Six-degree-of-freedom acceleration sensor and acceleration sensor with good symmetry

Abstract

This invention provides a six-degree-of-freedom (DOF) accelerometer and an accelerometer with good symmetry. The six-DOF accelerometer includes a mounting block. A first sensor for measuring linear acceleration along the x-axis is disposed on a surface of the mounting block perpendicular to the x-axis, and the first sensor is located on the x-axis and in the positive x-axis direction. A second and third sensor for measuring linear acceleration along the y-axis are disposed on a surface of the mounting block perpendicular to the y-axis, and the second and third sensors are symmetrically distributed about the y-axis and located in the positive y-axis direction. A fourth, fifth, and sixth sensor for measuring linear acceleration along the z-axis are disposed on a surface of the mounting block perpendicular to the z-axis, and the fourth, fifth, and sixth sensors are located in the positive z-axis direction. The fourth and fifth sensors are symmetrically distributed about the x-axis and located in the positive x-axis direction, while the sixth sensor is located on the x-axis and in the negative x-axis direction. The number of sensors is small, resulting in a compact structure.

Description

Technical Field

[0001] This utility model relates to the field of acceleration sensor technology, specifically to a six-degree-of-freedom acceleration sensor and an acceleration sensor with good symmetry. Background Technology

[0002] A six-degree-of-freedom (DOF) accelerometer is an integrated inertial sensor capable of simultaneously detecting both linear and angular acceleration in three-dimensional space. It comprehensively characterizes an object's motion attitude and acceleration state in space, making it a core component in inertial navigation, motion monitoring, and other fields. The six degrees of freedom correspond to six independent components of spatial motion: linear acceleration along the three orthogonal axes (X, Y, Z) and angular acceleration about these axes.

[0003] These sensors typically include a 3-axis accelerometer, a 3-axis gyroscope, and a signal processing unit that processes the raw signals from both sensors. The mainstream six-degree-of-freedom accelerometers are divided into monolithic integrated sensors and discrete sensors. Monolithic integrated sensors offer advantages such as high integration, low cost, small size, and strong versatility. However, their mechanical structure's resonant frequency limits the highest measurable dynamic frequency, which may not meet the requirements for applications needing to capture extremely high-frequency vibrations, such as certain industrial condition monitoring. Furthermore, limited by MEMS technology, these sensors generally have lower performance in terms of noise, zero-bias stability, and temperature drift. Chips are often batch-calibrated at the factory, making individual optimization difficult. Their compensation models are relatively simple and cannot provide fine compensation for the unique nonlinearities and temperature drift curves of each chip. Discrete sensors, on the other hand, allow for the selection of the best-performing sensor for each degree of freedom. Each sensor can be independently, precisely, and comprehensively calibrated to achieve optimal compensation. They can be freely combined, offering high flexibility, and each sensor can be independently, precisely, and comprehensively calibrated, resulting in superior compensation effects. Its structure is flexible, supports free combination, and is highly adaptable. However, discrete solutions also have problems such as large size, heavy weight, high power consumption, high cost, redundant parts, complex structure, and inconvenient installation.

[0004] Therefore, in industrial applications, there is a need for an optimized six-degree-of-freedom accelerometer that can achieve a better balance between monolithic integrated sensors and discrete sensors. Summary of the Invention

[0005] The purpose of this invention is to provide a six-degree-of-freedom accelerometer and an accelerometer with good symmetry to solve the above-mentioned problems.

[0006] The technical solution adopted in this utility model is as follows: A six-degree-of-freedom accelerometer includes a right quadrangular prism-shaped mounting block, with the geometric center of the mounting block as the origin to establish an xyz coordinate system; A first sensor for measuring linear acceleration along the x-axis is provided on the surface of the mounting block perpendicular to the x-axis direction. The first sensor is located on the x-axis and in the positive direction of the x-axis. A second sensor and a third sensor are provided on the surface of the mounting block perpendicular to the y-axis. The second sensor and the third sensor are used to measure the linear acceleration along the y-axis. The second sensor and the third sensor are symmetrically distributed about the y-axis and located in the positive direction of the y-axis. A fourth, fifth, and sixth sensor are disposed on the surface of the mounting block perpendicular to the z-axis. The fourth, fifth, and sixth sensors are used to measure the linear acceleration along the z-axis. The fourth, fifth, and sixth sensors are located in the positive direction of the z-axis. The fourth and fifth sensors are symmetrically distributed about the x-axis and located in the positive direction of the x-axis. The sixth sensor is located on the x-axis and in the negative direction of the x-axis.

[0007] As a further improvement of the present invention, the six-degree-of-freedom accelerometer also includes a multi-core connector, wherein the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor and the sixth sensor are respectively connected to the multi-core connector.

[0008] As a further improvement of the present invention, the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor and the sixth sensor are all single-axis acceleration sensors, and the single-axis acceleration sensors are compression acceleration sensors, planar shear acceleration sensors or triangular shear acceleration sensors.

[0009] As a further improvement of the present invention, the single-axis acceleration sensor includes a base and a locking stud disposed on the base. A piezoelectric component, a mass block and a locking nut are sequentially sleeved on the locking stud. The piezoelectric component is used to measure acceleration along the axial direction of the locking stud. The negative electrode of the piezoelectric component is connected to the base, and the positive electrode of the piezoelectric component is connected to a multi-core connector.

[0010] As a further improvement of the present invention, the piezoelectric component includes a negative electrode ceramic sheet, a signal conductive plate and a positive electrode ceramic sheet arranged in sequence. The negative electrode ceramic sheet is disposed away from the base, and the signal conductive plate is connected to a multi-core connector.

[0011] As a further improvement of this utility model, at least two piezoelectric components are provided between the mass block and the base, and a grounding conductive plate is provided between two adjacent piezoelectric components, the grounding conductive plate being connected to the base.

[0012] As a further improvement of this utility model, an elastic insulating sleeve is provided on the locking stud, and the elastic insulation extends axially from the base to the mass block.

[0013] As a further improvement of this utility model, a connecting part is formed by extending the base away from the locking stud, and a mounting hole is provided on the mounting block, and the connecting part is threadedly connected to the mounting hole.

[0014] As a further improvement of the present invention, the six-degree-of-freedom accelerometer also includes a base plate and a housing. The mounting block is disposed on the base plate, and the housing is disposed on the base plate. An accommodating space is formed between the housing and the base plate. The accommodating space is used to accommodate the mounting block, the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor. The multi-core connector is disposed on the housing.

[0015] An accelerometer with good symmetry includes a right quadrangular prism-shaped mounting block, with the geometric center of the mounting block as the origin to establish an xyz coordinate system; Two first single-axis accelerometers, symmetrical about the x-axis and located in the positive x-axis direction, are disposed on one of the surfaces of the mounting block perpendicular to the x-axis. Two second single-axis accelerometers, symmetrical about the y-axis and located in the positive y-axis direction, are disposed on one of the surfaces of the mounting block perpendicular to the z-axis. Four third single-axis accelerometers, located in the positive z-axis direction, are disposed on one of the surfaces of the mounting block perpendicular to the z-axis. The four third single-axis accelerometers are centrally symmetrically distributed in the plane containing the x-axis and y-axis with the z-axis as the center, and the distance from each third single-axis accelerometer to the x-axis is equal to the distance from the y-axis.

[0016] The beneficial effects of this utility model are as follows: With the above structure, by using a combination of six single-axis accelerometers arranged in a specific distribution on the three surfaces of the mounting block, the measurement of six degrees of freedom acceleration can be completed. The number of single-axis accelerometers used is small, the structure is compact, the installation is convenient, and the reliability is high. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the internal structure of a six-degree-of-freedom accelerometer. Figure 2 This is a cross-sectional view of a six-degree-of-freedom accelerometer. Figure 3 This is a schematic diagram of the structure of a single-axis accelerometer; Figure 4 This is a cross-sectional view of a single-axis accelerometer. Figure 5 This is a schematic diagram of the external structure of a six-degree-of-freedom accelerometer. Figure 6 This is a structural diagram of the mounting block; Figure 7 This is a schematic diagram of the structure of an accelerometer with good symmetry.

[0018] Wherein: 1-Mounting block, 101-Mounting hole, 102-Positioning slot, 201-First sensor, 202-Second sensor, 203-Third sensor, 204-Fourth sensor, 205-Fifth sensor, 206-Sixth sensor, 3-Multi-core connector, 401-Base, 4011-Connecting part, 402-Locking stud, 403-Piezoelectric assembly, 4031-Negative ceramic plate, 4032-Signal conductive plate, 4033-Positive ceramic plate, 404-Mass block, 405-Locking nut, 406-Grounding conductive plate, 407-Elastic insulating sleeve, 5-Base plate, 6-Housing shell, 7-Signal wire, 8-Grounding wire, 901-First single-axis accelerometer, 902-Second single-axis accelerometer, 903-Third single-axis accelerometer. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0020] If the description of this utility model involves directions (e.g., up, down, left, right, front, back, outside, inside, etc.), then the directions involved need to be defined. For example, "To clearly express the position and direction described in this utility model, the operator of the instrument is used as a reference, the end closer to the operator is the proximal end, and the end farther from the operator is the distal end." Or, the paper can be used as a reference. Of course, if the positional relationship between the two is defined by mutual reference in the subsequent description, then this definition is not required.

[0021] A six-degree-of-freedom accelerometer, such as Figure 1 As shown, the six-degree-of-freedom accelerometer includes a mounting block 1, which is a right quadrangular prism. With the geometric center of the mounting block 1 as the origin, three directions are defined as the x-axis, y-axis, and z-axis, which are perpendicular to each other, to establish an xyz coordinate system. A first sensor 201 is provided on the surface of the mounting block 1 perpendicular to the x-axis. The first sensor 201 is used to measure the linear acceleration of the x-axis. The first sensor 201 is located on the x-axis and in the positive direction of the x-axis, that is, the position of the first sensor 201 in the coordinate system is (+X, 0, 0). A second sensor 202 and a third sensor 203 are disposed on the surface of the mounting block 1 perpendicular to the y-axis. The second sensor 202 and the third sensor 203 are used to measure the linear acceleration along the y-axis. The second sensor 202 and the third sensor 203 are symmetrically distributed about the y-axis, and the second sensor 202 and the third sensor 203 are located in the positive direction of the y-axis. That is, the position of the second sensor 202 in the coordinate system is (+X, +Y, 0), and the position of the third sensor 203 in the coordinate system is (-X, +Y, 0). A fourth sensor 204, a fifth sensor 205, and a sixth sensor 206 are disposed on the surface of the mounting block 1 perpendicular to the z-axis. The fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 are used to measure the linear acceleration along the z-axis. The fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 are located in the positive direction of the z-axis. The fourth sensor 204 and the fifth sensor 205 are symmetrically distributed about the x-axis and are located in the positive direction of the x-axis. The sixth sensor 206 is located on the x-axis and is located in the negative direction of the x-axis. That is, the position of the fourth sensor 204 in the coordinate system is (+X, +Y, +Z), the position of the fifth sensor 205 in the coordinate system is (+X, -Y, +Z), and the position of the sixth sensor 206 in the coordinate system is (-X, 0, +Z).

[0022] In this embodiment, the first sensor 201, the second sensor 202, the third sensor 203, the fourth sensor 204, the fifth sensor 205 and the sixth sensor 206 are all single-axis acceleration sensors. A single-axis acceleration sensor is a device that can only measure acceleration in one specific direction.

[0023] As one embodiment of this utility model, such as Figure 2 , 5As shown, the six-degree-of-freedom accelerometer also includes a multi-pin connector 3. The first sensor 201, the second sensor 202, the third sensor 203, the fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 are respectively connected to the multi-pin connector 3. The multi-pin connector 3 is used to output the charge signals transmitted by the first sensor 201, the second sensor 202, the third sensor 203, the fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 to an external device.

[0024] In this embodiment, the aforementioned single-axis accelerometer can be a compression accelerometer, a planar shear accelerometer, or a triangular shear accelerometer.

[0025] As an embodiment of the present invention, the first sensor 201, the second sensor 202, the third sensor 203, the fourth sensor 204, the fifth sensor 205 and the sixth sensor 206 may be compression-type accelerometers.

[0026] Specifically, such as Figures 3-4 As shown, the compression accelerometer includes a base 401 and a locking stud 402 mounted on the base 401. The locking stud 402 is threadedly connected to the base 401. A piezoelectric component 403, a mass block 404, and a locking nut 405 are sequentially mounted on the locking stud 402. The mass block 404 applies pressure to the piezoelectric component 403. The locking nut 405 is positioned away from the base 401 and is used to lock the mass block 404 and the piezoelectric component 403, reinforcing the mass block 404. The preload between the piezoelectric component 403 and the base 401 improves the tightness of the connection. The piezoelectric component 403 measures acceleration along the axis of the locking stud 402. The negative terminal of the piezoelectric component 403 is connected to the base 401, and the positive terminal is connected to the multi-core connector 3.

[0027] From the locking nut 405 to the base 401, the piezoelectric assembly 403 includes a negative ceramic plate 4031, a signal conductive plate 4032, and a positive ceramic plate 4033 arranged in sequence. The negative ceramic plate 4031 has a negative polarity, and the positive ceramic plate 4033 has a positive polarity. The negative ceramic plate 4031 is disposed away from the base 401. The signal conductive plate 4032 is connected to the multi-core connector 3 through a signal wire 7.

[0028] Furthermore, at least two piezoelectric components 403 are disposed between the mass block 404 and the base 401, and a grounding conductive plate 406 is disposed between two adjacent piezoelectric components 403. The grounding conductive plate 406 is connected to the base 401 via a grounding wire 8. Multiple ceramic plates are arranged sequentially in the order of negative, positive, negative, positive from the locking nut 405 to the base 401. Thus, the signal conductive plate 4032 is located at the positive terminal position between the negative ceramic plate 4031 and the positive ceramic plate 4033. The signal wires 7 leading from the multiple signal conductive plates 4032 can ultimately be combined into one and connected to the multi-core connector 3, realizing the parallel connection of multiple ceramic plates. The grounding conductive plate 406 is located at the negative terminal position between two adjacent piezoelectric components 403, thereby ensuring that the negative terminals of several piezoelectric components 403 are all connected to the base 401, completing the grounding. Furthermore, an elastic insulating sleeve 407 is fitted on the locking stud 402. The elastic insulation extends axially from the base 401 to the mass block 404. The elastic insulating sleeve 407 is used to form electrical insulation between the piezoelectric component 403 and the locking stud 402, thereby achieving insulation between the ceramic plate and the base 401, and between the signal conductive plate 4032 and the base 401.

[0029] Furthermore, such as Figure 6 As shown, a connecting portion 4011 extends from the base 401 away from the locking stud 402 to form a connecting portion 4011. A mounting hole 101 is provided on the mounting block 1, which mates with the connecting portion 4011, and the connecting portion 4011 is threadedly connected to the mounting hole 101. A positioning groove 102 is provided on the mounting block 1, extending from the surface of the mounting block 1 into its interior. The positioning groove 102 mates with the base 401, thereby achieving rapid positioning of the base 401. The mounting hole 101 is located in the middle of the positioning groove 102.

[0030] As one embodiment of this utility model, such as Figure 2 , 5As shown, the six-degree-of-freedom accelerometer also includes a base plate 5 and a housing 6. The mounting block 1 is disposed on the base plate 5, and the positive direction of the z-axis is away from the base plate 5. The housing 6 is disposed on the base plate 5, and an accommodating space is formed between the housing 6 and the base plate 5. The accommodating space is used to accommodate the mounting block 1, the first sensor 201, the second sensor 202, the third sensor 203, the fourth sensor 204, the fifth sensor 205, and the sixth sensor 206. The housing 6 protects the internal components while improving the airtightness and electromagnetic shielding performance of the six-degree-of-freedom accelerometer. The multi-core connector 3 is disposed on the housing 6, and a wiring hole is provided on the housing 6. The multi-core connector 3 is disposed at the wiring hole, and the signal wire 7 passes through the wiring hole and connects to the multi-core connector 3.

[0031] The working principle of this utility model is as follows: When it is necessary to measure linear acceleration in the x-direction, the first sensor 201 is used for measurement; When it is necessary to measure the linear acceleration in the y-direction, the second sensor 202 and the third sensor 203 are used in combination for measurement. Since the second sensor 202 and the third sensor 203 are symmetrical about the y-axis, the interference caused by rotation can be eliminated, and a pure linear acceleration in the y-direction can be obtained. When it is necessary to measure the linear acceleration in the z-direction, the fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 are used in combination for measurement. Since the fourth sensor 204, the fifth sensor 205, and the sixth sensor 206 are all located in the positive z-axis direction, and the three are located in the positive and negative x-axis directions and the positive and negative y-axis directions respectively, the interference caused by tilt can be canceled, and a pure linear acceleration in the z-direction can be obtained. When it is necessary to measure the angular acceleration about the x-axis, the fourth sensor 204 and the fifth sensor 205 are used in combination for calculation. Since the fourth sensor 204 and the fifth sensor 205 are used to measure the linear acceleration in the z-direction, but the fourth sensor 204 and the fifth sensor 205 are symmetrical about the x-axis, the fourth sensor 204 and the fifth sensor 205 have a position deviation on the y-axis. Therefore, the linear accelerations obtained by the fourth sensor 204 and the fifth sensor 205 in the z-axis will be different. Thus, the difference in their linear accelerations and the position deviation can be used to calculate the angular acceleration about the x-axis. When it is necessary to measure the angular acceleration about the y-axis, the fourth sensor 204 and the sixth sensor 206 (or the fifth sensor 205 and the sixth sensor 206) are used in combination for calculation. Since the fourth sensor 204 and the sixth sensor 206 (or the fifth sensor 205 and the sixth sensor 206) are used to measure the linear acceleration in the z-direction, but the fourth sensor 204 and the sixth sensor 206 (or the fifth sensor 205 and the sixth sensor 206) have positional deviations on the x-axis and y-axis, the linear accelerations of the fourth sensor 204 and the sixth sensor 206 (or the fifth sensor 205 and the sixth sensor 206) in the z-axis will be different. Therefore, the difference in their linear accelerations and positional deviations can be used to calculate the angular acceleration about the y-axis. When it is necessary to measure the angular acceleration about the z-axis, the second sensor 202 and the third sensor 203 are used in combination for calculation. Since the second sensor 202 and the third sensor 203 are used to measure the linear acceleration in the y-direction, but the positions of the second sensor 202 and the third sensor 203 on the x-axis are deviated, and the positions on the y-axis are also deviated, the linear acceleration of the second sensor 202 and the third sensor 203 on the y-axis will be different. Therefore, the difference in their linear acceleration and the positional deviation can be used to calculate the angular acceleration about the z-axis.

[0032] The six-degree-of-freedom accelerometer provided by this utility model can measure six degrees of freedom acceleration by setting six single-axis accelerometers in a specific distribution on three mutually perpendicular surfaces of the mounting block 1. It uses a small number of single-axis accelerometers, has a compact structure, is easy to install, and has high reliability.

[0033] The aforementioned six-DOF accelerometer uses only six single-axis accelerometers to measure acceleration in all six degrees of freedom. Furthermore, this invention also provides a technical solution for an accelerometer with good symmetry, such as... Figure 7As shown, this symmetrical accelerometer includes a mounting block 1. An xyz coordinate system is established with the geometric center of the mounting block 1 as the origin. Two first single-axis accelerometers 901, symmetrical about the x-axis and located in the positive x-axis direction, are arranged on one of the surfaces of the mounting block 1 perpendicular to the x-axis. Two second single-axis accelerometers 902, symmetrical about the y-axis and located in the positive y-axis direction, are arranged on one of the surfaces of the mounting block 1 perpendicular to the z-axis. Four third single-axis accelerometers 903, located in the positive z-axis direction, are arranged on one of the surfaces of the mounting block 1 perpendicular to the z-axis. The four third single-axis accelerometers 903 are centrally symmetrically distributed in the plane containing the x-axis and y-axis, centered on the z-axis, and located in the four quadrants divided by the x-axis and y-axis. The distance from each third single-axis accelerometer 903 to the x-axis is equal to its distance from the y-axis. Although this technical solution requires two more single-axis accelerometers, the measurement accuracy is improved through geometrically symmetrical distribution. In each measurement direction of the x-axis, y-axis, and z-axis, the single-axis accelerometers are arranged in pairs or groups symmetrically, which can effectively offset common-mode errors.

[0034] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0035] The detailed descriptions listed above are merely specific descriptions of feasible implementation methods of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementation methods or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A six-degree-of-freedom accelerometer, characterized in that: Includes a right quadrangular prism-shaped mounting block (1), and establishes an xyz coordinate system with the geometric center of the mounting block (1) as the origin; A first sensor (201) for measuring the linear acceleration of the x-axis is provided on the surface of the mounting block (1) perpendicular to the x-axis direction. The first sensor (201) is located on the x-axis and in the positive direction of the x-axis. A second sensor (202) and a third sensor (203) are provided on the surface of the mounting block (1) perpendicular to the y-axis direction. The second sensor (202) and the third sensor (203) are used to measure the linear acceleration of the y-axis. The second sensor (202) and the third sensor (203) are symmetrically distributed about the y-axis and located in the positive direction of the y-axis. A fourth sensor (204), a fifth sensor (205), and a sixth sensor (206) are provided on the surface of the mounting block (1) perpendicular to the z-axis. The fourth sensor (204), the fifth sensor (205), and the sixth sensor (206) are used to measure the linear acceleration of the z-axis. The fourth sensor (204), the fifth sensor (205), and the sixth sensor (206) are located in the positive direction of the z-axis. The fourth sensor (204) and the fifth sensor (205) are symmetrically distributed about the x-axis and located in the positive direction of the x-axis. The sixth sensor (206) is located on the x-axis and in the negative direction of the x-axis.

2. The six-degree-of-freedom accelerometer according to claim 1, characterized in that: The six-degree-of-freedom accelerometer also includes a multi-core connector (3), wherein the first sensor (201), the second sensor (202), the third sensor (203), the fourth sensor (204), the fifth sensor (205) and the sixth sensor (206) are respectively connected to the multi-core connector (3).

3. The six-degree-of-freedom accelerometer according to claim 2, characterized in that: The first sensor (201), the second sensor (202), the third sensor (203), the fourth sensor (204), the fifth sensor (205) and the sixth sensor (206) are all single-axis acceleration sensors, which are compression acceleration sensors, planar shear acceleration sensors or triangular shear acceleration sensors.

4. The six-degree-of-freedom accelerometer according to claim 3, characterized in that: The single-axis accelerometer includes a base (401) and a locking stud (402) disposed on the base (401). A piezoelectric component (403), a mass block (404), and a locking nut (405) are sequentially mounted on the locking stud (402). The piezoelectric component (403) is used to measure the acceleration along the axial direction of the locking stud (402). The negative terminal of the piezoelectric component (403) is connected to the base (401), and the positive terminal of the piezoelectric component (403) is connected to the multi-core connector (3).

5. The six-degree-of-freedom accelerometer according to claim 4, characterized in that: The piezoelectric assembly (403) includes a negative ceramic sheet (4031), a signal conductive plate (4032) and a positive ceramic sheet (4033) arranged in sequence. The negative ceramic sheet (4031) is disposed away from the base (401), and the signal conductive plate (4032) is connected to the multi-core connector (3).

6. The six-degree-of-freedom accelerometer according to claim 5, characterized in that: At least two piezoelectric components (403) are provided between the mass block (404) and the base (401), and a grounding conductive plate (406) is provided between two adjacent piezoelectric components (403), the grounding conductive plate (406) being connected to the base (401).

7. The six-degree-of-freedom accelerometer according to claim 4, characterized in that: An elastic insulating sleeve (407) is fitted on the locking stud (402), and the elastic insulation extends axially from the base (401) to the mass block (404).

8. The six-degree-of-freedom accelerometer according to claim 4, characterized in that: A connecting portion (4011) is formed on the base (401) extending away from the locking stud (402), and a mounting hole (101) is provided on the mounting block (1), and the connecting portion (4011) is threadedly connected to the mounting hole (101).

9. The six-degree-of-freedom accelerometer according to claim 2, characterized in that: The six-degree-of-freedom accelerometer also includes a base plate (5) and a housing (6). The mounting block (1) is disposed on the base plate (5), and the housing (6) is disposed on the base plate (5). An accommodating space is formed between the housing (6) and the base plate (5). The accommodating space is used to accommodate the mounting block (1), the first sensor (201), the second sensor (202), the third sensor (203), the fourth sensor (204), the fifth sensor (205), and the sixth sensor (206). The multi-core connector (3) is disposed on the housing (6).

10. An accelerometer with good symmetry, characterized in that: Includes a right quadrangular prism-shaped mounting block (1), and establishes an xyz coordinate system with the geometric center of the mounting block (1) as the origin; Two first single-axis accelerometers (901) are arranged on one of the surfaces of the mounting block (1) perpendicular to the x-axis and located in the positive direction of the x-axis. Two second single-axis accelerometers (902) are arranged on one of the surfaces of the mounting block (1) perpendicular to the y-axis and located in the positive direction of the y-axis. Four third single-axis accelerometers (903) are arranged on one of the surfaces of the mounting block (1) perpendicular to the z-axis and located in the positive direction of the z-axis. The four third single-axis accelerometers (903) are centrally symmetrically distributed in the plane containing the x-axis and y-axis with the z-axis as the center, and the distance from each third single-axis accelerometer (903) to the x-axis is equal to the distance to the y-axis.

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