Supporting and guiding device based on flexible force sensor

Abstract

The invention relates to the technical field of mechanical engineering, and discloses a supporting and guiding device based on a flexible force sensor, the supporting and guiding device comprises a supporting seat, the upper surface of the supporting seat is fixedly connected with a first hydraulic cylinder, the output end of the first hydraulic cylinder is provided with a sliding assembly, and the sliding assembly is connected with a control module; the sliding assembly is connected with a guide assembly, the control module is electrically connected with the guide assembly, the guide assembly is connected with a positioning block, a second hydraulic cylinder is fixedly connected into the positioning block, a first transmission assembly is arranged at the output end of the second hydraulic cylinder, and a second transmission assembly is arranged on the inner wall of the positioning block. The first hydraulic cylinder is started to drive the limiting base to move, and therefore the effects that the machined part in the pre-machining area can be accurately clamped, the clamping force of the second transmission assembly is adjusted according to the different shapes and materials of the machined part, and the situation that the second transmission assembly damages the surface of the machined part, the machined part cannot be kept stable, and the machined part falls off during machining are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a support and guide device based on a flexible force-sensitive sensor. Background Art

[0002] Mechanical engineering is a discipline of applied science and technology that involves the design, manufacture, installation, operation and maintenance of mechanical systems and equipment. It integrates knowledge from multiple disciplines such as physics, chemistry, mathematics, and materials science. It aims to create mechanical products and systems that meet various needs through the application of mechanical principles and technologies. Manufacturing is the most widely used field of mechanical engineering, including automobile manufacturing, aerospace manufacturing, shipbuilding, mechanical equipment manufacturing, etc. Mechanical engineering technology provides the manufacturing industry with advanced production equipment and processes, improving product quality and production efficiency. Among them, support and guide devices for auxiliary clamping and fixing of processed parts are used in various products.

[0003] Existing support and guiding devices for clamping and fixing auxiliary workpieces are firmly connected to the machine tool worktable through a base or mounting surface to form a stable support platform. At the same time, the specific structure and movement mode of the device are used to limit the freedom of the workpiece in a specific direction, guide it to move along a predetermined trajectory, ensure the workpiece's position is stable and the movement is precise during the processing, meet the requirements of various complex processing processes, and improve the processing quality and efficiency. However, during the guiding process of the device, the clamping force of the workpiece is often fixed and cannot be adjusted, which leads to excessive clamping force causing wear on the workpiece surface and insufficient clamping force causing the workpiece to fall off. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a support and guiding device based on a flexible force-sensitive sensor, which solves the problem that the clamping force of the workpiece is often fixed and cannot be adjusted during the guiding process of the device, resulting in excessive clamping force causing surface wear of the workpiece and insufficient clamping force causing the workpiece to fall off.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a support and guide device based on a flexible force-sensitive sensor, comprising a support seat, the upper surface of the support seat is fixedly connected to a hydraulic cylinder 1, the output end of the hydraulic cylinder 1 is provided with a sliding component, the sliding component is connected to a control module, the sliding component is connected to a guide component, the control module is electrically connected to the guide component, the guide component is connected to a positioning block, the interior of the positioning block is fixedly connected to a hydraulic cylinder 2, the output end of the hydraulic cylinder 2 is provided with a transmission component 1, the inner wall of the positioning block is provided with a transmission component 2, the transmission component 2 is connected to the transmission component 1, the transmission component 2 is connected to a protective component, the protective component is connected to a flexible force-sensitive sensor body, and the flexible force-sensitive sensor body is connected to the transmission component 2.

[0006] Preferably, the sliding assembly includes a limit seat, the outer wall of the limit seat is connected to the output end of hydraulic cylinder 1, the lower surface of the limit seat is fixedly connected to a sliding block, a sliding groove is opened inside the support seat, and the lower surface of the limit seat is slidably connected to the upper surface of the support seat.

[0007] Preferably, the lower surface of the control module is fixedly connected to the upper surface of the limit seat, and the outer wall of the sliding block is slidably connected to the inside of the support seat through a sliding groove.

[0008] Preferably, the guide assembly includes guide arm 1, the lower surface of which is fixedly connected to the upper surface of the limit seat, the outer wall of which is rotatably connected to guide arm 2, the outer wall of which is rotatably connected to guide arm 3, and the outer wall of the positioning block is fixedly connected to the outer wall of guide arm 3.

[0009] Preferably, the transmission component 1 includes a push block, the outer wall of the push block is fixedly connected to the output end of the hydraulic cylinder 2, and the outer wall of the push block is rotatably connected to the rotating block 1.

[0010] Preferably, the transmission component 2 includes a transmission block, the outer wall of the transmission block is rotatably connected to the inner wall of the positioning block, the outer wall of the transmission block is rotatably connected to the inner wall of the rotating block 1, the outer wall of the transmission block is fixedly connected with a clamping block, and the outer wall of the flexible force-sensitive sensor body is arranged on the outer wall of the clamping block.

[0011] Preferably, the protective assembly includes an outer frame, the outer wall of the outer frame is fixedly connected to the outer wall of the clamping block, a shielding block is provided on the upper surface of the outer frame, an observation window is fixedly connected to the inner wall of the outer frame, and an installation groove is opened inside the outer frame.

[0012] Preferably, the outer wall of the flexible force-sensitive sensor body is arranged inside the outer frame, and the outer wall of the flexible force-sensitive sensor body is arranged inside the installation groove.

[0013] Preferably, the observation window is made of anti-collision glass and is transparent.

[0014] Preferably, the outer wall of the shielding block is fixedly connected to the mounting block one, the outer wall of the outer frame is fixedly connected to the mounting block two, the outer wall of the mounting block two is fixedly connected to the mounting block three, the outer wall of the mounting block three is rotatably connected to the rotating block two, the interior of the rotating block two is rotatably connected to the rotating block three, and the outer wall of the rotating block three is arranged on the side wall of the mounting block one.

[0015] Working principle: By starting the hydraulic cylinder 1 to drive the limit seat to move, the guide arm 1 is driven by the limit seat to move to the specified position, and then the control module sends a command to make the guide arm 1 drive the guide arm 2 to rotate, and then the guide arm 3 is driven by the guide arm 2 to rotate to the specified position. At this time, the positioning block reaches the preset position under the drive of the guide arm 3, and then the hydraulic cylinder 2 is started to drive the push block to move up and down, and then the rotating block 1 rotates under the drive of the push block, and then the transmission block slides under the drive of the rotating block 1, and then the clamping block moves synchronously under the drive of the transmission block, and the flexible force sensitive sensor body is driven by the clamping block. The two hydraulic cylinders move synchronously, and then the clamping block clamps the workpiece. During this process, the mechanical parameters of the clamping block surface change and are recorded by the flexible force-sensitive sensor body. Then, the data recorded by the flexible force-sensitive sensor body is transmitted to the control module. The control module regulates the hydraulic cylinder 2 according to the preset parameters, and then adjusts the clamping force of the clamping block, so as to achieve precise clamping of the workpiece, and adjusts the clamping force of the transmission component 2 according to the shape and material of the workpiece, so as to avoid the transmission component 2 damaging the surface of the workpiece, failing to keep the workpiece stable, and causing the workpiece to fall during processing.

[0016] The limit seat is driven to slide by hydraulic cylinder 1, and then the sliding block slides under the drive of the limit seat, and the control module controls the output power of hydraulic cylinder 1 through preset instructions, which makes the limit seat move within the specified range. When the workpiece is finished, hydraulic cylinder 1 moves to the next workstation under the instruction of the control module, thereby achieving the effect of guiding the workpiece through the auxiliary device of the flexible force-sensitive sensor body and automatically transferring the workpiece, avoiding errors caused by manual adjustment.

[0017] The flexible force-sensitive sensor body is inserted into the interior of the outer frame through the mounting groove, so that the flexible force-sensitive sensor body fits the clamping block, ensuring that the flexible force-sensitive sensor body can monitor the changes in the mechanical parameters of the clamping block in real time. At the same time, the outer frame, the shielding block and the observation window constitute a closed area to protect the flexible force-sensitive sensor body from external interference. The observation window uses anti-collision glass, which can improve the protection of the flexible force-sensitive sensor body and prevent the flexible force-sensitive sensor body from monitoring erroneous data due to external interference, making it convenient for users to observe the external structure of the flexible force-sensitive sensor body and conduct regular appearance inspections of the flexible force-sensitive sensor body.

[0018] By pulling the rotating block two, the rotating block three is driven to separate from the inner side of the mounting block one, and then the mounting block one is separated from the mounting block two. At this time, the shielding block can be separated from the upper side of the outer frame, and then the user can pull the flexible force-sensitive sensor body out of the outer frame, thereby making it convenient for the user to regularly disassemble and inspect the flexible force-sensitive sensor body and replace the damaged flexible force-sensitive sensor body, saving time and energy in disassembling the flexible force-sensitive sensor body.

[0019] The present invention provides a support and guide device based on a flexible force-sensitive sensor. It has the following beneficial effects:

[0020] 1. The present invention starts the hydraulic cylinder 1 to drive the limit seat to move, and then the guide arm 1 moves to the designated work position under the drive of the limit seat, and then the control module issues an instruction to make the guide arm 1 drive the guide arm 2 to rotate, so as to achieve the precise clamping of the workpiece in the pre-processing area, and adjust the clamping force of the transmission component 2 according to the shape and material of the workpiece, so as to avoid the effect of the transmission component 2 damaging the surface of the workpiece, failing to keep the workpiece stable and causing the workpiece to fall during processing.

[0021] 2. The present invention drives the limit seat to slide through the hydraulic cylinder 1, and then the sliding block slides under the drive of the limit seat, and the control module controls the output power of the hydraulic cylinder 1 through preset instructions, so as to achieve the effect of guiding the auxiliary device through the flexible force-sensitive sensor body and automatically transferring the workpiece, avoiding errors caused by manual adjustment.

[0022] 3. The present invention inserts the flexible force-sensitive sensor body into the interior of the outer frame through the installation groove, so that the flexible force-sensitive sensor body fits with the clamping block, thereby improving the protection of the flexible force-sensitive sensor body, avoiding the flexible force-sensitive sensor body from monitoring erroneous data due to external interference, and facilitating users to conduct regular appearance inspections of the flexible force-sensitive sensor body.

[0023] 4. The present invention drives the rotating block three to separate from the inner side of the mounting block one by pulling the rotating block two, and then the mounting block one is separated from the mounting block two, thereby making it convenient for the user to regularly disassemble and inspect the flexible force-sensitive sensor body and replace the damaged flexible force-sensitive sensor body, thereby avoiding wasting unnecessary time and energy on disassembling the flexible force-sensitive sensor body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the local structure of the transmission block of the present invention;

[0026] Figure 3 This is a schematic diagram of the partial structure of the observation window of the present invention;

[0027] Figure 4 It is a schematic diagram of the local structure of the sliding block of the present invention;

[0028] Figure 5 It is a schematic diagram of the local structure of the installation slot of the present invention;

[0029] Figure 6 Schematic diagram of three partial structures of the rotating block of the present invention.

[0030] Among them, 1. Support seat; 2. Hydraulic cylinder 1; 3. Sliding assembly; 31. Limit seat; 32. Sliding block; 33. Sliding slot; 4. Control module; 5. Guide assembly; 51. Guide arm 1; 52. Guide arm 2; 53. Guide arm 3; 6. Positioning block; 7. Hydraulic cylinder 2; 8. Transmission assembly 1; 81. Push block; 82. Rotating block 1; 9. Transmission assembly 2; 91. Transmission block; 92. Clamping block; 10. Protection assembly; 101. Outer frame; 102. Shielding block; 103. Observation window; 104. Mounting slot; 11. Flexible force sensitive sensor body; 12. Mounting block 1; 13. Mounting block 2; 14. Mounting block 3; 15. Rotating block 2; 16. Rotating block 3. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Please see the attached Figure 1 -Attached Figure 3 The embodiment of the present invention provides a support and guide device based on a flexible force-sensitive sensor, including a support base 1, a hydraulic cylinder 2 is fixedly connected to the upper surface of the support base 1, a sliding component 3 is provided at the output end of the hydraulic cylinder 2, the sliding component 3 is connected to the control module 4, the sliding component 3 is connected to the guide component 5, the control module 4 is electrically connected to the guide component 5, the guide component 5 is connected to a positioning block 6, a hydraulic cylinder 2 is fixedly connected to the interior of the positioning block 6, a transmission component 1 is provided at the output end of the hydraulic cylinder 2 7, a transmission component 2 is provided on the inner wall of the positioning block 6, the transmission component 2 9 is connected to the transmission component 1 8, the transmission component 2 9 is connected to the protective component 10, the protective component 10 is connected to the flexible force-sensitive sensor body 11, and the flexible force-sensitive sensor body 11 is connected to the transmission component 2 9;

[0033] Specifically, by starting the hydraulic cylinder 1 2 to drive the sliding assembly 3 to move left and right on the surface of the support seat 1, the guide assembly 5 is then driven by the sliding assembly 3 to move synchronously to the designated workstation, and then the control module 4 issues a command to make the guide assembly 5 drive the positioning block 6 to the designated position. At this time, the hydraulic cylinder 2 7 is started to drive the transmission assembly 1 8 to move up and down, and then the transmission assembly 2 9 is opened and closed under the drive of the transmission assembly 1 8, and then the transmission assembly 2 9 clamps the workpiece. During this process, the mechanical parameters on the surface of the transmission assembly 2 9 change and are recorded by the flexible force-sensitive sensor body 11. The flexible force-sensitive sensor body 11 is a prior art and will not be described in detail here. Then, the data recorded by the flexible force-sensitive sensor body 11 is transmitted to the control module 4. The control module 4 regulates the hydraulic cylinder 2 7 according to the comparison of the predetermined parameters, and then adjusts the clamping force of the transmission assembly 2 9, so as to achieve precise clamping of the workpiece at the predetermined workstation, and adjusts the clamping force of the transmission assembly 2 9 according to the different shapes and materials of the workpiece, so as to avoid the transmission assembly 2 9 damaging the surface of the workpiece and failing to keep the workpiece stable and causing it to fall.

[0034] See attached Figure 1 The sliding assembly 3 includes a limit seat 31, the outer wall of the limit seat 31 is connected to the output end of the hydraulic cylinder 2, the lower surface of the limit seat 31 is fixedly connected to the sliding block 32, and a sliding groove 33 is opened inside the support seat 1, and the lower surface of the limit seat 31 is slidably connected to the upper surface of the support seat 1;

[0035] Specifically, the limit seat 31 slides on the surface of the support seat 1 under the drive of the hydraulic cylinder 2. Since the limit seat 31 is fixedly connected to the sliding block 32, the sliding block 32 slides along the inside of the sliding groove 33 under the drive of the limit seat 31, and the control module 4 controls the output power of the hydraulic cylinder 2 through preset instructions, which makes the limit seat 31 move within the specified range. When the workpiece is finished, the parameters of the flexible force-sensitive sensor body 11 return to stability, and the hydraulic cylinder 2 moves to the next workstation under the instruction of the control module 4, so that the flexible force-sensitive sensor body 11 can be used to assist the device to guide and automatically transfer the workpiece, avoiding errors caused by manual adjustment and further improving the production rate.

[0036] See attached Figure 1 , the lower surface of the control module 4 is fixedly connected to the upper surface of the limit seat 31, and the outer wall of the sliding block 32 is slidably connected to the inside of the support seat 1 through the sliding groove 33;

[0037] Specifically, the limiting seat 31 provides a mounting fulcrum for the control module 4 , and the sliding groove 33 limits the sliding range and direction of the sliding block 32 inside the supporting seat 1 .

[0038] See attached Figure 4The guide assembly 5 includes a guide arm 1 51, the lower surface of the guide arm 1 51 is fixedly connected to the upper surface of the limit seat 31, the outer wall of the guide arm 1 51 is rotatably connected to the guide arm 2 52, the outer wall of the guide arm 2 52 is rotatably connected to the guide arm 3 53, and the outer wall of the positioning block 6 is fixedly connected to the outer wall of the guide arm 3 53;

[0039] Specifically, guide arm 1 51 drives guide arm 2 52 to rotate, and then guide arm 3 53 rotates to the specified position under the drive of guide arm 2 52. Since the positioning block 6 is fixedly connected to guide arm 3 53, the positioning block 6 reaches the preset position under the drive of guide arm 3 53.

[0040] See attached Figure 2 The transmission assembly 1 8 includes a push block 81, the outer wall of the push block 81 is fixedly connected to the output end of the hydraulic cylinder 2 7, and the outer wall of the push block 81 is rotatably connected to the rotating block 1 82;

[0041] Specifically, the push block 81 moves up and down under the drive of the hydraulic cylinder 2 7 , and then the rotating block 1 82 rotates around the push block 81 under the drive of the push block 81 .

[0042] See attached Figure 2 The transmission assembly 2 9 includes a transmission block 91, the outer wall of the transmission block 91 is rotatably connected to the inner wall of the positioning block 6, the outer wall of the transmission block 91 is rotatably connected to the inner wall of the rotating block 1 82, the outer wall of the transmission block 91 is fixedly connected to the clamping block 92, and the outer wall of the flexible force-sensitive sensor body 11 is set on the outer wall of the clamping block 92;

[0043] Specifically, the transmission block 91 slides along the inner wall of the positioning block 6 driven by the rotating block 82. Since the clamping block 92 is fixedly connected to the transmission block 91, the clamping block 92 moves synchronously driven by the transmission block 91, and the flexible force sensitive sensor body 11 moves synchronously driven by the clamping block 92.

[0044] See attached Figure 3 and attached Figure 5 The protective assembly 10 includes an outer frame 101, the outer wall of the outer frame 101 is fixedly connected to the outer wall of the clamping block 92, a shielding block 102 is provided on the upper surface of the outer frame 101, an observation window 103 is fixedly connected to the inner wall of the outer frame 101, and a mounting groove 104 is provided inside the outer frame 101; the outer wall of the flexible force-sensitive sensor body 11 is arranged inside the outer frame 101, and the outer wall of the flexible force-sensitive sensor body 11 is arranged inside the mounting groove 104; the observation window 103 adopts anti-collision glass, and the observation window 103 is transparent;

[0045] Specifically, the flexible force-sensitive sensor body 11 is inserted into the interior of the outer frame 101 through the installation groove 104, so that the flexible force-sensitive sensor body 11 remains stable and fits with the clamp 92, ensuring that the flexible force-sensitive sensor body 11 can monitor the changes in the mechanical parameters of the clamp 92 in real time. At the same time, the outer frame 101, the shielding block 102 and the observation window 103 constitute a closed area to protect the flexible force-sensitive sensor body 11 from external interference. At the same time, the observation window 103 uses anti-collision glass, which improves the protectiveness of the protective component 10 and facilitates the user to observe the flexible force-sensitive sensor body 11, thereby improving the protective performance of the flexible force-sensitive sensor body 11, avoiding the flexible force-sensitive sensor body 11 from being disturbed by external impacts and causing errors, and facilitating the user to observe the external structure of the flexible force-sensitive sensor body 11 and perform maintenance on the flexible force-sensitive sensor body 11 in a timely manner.

[0046] See attached Figure 3 and attached Figure 6 The outer wall of the shielding block 102 is fixedly connected to the mounting block 12, the outer wall of the outer frame 101 is fixedly connected to the mounting block 2 13, the outer wall of the mounting block 2 13 is fixedly connected to the mounting block 3 14, the outer wall of the mounting block 3 14 is rotatably connected to the rotating block 2 15, the inner part of the rotating block 2 15 is rotatably connected to the rotating block 3 16, and the outer wall of the rotating block 3 16 is set on the side wall of the mounting block 12;

[0047] Specifically, by pulling the rotating block 2 15 to rotate it around the mounting block 3 14, the rotating block 3 16 is then separated from the inner side of the mounting block 12 under the drive of the rotating block 2 15, and then the mounting block 12 and the mounting block 2 13 are no longer connected through the mounting block 3 14, the rotating block 2 15 and the rotating block 3 16. Since the shielding block 102 is fixedly connected to the mounting block 12 and the mounting block 2 13 is fixedly connected to the outer frame 101, the shielding block 102 can be separated from the upper side of the outer frame 101 at this time, and then the user pulls the flexible force-sensitive sensor body 11 out of the outer frame 101, finally achieving the purpose of making it convenient for the user to disassemble and assemble the flexible force-sensitive sensor body 11, thereby making it convenient for the user to regularly disassemble and inspect the flexible force-sensitive sensor body 11 and replace the damaged flexible force-sensitive sensor body 11, thereby ensuring the normal operation of the device.

[0048] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A support and guide device based on a flexible force-sensitive sensor, comprising a support seat (1), characterized in that: The upper surface of the support seat (1) is fixedly connected with a hydraulic cylinder 1 (2), the output end of the hydraulic cylinder 1 (2) is provided with a sliding component (3), the sliding component (3) is connected with a control module (4), the sliding component (3) is connected with a guide component (5), the control module (4) is electrically connected to the guide component (5), the guide component (5) is connected with a positioning block (6), the interior of the positioning block (6) is fixedly connected with a hydraulic cylinder 2 (7), the output end of the hydraulic cylinder 2 (7) is provided with a transmission component 1 (8), the inner wall of the positioning block (6) is provided with a transmission component 2 (9), the transmission component 2 (9) is connected to the transmission component 1 (8), the transmission component 2 (9) is connected to the protective component (10), the protective component (10) is connected with a flexible force-sensitive sensor body (11), and the flexible force-sensitive sensor body (11) is connected to the transmission component 2 (9).

2. A support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The sliding assembly (3) includes a limit seat (31), the outer wall of the limit seat (31) is connected to the output end of the hydraulic cylinder (2), the lower surface of the limit seat (31) is fixedly connected to a sliding block (32), the interior of the support seat (1) is provided with a sliding groove (33), and the lower surface of the limit seat (31) is slidably connected to the upper surface of the support seat (1).

3. A support and guide device based on a flexible force-sensitive sensor according to claim 2, characterized in that: The lower surface of the control module (4) is fixedly connected to the upper surface of the limit seat (31), and the outer wall of the sliding block (32) is slidably connected to the inside of the support seat (1) through the sliding groove (33).

4. The support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The guide assembly (5) includes a guide arm 1 (51), the lower surface of the guide arm 1 (51) is fixedly connected to the upper surface of the limit seat (31), the outer wall of the guide arm 1 (51) is rotatably connected to the guide arm 2 (52), the outer wall of the guide arm 2 (52) is rotatably connected to the guide arm 3 (53), and the outer wall of the positioning block (6) is fixedly connected to the outer wall of the guide arm 3 (53).

5. The support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The transmission assembly 1 (8) includes a push block (81), the outer wall of which is fixedly connected to the output end of the hydraulic cylinder 2 (7), and the outer wall of which is rotatably connected to the rotating block 1 (82).

6. The support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The transmission assembly 2 (9) includes a transmission block (91), the outer wall of the transmission block (91) is rotatably connected to the inner wall of the positioning block (6), the outer wall of the transmission block (91) is rotatably connected to the inner wall of the rotating block 1 (82), the outer wall of the transmission block (91) is fixedly connected to a clamping block (92), and the outer wall of the flexible force-sensitive sensor body (11) is arranged on the outer wall of the clamping block (92).

7. The support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The protective assembly (10) comprises an outer frame (101), the outer wall of the outer frame (101) is fixedly connected to the outer wall of the clamping block (92), a shielding block (102) is provided on the upper surface of the outer frame (101), an observation window (103) is fixedly connected to the inner wall of the outer frame (101), and a mounting groove (104) is provided inside the outer frame (101).

8. The support and guide device based on a flexible force-sensitive sensor according to claim 1, characterized in that: The outer wall of the flexible force-sensitive sensor body (11) is arranged inside the outer frame (101), and the outer wall of the flexible force-sensitive sensor body (11) is arranged inside the installation groove (104).

9. The support and guide device based on a flexible force-sensitive sensor according to claim 7, characterized in that: The observation window (103) is made of anti-collision glass and is transparent.

10. The support and guide device based on a flexible force-sensitive sensor according to claim 7, characterized in that: The outer wall of the shielding block (102) is fixedly connected to the mounting block one (12), the outer wall of the outer frame (101) is fixedly connected to the mounting block two (13), the outer wall of the mounting block two (13) is fixedly connected to the mounting block three (14), the outer wall of the mounting block three (14) is rotatably connected to the rotating block two (15), the interior of the rotating block two (15) is rotatably connected to the rotating block three (16), and the outer wall of the rotating block three (16) is arranged on the side wall of the mounting block one (12).

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