Measuring rod flexibility coefficient measuring device

Abstract

The utility model provides a measuring rod flexibility coefficient measuring device which comprises a measuring device and a measuring rod fixing device, one end of a measuring rod is a measuring head, the other end of the measuring rod is a fixed end, the fixed end of the measuring rod is installed on the measuring rod fixing device, and the measuring device comprises a fixed frame, a moving frame, a first displacement sensor and a force loading piece. The fixing frame and the measuring rod fixing device are relatively fixed, the moving frame is arranged on the fixing frame in a sliding or rotating mode, a first contact piece making contact with a measuring head of the measuring rod is arranged on the moving frame, and the first displacement sensor and the fixing frame are relatively fixed. The measuring direction of the first displacement sensor is parallel to the sliding direction or the rotating tangential direction of the moving frame, the force loading piece can apply acting force to the moving frame in the sliding direction or the rotating tangential direction so that the measuring rod can deform, and the first displacement sensor can measure the displacement amount. According to the relation between the force and the deformation amount, the flexibility coefficient of the measuring rod can be conveniently obtained.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arm precision measurement, in particular to a measuring device and a measuring method for the flexibility coefficient of a measuring rod. Background Art

[0002] The repeated positioning accuracy of a robotic arm is generally very high, but its absolute positioning accuracy is usually low due to machining and assembly errors, rod deformation, etc. To improve the absolute positioning accuracy of a robotic arm, kinematic parameter calibration is generally required, and high-precision measuring equipment and appropriate parameter identification methods are needed to identify the accurate parameters of the robotic arm model. CN113084798A discloses a robot calibration device based on multi-station measurement. The device includes a multi-station base and a measuring device. The multi-station base switches the 3D displacement measuring device to different stations. The measuring device includes a 3D measuring ball bar installed at the end of the robotic arm and a data processing device. The device has the advantages of high precision, simple and reliable structure, etc. For large robotic arms, longer measuring rods are needed. However, since the measuring rod itself will deform under the action of gravity, the overall measurement accuracy will decrease. One solution is to calibrate the flexibility coefficient of the measuring rod, so as to pre-estimate the deformation amount, and then perform deformation compensation to improve the measurement accuracy, and thus improve the final calibration accuracy of the robotic arm. However, the flexibility coefficient calibration requires precise loading and deformation measurement of the measuring rod, and the shapes of the measuring rods are various, so the measuring equipment needs to have good adaptability. At present, there is no mature and reliable measuring equipment for this problem. Summary of the Invention

[0003] The purpose of the utility model is to provide a measuring method for a measuring device of the flexibility coefficient of a measuring rod aiming at the deficiencies of the prior art. The purpose is to apply a force to the measuring head of the measuring rod through a force loading member, so that the measuring rod deforms in the corresponding measuring axial direction. At the same time, the displacement sensor measures the displacement of the contact member in contact with the measuring head of the measuring rod, measures the deformation amount of the measuring rod in the corresponding measuring axial direction, and according to the relationship between the force and the deformation amount, the flexibility coefficient of the measuring rod can be obtained.

[0004] To achieve the above object, the present utility model provides the following technical solutions: A measuring device for measuring the flexibility coefficient of a measuring rod, comprising a measuring device and a measuring rod fixing device. One end of the measuring rod is a measuring head, and the other end of the measuring rod is a fixed end. The fixed end of the measuring rod is installed on the measuring rod fixing device. The measuring device includes a fixed frame, a moving frame, a first displacement sensor, and a force loading member. The fixed frame is fixedly arranged relative to the measuring rod fixing device. The moving frame is slidably or rotatably arranged on the fixed frame. A first contact member in contact with the measuring head of the measuring rod is provided on the moving frame. The first displacement sensor is fixedly arranged relative to the fixed frame. The measuring direction of the first displacement sensor is parallel to the sliding direction of the moving frame or the tangential direction of rotation. The force loading member can apply a force to the moving frame along the sliding direction or the tangential direction of rotation, so that the first contact member presses against the measuring head of the measuring rod and causes the measuring rod to deform. The first displacement sensor can measure the displacement of the first contact member in the sliding direction or the tangential direction of rotation.

[0005] Preferably, the fixed frame includes a top plate, a bottom plate, and support columns. The upper end of the support columns is connected to the top plate, and the lower end of the support columns is connected to the bottom plate. The length of the support columns is adjustable or detachable, so that the space formed by the top plate, the bottom plate, and the support columns can accommodate the measuring rod.

[0006] Preferably, the measuring rod is a bent rod structure with a 90-degree bending portion. One end is provided with a connecting portion for fixedly connecting to the connecting position of the measuring rod fixing seat, and the other end is provided with a high-precision ball head for measurement.

[0007] Preferably, the measuring rod fixing device includes a measuring rod fixing seat. There are at least 2 orthogonally arranged connecting positions on the measuring rod fixing seat. When there are 2 orthogonally arranged connecting positions on the measuring rod fixing seat, one of the connecting positions is arranged on the horizontal plane, and the other connecting position is arranged on the vertical plane. The fixed ends of the measuring rod are respectively installed at two different connecting positions, enabling the measuring rod to be in three different measuring directions of X, Y, and Z.

[0008] Preferably, the first displacement sensor is a contact type displacement sensor or a non-contact type displacement sensor. When the first displacement sensor is a contact type displacement sensor, the first displacement sensor is a first electronic ruler. The axial direction of the probe of the first electronic ruler is parallel to the sliding direction of the moving frame or the tangential direction of rotation. The probe of the first electronic ruler always presses tightly against the first contact member, and the axis of the probe of the first electronic ruler passes through the center of the ball of the measuring head of the measuring rod.

[0009] Preferably, the measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a plane. The first contact member is provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0010] Preferably, the force loading member is a weight placed on the moving frame, a hydraulic push rod connected to the moving frame, an electric push rod connected to the moving frame, a pneumatic push rod connected to the moving frame, or a spring connected to the moving frame.

[0011] Preferably, when the moving frame is slidably arranged on the fixed frame, the moving frame and the fixed frame are in guiding sliding fit through a slider-rail fit, a slider-groove fit, a roller, or a chute.

[0012] Preferably, when the moving frame is rotatably arranged on the fixed frame, the moving frame and the fixed frame are in fit through a rotating shaft.

[0013] Preferably, a second displacement sensor is further included. The second displacement sensor is fixedly arranged relative to the fixed frame. The second displacement sensor is a contact displacement sensor or a non-contact displacement sensor. When the second displacement sensor is a contact displacement sensor, the second displacement sensor is a second electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member. The measuring head of the measuring rod contacts the second contact member. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a flat surface. The second contact member is provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0014] Preferably, a second displacement sensor and a third displacement sensor are further included. The second displacement sensor and the third displacement sensor are respectively fixedly arranged relative to the fixed frame. The second displacement sensor and the third displacement sensor are contact displacement sensors or non-contact displacement sensors. When both the second displacement sensor and the third displacement sensor are contact displacement sensors, the second displacement sensor is a second electronic ruler, and the third displacement sensor is a third electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the second electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member, and the end of the probe of the third electronic ruler is connected with a third contact member. The measuring head of the measuring rod contacts the second contact member and the third contact member respectively. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a flat surface. The second contact member and the third contact member are provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0015] Preferably, the connection position of the measuring rod fixing seat is provided with a fixing hole or a threaded hole, and the fixed end of the measuring rod is fixedly connected to the connection position of the measuring rod fixing seat through a connection flange.

[0016] The beneficial effects of the present utility model are as follows:

[0017] 1. Since the sliding frame is slid or rotated on the fixed frame, the force loading member can apply a force to the moving frame along the sliding direction or the tangential direction of rotation, which can ensure that the axial direction of the applied force is parallel to the measuring direction of the first displacement sensor, ensuring the accuracy and precision of the measurement of the flexibility coefficient of the measuring rod. At the same time, the space in the opposite direction of the displacement sensor is vacated, facilitating the installation and placement of the measuring rod.

[0018] 2. The measuring rod fixing seat is provided with at least two connection positions arranged orthogonally, and the fixed ends of the measuring rods are respectively installed at two different connection positions, enabling the measuring rod to be in three different installation directions of X, Y, and Z. The flexibility measurement in multiple directions can be completed with one fixing device, reducing costs.

[0019] 3. When the fixed end of the measuring rod is installed at different installation positions of the measuring rod fixing seat, the length of the support column is adjusted or a support column with a corresponding length is selected for installation, so that the space formed by the top plate, the bottom plate, and the support column can accommodate measuring rods with different shapes or different installation methods without interference.

[0020] 4. By adding a second displacement sensor, the first displacement sensor is used to measure the deformation amount of the measuring rod in the first direction, which is any one of the three different directions of X, Y, and Z. At the same time, the second displacement sensor is used to measure the deformation amount of the measuring rod in the second direction, which is any one of the other two directions of X, Y, and Z, so as to meet the requirement of simultaneously measuring the deformation amounts of the measuring rod in two directions.

[0021] 5. By adding a second displacement sensor and a third displacement sensor, the first displacement sensor, the second displacement sensor, and the third displacement sensor can simultaneously measure the deformation amounts of the measuring rod in three different directions of X, Y, and Z, so as to meet the requirement of simultaneously measuring the deformation amounts of the measuring rod in three directions. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the measurement of the Z-axis load displacement when the moving frame adopts the sliding mode;

[0023] Figure 2 It is a schematic diagram of the measurement of the Y-axis load displacement when the moving frame adopts the sliding mode;

[0024] Figure 3 It is a schematic diagram of the measurement of the X-axis load displacement when the moving frame adopts the sliding mode;

[0025] Figure 4 Schematic diagram of two-dimensional displacement measurement when the moving frame adopts the sliding mode;

[0026] Figure 5 Schematic diagram of three-dimensional displacement measurement when the moving frame adopts the sliding mode;

[0027] Figure 6 Schematic diagram of Z-axis load displacement measurement when the moving frame adopts the rotation mode Figure 1 ;

[0028] Figure 7 Schematic diagram of Z-axis load displacement measurement when the moving frame adopts the rotation mode Figure 2 ;

[0029] Figure 8 Schematic diagram of two-dimensional displacement measurement when the moving frame adopts the rotation mode Figure 1 ;

[0030] Figure 9 Schematic diagram of two-dimensional displacement measurement when the moving frame adopts the rotation mode Figure 2 . Specific embodiments

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0033] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0034] Example 1

[0035] A measuring device for measuring the flexibility coefficient of a measuring rod, comprising a measuring device and a measuring rod fixing device. One end of the measuring rod is a spherical measuring head, and the other end of the measuring rod is a fixed end. The fixed end of the measuring rod is installed on the measuring rod fixing device. The measuring device includes a fixed frame, a moving frame, a first displacement sensor and a force loading member. The fixed frame is fixedly arranged relative to the measuring rod fixing device. The moving frame is slidably arranged on the fixed frame. A first contact member in contact with the measuring head of the measuring rod is provided on the moving frame. The first displacement sensor is fixedly arranged relative to the fixed frame. The measuring direction of the first displacement sensor is parallel to the sliding direction of the moving frame. The force loading member can apply a force to the moving frame along the sliding direction, so that the first contact member presses against the measuring head of the measuring rod and causes the measuring rod to deform. The first displacement sensor can measure the displacement of the first contact member in the sliding direction.

[0036] Preferably, the fixed frame includes a top plate, a bottom plate and support columns. The upper ends of the support columns are connected to the top plate, and the lower ends of the support columns are connected to the bottom plate. The length of the support columns is adjustable or detachable, so that the space formed by the top plate, the bottom plate and the support columns can accommodate the measuring rod.

[0037] Preferably, the measuring rod fixing device includes a measuring rod fixing seat. At least two orthogonally arranged connection positions are provided on the measuring rod fixing seat. When two orthogonally arranged connection positions are provided on the measuring rod fixing seat, one of the connection positions is arranged on a horizontal plane, and the other connection position is arranged on a vertical plane. The fixed ends of the measuring rod are respectively installed at two different connection positions, which can make the measuring rod in three different installation directions of X, Y and Z.

[0038] Preferably, the first displacement sensor is a contact type displacement sensor or a non-contact type displacement sensor. When the first displacement sensor is a contact type displacement sensor, the first displacement sensor is a first electronic ruler. The axial direction of the probe of the first electronic ruler is parallel to the sliding direction of the moving frame. The probe of the first electronic ruler is always pressed tightly against the first contact member, and the axis of the probe of the first electronic ruler passes through the center of the spherical surface of the measuring head of the measuring rod.

[0039] Preferably, the measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface and a plane. One or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface and a measuring cone tip are provided on the side of the first contact member close to the measuring head of the measuring rod.

[0040] Preferably, the force loading member is a weight placed on the moving frame, a hydraulic push rod connected to the moving frame, an electric push rod connected to the moving frame, a pneumatic push rod connected to the moving frame or a spring connected to the moving frame.

[0041] Preferably, when the moving frame is slidably arranged on the fixed frame, the moving frame and the fixed frame are guided and slidably matched through a slider-rail fit, a slider-groove fit, a roller or a chute.

[0042] Preferably, a fixing hole or a threaded hole is provided at the connection position of the measuring rod fixing seat, and the fixed end of the measuring rod is fixedly connected to the connection position of the measuring rod fixing seat through a connecting flange.

[0043] Specifically, as Figure 1 shown, taking the measurement of the deformation amount of the measuring rod in the Z-axis direction under the Z-axis load (the Z-axis is the vertical direction) as an example for introduction:

[0044] The measuring rod fixing seat includes a connecting plate A 205602, a connecting plate B 205603 and a reinforcing rib 205601. The connecting plate A 205602 is fixedly connected to the connecting plate B 205603. The connecting plate B 205603 is fixed to the measuring platform (not shown in the figure). The first mounting surface of the connecting plate A 205602 is perpendicular to the second mounting surface of the connecting plate B 205603 (i.e., two orthogonally arranged connection positions on the measuring rod fixing seat). The reinforcing rib 205601 is fixedly connected to the connecting plate A 205602 and the connecting plate B 205603 respectively, which plays a role in increasing the stiffness of the connecting plate A 205602 and reducing the deformation of the connecting plate A 205602. The fixed end of the measuring rod 2512 is fixedly connected to the connecting flange 251204. The connecting flange 251204 can be fixed on the first mounting surface of the connecting plate A 205602 or on the second mounting surface of the connecting plate B 205603, so as to facilitate the fixing of the measuring rod 2512 to different measurement axial angles and positions. At this time, in Figure 1 the connecting flange 251204 is fixed on the first mounting surface of the connecting plate A 205602 to adjust the relative position of the fixed frame and the measuring rod fixing seat.

[0045] The fixed frame includes a top plate 205611, a bottom plate 205614, a support column 205613, a column plate 205615 and an electronic scale mounting plate 205610. The upper end of the support column 205613 is connected to the top plate 205611, and the lower end of the support column 205613 is connected to the bottom plate 205614. The column plate 205615 is located above the top plate 205611 and is fixedly connected to the top plate 205611. The bottom plate 205614 is fixed to the measuring platform (not shown in the figure). The first electronic scale 205609 is installed on the electronic scale mounting plate 205610, and the electronic scale mounting plate 205610 is fixedly connected to the column plate 205615. Of course, it is also possible that the first electronic scale 205609 is fixedly arranged on an external support frame, as long as the first electronic scale 205609 is relatively fixedly arranged with the fixed frame.

[0046] As shown Figure 2 in the figure, the motion frame includes an adapter plate 205605, a slider connection plate 205606, and a measuring plate 205612 (i.e., the first contact member). A linear guide 205607 is fixedly connected to the column plate 205615. The linear guide 205607 is arranged in the vertical direction (i.e., the Z-axis direction). A slider 205608 is installed on the linear guide 205607. The slider 205608 is fixedly connected to the slider connection plate 205606. The upper end of the slider connection plate 205606 is fixedly connected to the adapter plate 205605, and the lower end of the slider connection plate 205606 is fixedly connected to the measuring plate 205612. The adapter plate 205605, the slider connection plate 205606, and the measuring plate 205612 form an integral structure that can slide up and down along the linear guide 205607. The measuring head 251214 of the measuring rod 2512 is placed below the measuring plate 205612. Among them, the measuring head 251214 is a ceramic ball probe, and the measuring head 251214 is in tangential contact with the lower end surface of the measuring plate 205612. A weight placement plate 205604 is fixedly connected above the adapter plate 205605. Weights 205616 can be placed on the weight placement plate 205604. The first electronic ruler probe 205617 of the first electronic ruler 205609 always presses tightly against the upper end surface of the measuring plate 205612. When the angle and position of the measuring rod 2512 fixed for Z-axis measurement, the axis of the first electronic ruler probe 205617 is coaxially arranged with the measuring axis of the measuring rod 2512.

[0047] The measuring rod 2512 is fixed to the angles and positions of different measuring axes through the connecting plate A 205602 and the connecting plate B 205603. By replacing the support columns 205613 of different specifications and lengths or adjusting the lengths of the support columns 205613, the measuring head 251214 installed on the measuring rod 2512 can be brought into contact with the measuring plate 205612 and be within the effective stroke of the measuring height range. Figure 1 In order to measure the deformation of the measuring rod in the Z-axis direction, a long support column 205613 is required. At this time, the first electronic ruler probe 205617 pressing tightly against the measuring plate 205612 measures and records the current height value. Then, a standard weight 205616 is placed on the weight placement plate 205604. The weight 205616 conducts the downward pressure brought by its own weight to the measuring plate 205612, and finally the downward pressure acts on the measuring head 251214. The first electronic ruler probe 205617 pressing tightly against the measuring plate 205612 measures and records the current height value again. By comparing the height values when the weight 205616 is pressing down with the height values when there is no weight 205616 pressing down, the deformation amount of the measuring rod 2512 in the Z-axis direction under the Z-axis load of the measuring rod 2512 can be measured (corresponding to Figure 1), and then based on the load gravity of the weight 205616, the flexibility coefficient of the measuring rod 2512 in the Z-axis direction can be calculated. Since both the first electronic ruler 205609 and the weight 205616 are on the same side, and the entire measuring device adopts a gantry support structure with two-end supports, when measuring the flexibility of the measuring rod under a Z-axis load, the measuring rod 2512 can be arranged directly below the gantry structure without interference with the measuring device.

[0048] Embodiment 2

[0049] The parts of this embodiment that are the same as those of Embodiment 1 are not specific parameters. The differences are as follows: As Figure 2 shown, at this time, the connecting flange 251204 is fixed on the second mounting surface of the connecting plate B 205603. Adjust the relative positions of the fixing frame and the measuring rod fixing seat, and a support column 205613 with a medium length is required so that the measuring head 251214 can be in contact with the measuring plate 205612 and be within the effective stroke of the measuring height range to measure the deformation of the measuring rod in the Y-axis direction under a Y-axis load (corresponding to Figure 2 ), and then based on the load gravity of the weight 205616, the flexibility coefficient of the measuring rod 2512 in the Y-axis direction can be calculated.

[0050] Embodiment 3

[0051] The parts of this embodiment that are the same as those of Embodiment 1 are not specific parameters. The differences are as follows: As Figure 3 shown, the connecting flange 251204 is fixed on the first mounting surface of the connecting plate A 205602. Adjust the relative positions of the fixing frame and the measuring rod fixing seat, and a support column 205613 with a shorter length is required so that the measuring head 251214 can be in contact with the measuring plate 205612 and be within the effective stroke of the measuring height range to measure the deformation of the measuring rod in the X-axis direction under an X-axis load (corresponding to Figure 3 ), and then based on the load gravity of the weight 205616, the flexibility coefficient of the measuring rod 2512 in the X-axis direction can be calculated.

[0052] Embodiment 4

[0053] The parts of this embodiment that are the same as those of Embodiment 1 are not specific parameters. The differences are as follows: Different from Embodiment 1 where only the load deviation can be measured in a single direction, this embodiment can measure the load deviations in two directions simultaneously in two dimensions (i.e., the X-axis and the Y-axis, or the X-axis and the Z-axis, or the Y-axis and the Z-axis). This is because when the actual measuring rod is subjected to a single-direction load, elastic deformations in multiple directions often occur, resulting in displacements of its spherical head in multiple directions.

[0054] It further includes a second displacement sensor, which is fixedly arranged relative to the fixed frame. The second displacement sensor is a contact displacement sensor or a non-contact displacement sensor. When the second displacement sensor is a contact displacement sensor, the second displacement sensor is a second electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member. The measuring head of the measuring rod contacts the second contact member. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a plane. The second contact member is provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0055] A measuring method for a measuring rod flexibility coefficient measuring device

[0056] S1: According to the measurement requirements of the flexibility coefficients in three different directions X, Y, and Z of the measuring rod, install the fixed end of the measuring rod at the corresponding installation position of the measuring rod fixed seat, so that the loading force direction of the force loading member is parallel to the required flexibility coefficient measurement direction;

[0057] S2: According to the measurement requirements of the flexibility coefficients in three different directions X, Y, and Z of the measuring rod, adjust the length of the support column or select a support column with a corresponding length for installation, and ensure that the space formed by the top plate, the bottom plate, and the support column can accommodate the measuring rod without interference;

[0058] S3: Adjust the relative position between the measuring rod fixed seat and the fixed frame, so that the axis direction of the force loaded by the force loading member on the moving frame is parallel to the measurement axis direction of the first displacement sensor. The moving frame slides along the fixed frame under the action of the force, forcing the first contact member of the moving frame to press or lift the measuring head of the measuring rod. When the measuring head of the measuring rod is a spherical surface, a first contact member with a measuring plane or a measuring cone pit is used, and at the same time, the center of the spherical surface intersects with the measurement axis of the first displacement sensor;

[0059] S4: The measuring rod undergoes a micro-deformation in the corresponding X, Y, and Z measurement axial directions. The first electronic ruler measures the deformation amount of the measuring rod in the first direction by measuring the displacement amount of the first contact member of the moving frame. At the same time, the second electronic ruler measures the displacement amount of the second contact member, and simultaneously measures the deformation amount of the measuring rod in the second direction. According to the relationship between the force and the deformation amount, the flexibility coefficient of the measuring rod is calculated.

[0060] Specifically, as Figure 4 shown, taking the measurement direction of the measuring rod fixed to the Z axis as an example for introduction:

[0061] It also includes a first flat plate 2056181 and a second electronic ruler 2056182 (equivalent to a second displacement sensor). The second electronic ruler 2056182 is fixedly connected to the top plate 205611. The axis of the second electronic ruler probe of the second electronic ruler 2056182 is perpendicular to the Z-axis measurement axis of the measuring rod. The end of the second electronic ruler probe of the second electronic ruler 2056182 is fixedly connected to the first flat plate 2056181. The measuring head 251214 can be in tangential contact with the lower end face of the measuring plate 205612 and the end face of the first flat plate 2056181 at the same time. Of course, the second electronic ruler 2056182 can also be fixedly arranged on an external support frame, as long as the second electronic ruler 2056182 is fixedly arranged relative to the fixed frame.

[0062] When the measuring rod 2512 is fixed to the Z-axis measurement direction, the measuring head 251214 on the measuring rod 2512 can be in contact with the measuring plate 205612 and the first flat plate 2056181 respectively. At this time, the first electronic ruler probe 205617 pressing against the measuring plate 205612 measures and records the current height value in the Z-axis direction. The second electronic ruler probe connected to the first flat plate 2056181 measures and records the current position value in the X-axis direction or the Y-axis direction. Then, a standard weight 205616 is placed on the weight placement plate 205604. The weight 205616 transmits the downward pressure caused by its own weight to the measuring plate 205612, and finally the downward pressure acts on the measuring head 251214. The first electronic ruler probe 205617 pressing against the measuring plate 205612 measures and records the current height value in the Z-axis direction again. The second electronic ruler probe connected to the first flat plate 2056181 measures and records the current position value in the X-axis direction or the Y-axis direction again. By comparing the height value in the Z-axis direction when the weight 205616 is pressed down with the height value in the Z-axis direction when there is no weight 205616 pressed down, and comparing the position value in the X-axis direction or the Y-axis direction when the weight 205616 is pressed down with the position value in the X-axis direction or the Y-axis direction when there is no weight 205616 pressed down. The deformation amount of the measuring rod 2512 in the X-axis and Z-axis, or Y-axis and Z-axis under the Z-axis load can be measured. Then, based on the load gravity of the weight 205616, the flexibility coefficient of the measuring rod 2512 in the X-axis and Z-axis, or Y-axis and Z-axis under the Z-axis load can be calculated. Similarly, the flexibility coefficients in other directions can also be measured. Since the first electronic ruler 205609 and the weight 205616 are on the same side, and the entire measuring device adopts a gantry support structure with two-end supports, when measuring the flexibility of the measuring rod under the Z-axis load, the measuring rod 2512 can be arranged directly below the gantry structure without interference with the measuring device.

[0063] Embodiment 5

[0064] The parts of this embodiment that are the same as those of Embodiment 1 are not described in terms of specific parameters. The difference is that, different from Embodiment 1 where only the load deviation can be measured in a single direction, this embodiment can measure the load deviation in three directions simultaneously in three dimensions (i.e., the X-axis, Y-axis, and Z-axis).

[0065] It includes a second displacement sensor and a third displacement sensor. The second displacement sensor and the third displacement sensor are respectively fixedly arranged relative to the fixing frame. The second displacement sensor and the third displacement sensor are contact displacement sensors or non-contact displacement sensors. When both the second displacement sensor and the third displacement sensor are contact displacement sensors, the second displacement sensor is a second electronic ruler, the third displacement sensor is a third electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler, the axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler, and the axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the second electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member, and the end of the probe of the third electronic ruler is connected with a third contact member. The measuring heads of the measuring rod are respectively in contact with the second contact member and the third contact member. The measuring heads of the measuring rod are one or more combinations of a spherical surface, a cylindrical surface, and a flat surface. The second contact member and the third contact member are provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0066] A measuring method for a measuring device of the flexibility coefficient of a measuring rod

[0067] S1: According to the measurement requirements of the flexibility coefficients of the measuring rod in three different directions of X, Y, and Z, install the fixed end of the measuring rod at the corresponding installation position of the measuring rod fixing seat, so that the loading force direction of the force loading member is parallel to the required flexibility coefficient measurement direction;

[0068] S2: According to the measurement requirements of the flexibility coefficients of the measuring rod in three different directions of X, Y, and Z, adjust the length of the support column or select a support column with a corresponding length for installation, and ensure that the space formed by the top plate, the bottom plate, and the support column can accommodate the measuring rod without interference;

[0069] S3: Adjust the relative position between the measuring rod fixing seat and the fixing frame, so that the axis direction of the force loaded by the force loading member on the moving frame is parallel to the measurement axis direction of the first displacement sensor. The moving frame slides along the fixing frame under the action of the force, forcing the first contact member of the moving frame to press or lift the measuring head of the measuring rod. When the measuring head of the measuring rod is a spherical surface, a first contact member with a measuring plane or a measuring cone pit is used, and at the same time, the center of the spherical surface intersects with the measurement axis of the first displacement sensor;

[0070] S4: The measuring rod undergoes micro-deformation in the corresponding X, Y, and Z measuring axial directions. The first electronic ruler measures the displacement of the first contact member of the moving frame, the second electronic ruler measures the displacement of the second contact member, and the third electronic ruler measures the displacement of the third contact member, simultaneously measuring the deformation amounts of the measuring rod in the X, Y, and Z measuring axial directions. According to the relationship between force and deformation amount, the flexibility coefficient of the measuring rod is calculated.

[0071] Specifically, as Figure 5 shown, taking the case where the measuring rod is fixed to the Z-axis measuring direction as an example for introduction:

[0072] It further includes a second flat plate 205619, a third flat plate 205620, a third electronic ruler 205621, and a fourth electronic ruler 205622. The third electronic ruler 205621 (equivalent to the second displacement sensor) and the fourth electronic ruler 205622 (equivalent to the third displacement sensor) are respectively fixedly connected to the top plate 205611. The axial directions of the third electronic ruler probe of the third electronic ruler 205621 and the fourth electronic ruler probe of the fourth electronic ruler 205622 are respectively perpendicular to the Z-axis measuring axial direction of the measuring rod. The axial direction of the third electronic ruler probe of the third electronic ruler 205621 and the axial direction of the fourth electronic ruler probe of the fourth electronic ruler 205622 are perpendicularly arranged to each other. The end of the third electronic ruler probe of the third electronic ruler 205621 is fixedly connected to the second flat plate 205619, and the end of the fourth electronic ruler probe of the fourth electronic ruler 205622 is fixedly connected to the third flat plate 205620. The measuring head 251214 can be simultaneously tangent and in contact with the lower end face of the measuring plate 205612, the end face of the second flat plate 205619, and the end face of the third flat plate 205620. Of course, it is also possible that the third electronic ruler 205621 and the fourth electronic ruler 205622 are fixedly arranged on an external support frame, as long as the third electronic ruler 205621 and the fourth electronic ruler 205622 are respectively fixedly arranged relative to the fixed frame.

[0073] When the measuring rod 2512 is fixed to the Z-axis measuring direction, the measuring heads 251214 on the measuring rod 2512 can be in contact with the measuring plate 205612, the second flat plate 205619 and the third flat plate 205620 respectively. At this time, the first electronic ruler probe 205617 pressing against the measuring plate 205612 measures and records the current height value in the Z-axis direction. The third electronic ruler probe connected to the second flat plate 205619 measures and records the current position value in the X-axis direction or the Y-axis direction. The fourth electronic ruler probe connected to the third flat plate 205620 measures and records the current position value in the Y-axis direction or the X-axis direction. Then, a standard weight 205616 is placed on the weight placing plate 205604. The weight 205616 transmits the downward pressure caused by its own weight to the measuring plate 205612, and finally the downward pressure acts on the measuring head 251214. The first electronic ruler probe 205617 pressing against the measuring plate 205612 measures and records the current height value in the Z-axis direction again. The third electronic ruler probe connected to the second flat plate 205619 measures and records the current position value in the X-axis direction or the Y-axis direction again. The fourth electronic ruler probe connected to the third flat plate 205620 measures and records the current position value in the Y-axis direction or the X-axis direction again. By comparing the height value in the Z-axis direction when the weight 205616 is pressing down with the height value in the Z-axis direction when there is no weight 205616 pressing down, and by comparing the position values in the X-axis direction and the Y-axis direction when the weight 205616 is pressing down with the position values in the X-axis direction and the Y-axis direction when there is no weight 205616 pressing down, the deformation amounts of the measuring rod 2512 in the X-axis, Y-axis and Z-axis under the Z-axis load can be measured. Then, based on the load gravity of the weight 205616, the flexibility coefficients of the measuring rod 2512 in the X-axis, Y-axis and Z-axis under the Z-axis load can be calculated. Similarly, the flexibility coefficients in other directions can also be measured. Since the first electronic ruler 205609 and the weight 205616 are on the same side, and the entire measuring device adopts a gantry support structure with two-end supports, when measuring the flexibility of the measuring rod under the Z-axis load, the measuring rod 2512 can be set directly below the gantry structure without interference with the measuring device.

[0074] Example 6

[0075] The parts of this example that are the same as those of Example 1 are not described in terms of specific parameters. The differences are as follows:

[0076] A measuring device for measuring the flexibility coefficient of a measuring rod, comprising a measuring device and a measuring rod fixing device. One end of the measuring rod is a spherical measuring head, and the other end of the measuring rod is a fixed end. The fixed end of the measuring rod is installed on the measuring rod fixing device. The measuring device includes a fixed frame, a moving frame, a first displacement sensor and a force loading member. The fixed frame is fixedly arranged relative to the measuring rod fixing device. The moving frame is rotatably arranged on the fixed frame. A first contact member in contact with the measuring head of the measuring rod is provided on the moving frame. The first displacement sensor is fixedly arranged relative to the fixed frame. The measuring direction of the first displacement sensor is parallel to the tangential direction of the rotation of the moving frame. The force loading member can apply a force to the moving frame along the tangential direction of the rotation, so that the first contact member presses against the measuring head of the measuring rod and causes the measuring rod to deform. The first displacement sensor can measure the displacement of the first contact member in the tangential direction of the rotation (or the first displacement sensor is an angular displacement sensor, and this displacement is converted by the rotation angle of the first contact member).

[0077] Preferably, the first displacement sensor is a contact displacement sensor or a non-contact displacement sensor. When the first displacement sensor is a contact displacement sensor, the first displacement sensor is a first electronic ruler. The axial direction of the probe of the first electronic ruler is parallel to the tangential direction of the rotation of the moving frame. The probe of the first electronic ruler always presses tightly against the first contact member, and the axis of the probe of the first electronic ruler passes through the center of the sphere of the measuring head of the measuring rod.

[0078] Preferably, when the moving frame is rotatably arranged on the fixed frame, the moving frame and the fixed frame are matched through a rotating shaft.

[0079] Specifically, as Figure 6 and Figure 7 shown, taking the measurement of the deformation amount of the measuring rod in the Z-axis direction under the Z-axis load (the Z-axis is the vertical direction) as an example for introduction:

[0080] The measuring rod fixing seat includes connecting plate A 205602, connecting plate B 205603 and reinforcing rib 205601. Connecting plate A 205602 is fixedly connected to connecting plate B 205603. Connecting plate B 205603 is fixed to the measuring platform (not shown in the figure). The first mounting surface of connecting plate A 205602 and the second mounting surface of connecting plate B 205603 are perpendicular to each other (i.e., two orthogonally arranged connection positions on the measuring rod fixing seat). The reinforcing rib 205601 is fixedly connected to connecting plate A 205602 and connecting plate B 205603 respectively, which plays a role in increasing the stiffness of connecting plate A 205602 and reducing the deformation of connecting plate A 205602. The fixed end of the measuring rod 2512 is fixedly connected to the connecting flange 251204. The connecting flange 251204 can be fixed on the first mounting surface of connecting plate A 205602 or on the second mounting surface of connecting plate B 205603, so as to facilitate the measurement rod 2512 to be fixed to the angles and positions of different measurement axes. At this time, in Figure 6 the connecting flange 251204 is fixed on the first mounting surface of the connecting plate A 205602, and the relative positions of the fixing frame and the measuring rod fixing seat are adjusted.

[0081] The fixing frame includes a second top plate 205623, a second bottom plate 205624 and second support columns 205625. The upper ends of the second support columns 205625 are connected to the second top plate 205623, and the lower ends of the second support columns 205625 are connected to the second bottom plate 205624. The second bottom plate 205624 is fixed to the measuring platform (not shown in the figure). The first electronic scale 205609 is installed on the second top plate 205623. Of course, the first electronic scale 205609 can also be fixedly arranged on an external support frame, as long as the first electronic scale 205609 is relatively fixedly arranged with the fixing frame.

[0082] The motion stand includes a rotating flat plate 205626, which is the first contact member and is an integral structure with the two. The rotating flat plate 205626 is in a horizontal state in the initial state. A fixing plate 205627 is fixedly connected to the fixing stand. Specifically, the fixing plate 205627 is fixedly arranged on the second support column 205625. One end of the rotating flat plate 205626 is rotatably arranged on the fixing plate 205627 through a rotating shaft 205628. A limiting block 205629 is fixedly arranged under the rotating flat plate 205626 on the second support column 205625. The limiting block 205629 can limit the rotation angle of the rotating flat plate 205626. The measuring head 251214 of the measuring rod 2512 is placed under the rotating flat plate 205626. The measuring head 251214 is a ceramic ball measuring head and is in tangential contact with the lower end surface of the rotating flat plate 205626. Weights 205616 can be placed on the rotating flat plate 205626. The first electronic ruler probe 205617 of the first electronic ruler 205609 always presses tightly against the upper end surface of the rotating flat plate 205626. When the angle and position of the measuring rod 2512 fixed for Z-axis measurement are determined, the axial direction of the first electronic ruler probe 205617 is coaxially arranged with the measuring axial direction of the measuring rod 2512.

[0083] The measuring rod 2512 is fixed to the angles and positions of different measuring axial directions through the connecting plate A 205602 and the connecting plate B 205603. By replacing the second support column 205625 with different specifications and lengths or adjusting the length of the second support column 205625, the measuring head 251214 installed on the measuring rod 2512 can be in contact with the rotating flat plate 205626 and be within the effective stroke of the measuring height range. Figure 6 In order to measure the deformation of the measuring rod in the Z-axis direction, a long second support column 205625 is required. At this time, the first electronic ruler probe 205617 pressing tightly against the rotating flat plate 205626 measures and records the current height value. Then, a standard weight 205616 is placed on the rotating flat plate 205626. The weight 205616 transmits the downward pressure caused by its own weight to the rotating flat plate 205626, and finally the downward pressure acts on the measuring head 251214. The first electronic ruler probe 205617 pressing tightly against the rotating flat plate 205626 measures and records the current height value again. By comparing the height value when the weight 205616 is pressing down with the height value when there is no weight 205616 pressing down, the deformation amount of the measuring rod 2512 in the Z-axis direction under the Z-axis load of the measuring rod 2512 can be measured (corresponding to Figure 6) Then, based on the load gravity of the weight 205616 and the lever arm size of the rotating plate 205626, the flexibility coefficient of the measuring rod 2512 in the Z-axis direction can be calculated. Since the first electronic ruler 205609 and the weight 205616 are on the same side, and the entire measuring device adopts a gantry support structure with two-end supports, when measuring the flexibility of the measuring rod under a Z-axis load, the measuring rod 2512 can be arranged directly below the gantry structure without interference with the measuring device.

[0084] Embodiment 7

[0085] The parts of this embodiment that are the same as those of Embodiment 6 are not specific parameters. The difference is that, different from only being able to measure the load deviation in a single direction in Embodiment 1, this embodiment can measure the load deviations in two directions simultaneously in two dimensions (i.e., the X-axis and the Y-axis, or the X-axis and the Z-axis, or the Y-axis and the Z-axis).

[0086] It further includes a second displacement sensor, which is fixedly arranged relative to the fixed frame. The second displacement sensor is a contact displacement sensor or a non-contact displacement sensor. When the second displacement sensor is a contact displacement sensor, the second displacement sensor is a second electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member. The measuring head of the measuring rod contacts the second contact member. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a plane. The second contact member is provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

[0087] A measuring method for a measuring device of the flexibility coefficient of a measuring rod

[0088] S1: According to the measurement requirements of the flexibility coefficients of the measuring rod in three different directions of X, Y, and Z, install the fixed end of the measuring rod at the corresponding installation position of the measuring rod fixed seat, so that the loading force direction of the force loading member is parallel to the required flexibility coefficient measurement direction;

[0089] S2: According to the measurement requirements of the flexibility coefficients of the measuring rod in three different directions of X, Y, and Z, adjust the length of the support column or select a support column with a corresponding length for installation, and ensure that the space formed by the top plate, the bottom plate, and the support column can accommodate the measuring rod without interference;

[0090] S3: Adjust the relative position between the measuring rod fixing seat and the fixing frame so that the axial direction of the force applied by the force loading member to the moving frame is parallel to the measuring axis direction of the first displacement sensor. The moving frame rotates along the fixing frame under the action of the force, forcing the first contact member of the moving frame to press or lift the measuring head of the measuring rod. When the measuring head of the measuring rod is spherical, a first contact member with a measuring plane or a measuring cone pit is used, and at the same time, the center of the sphere of the spherical surface intersects with the measuring axis of the first displacement sensor;

[0091] S4: The measuring rod undergoes micro-deformation in the corresponding X, Y, and Z measuring axial directions. The first electronic ruler measures the deformation amount of the measuring rod in the first direction by measuring the displacement amount of the first contact member of the moving frame. At the same time, the second electronic ruler measures the displacement amount of the second contact member and simultaneously measures the deformation amount of the measuring rod in the second direction. According to the relationship between the force and the deformation amount, the flexibility coefficient of the measuring rod is calculated.

[0092] Specifically, as Figure 8 and Figure 9 shown, taking the measurement rod fixed in the Z-axis measurement direction as an example for introduction:

[0093] It also includes a first flat plate 2056181 (equivalent to the second contact member) and a second electronic ruler 2056182 (equivalent to the second displacement sensor). The second electronic ruler 2056182 is fixedly connected to the fixing plate 205627. One end of the rotating flat plate 205626 is rotatably arranged on the fixing plate 205627 through a rotating shaft 205628. The rotating flat plate 205626 can rotate based on the rotating shaft 205628. A limiting block 205629 is provided on the second support column 205625, and the limiting block 205629 is located at the bottom of the rotating flat plate 205626. By replacing the second support column 205625 with different lengths, or by providing a lifting mechanism (not shown in the figure) on the second support column 205625, the installation height of the rotating flat plate 205626 is adjusted, so that the measuring rod 2512 is placed at the bottom of the rotating flat plate 205626, and the measuring head 251214 is exactly tangent to the bottom surface of the horizontally placed rotating flat plate 205626. The axis of the second electronic ruler probe at the front end of the second electronic ruler 2056182 is perpendicular to the Z-axis measurement axial direction of the measuring rod 2512. The end of the second electronic ruler probe of the second electronic ruler 2056182 is fixedly connected to the first flat plate 2056181. The measuring head 251214 is tangent to the end face of the first flat plate 2056181. The measuring axis of the second electronic ruler probe of the second electronic ruler 2056182 horizontally passes through the center of the sphere of the measuring head 251214. The first electronic ruler 205609 is installed on the second top plate 205623. The first electronic ruler probe 205617 is tangent to the upper surface of the rotating flat plate 205626, and the measuring axis vertically passes through the center of the sphere of the measuring head 251214 downward.

[0094] When the measuring rod 2512 is fixed to the Z-axis measuring direction, the measuring heads 251214 on the measuring rod 2512 can be respectively in contact with the first flat plate 2056181 and the rotating flat plate 205626. At this time, the first electronic scale 205609 pressing against the rotating flat plate 205626 measures and records the current height value in the Z-axis direction. The second electronic scale 2056182 connected to the first flat plate 2056181 measures and records the current position value in the X-axis direction or the Y-axis direction. Then, a standard weight 205616 is placed at a specified position on the rotating flat plate 205626. The weight 205616 transmits the downward pressure brought by its own weight to the rotating flat plate 205626. Finally, the downward pressure acts on the measuring head 251214. The first electronic scale probe 205617 pressing against the rotating flat plate 205626 measures and records the current height value in the Z-axis direction again. The second electronic scale 2056182 connected to the first flat plate 2056181 measures and records the current position value in the X-axis direction or the Y-axis direction again. By comparing the height value in the Z-axis direction when the weight 205616 is pressing down with the height value in the Z-axis direction when there is no weight 205616 pressing down, and by comparing the position value in the X-axis direction or the Y-axis direction when the weight 205616 is pressing down with the position value in the X-axis direction or the Y-axis direction when there is no weight 205616 pressing down, the deformation amounts of the X-axis and the Z-axis, or the Y-axis and the Z-axis of the measuring rod 2512 under the Z-axis load can be measured. Then, based on the load gravity of the weight 205616 and the lever arm size of the rotating flat plate 205626, the flexibility coefficient of the measuring rod 2512 in the X-axis and the Z-axis, or the Y-axis and the Z-axis under the Z-axis load can be calculated. Similarly, the flexibility coefficients in other directions can also be measured. Since the first electronic scale 205609 and the weight 205616 are on the same side, and the entire measuring device adopts a gantry support structure with two-end supports, when measuring the flexibility of the measuring rod under the Z-axis load, the measuring rod 2512 can be arranged directly below the gantry structure without interference with the measuring device.

[0095] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

Claims

1. A measuring device for measuring the flexibility coefficient of a measuring rod, characterized in that: It includes a measuring device and a measuring rod fixing device. One end of the measuring rod is a measuring head, and the other end is a fixed end. The fixed end of the measuring rod is installed on the measuring rod fixing device. The measuring device includes a fixed frame, a moving frame, a first displacement sensor, and a force loading member. The fixed frame is fixedly arranged relative to the measuring rod fixing device. The moving frame is slidably or rotatably arranged on the fixed frame. A first contact member that contacts the measuring head of the measuring rod is provided on the moving frame. The first displacement sensor is fixedly arranged relative to the fixed frame. The measuring direction of the first displacement sensor is parallel to the sliding direction of the moving frame or the tangential direction of rotation. The force loading member can apply a force to the moving frame along the sliding direction or the tangential direction of rotation, so that the first contact member presses against the measuring head of the measuring rod and causes the measuring rod to deform. The first displacement sensor can measure the displacement of the first contact member in the sliding direction or the tangential direction of rotation.

2. The measuring device for measuring the flexibility coefficient of a measuring rod according to claim 1, wherein: The fixed frame includes a top plate, a bottom plate, and support columns. The upper ends of the support columns are connected to the top plate, and the lower ends of the support columns are connected to the bottom plate. The lengths of the support columns are adjustable or detachable, so that the space formed by the top plate, the bottom plate, and the support columns can accommodate the measuring rod.

3. The measuring device for measuring the flexibility coefficient of a measuring rod according to claim 1, characterized in that: The measuring rod fixing device includes a measuring rod fixing seat. At least two orthogonally arranged connection positions are provided on the measuring rod fixing seat. When there are two orthogonally arranged connection positions on the measuring rod fixing seat, one of the connection positions is arranged on the horizontal plane, and the other connection position is arranged on the vertical plane. The fixed ends of the measuring rod are respectively installed at two different connection positions, which can make the measuring rod in three different installation directions of X, Y, and Z.

4. A measuring device for measuring the flexibility coefficient of a measuring rod according to claim 1, characterized in that: The first displacement sensor is a contact type displacement sensor or a non-contact type displacement sensor. When the first displacement sensor is a contact type displacement sensor, the first displacement sensor is a first electronic ruler. The axial direction of the probe of the first electronic ruler is parallel to the sliding direction of the moving frame or the tangential direction of rotation. The probe of the first electronic ruler always presses tightly against the first contact member, and the axis of the probe of the first electronic ruler passes through the center of the spherical surface of the measuring head of the measuring rod.

5. The measuring device for measuring the flexibility coefficient of a measuring rod according to claim 1, characterized in that: The measuring head of the measuring rod is one or a combination of a spherical surface, a cylindrical surface, and a plane. The first contact member is provided with one or a combination of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

6. The measuring device for measuring the flexibility coefficient of a measuring rod according to claim 1, characterized in that: The force loading member is a weight placed on the moving frame, or a hydraulic push rod connected to the moving frame, or an electric push rod connected to the moving frame, or a pneumatic push rod connected to the moving frame, or a spring connected to the moving frame; When the moving frame is slidably arranged on the fixed frame, the moving frame and the fixed frame are guided and slidably matched through a slider and rail combination, or a slider and chute combination, or a roller, or a chute; When the moving frame is rotatably arranged on the fixed frame, the moving frame and the fixed frame are matched through a rotating shaft.

7. The measuring device for measuring the flexibility coefficient of a measuring rod according to claim 4, characterized in that: It further includes a second displacement sensor which is fixedly arranged relative to the fixed frame. The second displacement sensor is a contact displacement sensor or a non-contact displacement sensor. When the second displacement sensor is a contact displacement sensor, the second displacement sensor is a second electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member. The measuring head of the measuring rod contacts with the second contact member. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a flat surface. The second contact member is provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

8. A measuring device for measuring the flexibility coefficient of a measuring rod according to claim 4, characterized in that: It further includes a second displacement sensor and a third displacement sensor. The second displacement sensor and the third displacement sensor are respectively fixedly arranged relative to the fixed frame. The second displacement sensor and the third displacement sensor are contact displacement sensors or non-contact displacement sensors. When both the second displacement sensor and the third displacement sensor are contact displacement sensors, the second displacement sensor is a second electronic ruler, and the third displacement sensor is a third electronic ruler. The axial direction of the probe of the second electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the first electronic ruler. The axial direction of the probe of the third electronic ruler is perpendicular to the axial direction of the probe of the second electronic ruler. The end of the probe of the second electronic ruler is connected with a second contact member, and the end of the probe of the third electronic ruler is connected with a third contact member. The measuring head of the measuring rod contacts with the second contact member and the third contact member respectively. The measuring head of the measuring rod is one or more combinations of a spherical surface, a cylindrical surface, and a flat surface. The second contact member and the third contact member are provided with one or more combinations of a measuring plane, a measuring spherical surface, a measuring cone pit, a measuring V-shaped surface, and a measuring cone tip on the side close to the measuring head of the measuring rod.

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