Self-protecting force and torque measuring device

Abstract

The application discloses a self-protectable force and torque measuring device, which comprises a force measuring platform, two force measuring modules and a torque measuring module. The force measuring platform has two force measuring sides, each of which is provided with two guide shafts. The two guide shafts are along a first direction and a second direction, respectively. The two force measuring modules are arranged on the two force measuring sides, respectively. Each force measuring module comprises a sliding block bearing seat, a protection piece, a driving piece and a tension and compression sensor. The sliding block bearing seat is in sliding connection with the guide shaft. The protection piece and the driving piece are arranged on the sliding block bearing seat. The driving piece is used for driving the protection piece to switch between a locking state and a movable state, so as to limit or allow the sliding block bearing seat to move along the corresponding direction. The tension and compression sensor is used for measuring the stress of the sliding block bearing seat along the corresponding direction. The torque measuring module is arranged on at least one sliding block bearing seat and is used for measuring the torque received by the measuring device. The application aims at solving the problem that the sensor in the existing measuring device is easy to be damaged in a non-measuring state.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding and marine engineering technology, and more specifically to a self-protecting force and torque measuring device. Background Technology

[0002] In fields such as ship hydrodynamic testing, propulsion system testing, and structural mechanics testing, it is often necessary to measure the forces and moments acting on the object under test during its motion. For example, during ship model towing tests or hydrodynamic performance tests, it is necessary to measure the resistance, lateral forces, and corresponding moment parameters of the hull in different directions, so as to analyze the hull's propulsion performance, maneuverability, and hydrodynamic characteristics.

[0003] In existing technologies, measuring devices typically place sensors directly along the force path to detect the force acting on the object being measured. However, in practical applications, measuring devices often undergo installation, debugging, and non-measuring conditions. Under these conditions, the object being measured or the external structure may generate impact or compressive forces. These impact forces often act directly on the sensor, subjecting it to large instantaneous loads, which can easily damage the sensor and affect the accuracy and stability of subsequent measurements.

[0004] Therefore, existing measuring devices typically lack protection mechanisms for sensors, making it difficult for sensors to avoid direct external forces when not in a measuring state, resulting in technical problems such as easy damage. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a self-protecting force and torque measuring device to solve the technical problem that the sensors of existing measuring devices are easily damaged when not in a measuring state.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: This invention provides a self-protecting force and torque measuring device, comprising: a force measuring platform having two force measuring sides, each force measuring side having two guide shafts respectively, the two guide shafts being perpendicular to a first direction and a second direction respectively; two force measuring modules respectively disposed on the two force measuring sides, each force measuring module including a slider bearing seat, a protective component, a driving component, and a tension / compression sensor, the slider bearing seat being slidably connected to the guide shafts, the protective component and the driving component being disposed on the slider bearing seat, the driving component being used to drive the protective component to switch between a locked state and an active state to restrict or allow the slider bearing seat to move in the corresponding direction, the tension / compression sensor being used to measure the force on the slider bearing seat in the corresponding direction; and a torque measuring module disposed on at least one slider bearing seat for measuring the torque applied to the measuring device.

[0007] In some embodiments, the force measuring platform has two movable cavities, which respectively accommodate the protective components of the two force measuring modules. The protective components have locking shafts. When the locking shafts are rotated to the locked position, the locking shafts engage with the side walls of the movable cavities to restrict the movement of the corresponding slider bearing seats.

[0008] In some embodiments, the protective element is a rotating wheel structure, and the driving element drives the rotating wheel structure to rotate, wherein the locking shaft is the shaft with the largest radial extension length of the protective element.

[0009] In some embodiments, the force measuring platform has a first force measuring side and a second force measuring side. The first force measuring side is provided with a first guide shaft along a first direction, and the second force measuring side is provided with a second guide shaft along a second direction. A first force measuring module is disposed on the first force measuring side, and a second force measuring module is disposed on the second force measuring side. The force measuring platform has a first movable cavity for accommodating a first protective member of the first force measuring module, and a second movable cavity for accommodating a second protective member of the second force measuring module. The first movable cavity extends along a first direction, and its length in the second direction is equal to the length of the locking shaft. When the locking shaft rotates to be parallel to the second direction, the first protective member changes from an active state to a locked state. The second movable cavity extends along a second direction, and its length in the first direction is equal to the length of the locking shaft. When the locking shaft rotates to be parallel to the first direction, the second protective member changes from an active state to a locked state.

[0010] In some embodiments, the locking shaft is a telescopic structure and can extend or retract under the action of the driving member. When the locking shaft extends to engage with the side wall of the active cavity, the corresponding protective member changes from an active state to a locked state.

[0011] In some embodiments, the force measuring platform has a first force measuring side and a second force measuring side. The first force measuring side is provided with a first guide shaft along a first direction, and the second force measuring side is provided with a second guide shaft along a second direction. A first force measuring module is disposed on the first force measuring side, and a second force measuring module is disposed on the second force measuring side. The force measuring platform has a first movable cavity for accommodating a first protective member of the first force measuring module, and a second movable cavity for accommodating a second protective member of the second force measuring module. The first movable cavity extends along a first direction, and the locking shaft of the first protective member is disposed along a second direction. The second movable cavity extends along a second direction, and the locking shaft of the second protective member is disposed along a first direction.

[0012] In some embodiments, the measuring device further includes a connecting mechanism, which is fixedly connected to the force measuring platform and is used to connect the object to be measured.

[0013] In some embodiments, the connecting mechanism includes a rocker bearing housing and a cross shaft. The rocker bearing housing is fixedly connected to the force measuring platform, and the cross shaft is disposed on the rocker bearing housing for connecting to the object to be measured.

[0014] In some embodiments, guide shaft clamps are provided at both ends of the two guide shafts, and the guide shaft clamps are fixedly mounted on the force measuring platform.

[0015] In some embodiments, the two slider bearing seats are respectively provided with guide grooves, and the two guide shafts are respectively inserted into the corresponding guide grooves to guide the first slider bearing seat and the second slider bearing seat to move along the first direction and the second direction, respectively.

[0016] Compared with existing technologies, the present invention provides a self-protecting force and torque measuring device. By setting a first force measuring module and a second force measuring module on the force measuring platform, and incorporating a protective structure in each force measuring module that can switch between a locked state and an active state, the movement of the slider bearing seat is restricted when not measuring, thereby preventing external forces from directly acting on the tension / compression sensor and effectively protecting the sensor. When the device needs to measure, the protective structure can be unlocked, allowing the slider bearing seat to move in the corresponding direction under the guidance and support of the guide shaft, thus ensuring that the sensor can accurately detect external forces. Simultaneously, through two force measuring modules arranged in mutually perpendicular directions and a torque measuring module, comprehensive measurement of forces and torques in different directions can be achieved, improving the applicability and measurement accuracy of the measuring device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a self-protecting force and torque measuring device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the first force measuring side provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first force measuring module provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the second force measuring side provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the second force measuring module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the locked state of a first protective element provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the locked state of another first protective element provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 10. Force measuring platform; 11. First force measuring side; 12. Second force measuring side; 13. First guide shaft; 14. Second guide shaft; 15. First movable cavity; 16. Second movable cavity; 20. First force measuring module; 21. First slider bearing seat; 22. First protective component; 23. First driving component; 24. First tension / compression sensor; 30. Second force measuring module; 31. Second slider bearing seat; 32. Second protective component; 33. Second driving component; 34. Second tension / compression sensor; 40. Torque measuring module; 50. Connecting mechanism; 51. Roll bearing seat; 52. Cross shaft; 60. Locking shaft; 70. Guide shaft clamp; 80. Guide groove. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] To address the technical problem that sensors in existing measuring devices are easily damaged when not in a measuring state, this invention provides a self-protecting force and torque measuring device that can improve the safety of the sensor and the reliability of the device while ensuring normal force measurement function.

[0021] It should be noted that the force and torque measuring device described in this invention is used in, but not limited to, ships and marine engineering. For ease of explanation, this invention will only use the application of the force and torque measuring device in ships and marine engineering as an example. The principle of the force and torque measuring device applied to other types of equipment is essentially the same as that applied to ships and marine engineering, and will not be described in detail here.

[0022] Please see Figure 1 , Figure 1 This is a schematic diagram of a self-protective force and torque measuring device according to an embodiment of the present invention. The Y direction in the diagram represents the first direction, and the X direction represents the second direction. The device includes a force measuring platform 10, a first force measuring module 20, a second force measuring module 30, and a torque measuring module 40. By setting force measuring modules capable of moving in different directions on the force measuring platform 10, and cooperating with a switchable protection structure, the force measuring modules are restricted in the non-measuring state, thereby preventing external forces from directly acting on the sensor and solving the technical problem in the prior art where the sensor of the measuring device is easily damaged in the non-measuring state.

[0023] Please see Figure 2 and Figure 4 , Figure 2 This is a schematic diagram of the structure of the first force measuring side 11 provided in an embodiment of the present invention. Figure 4This is a schematic diagram of the structure of the second force measuring side 12 provided in an embodiment of the present invention. The Y direction in the diagram represents the first direction, and the X direction represents the second direction. The force measuring platform 10 serves as the mounting base for the entire device, supporting each force measuring module and related structures. The force measuring platform 10 has a first force measuring side 11 and a second force measuring side 12 arranged opposite to each other. A first guide shaft 13 is arranged on the first force measuring side 11 along the first direction, and a second guide shaft 14 is arranged on the second force measuring side 12 along the second direction. The first and second directions are perpendicular to each other, enabling the device to measure forces in two orthogonal directions. The first guide shaft 13 and the second guide shaft 14 respectively guide the movement of the corresponding slider bearing seats, ensuring that the slider bearing seats can only move along the corresponding directions, thereby guaranteeing the stability of the force transmission direction and the accuracy of the measurement results.

[0024] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of the first force measuring module 20 provided in an embodiment of the present invention. The first force measuring module 20 is disposed on the first force measuring side 11 and includes a first slider bearing seat 21, a first protective member 22, a first driving member 23, and a first tension / compression sensor 24. The first slider bearing seat 21 forms a sliding fit with the first guide shaft 13, allowing the first slider bearing seat 21 to move along a first direction under the guidance of the first guide shaft 13. The first protective member 22 and the first driving member 23 are mounted on the first slider bearing seat 21, and both move synchronously with the first slider bearing seat 21 in the first and second directions. The first driving member 23 is used to change the position state of the first protective member 22, switching the first protective member 22 between a locked state and an active state. For example, the first driving member 23 can be a motor drive mechanism, a pneumatic drive mechanism, or other structures capable of rotational or displacement drive.

[0025] When the first protective member 22 is in the locked state, a locking or limiting relationship is formed between the first protective member 22 and the force measuring platform 10. For example, it can abut against the side wall of the platform through a protruding structure, or cooperate with the inner cavity of the platform through the locking shaft 60, thereby restricting the movement of the first slider bearing seat 21 in the first direction. When the first protective member 22 is in the active state, the first slider bearing seat 21 can move freely in the first direction under the guidance of the guide shaft.

[0026] The first tension / compression sensor 24 is disposed on the force transmission path of the first slider bearing seat 21, for example, it can be installed between the first slider bearing seat 21 and the force measuring platform 10. When the slider bearing seat moves along the first direction under the action of an external force, the external force is transmitted to the first tension / compression sensor 24 through the slider bearing seat, thereby causing the sensor to deform and output a corresponding force signal.

[0027] Please see Figure 5 , Figure 5This is a schematic diagram of the structure of the second force measuring module 30 provided in an embodiment of the present invention. The second force measuring module 30 is disposed on the second force measuring side 12, and its overall structure is similar to that of the first force measuring module 20, including a second slider bearing seat 31, a second protective member 32, a second driving member 33, and a second tension / compression sensor 34. The second slider bearing seat 31 forms a sliding fit with the second guide shaft 14, allowing the second slider bearing seat 31 to move along a second direction under the guidance of the second guide shaft 14. The second driving member 33 is used to drive the second protective member 32 to switch between a locked state and an active state. When the second protective member 32 is in the locked state, the movement of the second slider bearing seat 31 is restricted, for example, by forming an abutment or jamming relationship with the force measuring platform 10 through a locking structure, thereby preventing the impact force from directly acting on the second tension / compression sensor 34; when the second protective member 32 is in the active state, the second slider bearing seat 31 can move along the second direction under the guidance of the second guide shaft 14, enabling the second tension / compression sensor 34 to detect the force in the second direction.

[0028] The torque measurement module 40 is mounted on the first slider bearing seat 21 and / or the second slider bearing seat 31 to detect the torque applied to the measuring device. When the object under test generates a rotational torque about a certain axis during its movement, this torque is detected by the torque measurement module 40. Through the cooperation of the force measurement module and the torque measurement module 40, the force and torque information of the object under test during the test can be obtained simultaneously, thereby achieving a comprehensive analysis of the force state.

[0029] In practical use, the device typically goes through stages such as installation, debugging, and non-measurement states. During these stages, the object under test or the testing device may generate impact or compressive forces. If the slider bearing seat is in a free state, the impact force may be directly transmitted to the tension / compression sensor, causing damage to the sensor. This embodiment uses a switchable protection structure to allow the force measuring module to enter a locked state when not in measurement mode. When the protective component is locked, the slider bearing seat is restricted from movement, and external forces cannot directly act on the tension / compression sensor, thus protecting the sensor. When measurement is required, the protective component is switched to the active state by the drive component, allowing the slider bearing seat to move along the guide shaft, thereby enabling normal measurement of external forces. Through this structure, the force and torque measuring device in this embodiment can not only achieve multi-directional force and torque measurement, but also effectively protect the measuring sensor, thereby improving the safety and reliability of the device.

[0030] Further, please refer to Figure 2 and Figure 4 , Figure 2 This is a schematic diagram of the structure of the first force measuring side 11 provided in an embodiment of the present invention. Figure 4This is a schematic diagram of the structure of the second force-measuring side 12 provided in an embodiment of the present invention. The Y direction in the figure represents the first direction, and the X direction represents the second direction. In some embodiments of this application, a first movable cavity 15 and a second movable cavity 16 are formed on the force-measuring platform 10. These are respectively arranged on the first force-measuring side 11 and the second force-measuring side 12, providing installation and movement space for the first protective member 22 and the second protective member 32. The first movable cavity 15 corresponds to the position of the first force-measuring module 20, allowing the first protective member 22 to partially enter the first movable cavity 15; the second movable cavity 16 corresponds to the position of the second force-measuring module 30, allowing the second protective member 32 to partially enter the second movable cavity 16. By forming a movable cavity structure inside the force-measuring platform 10, necessary space is provided for the movement and locking of the protective member, while ensuring a stable fit between the locking structure and the force-measuring platform 10.

[0031] Both the first protective element 22 and the second protective element 32 are equipped with locking shafts 60. The locking shaft 60 can be understood as a structural component used to achieve a locking function. When the protective element is in the locked state, it can form a locking or abutting relationship with the side wall of the movable cavity, thereby restricting the movement of the slider bearing seat. When the locking shaft 60 is in the unlocked position, it is located inside the movable cavity or maintains a gap with the side wall of the movable cavity. At this time, the protective element is in the movable state, and the corresponding slider bearing seat can move in the corresponding direction under the guidance of the guide shaft, thus enabling the tension / compression sensor to detect external forces normally. When the locking shaft 60 enters the locked position, it forms a mechanical limiting relationship with the side wall of the movable cavity, preventing the protective element from moving further. Simultaneously, the slider bearing seat is also restricted to its current position, thereby preventing external forces from directly acting on the tension / compression sensor.

[0032] The specific implementation of the locking shaft 60 can be designed according to actual needs. For example, in some embodiments, the locking shaft 60 can enter the locked position by rotating the protective member. When the protective member rotates to a specific angle, the locking shaft 60 forms a locking engagement with the side wall of the movable cavity, thereby achieving the locking function. In other embodiments, the locking shaft 60 can also be configured as a telescopic structure, which can extend or retract under the action of the driving member. When the locking shaft 60 extends, its end abuts against the side wall of the movable cavity, thereby restricting the movement of the slider bearing seat. When the locking shaft 60 retracts, the slider bearing seat can return to a free-moving state. In addition, the same function can be achieved through an eccentric structure, a cam structure, or other structural forms that can achieve the locking effect. Furthermore, the shape of the movable cavity can be designed according to the actual structure, such as a rectangular cavity, an arc cavity, or a cavity with a sloped structure, in order to form a stable locking relationship.

[0033] In this embodiment, when the device is in the installation, debugging, or non-measurement state, the locking shaft 60 can be locked, forming a stable locking fit between the protective component and the force measuring platform 10, thereby restricting the movement of the slider bearing seat and preventing impact or compressive force from directly acting on the tension / compression sensor. When measurement is required, the locking shaft 60 is disengaged from the locked position by the driving component, restoring the protective component to its active state, allowing the slider bearing seat to move normally along the guide shaft. Compared with traditional structures that rely solely on the sensor itself to withstand external forces, the device in this embodiment can effectively protect the sensor without affecting normal measurement functions, improving the safety and reliability of the device in complex testing environments.

[0034] Please see Figure 6 , Figure 6 This is a schematic diagram of the locked state of a first protective member 22 provided in an embodiment of the present invention. In one embodiment of this application, both the first protective member 22 and the second protective member 32 can adopt a rotating wheel structure. The rotating wheel structure is a wheel-shaped component capable of rotating around its own axis, which is integrally mounted on a corresponding slider bearing seat and can rotate relative to the slider bearing seat under the action of the driving member. The driving member and the rotating wheel structure can be connected by a transmission shaft, coupling, gear meshing structure or other transmission mechanism. When the driving member works, it can drive the rotating wheel structure to rotate around its central axis, thereby changing the attitude position of the rotating wheel structure in space.

[0035] The locking shaft 60 is mounted on the rotating wheel structure and serves as one of its protruding structures. During the rotation of the rotating wheel structure, its orientation and position change along with the structure. To ensure a locking effect, the locking shaft 60 is the shaft with the largest radial extension length on both the first protective member 22 and the second protective member 32; that is, among the multiple shaft-like or protruding structures on the rotating wheel structure, the locking shaft 60 has the largest radial extension length. With this structural arrangement, when the rotating wheel structure rotates to a specific position, the locking shaft 60 can be the first to form contact or lock against the sidewall of the movable cavity on the force measuring platform 10, thereby achieving the locking function.

[0036] In this embodiment, by employing a rotating wheel structure in conjunction with a locking shaft 60, a simple and reliable rotating mechanism can be used to switch between the locking and unlocking states. When the rotating wheel structure is in the active state, the locking shaft 60 is located inside the active cavity or maintains a gap with the side wall of the active cavity. At this time, the rotating wheel structure does not restrict the movement of the slider bearing seat, which can move freely in the corresponding direction under the guidance of the guide shaft. When the driving component drives the rotating wheel structure to the locked position, the extended end of the locking shaft 60 abuts or engages with the side wall of the active cavity. Since the locking shaft 60 is the shaft with the largest radial extension length on the rotating wheel structure, it can reliably form a limiting relationship with the side wall of the active cavity, preventing the rotating wheel structure from continuing to rotate. At the same time, the connection between the rotating wheel structure and the slider bearing seat restricts the movement of the slider bearing seat, thereby achieving the locking of the force measuring module.

[0037] Furthermore, in one embodiment of this application, the structural orientations of the first movable cavity 15 and the second movable cavity 16 are matched with the movement direction of the corresponding force measuring module. Taking the first movable cavity 15 as an example, the first movable cavity 15 extends along the first direction to form a strip-shaped cavity structure, and its extension direction is consistent with the movement direction of the first slider bearing seat 21. By extending the first movable cavity 15 along the first direction, on the one hand, it provides the necessary movement space for the first slider bearing seat 21 to move along the first direction, so that the first protective member 22 and the locking shaft 60 can move in the movable cavity in the active state; on the other hand, since the sidewall of the movable cavity also extends along the first direction, a sidewall structure arranged along the first direction is formed, providing a stable contact surface for the limiting fit between the locking shaft 60 and the sidewall of the movable cavity.

[0038] The dimension of the first movable cavity 15 in the second direction is approximately equal to the length of the locking shaft 60. When the first protective member 22 is in the active state, the extension direction of the locking shaft 60 is approximately along the first direction. At this time, the locking shaft 60 is located in the internal space of the first movable cavity 15, maintaining a gap with the side wall of the first movable cavity 15, thus not restricting the movement of the first slider bearing seat 21 in the first direction. The first slider bearing seat 21 can move freely in the first direction under the guidance of the first guide shaft 13, thereby enabling the first tension / compression sensor 24 to normally detect the force in the first direction.

[0039] When the driving component drives the first protective member 22 to rotate, causing the locking shaft 60 to gradually change direction and eventually rotate to be parallel to the second direction, the extension direction of the locking shaft 60 forms a substantially perpendicular relationship with the side wall of the first movable cavity 15. Since the side wall of the first movable cavity 15 extends along the first direction, while the locking shaft 60 extends along the second direction at this position, the locking shaft 60 will make perpendicular contact with the side wall of the movable cavity, thereby forming a stable locking relationship. Because this contact relationship is a perpendicular contact relationship, the locking shaft 60 is not easy to slide along the side wall direction when subjected to force, thus maintaining a reliable locked state, changing the first protective member 22 from the movable state to the locked state, and further restricting the movement of the first slider bearing seat 21 along the first direction.

[0040] Similarly, the second movable cavity 16 extends along the second direction to form a strip-shaped cavity structure, thereby providing space for the movement of the second slider bearing seat 31 along the second direction, while its sidewall extends along the second direction. When the locking shaft 60 rotates to be parallel to the first direction, the extension direction of the locking shaft 60 forms a perpendicular abutment relationship with the sidewall of the second movable cavity 16, thereby locking the second protective member 32 and restricting the movement of the second slider bearing seat 31 along the second direction.

[0041] In this embodiment, the extension direction of the movable cavity is consistent with the movement direction of the force measuring module, and the locking shaft 60 forms a perpendicular abutment relationship with the side wall of the movable cavity in the locked state. This enables the locking structure to not only achieve a reliable limiting effect, but also to prevent slippage due to vibration or impact, thereby improving the stability and reliability of the locking structure. At the same time, it ensures that the force measuring module can smoothly resume its free movement state when it is unlocked.

[0042] Please see Figure 7 , Figure 7 This is a schematic diagram of the locked state of another first protective member 22 provided in an embodiment of the present invention. In some other embodiments of this application, the locking shaft 60 can be configured as a telescopic structure to achieve different locking methods. The locking shaft 60 can extend or retract along its axial direction under the action of the driving member, thereby changing the relative positional relationship between the locking shaft 60 and the sidewall of the movable cavity.

[0043] When the locking shaft 60 is in the retracted state, the end of the locking shaft 60 is located within the outer contour of the protective body, or inside the movable cavity but with a certain gap between it and the side wall of the movable cavity. At this time, the locking shaft 60 will not contact the side wall of the movable cavity, and the corresponding first protective member 22 or second protective member 32 is in the active state. The slider bearing seat can move in the corresponding direction under the guidance of the guide shaft, so that the tension and compression sensor can detect the external force normally.

[0044] When the force measuring module needs to be locked, the driving component drives the locking shaft 60 to extend outward, causing the end of the locking shaft 60 to gradually approach the side wall of the movable cavity. When the locking shaft 60 extends to contact the side wall of the movable cavity and forms a locking engagement, the locking shaft 60 cannot continue to move under the restriction of the side wall of the movable cavity, thus forming a stable limiting relationship. Since there is a fixed connection between the locking shaft 60 and the protective component or the slider bearing seat, when the locking shaft 60 is restricted by the side wall of the movable cavity, the corresponding first protective component 22 or second protective component 32 is also restricted to its current position, causing the protective component to change from an active state to a locked state, and further restricting the movement of the slider bearing seat.

[0045] In this embodiment, when the device is in the installation, debugging, or non-measurement state, the locking shaft 60 can be extended by the drive component, so that the locking shaft 60 forms a locking fit with the side wall of the movable cavity, thereby restricting the movement of the slider bearing seat and preventing impact or compressive force from being directly transmitted to the tension / compression sensor. When normal measurement is required, the locking shaft 60 is retracted by the drive component, so that the locking shaft 60 is released from the restriction of the side wall of the movable cavity, the protective component returns to its active state, and the slider bearing seat can move freely under the guidance of the guide shaft, thereby restoring the force measurement function.

[0046] Compared to locking via rotation, using a retractable locking shaft 60 allows for a more direct locking action and a more defined locking position, while also facilitating a more compact structural arrangement. For example, the locking shaft 60 can extend or retract via an electric actuator, a cylinder mechanism, or a spring-loaded reset mechanism, allowing for selection of the appropriate drive method based on different application environments. Furthermore, the retractable structure can be flexibly adjusted according to the dimensions of the movable cavity, giving the locking structure greater adaptability.

[0047] In addition, the end of the locking shaft 60 can be configured as a planar structure, an arc-shaped structure, or a structure with a boss to improve the contact stability with the side wall of the movable cavity; the side wall of the movable cavity can also be configured as a straight surface, an inclined surface, or a limiting surface with a reinforced structure as needed to enhance the reliability of the locking structure.

[0048] Furthermore, in one embodiment, the first movable cavity 15 extends along the first direction to form a strip-shaped cavity structure, providing the necessary space for the first slider bearing seat 21 to move along the first direction, so that the first protective member 22 can move with the slider bearing seat in the active state without interfering with the sidewall of the movable cavity. At the same time, the sidewalls of the first movable cavity 15 are arranged along the first direction to form a stable limiting surface structure.

[0049] The locking shaft 60 on the first protective member 22 is arranged along the second direction, that is, the extension direction of the locking shaft 60 is perpendicular to the extension direction of the first movable cavity 15. When the first protective member 22 is in the active state, the locking shaft 60 is located in the internal space of the first movable cavity 15, maintaining a certain gap with the side wall of the first movable cavity 15, thus not restricting the movement of the first slider bearing seat 21 along the first direction. When the driving member drives the first protective member 22 into the locked state, the end of the locking shaft 60 will abut or lock against the side wall of the first movable cavity 15. Since the locking shaft 60 extends along the second direction and the side wall of the first movable cavity 15 extends along the first direction, a perpendicular contact relationship is formed between the two, so that the locking shaft 60 can stably abut against the side wall and is not easy to slide along the side wall direction, thereby achieving reliable locking of the first protective member 22 and the first slider bearing seat 21.

[0050] Similarly, the second movable cavity 16 extends along the second direction to form a strip-shaped cavity structure, thereby providing the necessary space for the movement of the second slider bearing seat 31 along the second direction. The locking shaft 60 on the second protective member 32 is arranged along the first direction, that is, the extension direction of the locking shaft 60 is perpendicular to the extension direction of the second movable cavity 16.

[0051] In this embodiment, the first movable cavity 15 and the second movable cavity 16 extend along the movement direction of the corresponding force measuring module, while the locking shaft 60 is arranged in a direction perpendicular to it, so that the locking shaft 60 can form a stable vertical contact relationship with the side wall of the movable cavity in the locked state. This not only provides sufficient movement space for the slider bearing seat in the movable state, but also forms a reliable mechanical limit in the locked state, thereby giving the locking structure high stability and anti-slip capability, which is beneficial for effectively protecting the tension and compression sensor from the effects of impact or extrusion force in the non-measuring state.

[0052] In one embodiment, the measuring device further includes a connecting mechanism 50, which is fixedly connected to the force measuring platform 10 and used to mount the measuring device together with the object to be measured. By setting the connecting mechanism 50, the measuring device can be placed in the same measuring environment as the object to be measured. During the movement of the object to be measured, airflow, water flow, or other external media will directly act on the measuring device, thereby subjecting the measuring device as a whole to force or torque in the corresponding direction. After the measuring device is subjected to the action of external fluid, each force measuring module and torque measuring module 40 detects the corresponding force state to obtain the mechanical parameters of the object to be measured under the test conditions.

[0053] Furthermore, in one embodiment, the connecting mechanism 50 includes a rocker bearing housing 51 and a cross shaft 52. The rocker bearing housing 51 is disposed on the force measuring platform 10 and forms a fixed connection with the force measuring platform 10. It can be fixedly installed at a preset installation position on the force measuring platform 10 by means of bolt connection, pin connection, or welding. The cross shaft 52 is installed on the rocker bearing housing 51 and can form a rotatable connection with the rocker bearing housing 51. The cross shaft 52 is a connecting member with a cross shaft structure. Its central part cooperates with the bearing structure in the rocker bearing housing 51, so that the cross shaft 52 can rotate around a predetermined axis. By setting the cross shaft 52 structure, while ensuring a reliable connection between the measuring device and the object to be measured, a certain degree of rotational freedom can be provided at the connection point, thereby adapting to the posture changes of the object to be measured during the test and avoiding additional constraints on the measuring device due to excessive installation rigidity.

[0054] In this embodiment, the combination structure of the rocker bearing seat 51 and the cross shaft 52 can ensure connection stability while giving the object under test and the measuring device appropriate rotational adaptability, thereby reducing the impact of installation errors or posture changes on the measurement results.

[0055] In one embodiment, guide shaft clamps 70 are respectively provided at both ends of the first guide shaft 13 and the second guide shaft 14. The guide shaft clamps 70 are fixedly installed on the force measuring platform 10 to position and support the guide shaft, thereby ensuring the stability of the guide shaft during operation.

[0056] The guide shaft clamp 70 is fixed to the force measuring platform 10 by bolts, screws, or pins, and covers or clamps the outer surface of the guide shaft. This ensures stable installation of the guide shaft while facilitating its installation and removal, thereby improving the ease of maintenance of the device. When the guide shaft is installed in the guide shaft clamp 70, the clamp provides radial support, preventing the guide shaft from shifting or wobbling under load. This ensures a stable movement trajectory of the slider bearing seat on the guide shaft, and consequently, more accurate force direction for the tension / compression sensor.

[0057] In some embodiments, the structure of the guide shaft clamp 70 can be varied according to actual needs. For example, the guide shaft clamp 70 can adopt an integral structure or a split structure. The split structure can be composed of two half clamping blocks, which are fixed to the force measuring platform 10 by fasteners, thereby achieving clamping and fixing of the guide shaft.

[0058] In one embodiment, the first slider bearing seat 21 and the second slider bearing seat 31 are respectively provided with guide grooves 80. The guide grooves 80 are used to form a mating structure with the corresponding guide shafts, thereby guiding the movement of the slider bearing seats. The first guide shaft 13 and the second guide shaft 14 are respectively inserted into the corresponding guide grooves 80, so that the slider bearing seats can move in a predetermined direction under the constraint and guidance of the guide shafts.

[0059] The guide shaft not only defines the direction of movement of the slider bearing seat, but also serves as a support structure for the slider bearing seat. Taking the first slider bearing seat 21 as an example, when the first slider bearing seat 21 is mounted on the first guide shaft 13, the first guide shaft 13 can provide support for the first slider bearing seat 21, so that the weight and force of the first slider bearing seat 21 can be transmitted to the force measuring platform 10 through the guide shaft, thereby enabling the slider bearing seat to maintain a stable posture during movement and reducing errors caused by structural swaying or offset.

[0060] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A self-protecting force and torque measuring device, characterized in that, include: A force measuring platform has two force measuring sides, and each of the two force measuring sides is provided with two guide shafts, which are respectively along a first direction and a second direction that are perpendicular to each other. Two force measuring modules are respectively disposed on the two force measuring sides. Each force measuring module includes a slider bearing seat, a protective component, a driving component, and a tension / compression sensor. The slider bearing seat is slidably connected to the guide shaft. The protective component and the driving component are disposed on the slider bearing seat. The driving component is used to drive the protective component to switch between a locked state and an active state to restrict or allow the slider bearing seat to move in the corresponding direction. The tension / compression sensor is used to measure the force on the slider bearing seat in the corresponding direction. A torque measurement module is disposed on at least one of the slider bearing seats and is used to measure the torque applied to the measuring device; The force measuring platform has two movable cavities, which respectively accommodate the protective components of the two force measuring modules. Each protective component has a locking shaft. When the locking shaft is rotated to the locked position, the locking shaft engages with the side wall of the movable cavity to restrict the movement of the corresponding slider bearing seat. The measuring device also includes a connecting mechanism, which is fixedly connected to the force measuring platform and is used to connect the object to be measured.

2. The force and torque measuring device according to claim 1, characterized in that, The protective component is a rotating wheel structure, and the driving component drives the rotating wheel structure to rotate, wherein the locking shaft is the shaft with the largest radial extension length of the protective component.

3. The force and torque measuring device according to claim 2, characterized in that, The force measuring platform has a first force measuring side and a second force measuring side. The first force measuring side is provided with a first guide shaft along the first direction, and the second force measuring side is provided with a second guide shaft along the second direction. A first force measuring module is disposed on the first force measuring side, and a second force measuring module is disposed on the second force measuring side. The force measuring platform has a first movable cavity for accommodating a first protective component of the first force measuring module, and a second movable cavity for accommodating a second protective component of the second force measuring module. The first movable cavity extends along the first direction, and its length in the second direction is equal to the length of the locking shaft. When the locking shaft rotates to be parallel to the second direction, the first protective member changes from the movable state to the locked state. The second movable cavity extends along the second direction, and its length in the first direction is equal to the length of the locking shaft. When the locking shaft rotates to be parallel to the first direction, the second protective member changes from the movable state to the locked state.

4. The force and torque measuring device according to claim 1, characterized in that, The locking shaft is a telescopic structure and can extend or retract under the action of the driving member. When the locking shaft extends to engage with the side wall of the movable cavity, the corresponding protective member changes from the movable state to the locked state.

5. The force and torque measuring device according to claim 4, characterized in that, The force measuring platform has a first force measuring side and a second force measuring side. The first force measuring side is provided with a first guide shaft along the first direction, and the second force measuring side is provided with a second guide shaft along the second direction. A first force measuring module is disposed on the first force measuring side, and a second force measuring module is disposed on the second force measuring side. The force measuring platform has a first movable cavity for accommodating a first protective component of the first force measuring module, and a second movable cavity for accommodating a second protective component of the second force measuring module. The first movable cavity extends along the first direction, and the locking shaft of the first protective member is disposed along the second direction; The second movable cavity extends along the second direction, and the locking shaft of the second protective member is arranged along the first direction.

6. The force and torque measuring device according to claim 1, characterized in that, The connecting mechanism includes a rocker bearing housing and a cross shaft. The rocker bearing housing is fixedly connected to the force measuring platform, and the cross shaft is disposed on the rocker bearing housing for connecting to the object to be measured.

7. The force and torque measuring device according to claim 1, characterized in that, Guide shaft clamps are provided at both ends of the two guide shafts, and the guide shaft clamps are fixedly mounted on the force measuring platform.

8. The force and torque measuring device according to claim 1, characterized in that, Each of the two slider bearing seats has a guide groove, and the two guide shafts pass through the corresponding guide grooves to guide the two slider bearing seats to move along the first direction and the second direction, respectively.

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