Three axis load cell and load detection system

Abstract

To provide a three axis load cell of a small and simple structure capable of simultaneously detecting loads applying to three axial directions and a load detection system for calculating a load detected by the three axis load cell in every three axes.SOLUTION: A load detection system includes: a three axis load cell 20 including a body 22 formed with a right rectangular pyramid as an external basic shape and with each vertex removed, and a unaxial compression type load cell 24 provided on each triangular slope face of the body 22; and an information processing device 10. A projection part 24b of each compression type load cell 24 comes into contact with an inner surface of the body 40 to be measured to measure a load applying the body 40 to be measured. The information processing device 10 distributes the load measured by each compression type load cell 24 to calculate a load in each axial direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a triaxial load cell and a load detection system, and more particularly to measuring three components of a load applied to a measurement object. [Background technology]

[0002] Load cells capable of detecting loads in three axial directions have been proposed. For example, Patent Document 1 proposes a load cell that uses a conductive material such as carbon fiber to enable simultaneous detection of loads in three axial directions. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7046333 specification [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-79831 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-2554 [Patent Document 4] Patent No. 4374596 specification [Patent Document 5] Patent No. 3931104 specification [Non-patent literature]

[0004] [Non-Patent Document 1] Unipulse Corporation, "ULS Compact Compression Load Cell for Load Measurement," [online], [Retrieved February 5, 2024], Internet (URL: https: / / www.unipulse.tokyo / product / uls / ) Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the past, in order to simultaneously detect loads acting in three axial directions, the structure for detecting the load acting on each axis was often complex, as the structure for detecting the load on each axis differed depending on the axial direction.

[0006] The present invention aims to provide a small, simple triaxial load cell that can simultaneously detect loads applied in three axial directions, and a load detection system that calculates the load detected by the triaxial load cell for each of the three axes. [Means for solving the problem]

[0007] The triaxial load cell of the present invention comprises three single-axis compression load cells and a main body having a regular triangular pyramid shape as its basic external shape, in which the compression load cells are arranged at the same position on each side of the triangle, and is characterized in that the load acting on the object to be measured is detected by each of the compression load cells arranged in the main body, with which the object to be measured abuts.

[0008] The apex portion of the body facing the bottom surface of the regular triangular pyramid shape is removed parallel to the bottom surface to form a cut surface, which penetrates the body to the bottom surface, and a through hole is formed to attach a bolt for fixing the body to be measured and for applying a preload.

[0009] The main body may have each oblique side of the equilateral triangular pyramid shape removed to form a through hole for fixing the main body to a base with a fixing member.

[0010] The main body is also characterized in that each vertex of the base of the regular triangular pyramid is removed.

[0011] The load detection system according to the present invention is characterized by comprising a triaxial load cell according to each of the above-mentioned inventions, and a calculation means for calculating the load in each of the three axial directions by dividing the load detected by each of the compression-type load cells included in the triaxial load cell. [Effects of the Invention]

[0012] According to the invention as set forth in claim 1, it is possible to provide a small-sized triaxial load cell with a simple structure that can simultaneously detect loads applied in three axial directions.

[0013] According to the invention as set forth in claim 2, since loads can be simultaneously applied to the compression load cells used, the preload can be easily set and adjusted.

[0014] According to the invention described in claim 1, the lead wires of the compression load cell can be easily pulled out and fixed evenly and firmly. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic configuration diagram showing an embodiment of a load detection system according to the present invention; [Figure 2] FIG. 1 is a perspective view showing an example of a compression load cell used in the present embodiment. [Figure 3] 1 is a diagram showing the basic shape of a main body of a triaxial load cell according to the present embodiment. FIG. [Figure 4A] This is a plan view of the triangular pyramid that is the basic shape of the main body of a triaxial load cell, as seen from directly above. [Figure 4B] FIG. 4B is a perspective view of the triangular pyramid shown in FIG. 4A. [Figure 5A] FIG. 4 is a plan view of the triangular pyramid shown in FIG. 3 when the apex portion is cut off. [Figure 5B] FIG. 4 is a perspective view of the triangular pyramid shown in FIG. 3 when the apex portion is cut off. [Figure 6A] FIG. 2 is a plan view of the main body of the triaxial load cell according to the present embodiment. [Figure 6B] FIG. 2 is a perspective view of the main body of the triaxial load cell according to the present embodiment. [Figure 7A] FIG. 2 is a side view showing the internal structure of a measurement object in the present embodiment. [Figure 7B] FIG. 2 is a bottom view of the measurement object according to the present embodiment as viewed from below. [Figure 8A]2 is a side cross-sectional view of the measurement object and the triaxial load cell in the present embodiment when cut along the X axis. FIG. [Figure 8B] FIG. 2 is a perspective view showing a triaxial load cell seen through an object to be measured in the present embodiment. [Figure 9A] 1 is a perspective view showing a measurement object to which a triaxial load cell according to the present embodiment is attached. FIG. [Figure 9B] FIG. 2 is a cross-sectional side view of the triaxial load cell according to the present embodiment after it has been attached to a base. [Figure 9C] FIG. 2 is a plan view showing the object to be measured in the present embodiment as seen through from above, with the triaxial load cell visible. [Figure 10A] FIG. 1 is a perspective view of a triaxial load cell according to the present embodiment. [Figure 10B] FIG. 10B is a plan view of the triaxial load cell shown in FIG. 10A. [Figure 10C] FIG. 10B is a diagram schematically illustrating only one side of the triaxial load cell shown in FIG. 10A. [Figure 10D] FIG. 10C is a diagram illustrating a relationship between the X and Y axis directions and only the component force on the xy plane of the load extracted from FIG. 10B. [Figure 11] FIG. 2 is a perspective view showing a triaxial load cell seen through a measurement object in the present embodiment, illustrating the positive and negative directions of the axes on which a load is applied. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0017] <Load detection system configuration> FIG. 1 is a schematic diagram showing an embodiment of a load detection system according to the present invention. Shown in FIG. 1 are a measurement object 40, a triaxial load cell 20, and an information processing device 10. The triaxial load cell 20 includes a main body 22 and three single-axis compression load cells 24. The measurement object 40 is an object to which a load is applied, and the load is measured by the triaxial load cell 20 after being divided into three axial components. As will be described in detail later, the measurement object 40 is attached with bolts 52 so as to house the triaxial load cell 20. The shape of the measurement object 40 is arbitrary, except for the internal structure that houses the triaxial load cell 20. In FIG. 1, the outer shape of the measurement object 40 is shown as a hemisphere for convenience.

[0018] The information processing device 10 can be realized by a general-purpose hardware configuration that has existed for a long time, such as a personal computer (PC). That is, the information processing device 10 has a user interface including storage means such as a CPU, ROM, RAM, and hard disk drive (HDD), communication means such as a network interface, input means such as a mouse and keyboard, and display means such as a display. The information processing device 10 in this embodiment further has an interface that receives data signals transmitted by each of the three compression load cells 24.

[0019] The information processing device 10 in this embodiment has a receiving unit 12 and a load calculation unit 14. Note that components not used in the description of this embodiment are omitted. The receiving unit 12 receives data signals transmitted by each of the compression load cells 24. The data signals are data that are transmitted after converting the load detected by each of the compression load cells 24 into an electrical signal. The load calculation unit 14 separates the load indicated by the received data into three axial directions and calculates the load on the measurement object 40 in each of the three axial directions.

[0020] The receiving unit 12 and the weight calculation unit 14 are realized by the cooperative operation of a computer forming the information processing device 10 and a program running on a CPU installed in the computer. The program used in this embodiment can be provided not only by communication means, but also by being stored in a computer-readable recording medium such as a USB memory. The program provided from the communication means or recording medium is installed in the computer, and various processes are realized by the CPU of the computer sequentially executing the program.

[0021] FIG. 2 is a perspective view showing an example of a compression load cell 24 used in this embodiment. The compression load cell 24 is a sensor that detects a load. The compression load cell 24 has a cylindrical main body 24a, a protrusion 24b that measures the compressive load in the central axis direction of the main body 24a, and a lead wire 24c that transmits the measured load as an electrical signal. A general-purpose compression uniaxial load cell can be used as the compression load cell 24 in this embodiment. In this embodiment, for example, a small compression load cell manufactured by Unipulse Corporation is used.

[0022] The triaxial load cell 20 in this embodiment is attached to the interior of the measurement object 40 from below. A method for forming the main body 22 of the triaxial load cell 20 will be described below with reference to FIGS.

[0023] 3 is a diagram showing the basic shape of the main body 22 of the triaxial load cell 20 in this embodiment. The basic external shape of the main body 22 of the triaxial load cell 20 is a triangular pyramid 30 formed by the vertices A, B, and D, E of cubes A to H. Point I in the figure is the intersection of the diagonal line AG of the cube and the base B, E of the triangular pyramid 30.

[0024] FIG. 4 shows the triangular pyramid 30 shown in FIG. 3, i.e., the basic shape of the triaxial load cell 20, and the positional relationship between the compression load cell 24 and the coordinate axes for load measurement. FIG. 4A is a plan view of the triangular pyramid 30 as seen from directly above, and FIG. 4B is a perspective view of the triangular pyramid 30. Point I of the triangular pyramid 30 cut out from a cube is the origin, with line IB representing the X-axis and line IA representing the Z-axis. If the base BDE of the triangular pyramid 30 is defined as the XY plane, the direction perpendicular to the X-axis in this XY plane is the Y-axis. The three compression load cells 24 are each disposed at the same position on the three triangular side surfaces of the triangular pyramid 30. The compression load cells 24 are embedded in the triangular pyramid 30 so that their protrusions 24b protrude from the side surfaces. To accurately measure the load, the compression load cell 24 does not necessarily have to be embedded in the main body 22, as long as only the protrusion 24b is arranged to contact the measurement object 40. Note that the lead wire 24c is omitted from Fig. 4 and Fig. 5, which will be described later.

[0025] FIG. 5 is a diagram showing the apex portion cut off from the triangular pyramid 30 shown in FIG. 3. FIG. 5A is a plan view of the triangular pyramid 30 after the apex has been cut off, as seen from directly above, and FIG. 5B is a perspective view of the triangular pyramid 30 after the apex has been cut off. To reduce the size of the compression load cell 24, in this embodiment, the apex A portion of the body 22, which faces the base BDE of the regular triangular pyramid shape, is cut and removed parallel to the base BDE. The apexes B, D, and E of the regular triangular pyramid shape of the body 22 other than the apex A are removed by cutting along a cylindrical plane centered on the apex A. In this way, the basic shape of the body 22 of the triaxial load cell 20 is formed by machining the triangular pyramid 30.

[0026] FIG. 6 shows the main body 22 of the triaxial load cell 20, which is completed by further processing the basic shape of the main body 22 shown in FIG. 5. FIG. 6A is a plan view of the main body 22 of the triaxial load cell 20 as viewed from directly above, and FIG. 6B is a perspective view of the main body 22 of the triaxial load cell 20. As shown in FIG. 6, the main body 22 is formed with through-holes 26 for attaching bolts 52 for fixing the measurement object 40 and applying a preload. The through-holes 26 are located on the Z-axis and extend from the cut surface formed by cutting the vertex A to the bottom surface of the main body 22. The main body 22 also has through-holes 28 for fastening bolts to fix the main body 22 to a base. The through-holes 28 are formed between the compression load cells 24, more specifically, below the removed portions of the three hypotenuses of the triangular pyramid 30 parallel to the Z-axis as shown in FIG. 6. Furthermore, the main body 22 is formed with a groove 29 for leading out the lead wire 24c of the compression load cell 24 toward the bottom surface of the main body 22.

[0027] As described above, in this embodiment, the triangular pyramid 30 is machined to form the main body 22 of the triaxial load cell 20. In particular, according to this embodiment, the vertices A, B, D, and E of the triangular pyramid 30, which are not required for measuring the load, are removed to achieve miniaturization.

[0028] FIG. 7 illustrates the shape and structure of a measurement object 40 according to this embodiment. FIG. 7A is a side view showing the internal structure of the measurement object 40, and FIG. 7B is a bottom view of the measurement object 40. Because the measurement object 40 incorporates a triangular pyramidal-shaped triaxial load cell 20, a recess 41 is formed on the surface of the measurement object 40 where the triaxial load cell 20 is installed. The recess 41 is carved in a shape identical to the outer shape of the triaxial load cell 20. Since the protrusion 24b of the compression load cell 24 receives the load of the measurement object 40 in a concentrated manner, if the portion corresponding to the protrusion 24b is soft, the measurement object 40 may be recessed, resulting in inaccurate load measurement. Therefore, the portion where the protrusion 24b abuts requires strength, and a load cell contact plate 42 made of a highly rigid material is provided. Furthermore, a through-hole 43 is formed in the measurement object 40 at the same position as the through-hole 26 in the main body 22 of the triaxial load cell 20, i.e., on the Z-axis. Furthermore, a through hole 44 is formed in the main body 22 of the triaxial load cell 20 at a position corresponding to the through hole 28 .

[0029] Next, a method for attaching the measurement object 40 to the triaxial load cell 20 will be described.

[0030] 8A and 8B are diagrams showing the positional relationship between the measurement object 40 and the triaxial load cell 20. Fig. 8A is a side cross-sectional view of the measurement object 40 and the triaxial load cell 20 when cut along the X-axis, and Fig. 8B is a perspective view showing the measurement object 40 so that the triaxial load cell 20 is visible.

[0031] First, as shown in FIG. 1 , the bolt 52 with a washer 51 attached to the measurement object 40 is inserted into the through-hole 43 of the measurement object 40 and the through-hole 26 of the triaxial load cell 20. As described above, the bolt 52 is a fixing member for fixing the measurement object 40 to the triaxial load cell 20, and when the bolt 52 is tightened into the through-hole 26, the load cell contact plate 42 applies a preload to the main body 22 of the triaxial load cell 20 via the protrusion 24b of the compression load cell 24. In this embodiment, the bolt 52 is arranged on the Z-axis, that is, at the center of the measurement object 40 and the triaxial load cell 20. As a result, in this embodiment, the triaxial load cell 20 is fixed to the measurement object 40 with just this one bolt 52, and preload setting and adjustment for the three compression load cells 24 evenly arranged on the main body 22 of the triaxial load cell 20 can be performed simultaneously and easily. After a predetermined preload is set, the bolt 52 is fixed with a lock nut 53 from the rear side of the triaxial load cell 20 to prevent it from loosening.

[0032] Next, a method for fixing the triaxial load cell 20 to which the measurement object 40 is attached to the base will be described.

[0033] Figure 9 shows a method for fixing the triaxial load cell 20 to a base. Of these, Figure 9A is a perspective view showing the measurement object 40 to which the triaxial load cell 20 is attached, Figure 9B is a side cross-sectional view of the triaxial load cell 20 after it has been attached to the base, and Figure 9C is a plan view showing the measurement object 40 seen through from above so that the triaxial load cell 20 can be seen.

[0034] As shown in FIG. 9A, three bolts 54 are passed through through holes 44 provided in the measurement object 40 to fix the main body 22 of the triaxial load cell 20 to a base 55.

[0035] According to this embodiment, three single-axis compression load cells 24 are arranged at corresponding positions on the same shaped slope of the main body 22, and the protrusions 24b of the compression load cells 24 are configured to support the measurement object 40, thereby making it possible to form a triaxial load cell 20 with a small and simple configuration.

[0036] More specifically, the three compression load cells 24 can be formed with a simple configuration because they can be made by combining the same general-purpose single-axis compression load cell products.

[0037] Furthermore, because the main body 22 of the triaxial load cell 20 has a basic shape of a regular triangular pyramid, the compression load cell 24 can be arranged in close proximity, and the apex of the regular triangular pyramid can be removed, allowing for miniaturization. Furthermore, the base of the regular triangular pyramid is wide, making it easy to pull out the lead wires 24c of the compression load cell 24. In this embodiment, a groove 29 for pulling out the lead wires 24c can be formed. Furthermore, because the regular triangular pyramid is fixed to the base 55 at the position where the hypotenuse of the regular triangular pyramid is cut, the fixation is even and robust.

[0038] Furthermore, since a load can be applied to the three compression load cells 24 simultaneously using only one bolt 52, the preload can be easily set and adjusted.

[0039] <Calculation of load in three axial directions> The object to be measured 40 comes into contact with the protrusions 24b of the compression load cells 24 disposed on the main body 22 of the triaxial load cell 20, and the load acting on the object to be measured 40 is detected. Each compression load cell 24 measures the load acting in a direction perpendicular to the protrusions 24b (a single axial direction). The load data of the object to be measured 40 measured by each compression load cell 24 is transmitted to the information processing device 10 via the lead wires 24c. A method for calculating the load measured by the compression load cells 24 as component forces of the coordinate axes will be described below with reference to FIGS. 10 and 11. When the receiving unit 12 of the information processing device 10 receives the load measurements from the three compression load cells 24, the load calculation unit 14 calculates the load in each axial direction from the received load measurements as follows.

[0040] Fig. 10A is a perspective view of the triaxial load cell 20, corresponding to Fig. 5A with the apex of the triangular pyramid removed. Fig. 10B is a plan view of the triaxial load cell 20 shown in Fig. 10A. As shown in Fig. 6, Figs. 10A and 10B show the shape before the through holes 26 and 28 are provided, and the main body 22 is in an unfinished shape, but for convenience, it will be referred to as the "triaxial load cell 20" here. Note that the lead wires 24c of the compression-type load cell 24 are omitted from Fig. 10.

[0041] 10A and 10B, the loads measured by the compression load cells 24-1, 24-2, and 24-3 are designated as L1, L2, and L3, respectively. In this embodiment, the loads L1, L2, and L3 are resolved into X, Y, and Z axis components, and the respective coordinate axis components are added for each axis to calculate the X, Y, and Z axis loads (LX, LY, LZ).

[0042] FIG. 11 is a perspective view showing the triaxial load cell 20 through the measured object 40, illustrating the positive and negative directions of the load on each axis. As shown in FIG. 11, arrow A indicates the positive direction, and arrow B indicates the negative direction. Because the triaxial load cell 20 can only measure compression, it is possible to apply a preload with the bolt 52 and measure the increase or decrease in the preload to measure the load on the X and Y axes in both the positive and negative directions. Incidentally, because the measured object 40 is restricted from moving in the positive direction on the Z axis by the bolt 52, the load on the Z axis calculated by the triaxial load cell 20 is only compression in the negative direction.

[0043] In the following explanation, when the loads L1, L2, and L3 are not distinguished, they will be referred to collectively as "Ln." Here, the component force of the load Ln on the xy plane will be "Lnxy," and the component force of the load Ln on the Z axis will be "Lnz."

[0044] Fig. 10C is a diagram schematically showing only one side surface 22a of the triaxial load cell 20. Fig. 10C shows that the angle between the XY plane and the side surface 22a is "θ0," and also shows the relationship between the load Ln and its component forces Lnxy and Lnz. Fig. 10D is a diagram schematically showing the relationship between the XY axis directions and only the component forces on the xy plane of the loads L1, L2, and L3 extracted from Fig. 10B.

[0045] When calculating the loads in each axial direction (LX, LY, LZ), first, the load Ln is divided into a component force Lnxy on the xy plane and a component force Lnz on the Z axis. Referring to FIG. 10C, Lnxy=Ln*sinθ0 (1) Lnz=Ln*cosθ0 (2) It can be found that:

[0046] Next, calculate the component force of each load Ln in the X and Y axis directions. First, as shown in FIG. 10D, the load L1xy is parallel to the X axis and in the positive direction, so according to equation (1), L1x=+L1*sinθ0 On the other hand, the load L1xy is perpendicular to the Y axis, so L1y=0.

[0047] The loads L2 and L3 must be divided into component forces L2xy=L2*sinθ0 and L3xy=L3*sinθ0 on the XY plane in the X-axis direction and Y-axis direction. Referring to Fig. 10D, the angles at which L2xy and L3xy make contact with the X-axis are both 60 degrees, and the load directions are both negative. Therefore, the component force L2x of L2xy in the X-axis direction and the component force L3x of L3xy in the X-axis direction are, referring to equation (1), L2x=L2xy*(-cos60°)=-L2*sinθ0*cos60° L3x=L3xy*(-cos60°)=-L3*sinθ0*cos60° It can be calculated as follows.

[0048] On the other hand, the angles at which L2xy and L3xy form the Y axis are both 30 degrees, and the load direction is positive for L2xy and negative for L3xy. Therefore, the component force L2y of L2xy in the Y axis direction and the component force L3y of L3xy in the Y axis direction are, with reference to equation (1), L2y=L2xy*(+cos30°)=L2*sinθ0*cos30° L3y=L3xy*(-cos30°)=-L3*sinθ0*cos30° It can be calculated as follows.

[0049] In addition, the Z-axis component forces L1z, L2z, and L3z of the loads L1, L2, and L3 are as follows: L1z=-L1*cosθ0 L2z=-L1*cosθ0 L3z=-L1*cosθ0 This becomes:

[0050] In this manner, the component forces of the loads L1, L2, and L3 in the X, Y, and Z directions can be determined.

[0051] Here, the load Lx in the X-axis direction can be calculated by adding up L1x, L2x, and L3x. Similarly, the load Ly in the Y-axis direction can be calculated by adding up L1y, L2y, and L3y, and the load Lz in the Z-axis direction can be calculated by adding up L1z, L2z, and L3z. That is, Lx=L1x+L2x+L3x=+L1*sinθ0-L2*sinθ0*cos60°-L3*sinθ0*cos60° Also, Ly=L1y+L2y+L3y=0+L2*sinθ0*cos30°-L3*sinθ0*cos30° and, Lz=L1z+L2z+L3z=-L1*cosθ0-L1*cosθ0-L1*cosθ0=-3*L1*cosθ0 It can be calculated as follows.

[0052] According to this embodiment, by using three identical uniaxial compression load cells 24, the loads in the respective axial directions (LX, LY, LZ) can be calculated.

[0053] [Configuration of the present invention] Configuration 1: Three uniaxial compression load cells, a main body having a regular triangular pyramid shape as its basic external shape, with the compression load cells disposed at the same positions on each side of the triangle; Equipped with A triaxial load cell characterized in that the load acting on the object to be measured is detected by each of the compression-type load cells arranged in the main body, with which the object to be measured comes into contact. Configuration 2: The triaxial load cell according to configuration 1, characterized in that a vertex portion of the body opposite to the bottom surface of the regular triangular pyramid shape is removed parallel to the bottom surface to form a cut surface, which penetrates through to the bottom surface and is used to attach a bolt for fixing the object to be measured and for applying a preload. Configuration 3: 3. The triaxial load cell according to configuration 1 or 2, wherein each hypotenuse of the equilateral triangular pyramid shape of the main body is removed to form a through hole for fixing the main body to a base with a fixing member. Configuration 4: 4. The triaxial load cell according to any one of configurations 1 to 3, wherein each vertex portion of the base of the regular triangular pyramid shape of the main body is removed. Configuration 5: 5. The triaxial load cell of any one of configurations 1 to 4; a calculation means for calculating a load in each of the three axial directions by dividing the load detected by each of the compression type load cells included in the triaxial load cell; A load detection system comprising: [Explanation of symbols]

[0054] 10 Information processing device, 12 Receiving unit, 14 Load calculation unit, 20 Triaxial load cell, 22, 24a Main body, 22a Side, 24, 24-1, 24-2, 24-3 Compression type load cell, 24b Protrusion, 24c Lead wire, 26, 28, 43, 44 Through hole, 29 Groove, 30 Triangular pyramid, 40 Measurement object, 41 Recess, 42 Load cell contact plate, 51 Washer, 52, 54 Bolt, 53 Lock nut, 55 Base.

Claims

1. Three uniaxial compression load cells, a main body having a regular triangular pyramid shape as its basic external shape, with the compression load cells disposed at the same positions on each side of the triangle; Equipped with A triaxial load cell characterized in that a load acting on a measurement object is detected by each of the compression-type load cells disposed in the main body, with which the measurement object comes into contact.

2. 2. The triaxial load cell according to claim 1, wherein a cut surface formed by removing a vertex portion of the body opposite the bottom surface of the equilateral triangular pyramid shape parallel to the bottom surface penetrates the body to the bottom surface, and through holes are formed for attaching bolts for fixing the body to be measured and for applying a preload.

3. 2. The triaxial load cell according to claim 1, wherein each oblique side of the equilateral triangular pyramid shape of the main body is removed to form a through hole for fixing the main body to a base with a fixing member.

4. 2. The triaxial load cell according to claim 1, wherein each apex portion of the base of the equilateral triangular pyramid shape of the main body is removed.

5. A triaxial load cell according to any one of claims 1 to 4; a calculation means for calculating a load in each of the three axial directions by dividing the load detected by each of the compression type load cells included in the triaxial load cell; A load detection system comprising:

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