72 results about "Tangential force" patented technology

The invention discloses a biomechanical self-ligating bracket, and belongs to the field of biomechanical self-ligating brackets, the biomechanical self-ligating bracket comprises an arch-shaped base, the upper end of the arch-shaped base is fixedly connected with a base, the upper end of the base is connected with a bracket wing assembly, the upper end of the base is connected with a limiting assembly, and the interior of the bracket wing assembly is connected with an anti-opening assembly. According to the key points of the technical scheme, by arranging a limiting assembly, when the arch wire slides in the designed direction (forward sliding), namely, the arch wire slides from back to front, a sliding block keeps in contact with the lower portion of the arch wire under the elastic force of a spring, the thrust of the arch wire is decomposed into normal force and tangential force, the friction resistance of the arch wire is small, and when the arch wire slides in the reverse direction, the sliding block is dragged by the friction force to slide along a sliding groove; the spring is stretched, the clamping block is finally wedged into the clamping groove, and the friction resistance of the arch wire is increased, so that the sliding block forms a self-locking effect, and the situation that teeth are difficult to move in a preset direction due to reverse sliding of the arch wire is prevented.

According to the mechanical arm control method and system based on the self-adaptive force field, the motion state of a patient is monitored, the motion state is compared with a demonstration space trajectory, and training performance information of the patient is obtained. Based on the training performance information and the constructed adaptive force field model, auxiliary force applied to the patient is obtained through calculation, wherein the auxiliary force comprises normal force, tangential force and viscous force. And the applied auxiliary torque is calculated based on the tail end posture of the mechanical arm and the target posture, the joint control torque is obtained according to the auxiliary force and the auxiliary torque, and the dynamic torque and the null space control torque of the robot dynamic model are obtained. And the joint control torque, the dynamic torque and the null space control torque are combined to obtain the comprehensive control torque for controlling the mechanical arm. Therefore, the self-adaptive adjustment of the auxiliary force is realized based on the position, speed and direction of the patient, and the time degree of freedom can be obtained in the motion of the self-adaptive force field, so that the patient obtains more freedom of active motion under the assistance of the space force field.

The invention relates to the technical field of torque measurement, in particular to a device for measuring screwing-on and screwing-off torque and a measuring method thereof.The device comprises a supporting base assembly, and an active continuous forward and reverse rotation assembly is arranged at one end of the supporting base assembly and used for firmly clamping an internal thread workpiece and enabling the internal thread workpiece to continuously rotate forwards or reversely; the passive clamping assembly is arranged at the other end of the supporting base assembly and used for firmly clamping the external thread workpiece; the passive clamping assembly comprises a connecting and fixing plate, and the side wall of the connecting and fixing plate is rotationally connected with a clamping mechanism assembly. A first weighing sensor and a second weighing sensor. According to the invention, the measuring shafts of the first weighing sensor and the second weighing sensor are vertically and fixedly connected with the clamping mechanism assembly, so that the torsion measured by the first weighing sensor and the second weighing sensor is always perpendicular to the moment arm, the interference of non-tangential force on the real value of the torsion is reduced, and the accuracy of the measured value of the torsion is improved.

A detection device for simultaneously detecting tangential and normal components of a force acting at a brake caliper or suspension of a vehicle wheel has a plate-shaped casing having a force sensor assembly for detecting normal and tangential force components and for generating one or more electrical signals representative of detected normal and tangential force components. The detection device has an electrical interface for conducting and making the one or more generated electrical signals available. A device and a system for determining a braking force due to action of a vehicle brake caliper and a brake caliper system with a braking force estimation function are also provided. Methods for simultaneously detecting tangential and normal components of a force acting at a brake caliper or exchanged between an axle and a suspension of the wheel and for determining a braking force due to action of a vehicle brake caliper are also provided.

The present invention provides a method for measuring particle mass flow. The method discretizes the air-powder mixture passing through fixed blades into multiple particle microelements along the circumferential arrangement direction of the sensor. The microelements collide with the pipe wall during spiral motion to generate tangential force, radial force, and axial force, causing the sensor to generate a deformation output voltage. The present invention fits the relationship between the microelement mass and voltage, uses the discretization method to calculate the mass M of the coal powder, and then uses the cross-correlation method to calculate the transit time of the particles between the two layers of sensors, thereby obtaining the mass flow Q. m The present invention relies on the piezoelectric effect and the particle dynamics model to measure the mass flow of particles in the air powder, thereby ensuring the accuracy of the coal powder mass flow measurement.

This invention discloses a sensor calibration device and method based on three-dimensional pressure decoupling. It solves the problem that traditional impact calibration devices can only provide impact loads in a single direction and cannot simulate the complex stress state of sensors under the combined action of normal pressure, tangential pressure and confining pressure in real working conditions. This invention uses multiple three-dimensional decoupling components with adjustable tilt angles and a standard force sensor at the bottom to accurately decompose the single axial impact force provided by systems such as drop hammers into normal and tangential forces acting on the sensitive surface of the pressure sensor to be calibrated. Combined with the confining pressure provided by the three-dimensional pressure chamber, it can simultaneously reproduce the multi-dimensional stress state of the pressure sensor in a real soil and rock environment in one system, realizing the performance calibration of one-dimensional sensors under multi-dimensional force coupling.

The utility model relates to a door body and cleaning equipment. The door body comprises a main body, a rotating screen, a driving piece and a transmission assembly. The rotating screen is rotatably connected to the main body around a rotating axis and has an opening position, and when the rotating screen is located at the opening position, at least part of the rotating screen protrudes out of the main body; the transmission assembly is in transmission connection between the driving part and the rotating screen, the transmission assembly comprises a driving rod and a driven rod which are sequentially and rotationally connected, the driven rod is rotationally connected to the rotating screen, the driven rod and the rotating axis are arranged in a non-intersecting mode, and when the rotating screen is located at the opening position, the included angle alpha between the driving rod and the driven rod ranges from 180 degrees to 185 degrees. According to the scheme, the rotating screen is stressed at the opening position, the tangential force borne by the driving rod is minimum, so that position self-locking of the driving rod is achieved, the driving rod cannot rotate when the rotating screen is stressed, and therefore the driving piece is protected.

The utility model relates to a torque limiter which comprises a first component, a second component, a spiral spring and a positioning component, and the first component, the second component, the spiral spring and the positioning component are coaxially arranged along the same axis. According to the spiral spring, the spiral spring is provided with a spring body, a first end portion and a second end portion, the first end portion and the second end portion extend out of the spring body in the axis direction, and the spring body is tightly wound on at least part of the peripheral face of the first component. The positioning component is connected with the second component, and an accommodating space for accommodating the spiral spring and at least one part of the first component is formed, so that when the second component applies tangential force relative to the axis at the first end part, the first component can rotate along a first direction; when the positioning part exerts tangential force relative to the axis on the second end portion, the first part can rotate in the opposite second direction. The utility model further relates to a flip machine with the torque limiter and a toilet bowl with the torque limiter.

This invention relates to a torque limiter comprising a first component, a second component, a helical spring, and a positioning component, wherein the first component, the second component, the helical spring, and the positioning component are coaxially arranged along the same axis. According to the invention, the helical spring has a spring body and a first end and a second end extending from the spring body along the axial direction, wherein the spring body is wound on at least a portion of the outer peripheral surface of the first component, and the positioning component is connected to the second component and thereby forms a receiving space accommodating the helical spring and at least a portion of the first component, such that when the second component applies a tangential force relative to the axis at the first end, the first component can rotate in a first direction, and when the positioning component applies a tangential force relative to the axis at the second end, the first component can rotate in the opposite second direction. Also related is a flip-top lid machine and a toilet with a torque limiter.

To provide a measuring device and method for improving the measurement accuracy of lateral pressure or a contact position.SOLUTION: A measurement device that measures a lateral pressure Q or a contact position between a wheel 100 of a railway vehicle and a rail, the measurement device including a plurality of strain gauges that detect a shear strain of a plate portion caused by the lateral pressure, and a calculation unit 400 that continuously calculates the lateral pressure or the contact position on the basis of an output of a bridge circuit that includes the strain gauges and is asymmetric with respect to a rotation center axis, the characteristic of the output sensitivity of the bridge circuit according to the wheel load between the wheel and the rail and the front-rear tangential force of the wheel changes with the rotation of the wheel, and the calculation unit calculates the lateral pressure or the contact position based on the cross sensitivity vector of interest determined by the characteristic of the output sensitivity of the bridge circuit or the inverse element orthogonal to the sensitivity vector.SELECTED DRAWING: Figure 1

To provide a wheel flat estimating device, a wheel performance testing device and a key control device for evaluating a wheel re-adhesion control method for allowing proper wheel sliding having the possibility of damaging a wheel and a rail.SOLUTION: The wheel flat estimation device 10 includes a motion analysis part 20 for calculating various parameters by analyzing the behavior between a wheel and a rail when the wheel is fixed, a frictional heat analysis part 30 for calculating the temperature of the tread of the wheel when the wheel is fixed by frictional heat analysis, and a calculation part 30 for calculating the wheel flat based on the calculated temperature of the tread and reference data. The shape estimation device includes a yield stress calculation unit 40 that calculates a wheel yield stress of a wheel, an area calculation unit 50 that calculates an area of a contact ellipse between the wheel and a rail, a comparison unit 60 that compares a magnitude relationship between a tangential stress calculated from a tangential force and the area of the contact ellipse and the wheel yield stress, and an estimation unit 70 that estimates, as a wheel flat shape, a contact ellipse having a minimum area in which the wheel yield stress is determined to be larger than the tangential stress by the comparison in the comparison unit 60.SELECTED DRAWING: Figure 1

The invention discloses a device and a method for testing anisotropic mechanical properties of strong heterogeneity rocks, the device comprises a rotatable rock sample fixing device, a workbench and a sliding track, and a scratching cutter control and data monitoring system, the workbench and the sliding track device main body are fixed on a table top and are convenient to support and move; the slidable scratching system moving track supports the slidable scratching system to move left and right; the rotatable rock sample fixing device is located on the left side above the table top and can fix the position of a rock sample and change the rock scratch angle. The scratching tool control and data monitoring system is located on the right side of the table top and connected with the sliding rail, the slidable scratching system can scratch rocks, and the data monitoring system can monitor and collect tangential force data borne by a tool bit and displacement data of the tool bit in real time; the device and the method for testing the anisotropy of the shale based on the scratches can be researched so as to judge the anisotropy mechanical property of the strong heterogeneity rock.

Disclosed herein are systems and methods for measuring a force applied by a brake pad to a brake caliper by a sensor configured to be positioned between the caliper and the brake pad. Systems and methods herein may include a processor configured to receive an output signal from a sensor and process the signal to generate data regarding a force applied to the caliper and determine a torque generated during braking. The systems and methods herein may include a second sensor that outputs signals representative of measurements of brake pressure, processes the signals to generate data regarding the brake pressure, and determines a brake efficiency generated during braking. In addition, the systems and methods herein may include a plurality of wheel devices including the calipers and sensors disclosed herein.

The ship lock access door groove protection device comprises steel plates, protection plates and magnets, the steel plates are arranged on the front face of the inner side of a ship lock access door groove in an up-down mode, and a plurality of anchor bars are welded to the rear side of the steel plates. The protection plates are arranged on the front side of the steel plate, the tops of the rear sides of the protection plates are provided with protruding T-shaped male tenons, the bottoms of the rear sides of the protection plates are provided with concave T-shaped female tenons, the male tenons and the female tenons of every two adjacent protection plates are connected in a clamped mode to form a whole, and two trapezoidal grooves are formed in the rear sides of the protection plates. The shape of the magnet is matched with that of the groove of the protection plate, the magnet is inserted into the groove of the protection plate, and the protection plate is attracted to the front face of the steel plate through the magnet. When the device is used, the impact force of a ship on the protection plate can be divided into arc tangential force and radial force, the tangential force can adjust the advancing direction of the ship and reduce the impact duration so as to reduce the damage degree of the protection plate, the radial force can be decomposed into force perpendicular to the front face and the side face of the access door groove, surface contact is achieved, and contact stress is reduced; therefore, the strength of the protection plate is improved.

The invention relates to the technical field of force sensors, and discloses a six-dimensional force sensor comprising a mounting seat; the cover plate can rotate around a first direction and a second direction relative to the inner core to drive the inner core to rotate around a third direction and move along the first direction, the second direction and the third direction; a first rotary connection assembly; the first tangential force sensitive core body is used for detecting a first tangential force; a second rotary connection assembly; the second tangential force sensitive core body is used for detecting a second tangential force; the third tangential force sensitive core body is used for detecting a third tangential force; the force transmission piece is arranged on the inner core in a sleeving manner; the first direction force sensitive core body is used for detecting a first acting force; the second direction force sensitive core body is used for detecting a second acting force; the second force transmission piece is fixed on the movable piece; and the third direction force sensitive core body detects the third acting force. According to the six-dimensional force sensor disclosed by the invention, the defects of low detection precision, poor creep resistance, low frequency response and remarkable temperature drift of a strain gauge type six-dimensional force sensor are improved.

This invention discloses an electric cutter clamping device, including a tangential force support mechanism, a gripper mechanism, and a gravity support mechanism. These three mechanisms cooperate to automatically fix the electric cutter. The tangential force support mechanism is a hollow structure with a groove, comprising an upper support mechanism and a lower support mechanism that cooperate with each other. The gripper mechanism includes a left gripper structure, a right gripper structure, a left front magnet, a right front magnet, a left rear magnet, and a right rear magnet. The various components of the gripper mechanism cooperate to automatically clamp the electric cutter, maintain its position on the rotating worktable, and prevent the electric cutter from being thrown off by the centrifugal force of the rotating worktable. The gravity support mechanism is a groove-shaped mechanism located below the tangential force support mechanism. This invention simplifies the steps of fixing the electric cutter, reduces the labor intensity of operators, and improves production efficiency and product consistency.

A flat plate wall fluid frictional resistance measuring system and method based on an elastic deformation body comprises a circulating water tunnel platform and a resistance measuring unit, the circulating water tunnel platform is used for providing liquid flowing environments with different flow speeds, the resistance measuring unit comprises the elastic deformation body, and the upper surface of the elastic deformation body is pasted on a cover plate. The cover plate is connected to the experiment section flow channel reserved window through a clamp; a transition block is arranged in front of the incident flow direction of the elastic deformable body and is connected with the experimental section flow channel; the transition block is adhered to the cover plate; a 45-degree strain gauge is adhered to the side surface of the elastic deformation body and is connected with the signal processing system; a to-be-tested flat plate sample is adhered to the bottom surface of the elastic deformation body; according to the invention, through deformation of an elastic material, tangential force measurement is converted into easily-measured dependent variable for measurement, the elastic material with low shear modulus and easy deformation is used to deform and amplify a tiny tangential force material, and through a strain sensor and a signal processing system, the material deformation is converted into a voltage signal and amplified, so that accurate measurement is realized.

The invention discloses a tension roller set dynamic load distribution method based on a slipping mechanism, and particularly relates to the field of dynamic load distribution. According to the method, a model is established by calculating tension loss and a tension roller inlet / outlet actual tension value and combining elastic deformation and geometric parameters; dividing the winding angle of the strip steel into micro-arc sections, analyzing the tension change in a critical sliding state, constructing a normal and tangential stress balance equation, and considering the influence of friction and gravity; according to the limit tension amplification coefficient of each tension roller, proportionally distributing the total tension ratio, initially assuming that the scale factors of each roller are equal, solving a common scale factor through iteration, and calculating the tension difference of each roller; further calculating transmission power and torque, comprehensively considering tension amplification, friction loss and bending loss, and checking with the capability of a driving motor; and if yes, adjusting the proportion of the upstream and downstream tension rollers, preferentially reducing the tension difference of the overrun rollers, and gradually optimizing until the power and torque of all the rollers meet the requirements.

The invention discloses a design limit displacement calculation method for a slide-resistant pile reinforced slope. The design limit displacement calculation method comprises the steps that 100, a slide mass is vertically divided into a plurality of blocks, and the blocks are sequentially numbered from back to front; 200, a corresponding static balance equation is established for each strip block, and the static balance equation of the strip block where the load-bearing section of the anti-slide pile is located needs to contain the internal force of the anti-slide pile on the potential sliding surface; step 300, forming a relational expression of a bending moment and an axial force by taking a shearing force as a variable and a relational expression of each internal force by taking a slope stability design safety coefficient as an independent variable; step 400, establishing a displacement expression of each block; step 500, expressing the shearing force of the bottom surface of the strip block along the potential sliding surface direction; step 600, determining an inter-strip tangential force and an inter-strip normal force of two adjacent strips; 700, solving to obtain the vertical design limit displacement of the top of the sliding body; and step 800, solving to obtain the horizontal design limit displacement of each block and the design limit displacement along the tangential direction of the potential sliding surface.

The utility model discloses a positioning device for double-chain pushing, a transportation system and filling machine equipment, and relates to the technical field of transportation. The driving lever assembly comprises a driving lever and a plurality of connecting shafts, the connecting shafts are rotatably arranged on the driving lever in a penetrating mode, and one of the connecting shafts can move on the driving lever in the transmission direction of the chain. The connecting pieces are used for being fixed to the chains, and the two ends of the connecting shaft are used for being detachably connected with the connecting pieces on the two chains arranged in parallel so that the shifting rod can be located between the two chains. According to the positioning device for double-chain pushing, the connecting shaft is rotationally connected to the shifting rod, tangential force borne by the shaft shoulder, connected with the chains, of the shifting rod can be reduced, the risk that the shaft shoulder, connected with the chains, of the shifting rod is broken is reduced, meanwhile, the connecting shaft and the connecting piece can be detached, and the positioning device is convenient to use. The shifting rod assembly can be rapidly replaced, and the stability of double-chain material pushing is improved.

The invention relates to a microcosmic test device and method for measuring shear friction and anti-torsion characteristics of a microcosmic contact interface. Independent test modules for torsion test and shear test can be realized. The microcosmic test device comprises a support platform, a test unit (a torsion unit and a shearing unit) and a rotating unit. Compared with the prior art, normal displacement, shear displacement, friction coefficient and torsion angle of a contact interface under the single or coupling action of normal force, tangential force, torque and the like at the micro-nano scale are realized, and the relationship between force-displacement and torque-rotation angle is established; the microcosmic contact mechanical properties of a particle aggregate, a particle-plane, a plane-plane, a cemented sample interface and the like can be accurately reflected.

This invention provides an additive manufacturing apparatus and an additive manufacturing method. The additive manufacturing apparatus includes a stationary shoulder and a stirring head, with a cavity structure between the stirring head and the stationary shoulder. This cavity structure is connected to a feed channel and a forming port. The tangential force generated by the rotation of the stirring head and the surface texture facilitate the entry of additive material from the feed channel into the cavity. During operation, the stationary shoulder contacts the substrate, leaving only the forming port at the rear edge of the stationary shoulder for the formation of the additive layer. The feed channel in the stationary shoulder structure ensures that the additive material smoothly reaches the cavity structure. The stirring head penetrates the substrate, and through a stirring and friction process, softens and plastically flows the additive material, ensuring full contact with the substrate. As the welding tool moves, an additive layer is formed at the forming port on the rear side of the travel direction.

To provide an improved beauty treatment instrument having multiple functions such as various beauty treatments, skin beautification, and physical therapy.SOLUTION: An outer rotor type motor 100 is rotated by electric control. When the motor rotates, a motor gear disc 110 fixed to a motor drive shaft rotates synchronously. At the same time, since the wave-shaped teeth on the motor gear disc 110 are engaged with the wave surface of a driven disc 210 on a movable bracket set, when the motor gear disc 110 rotates, a tangential force is generated between the gear disc and the driven disc 210 to push down the driven disc 210 along the axial direction. At this time, a front end spring 201 is compressed. In addition, when the gear disc rotates to the valley of the wave, the movable bracket set is raised as a whole by the repulsive force of the spring 201. By repeating such a motion, the movable bracket reciprocates to generate a force of hitting the surface of the human body, thereby relaxing the fascia and muscles of the human body and exerting a massage effect. In addition, a light source 301 realizes a beauty treatment effect.SELECTED DRAWING: Figure 3

The invention relates to the technical field of pressure sensors, and provides a three-dimensional force measurement method and system based on a normal pressure array, and the method comprises the steps: arranging an elastic layer with preset model parameters on a normal force array sensor, and applying preset pressure to the elastic layer, obtaining a pressure resultant force and a pressure center offset of the normal force array sensor, and obtaining a corresponding tangential force according to the pressure resultant force and the pressure center offset; in order to ensure the measurement accuracy of the tangential force, the model parameters are calibrated and preset through calibration, so that the model parameters are more accurate, the precision of three-dimensional force measurement is improved, and the thickness of the whole sensor measurement mode can be effectively controlled, so that the sensor can be conveniently mounted in a narrow space such as a sole to measure related parameters, and the measurement accuracy is improved. And the application range is wide.

The application provides a two-degree-of-freedom soft driver for rotary conveying, comprising a driving soft body, wherein a hole allowing a puncture needle to pass through is arranged in the driving soft body, the periphery of the hole is provided with a forward secondary spiral cavity and a reverse secondary spiral cavity, the profile of any one of the forward secondary spiral cavity and the reverse secondary spiral cavity is a sinusoidal secondary spiral curve; when the forward secondary spiral cavity and / or the reverse secondary spiral cavity expands, the expansion direction thereof is in frictional contact with the puncture needle passing through the hole, so as to generate an inclined tangential force. Through the three-dimensional wave principle of the forward secondary spiral cavity and the reverse secondary spiral cavity, linear and rotary decoupling conveying of the puncture needle is realized, and the driver has the characteristics of simplicity, small size, long conveying stroke and the like, solves the problems of space limitation, small stroke, complex rotary and linear decoupling mechanism and the like in the clinical puncture process, and has a locking function.

The present application relates to the field of physical fitness, in particular to a dynamic fitness dumbbell, comprising dumbbell pieces, a handle, a rotating mechanism and a control mechanism; the two ends of the handle are respectively fixedly connected with the dumbbell pieces, wherein the dumbbell pieces are of a hollow structure; the rotating mechanism is installed in the dumbbell pieces; the control mechanism is in frictional contact with the arc-shaped ball through a friction rod to provide a tangential force of the arc-shaped ball, and then the fitness dumbbell produces irregular shaking under the action of the precession effect, and the setting of the pre-stress before fitness is provided; the present application provides the condition for the rotation of the rotating mechanism through the pre-stress set before the use of fitness, so that the user can control the wrist at any time during use to achieve the purpose of body coordination training by the pre-stress and the swing of the wrist.

The present invention relates to the field of pressing technology, specifically to an automated chain pressing machine for large-tonnage chain rails, comprising a base, a conveyor, a mounting frame and a push frame, and also comprising a hydraulic cylinder, a mounting assembly, a locating pin, a hydraulic push rod, a clamping frame, a pressure plate and a limit assembly. The two hydraulic cylinders are respectively connected to both sides of the base, and the two mounting assemblies are respectively connected to adjacent ends of the hydraulic cylinder, the locating pin is connected to adjacent ends of the mounting assembly, the hydraulic push rod and the clamping frame are both connected to the mounting frame, the lower end of the hydraulic push rod is connected to the mounting assembly, the pressure plate is connected to the hydraulic cylinder, the limit assembly is connected to the lower side of the mounting frame, and one end of the pressure plate extends to the upper side of the limit assembly. The present invention transforms axial pressure splicing into screw-in pressure splicing, and uses the tangential force generated by the screw-in to overcome the instantaneous friction generated during the installation process, thereby reducing the pressure required during installation and effectively avoiding compressive deformation of the chain rail segments.

The present invention provides a negative stiffness amplification device and a design method thereof. The negative stiffness amplification device includes a pre-stressed disc spring mechanism and upper and lower elbow steel supports; the pre-stressed disc spring mechanism and the lower elbow steel support are connected by a pin shaft and form a straight line, and the upper and lower ends of the two are connected to the frame structure by pin shafts respectively; the two ends of the upper elbow steel support are also connected to the frame structure and the lower elbow steel support by pin shafts respectively. When the frame structure is deformed, the pre-stressed disc spring mechanism generates a tangential force, and the direction of the tangential force is opposite to the movement direction of the upper and lower supports, forming a negative stiffness effect. The negative stiffness effect can also be amplified by forming a geometric relationship through the angle between the pre-stressed disc spring mechanism and the upper and lower elbow steel supports. The present invention can not only improve the negative stiffness effect, reduce the structural stiffness and reduce the seismic effect while ensuring that the structural bearing capacity remains unchanged, but also protect the main structure and provide support for the application of negative stiffness devices in the field of civil engineering.

This invention relates to the field of force sensor technology, and discloses a six-dimensional force sensor, comprising: a mounting base; an inner core and a cover plate, the cover plate being rotatable relative to the inner core around a first direction and a second direction, driving the inner core to rotate around a third direction and move along the first direction, the second direction, and the third direction; a first rotational connection assembly; a first tangential force-sensitive core for detecting a first tangential force; a second rotational connection assembly; a second tangential force-sensitive core for detecting a second tangential force; a third tangential force-sensitive core for detecting a third tangential force; a force transmission element sleeved on the inner core; a first-direction force-sensitive core for detecting a first applied force; a second-direction force-sensitive core for detecting a second applied force; a second force transmission element fixed to a movable component; and a third-direction force-sensitive core for detecting a third applied force. The six-dimensional force sensor disclosed in this invention improves upon the shortcomings of strain gauge-type six-dimensional force sensors, such as low detection accuracy, poor creep resistance, low frequency response, and significant temperature drift.

The invention relates to the technical field of wedge mechanisms, and discloses a rack type upturning wedge mechanism which comprises a wedge base, a linkage axial part is arranged on the wedge base, power execution parts are correspondingly arranged on the two sides of the linkage axial part in a matched mode, and the power execution parts on the two sides are in running fit with the linkage axial part. Power is transmitted in a tooth surface meshing mode, the contact point of the rack and the gear is located on the circumferential face of the outermost side of the gear all the time, pure tangential acting force is formed, no torsion is generated, the acting force direction is completely consistent with the transmission direction, force loss component force does not exist, and due to the outermost side tangential contact design, the transmission efficiency is greatly improved. Driving resistance is greatly reduced based on the principle of arm of force maximization, namely the closer to the outer side of the gear, the longer the arm of force is, the smaller the needed driving acting force is, efficient and labor-saving driving is achieved, meanwhile, the tangential force characteristic thoroughly avoids vertical friction component force of a traditional structure, and meshing friction resistance is further reduced to the minimum.