end of the first rod body, the lower end of the first connecting piece is connected with the first force sensor, the side wall of the first connecting piece is provided with a first groove, the workpiece pressing device further comprises a first supporting piece, the upper end of the first supporting piece is connected with or abuts against the upper side wall of the first groove, and the upper end of the first supporting piece is spaced apart from the lower side wall of the first groove; the output rod of the second linear driving source comprises a second rod body and a second connecting piece, the upper end of the second connecting piece is connected with the lower end of the second rod body, the lower end of the second connecting piece is connected with the second force sensor, the side wall of the second connecting piece is provided with a second groove, and the workpiece pressing device further comprises a second supporting piece, the upper end of the second supporting piece is spaced apart from the upper side wall of the second groove, and the upper end of the second supporting piece is connected with or abuts against the lower side wall of the second groove.

[0030] By adopting the technical scheme, when the output rod of the first driving source rises or is static, the upper end of the first support member is spaced apart from the lower side wall of the first groove, so that the first force sensor does not interfere with detection of the tension data Sup and S0, when the output rod of the first driving source is lowered to press the workpiece, the upper end of the first support member is connected or abuts against the upper side wall of the first groove, so that the first force sensor does not detect the pressure data Sdown, when the output rod of the second driving source rises or is static, the upper end of the second support member is connected or abuts against the lower side wall of the second groove, so that the second force sensor does not detect the tension data Sup and S0, and when the output rod of the second driving source is lowered to press the workpiece, the upper end of the second support member is spaced apart from the upper side wall of the second groove, so that the second force sensor does not interfere with detection of the pressure data Sdown.

[0031] Preferably, the upper end of the first support member is bent in the direction of the first groove to form a first upper bent edge, the upper surface of the first upper bent edge is connected or abuts against the upper side wall of the first groove, and the lower surface of the first upper bent edge is spaced apart from the lower side wall of the first groove, and the upper end of the second support member is bent in the direction of the second groove to form a second upper bent edge, the upper surface of the second upper bent edge is spaced apart from the upper side wall of the second groove, and the lower surface of the second upper bent edge is connected or abuts against the lower side wall of the second groove.

[0032] By adopting the technical scheme, the first support member is matched with the first groove through the first upper bent edge, and the second support member is matched with the second groove through the second upper bent edge, so as to control the force bearing condition of the first force sensor and the second force sensor in the rising and lowering states.

[0033] Preferably, the workpiece pressing device further comprises a frame, the frame is provided with a guide column which is arranged to slide in the vertical direction, the lower end of the guide column is connected with the pressing plate, the lower plate surface of the pressing plate is provided with an upper clamp, and the lower side of the pressing plate is provided with a lower clamp, and the workpiece is arranged on the upper clamp and / or the lower clamp.

[0034] By adopting the technical scheme, the stability of the pressing plate in the lifting and lowering process can be improved after the guide column is designed. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a structural schematic view of the embodiment one of the present application in the unpressing state.

[0036] Figure 2 is a structural schematic view of the embodiment one of the present application in the pressing state.

[0037] Figure 3 is a structural schematic view of the embodiment two of the present application in the unpressing state.

[0038] Figure 4is a structural schematic view of the pressing state of the second embodiment of the present application.

[0039] Explanation of reference numerals: 1, linear driving source; 11, first linear driving source; 111, first rod body; 112, first connecting member; 1121, first groove; 12, second linear driving source; 121, second rod body; 122, second connecting member; 1221, second groove; 2, force sensor; 21, first force sensor; 22, second force sensor; 3, pressing plate; 4, first support member; 41, first upper folding edge; 5, second support member; 51, second upper folding edge; 6, frame; 7, guide pillar; 8, upper clamp; 9, lower clamp. DETAILED DESCRIPTION

[0040] The following will be described in detail below with reference to the accompanying drawings. Figures 1-4 The present application will be further described in detail.

[0041] Embodiment 1

[0042] As shown in FIGS. 1 and 2, the calculation method of the pressing force includes: Figure 1 , Figure 2

[0043] (1) The output rod of the linear driving source 1 is controlled to rise at a constant speed, and the force sensor 2 measures the pulling force data Sup at this time;

[0044] (2) The output rod of the linear driving source 1 is controlled to be at rest and in a non-pressing state, and the force sensor 2 measures the pulling force data S0 at this time. The non-pressing state here refers to the case where the workpiece is not subjected to the force of the pressing plate 3, which includes the weight of the pressing plate 3 and the pressing force provided by the linear driving source 1. It can also be considered that the pressing plate 3 is not subjected to the supporting force of other parts, so as to ensure that the pulling force data S0 at this time can correspond to the weight of the pressing plate 3 and other parts;

[0045] (3) The output rod of the linear driving source 1 is controlled to move downward, the workpiece is pressed by the pressing plate 3, and the force sensor 2 measures the pressing force data Sdown at this time;

[0046] It should be noted that in the present embodiment, the above three measurement methods are performed in the order of steps (1)-(2)-(3), but as other schemes, the order of the above three can also be changed, such as (1)-(3)-(2);

[0047] (4) The pressing force N exerted by the workpiece pressing device is calculated as N = nK(Sdown + S0 - Sup), where n is the number of linear driving sources 1 acting on the pressing plate 3, and K is the calibration value of the ratio of the actual pressure value to the pressure signal data.

[0048] ​In the embodiment, the number n of the linear driving source 1 acting on the pressing plate 3 is 1, and the number of the corresponding force sensor 2 is also 1, and the force sensor 2 is a tensile and compressive bidirectional force sensor. The tensile and compressive bidirectional force sensor can simultaneously measure tension and pressure, and Sup, S0 and Sdown are all detected by the same force sensor 2.

[0049] As shown in Figure 1 , Figure 2 , the embodiment also provides a workpiece pressing device capable of calculating by using the method, which comprises the linear driving source 1, the force sensor 2 and the pressing plate 3, and the linear driving source 1 has an output rod capable of reciprocating in the vertical direction.

[0050] In the embodiment, the workpiece pressing device further comprises a frame 6, the linear driving source 1 comprises a cylinder body fixed on the frame 6, a piston is slidably arranged on the cylinder body, and the output rod can be a piston rod connected with the piston, or the piston is connected with a piston rod, and the output rod is connected with the piston rod. As another scheme, the linear driving source 1 can also adopt an electric cylinder, and the linear driving source 1 is fixed on the frame 6,

[0051] As another scheme, the linear driving source 1 can also be fixed on the workbench or other places by a fixing seat or the like.

[0052] As shown in Figure 1 , Figure 2 , the upper end of the force sensor 2 is connected with the lower end of the output rod, and the lower end of the force sensor 2 is connected with the pressing plate 3.

[0053] In the embodiment, the lower end of the output rod is connected with the force sensor 2 through a connecting piece, and as another scheme, the lower end of the output rod can also be directly connected with the force sensor 2, that is, the direct connection and the indirect connection both belong to the connection between the output rod and the force sensor 2.

[0054] As shown in Figure 1 , Figure 2 , in order to improve the stability of the pressing plate 3 during lifting, the frame 6 is slidably provided with guide columns 7 in the vertical direction, and the number of the guide columns 7 in the embodiment is two, which are respectively located on the two sides of the linear driving source 1 and symmetrically distributed about the linear driving source 1. As another scheme, the number of the guide columns 7 can also be designed as multiple. The lower end of the guide column 7 is connected with the pressing plate 3, and the specific sliding fit can be achieved by arranging bearings, shaft sleeves or the like on the frame 6 to cooperate with the guide column 7 to realize the sliding of the guide column 7.

[0055] As shown in Figure 1 , Figure 2 , the lower plate surface of the pressing plate 3 has an upper clamp 8, and the lower side of the pressing plate 3 has a lower clamp 9, and the workpiece is arranged on the upper clamp 8 and / or the lower clamp 9, and in the embodiment, the workpiece is preferably arranged on the lower clamp 9.

[0056] AsFigure 1 、 Figure 2 As shown in FIG. 2, the force sensor 2 can detect the pressure data in the following three states:

[0057] ①, the output rod of the linear drive source 1 rises at a constant speed, at which time the tension data measured by the force sensor 2 is Sup;

[0058] ②, the output rod of the linear drive source 1 is in a static state and a non-pressing state, at which time the tension data measured by the force sensor 2 is S0;

[0059] ③, the output rod of the linear drive source 1 moves downward, and the workpiece is pressed by the pressing plate 3, at which time the pressure data measured by the force sensor 2 is Sdown.

[0060] In this embodiment, the number of the linear drive source 1 and the force sensor 2 is 1, and the force sensor 2 is a tensile and compressive bidirectional force sensor. The tensile and compressive bidirectional force sensor can measure the tension and the pressure at the same time, and Sup, S0 and Sdown are detected by the same force sensor 2.

[0061] The working principle of this embodiment is as follows:

[0062] When the output rod of the linear drive source 1 rises at a constant speed, the tension data Sup measured by the force sensor 2 includes the self-gravity G of the pressing plate 3 and other parts and the friction force f received when the parts move, and Sup is usually G+f. When the output rod of the linear drive source 1 is in a static state and a non-pressing state, the tension data S0 measured by the force sensor 2 includes the self-gravity G of the pressing plate 3 and other parts, and S0 is usually G. When the output rod of the linear drive source 1 presses the workpiece through the pressing plate 3, the pressure data Sdown measured by the force sensor 2 integrates the self-gravity G of the pressing plate 3 and other parts and the friction force f received, and the pressing force N applied by the workpiece pressing device is calculated as K(Sdown+S0-Sup).

[0063] It should be noted that the workpiece pressing device can be applied to other methods in addition to the calculation method of the pressing force described in this embodiment, as long as Sup, S0 and Sdown are used in the calculation.

[0064] Embodiment two:

[0065] As shown in FIG. 2, the force sensor 2 can detect the pressure data in the following three states: Figure 1 、 Figure 2 Figure 3 Figure 4As shown, the embodiment is substantially the same as embodiment one, the difference is that in the embodiment, the number of linear drive sources 1 acting on the pressing plate 3 is n=2, the two linear drive sources 1 are defined as a first linear drive source 11 and a second linear drive source 12 respectively, the number of force sensors 2 is 2, and they are defined as a first force sensor 21 and a second force sensor 22 respectively, the first force sensor 21 is connected with the output rod of the first linear drive source 11, used for measuring the tension data Sup and the tension data S0, and the second force sensor 22 is connected with the output rod of the second linear drive source 12, used for measuring the pressure data Sdown.

[0066] As preferred, the output rod of the first linear drive source 11 comprises a first rod body 111 and a first connecting piece 112, the upper end of the first connecting piece 112 is connected with the lower end of the first rod body 111, the lower end of the first connecting piece 112 is connected with the first force sensor 21, the side wall of the first connecting piece 112 is provided with a first groove 1121, and the workpiece pressing device further comprises a first supporting piece 4, the upper end of the first supporting piece 4 is connected with or abuts against the upper side wall of the first groove 1121, and the upper end of the first supporting piece 4 is spaced apart from the lower side wall of the first groove 1121.

[0067] Specifically, the first supporting piece 4 is in the shape of “Z”, the upper end of the first supporting piece 4 is bent in the direction of the first groove 1121 to form a first upper bent edge 41, and the lower end of the first supporting piece 4 is bent in the direction away from the first force sensor 21 to form a first lower bent edge, which is fixed to the pressing plate 3 through the first lower bent edge.

[0068] The upper surface of the first upper bent edge 41 is connected with or abuts against the upper side wall of the first groove 1121, and the lower surface of the first upper bent edge 41 is spaced apart from the lower side wall of the first groove 1121.

[0069] In the embodiment, the first connecting piece 112 is in the shape of a cylinder, the first groove 1121 is an annular groove coaxially arranged with the first connecting piece 112, the upper side wall of the first groove 1121 is an annular groove wall located above, the lower side wall of the first groove 1121 is an annular groove wall located below, and the first upper bent edge 41 is provided with an opening matched with the groove bottom of the first groove 1121.

[0070] The output rod of the second linear drive source 12 comprises a second rod body 121 and a second connecting piece 122, the upper end of the second connecting piece 122 is connected with the lower end of the second rod body 121, the lower end of the second connecting piece 122 is connected with the second force sensor 22, the side wall of the second connecting piece 122 is provided with a second groove 1221, and the workpiece pressing device further comprises a second supporting piece 5, the upper end of the second supporting piece 5 is spaced apart from the upper side wall of the second groove 1221, and the upper end of the second supporting piece 5 is connected with or abuts against the lower side wall of the second groove 1221.

[0071] Specifically, the second support 5 is in a "Z" shape in terms of the structure type of the first support 4, the upper end of the second support 5 is bent to form a second upper bent edge 51 in the direction of the second groove 1221, and the lower end of the second support 5 is bent to form a second lower bent edge in the direction away from the second force sensor 22, and the second lower bent edge is fixed to the pressing plate 3.

[0072] The upper surface of the second upper bent edge 51 is spaced apart from the upper side wall of the second groove 1221, and the lower surface of the second upper bent edge 51 is connected or abuts against the lower side wall of the second groove 1221.

[0073] In the embodiment, the second connecting piece 122 is in a cylindrical shape, the second groove 1221 is an annular groove coaxially arranged with the second connecting piece 122, the upper side wall of the second groove 1221 is an annular groove wall located above, the lower side wall of the second groove 1221 is an annular groove wall located below, and the second upper bent edge 51 is provided with an opening matched with the groove bottom of the second groove 1221.

[0074] As another solution, the first support 4 and the second support 5 can not be designed, the first force sensor 21 is a tensile force sensor, and only measures Sup and S0, and the second force sensor 22 is a compression force sensor, and only measures Sdown.

[0075] The working principle of the embodiment is as follows:

[0076] When the output rod of the first driving source rises or is stationary, the first force sensor 21 detects the tensile force data Sup and S0, and the second force sensor 22 does not detect the tensile force data Sup and S0, when the output rod of the first driving source is pressed down to press the workpiece, the first force sensor 21 does not detect the pressure data Sdown, and the second force sensor 22 detects the pressure data Sdown, and the pressing force N exerted by the workpiece pressing device is calculated as N=2K(Sdown+S0-Sup).

[0077] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made on the basis of the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A method for calculating the clamping force applied by a workpiece clamping device, the workpiece clamping device comprising a linear drive source (1), a force sensor (2) and a pressure plate (3), the linear drive source (1) having an output rod capable of reciprocating in a vertical direction, the upper end of the force sensor (2) being connected to the lower end of the output rod, and the lower end of the force sensor (2) being connected to the pressure plate (3); Its features are, The method for calculating the clamping force includes: (1) Control the output rod of the linear drive source (1) to rise at a constant speed, and the force sensor (2) measures the tension data Sup at this time; (2) The output rod of the linear drive source (1) is in a stationary and non-pressurized state, and the force sensor (2) measures the tension data S0 at this time. (3) Control the output rod of the linear drive source (1) to move downward and press the workpiece through the pressure plate (3). The force sensor (2) measures the pressure data Sdown at this time. (4) Calculate the clamping force N=nK(Sdown+S0-Sup) applied by the workpiece clamping device, where n is the number of linear drive sources (1) acting on the pressure plate (3) and K is the calibrated value of the ratio of the actual pressure value to the pressure signal data.

2. The method for calculating the clamping force applied by the workpiece clamping device according to claim 1, characterized in that, The number of linear drive sources (1) acting on the pressure plate (3) is n=1, and the corresponding number of force sensors (2) is also 1. The force sensor (2) is a bidirectional force sensor for tension and compression.

3. The method for calculating the clamping force applied by the workpiece clamping device according to claim 1, characterized in that, The number of linear drive sources (1) acting on the pressure plate (3) is n=2. The two linear drive sources (1) are defined as the first linear drive source (11) and the second linear drive source (12) respectively. There are two force sensors (2), which are defined as the first force sensor (21) and the second force sensor (22) respectively. The first force sensor (21) is connected to the output rod of the first linear drive source (11) and is used to measure the tensile data Sup and tensile data S0. The second force sensor (22) is connected to the output rod of the second linear drive source (12) and is used to measure the pressure data Sdown.

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