CN111458536A - Supporting device based on six-dimensional force acceleration sensor - Google Patents
Supporting device based on six-dimensional force acceleration sensor Download PDFInfo
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- CN111458536A CN111458536A CN202010562542.3A CN202010562542A CN111458536A CN 111458536 A CN111458536 A CN 111458536A CN 202010562542 A CN202010562542 A CN 202010562542A CN 111458536 A CN111458536 A CN 111458536A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Abstract
The invention relates to a supporting device based on a six-dimensional force acceleration sensor, which comprises: base, chucking piece, connecting seat, chucking ring driver. The device has the advantages that the driver is used for driving the connecting seat to rotate so as to test and use the sensor, meanwhile, the clamping ring and the clamping block are arranged so as to rapidly disassemble and assemble the sensor, and the use efficiency of the device is improved. Meanwhile, a preset clamping block matrix group C, a preset test rotating speed matrix group omega b and a preset test time matrix group tb are respectively arranged in the driver, the fixing of different types of sensors is completed by selecting corresponding clamping blocks according to the matrix in the matrix group C, and meanwhile, the testing and the use of different types of sensors can be completed by selecting corresponding rotating speed and rotating time from the omega b matrix group and the tb matrix group, so that the use efficiency of the device is improved.
Description
Technical Field
The invention relates to the technical field of sensor supports, in particular to a supporting device based on a six-dimensional force acceleration sensor.
Background
The sensor is a detection device which can sense the measured information and convert the sensed information into an electric signal or other information in a required form according to a certain rule to output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The sensor has the characteristics of miniaturization, digitalization, intellectualization, multifunction, systematization and networking. The method is the first link for realizing automatic detection and automatic control. The existence and development of the sensor enable the object to have the senses of touch, taste, smell and the like, and the object slowly becomes alive. Generally, the sensor is classified into ten categories, i.e., a thermosensitive element, a photosensitive element, a gas-sensitive element, a force-sensitive element, a magnetic-sensitive element, a humidity-sensitive element, a sound-sensitive element, a radiation-sensitive element, a color-sensitive element, and a taste-sensitive element, according to their basic sensing functions.
The supporting device of the conventional structure sensor has the advantages of single structure fixation, low efficiency when being installed and replaced, inconvenient posture adjustment and incapability of meeting the modern development requirements. Meanwhile, the sensors of different models are different in shape, and the sensors of the same model are different in shape in three axial directions, and the supporting device in the prior art is single in structure, so that clamping cannot be completed on the sensors of different models or the sensors of the same model in different axial directions, and the use efficiency is low.
Disclosure of Invention
Therefore, the invention provides a supporting device based on a six-dimensional force acceleration sensor, which is used for solving the problem of low use efficiency caused by the fact that the supporting device in the prior art cannot clamp different types of sensors or different axial directions of the same sensor.
In order to achieve the above object, the present invention provides a supporting device based on a six-dimensional force acceleration sensor, comprising:
the device comprises a base, a rotating cavity, a through groove, a fixed spring and a top ball, wherein the rotating cavity is formed in the base, the through groove is formed in the upper part of the rotating cavity in a separated mode, the top wall of the rotating cavity is provided with the fixed spring, and the bottom of the fixed spring is provided with the top ball;
the clamping block is used for clamping the six-dimensional force acceleration sensor with the corresponding shape, a plurality of movable grooves are formed in the clamping block, connecting blocks are arranged at the tops of the movable grooves, bent rods are arranged below the connecting blocks, return springs are arranged in the movable grooves respectively, and the return springs are connected with the corresponding bent rods and the side wall, close to the outer side, of the movable groove respectively;
the bottom of the connecting seat is fixedly connected with a rotating plate;
the clamping ring is sleeved on the connecting seat and is used for matching with the clamping block to fix the six-dimensional force acceleration sensor on the upper surface of the connecting seat; when the six-dimensional force acceleration sensor is installed, the clamping block is sleeved at the bottom of the six-dimensional force acceleration sensor, after the six-dimensional force acceleration sensor is sleeved, the clamping block is placed on the upper surface of the connecting seat, the bent rod is inserted into the clamping ring, and the clamping ring fixes the bent rod at a specified position so as to fix the clamping block and the six-dimensional force acceleration sensor on the upper surface of the connecting seat together;
the bottom of the base is provided with a driver for driving the rotating plate to rotate, and the driver is internally provided with a rotating speed detector and a timer for respectively recording the rotating speed and the rotating time of the driver; a preset angle matrix theta (theta 1, theta 2, theta 3.. theta n) is arranged in the driver, wherein theta 1 is a first preset angle, theta 2 is a second preset angle, theta 3 is a third preset angle, and theta n is an nth preset angle; when the six-dimensional force acceleration sensor is installed on the upper surface of the connecting seat, the driver rotates the connecting seat to a specified angle according to requirements so as to perform subsequent detection or use on the six-dimensional force acceleration sensor.
Furthermore, a preset clamping block matrix group C, a preset test rotating speed matrix group omega b and a preset test time matrix group tb are also arranged in the driver; for preset clamping block matrix groups C, C (C1, C2, C3... Cn), wherein C1 is a first preset clamping block matrix suitable for the shape of a first model six-dimensional force acceleration sensor, C2 is a second preset clamping block matrix suitable for the shape of a second model six-dimensional force acceleration sensor, C3 is a third preset clamping block matrix suitable for the shape of a third model six-dimensional force acceleration sensor, and Cn is an nth preset clamping block matrix suitable for the shape of an nth model six-dimensional force acceleration sensor; for an nth preset clamping block matrix Cn, Cn (Cnx, Cny, Cnz), wherein Cnx is an nth transverse clamping block which has the same shape as the left/right side of the nth model six-dimensional force acceleration sensor and is used for fixing the left/right side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cny is an nth vertical clamping block which has the same shape as the front/back side of the nth model six-dimensional force acceleration sensor and is used for fixing the front/back side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cnz is an nth longitudinal clamping block which has the same shape as the upper/lower side of the nth model six-dimensional force acceleration sensor and is used for fixing the upper/lower side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat;
for a preset test rotation speed matrix group ω b, ω b (ω b1, ω b2, ω b3... ω bn), wherein ω b1 is a first preset test rotation speed matrix, ω b2 is a second preset test rotation speed matrix, ω b3 is a third preset test rotation speed matrix, and ω bn is an nth preset test rotation speed matrix; for an nth preset test rotation speed matrix ω bn, ω bn (ω bnx, ω bny, ω bnz), where ω bnx is an nth horizontal rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth horizontal clamping block Cnx, ω bny is an nth vertical rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth vertical clamping block Cny, and ω bnz is an nth vertical rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth vertical clamping block Cnz;
for a set of preset test time matrices tb, tb (tb 1, tb2, tb3.. tbn), wherein tb1 is a first preset test time matrix, tb2 is a second preset test time matrix, tb3 is a third preset test time matrix, and tbn is an nth preset test time matrix; for the nth preset test time matrix tbn, tbn (tbnx, tbny, tbnz), where tbnx is the nth transverse test time used when the nth six-dimensional force acceleration sensor is sensed using the nth transverse clamping block Cnx, tbny is the nth vertical test time used when the nth six-dimensional force acceleration sensor is sensed using the nth vertical clamping block Cny, and tbnz is the nth longitudinal test time used when the nth six-dimensional force acceleration sensor is sensed using the nth longitudinal clamping block Cnz;
when the first model six-dimensional force acceleration sensor is used or tested, the driver establishes a first test matrix group T1 (C1, ω b1, tb1 and θ 1), selects a corresponding clamping block C1i from the C1 matrix according to requirements, selects a corresponding rotating speed ω b1i from the ω b1 matrix, selects a corresponding test time tb1i from the tb1 matrix, and rotates the connecting seat to θ 1 to serve as an initial angle;
when the second type six-dimensional force acceleration sensor is used or tested, the driver establishes a second test matrix group T2 (C2, ω b2, tb2 and θ 2), selects a corresponding clamping block C2i from the C2 matrix according to requirements, selects a corresponding rotating speed ω b2i from the ω b2 matrix, selects a corresponding test time tb2i from the tb2 matrix, and rotates the connecting seat to θ 2 to serve as an initial angle;
when the third type six-dimensional force acceleration sensor is used or tested, the driver establishes a third test matrix group T3 (C3, ω b3, tb3 and θ 3), selects a corresponding clamping block C3i from the C3 matrix according to requirements, selects a corresponding rotating speed ω b3i from the ω b3 matrix, selects a corresponding test time tb3i from the tb3 matrix, and rotates the connecting seat to θ 3 to serve as an initial angle;
when the nth model six-dimensional force acceleration sensor is used or tested, the driver establishes an nth test matrix group Tn (Cn, omega bn, tbn and theta n), selects a corresponding clamping block Cni from the Cn matrix according to requirements, selects a corresponding rotating speed omega bni from the omega bn matrix, selects a corresponding test time tbni from the tbn matrix, and rotates the connecting seat to theta n to serve as an initial angle;
further, after the driver establishes the Tn matrix set and rotates the connection seat to θ n:
when the driver tests or uses the transverse axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth transverse test matrix set Tnx (Cnx, omega bnx, tbnx), uses a clamping block corresponding to Cnx to clamp the nth six-dimensional force acceleration sensor, adjusts the rotating speed to omega bnx, and adjusts the rotating time to tbnx so as to test or use the transverse axis of the six-dimensional force acceleration sensor;
when the driver tests or uses the vertical axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth vertical test matrix group Tny (Cny, omega bny, tbny), uses a clamping block corresponding to Cny to clamp the nth type six-dimensional force acceleration sensor, adjusts the rotating speed to omega bny, and adjusts the rotating time to tbny to test or use the vertical axis of the six-dimensional force acceleration sensor;
when the driver tests or uses the longitudinal axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth longitudinal test matrix set Tnz (Cnz, omega bnz, tbnz), clamps the nth six-dimensional force acceleration sensor by using the clamping block corresponding to Cnz, adjusts the rotating speed to omega bnz, and adjusts the rotating time to tbnz so as to test or use the longitudinal axis of the six-dimensional force acceleration sensor.
Further, a preset angle rotating speed matrix omega a and a preset angle time matrix ta are also arranged in the driver; for a preset angular rotation speed matrix ω a, ω a (ω a1, ω a2, ω a3... ω an), wherein ω a1 is a first preset angular rotation speed, ω a2 is a second preset angular rotation speed, ω a3 is a third preset angular rotation speed, and ω an is an nth preset angular rotation speed; for a preset angle time matrix ta, ta (ta 1, ta2, ta3.. tan), where ta1 is a first preset angle time, ta2 is a second preset angle time, ta3 is a third preset angle time, and tan is an nth preset angle time; when installing six-dimensional force acceleration sensor to assigned position, the driver can be according to the demand with the connecting seat rotation to assigned angle:
when the connecting base needs to adjust the rotation angle to theta 1, the driver establishes a first angle matrix R1 (omega a1, ta 1) and rotates at the rotation speed of omega a1 for a ta1 time length according to parameters in the R1 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 2, the driver establishes a second angle matrix R2 (omega a2, ta 2) and rotates at the rotation speed of omega a2 for a ta2 time length according to parameters in the R2 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 3, the driver establishes a third angle matrix R3 (omega a3, ta 3) and rotates at the rotation speed of omega a3 for a ta3 time length according to parameters in the R3 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta n, the driver establishes an nth angle matrix Rn (omega an, tan) and rotates at the rotation speed of omega an for a tan time period according to parameters in the Rn matrix, and then stops rotating the connecting base to a specified angle.
Furthermore, a plurality of L grooves with L-shaped sections are formed in the clamping ring, a plurality of grooves are formed in the inner wall of the clamping ring and are respectively communicated with the corresponding L grooves, and when the six-dimensional force acceleration sensor is installed, the bent rod is inserted into the corresponding L groove to fix the clamping block on the upper surface of the connecting seat.
The clamp comprises a groove L, a clamp body, a clamp block and a clamp block, wherein the clamp block is arranged in the groove, the clamp block is arranged in the groove L, an extrusion spring is arranged in the groove L, one end of the extrusion spring is fixedly connected with the end portion of the L groove, a sliding rod penetrates through the extrusion spring, a convex block is arranged at one end of the sliding rod, which is positioned in the L groove, a pushing block is arranged at one end of the sliding rod, when the clamp block is installed, each bent rod enters a corresponding groove L, after the bent rod enters the groove, the reset spring generates pulling force on the bent rod to reset the bent rod, when the bent rod resets, the L groove restrains the bent rod to fix the clamp block at a designated position, meanwhile, the bent rod applies pressure on the convex block and pushes the corresponding pushing block to the outside of the groove through the sliding rod, when the clamp block is disassembled, each pushing block is.
Furthermore, each connecting block bottom surface has all seted up the rotation groove, is equipped with the pivot respectively in each rotation groove, and each knee is established respectively and is established in the pivot that corresponds, and when installation and dismantlement chucking piece, each knee can slide in the pivot that corresponds, reset spring removes the knee to initial position when the knee stops the atress.
Compared with the prior art, the six-dimensional force acceleration sensor testing device has the advantages that the driver is used for driving the connecting seat to rotate so as to test and use the six-dimensional force acceleration sensor, meanwhile, the clamping ring and the clamping block are arranged so as to rapidly disassemble and assemble the six-dimensional force acceleration sensor, and the use efficiency of the device is improved. Meanwhile, a preset clamping block matrix group C, a preset test rotating speed matrix group omega b and a preset test time matrix group tb are respectively arranged in the driver, the fixing of different types of six-dimensional force acceleration sensors is completed by selecting corresponding clamping blocks according to matrixes in the C matrix group, and meanwhile, the testing and the use of different types of six-dimensional force acceleration sensors can be completed by selecting corresponding rotating speed and rotating time from the omega b matrix group and the tb matrix group, so that the use efficiency of the device is improved.
Furthermore, each parameter matrix Cn in the C matrix group further comprises three kinds of clamping blocks of Cnx, Cny and Cnz in three axial directions of the six-dimensional force acceleration sensor with the same model, meanwhile, the omega bn matrix is provided with three rotating speeds of omega bnx, omega bny and omega bnz, the tbn matrix is provided with tbnx, tbny and tbnz, the three axial directions of the six-dimensional force acceleration sensor can be tested or detected efficiently by selecting the clamping blocks, the rotating speeds and the rotating time in the corresponding axial directions, and the use efficiency of the device is further improved while the application range of the six-dimensional force acceleration sensor is increased.
Furthermore, a preset angle rotating speed matrix ω a and a preset angle time matrix ta are further arranged in the driver, and the driver can rotate the six-dimensional force acceleration sensor to a preset angle θ n by using the rotating speed of ω an for a long time so as to increase the testing precision or the use precision of the device on the six-dimensional force acceleration sensor, so that the use efficiency of the device is further improved.
Furthermore, be equipped with in the base and rotate the chamber to logical groove has been seted up in rotating the intracavity, through set up fixed spring and set up the top pearl in fixed spring bottom rotating the chamber roof, can make the top pearl retrain the rotor plate at the assigned position and make the connecting seat stable rotation under the drive of driver, further improved the availability factor of device.
Further, be equipped with the connecting block in the chucking piece, be equipped with the knee in the connecting block, through use the knee with the cooperation of chucking ring, can be quick fix the six-dimensional force acceleration sensor of chucking piece chucking in the assigned position, further improved the availability factor of device.
Furthermore, a plurality of L-shaped grooves with L-shaped sections are formed in the clamping ring, when the six-dimensional force acceleration sensor is installed, the bent rod is inserted into the L-shaped groove, and the L-shaped groove restrains the bent rod so as to fix the clamping block at a specified position, so that the use efficiency of the device is further improved.
When the clamping blocks are disassembled, the pushing blocks are respectively pressed to drive the convex blocks to extrude the corresponding bent rods, at the moment, the L-shaped grooves do not constrain the bent rods any more, the clamping blocks are taken out to complete the disassembly of the clamping blocks, the grooves are formed in the L-shaped grooves, and the convex blocks, the sliding rods and the pushing blocks are arranged between the L-shaped grooves and the grooves, so that the constraint of the L-shaped grooves on the bent rods can be relieved by only pushing the pushing blocks when the six-dimensional force acceleration sensor is disassembled, the quick disassembly of the clamping blocks is completed, and the use efficiency of the device is further improved.
Furthermore, each connecting block bottom surface has all seted up the rotation groove, is equipped with the pivot respectively in each rotation groove, and each knee is established respectively and is established in the pivot that corresponds, and when installation and dismantlement chucking piece, each knee can slide in the pivot that corresponds, reset spring removes the knee to initial position when the knee stops the atress. Through establishing the knee lever cover in the pivot, can make more nimble the removing of knee lever, simultaneously, through using reset spring to the restraint of knee lever, can increase the stability of knee lever when guaranteeing the knee lever flexibility, further improved the availability factor of device.
Drawings
FIG. 1 is a front sectional view of a six-dimensional acceleration sensor-based support device according to the present invention;
FIG. 2 is a cross-sectional view of the base of the present invention;
FIG. 3 is a partial cross-sectional view of the retaining ring of the present invention;
fig. 4 is a cross-sectional view of a connector block according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a front sectional view of a supporting device based on a six-dimensional acceleration sensor according to the present invention.
The supporting device based on the six-dimensional force acceleration sensor comprises a base 1, a clamping block 3, a connecting seat 4 and a clamping ring 5. The connecting seat 4 is disposed above the base 1 for rotating the six-dimensional acceleration sensor 2. The clamping ring 5 is sleeved on the connecting seat 4. The clamping block 3 is arranged on the upper surface of the connecting seat 4 and matched with the clamping ring to clamp the six-dimensional force acceleration sensor 2. When using the device, select for use appointed chucking piece 3 to press from both sides six-dimensional force acceleration sensor 2 that corresponds the model, will press from both sides six-dimensional force acceleration sensor 2's chucking piece 3 and place connecting seat 4 upper surface, chucking piece 3 and the cooperation of chucking ring 5 are in order to fix six-dimensional force acceleration sensor 2 in the assigned position, and fixed completion back, base 1 control connecting seat 4 is rotatory in order to accomplish the test or the use to six-dimensional force acceleration sensor 2.
Referring to fig. 1, a plurality of movable grooves 6 are formed in the clamping block 3, a connecting block 7 is disposed at the top of each movable groove 6, a bent rod 8 is disposed below each connecting block 7, a return spring 17 is disposed in each movable groove 6, and each return spring 17 is connected to the corresponding bent rod 8 and the side wall of the movable groove 6 near the outer side.
Referring to fig. 2, which is a cross-sectional view of the base of the present invention, a rotating cavity 18 is formed in the base 1 of the present invention, a through groove 19 is separately formed at an upper portion of the rotating cavity 18, a fixed spring 21 is disposed on a top wall of the rotating cavity 18, and a top bead 22 is disposed at a bottom of the fixed spring 21.
Specifically, the bottom of the connecting seat 4 is fixedly connected with a rotating plate 20, the rotating plate 20 is located at the bottom of the rotating cavity 18, and each top ball 22 exerts pressure on the rotating plate to vertically restrain the rotating plate 20.
Referring to fig. 3, which is a partial sectional view of the retaining ring 5 of the present invention,
the clamping ring 5 is sleeved on the connecting seat 4 and is used for being matched with the clamping block 3 to fix the six-dimensional force acceleration sensor 2 on the upper surface of the connecting seat 4. When installing six-dimensional power acceleration sensor 2, establish six-dimensional power acceleration sensor 2 bottoms with 3 covers of chucking piece, after the cover is established, place chucking piece 3 connecting seat 4 upper surface, the knee 8 inserts to inside the chucking ring 5, and chucking ring 5 fixes knee 8 in the assigned position in order to fix chucking piece 3 and six-dimensional power acceleration sensor 2 together at connecting seat 4 upper surface.
Specifically, a plurality of L grooves 9 with L-shaped cross sections are formed in the clamping ring 5, a plurality of grooves 10 are further formed in the inner wall of the clamping ring 5, and each groove 10 is communicated with the corresponding L groove 9. when the six-dimensional force acceleration sensor 2 is installed, the bent rod 8 is inserted into the corresponding L groove 9 to fix the clamping block 3 on the upper surface of the connecting seat 4.
Specifically, an extrusion spring 14 is arranged in an L-shaped groove, one end of the extrusion spring 14 is fixedly connected with the end of a L-shaped groove 9, a sliding rod 11 penetrates through the extrusion spring 14, a convex block 12 is arranged at one end, located inside a L-shaped groove 9, of the sliding rod 11, a pushing block 13 is arranged at one end, located inside a groove 10, of the sliding rod 11, when the clamping block 3 is installed, each bent rod 8 enters the corresponding L-shaped groove 9, after the bent rod 8 enters the groove, a reset spring 17 generates pulling force on the bent rod 8 to reset the bent rod 8, when the bent rod 8 resets, the L-shaped groove 9 restrains the bent rod 8 to fix the clamping block 3 at a specified position, meanwhile, the bent rod 8 applies pressure to the convex block 12 and pushes the corresponding pushing block 13 to the outside the groove 10 through the sliding rod 11, when the clamping block 3 is disassembled, each pushing block 13 is pressed respectively, the pushing block 13 drives the convex block 12 to extrude the corresponding bent rod 8, and at this time, the L-shaped groove 9 does not restrain the bent rod 8 any.
Referring to fig. 4, which is a cross-sectional view of the connecting block 7 according to the present invention, a rotating groove 15 is formed on a bottom surface of each connecting block 7, a rotating shaft 16 is respectively disposed in each rotating groove 15, each bending rod 8 is respectively sleeved on the corresponding rotating shaft 16, when the clamping block 3 is mounted and dismounted, each bending rod 8 slides on the corresponding rotating shaft 16, and the return spring 17 moves the bending rod 8 to an initial position when the bending rod 8 stops being stressed.
Referring to fig. 1-3, a driver (not shown) is disposed at the bottom of the base 1 for driving the rotating plate 20 to rotate, and a rotation speed detector and a timer are disposed in the driver for respectively recording the rotation speed and the rotation time of the driver; a preset angle matrix theta (theta 1, theta 2, theta 3.. theta n) is arranged in the driver, wherein theta 1 is a first preset angle, theta 2 is a second preset angle, theta 3 is a third preset angle, and theta n is an nth preset angle; when the six-dimensional force acceleration sensor 2 is installed on the upper surface of the connecting seat, the driver rotates the connecting seat to a specified angle according to the use requirement or the test requirement so as to perform subsequent detection or use on the six-dimensional force acceleration sensor.
Specifically, a preset clamping block matrix group C, a preset test rotating speed matrix group omega b and a preset test time matrix group tb are further arranged in the driver; for preset clamping block matrix groups C, C (C1, C2, C3... Cn), wherein C1 is a first preset clamping block matrix suitable for the shape of a first model six-dimensional force acceleration sensor, C2 is a second preset clamping block matrix suitable for the shape of a second model six-dimensional force acceleration sensor, C3 is a third preset clamping block matrix suitable for the shape of a third model six-dimensional force acceleration sensor, and Cn is an nth preset clamping block matrix suitable for the shape of an nth model six-dimensional force acceleration sensor; for the nth preset clamping block matrix Cn, Cn (Cnx, Cny, Cnz), wherein Cnx is the nth transverse clamping block which has the same shape as the left/right side of the nth model six-dimensional force acceleration sensor and is used for fixing the left/right side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cny is the nth vertical clamping block which has the same shape as the front/back side of the nth model six-dimensional force acceleration sensor and is used for fixing the front/back side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cnz is the nth longitudinal clamping block which has the same shape as the upper/lower side of the nth model six-dimensional force acceleration sensor and is used for fixing the upper/lower side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat.
For a preset test rotation speed matrix group ω b, ω b (ω b1, ω b2, ω b3... ω bn), wherein ω b1 is a first preset test rotation speed matrix, ω b2 is a second preset test rotation speed matrix, ω b3 is a third preset test rotation speed matrix, and ω bn is an nth preset test rotation speed matrix; for the nth preset test rotation speed matrix ω bn, ω bn (ω bnx, ω bny, ω bnz), ω bnx is the nth transverse rotation speed used when the nth six-dimensional acceleration force sensor is detected using the nth transverse clamping block Cnx, ω bny is the nth vertical rotation speed used when the nth six-dimensional acceleration force sensor is detected using the nth vertical clamping block Cny, and ω bnz is the nth longitudinal rotation speed used when the nth six-dimensional acceleration force sensor is detected using the nth longitudinal clamping block Cnz.
For a set of preset test time matrices tb, tb (tb 1, tb2, tb3.. tbn), wherein tb1 is a first preset test time matrix, tb2 is a second preset test time matrix, tb3 is a third preset test time matrix, and tbn is an nth preset test time matrix; for the nth preset test time matrix tbn, tbn (tbnx, tbny, tbnz), where tbnx is the nth transverse test time used in detecting the nth six-dimensional force acceleration sensor using the nth transverse clamping block Cnx, tbny is the nth vertical test time used in detecting the nth six-dimensional force acceleration sensor using the nth vertical clamping block Cny, and tbnz is the nth longitudinal test time used in detecting the nth six-dimensional force acceleration sensor using the nth longitudinal clamping block Cnz.
When the first model six-dimensional force acceleration sensor is used or tested, the driver establishes a first test matrix group T1 (C1, ω b1, tb1 and θ 1), selects a corresponding clamping block C1i from the C1 matrix according to requirements, selects a corresponding rotating speed ω b1i from the ω b1 matrix, selects a corresponding test time tb1i from the tb1 matrix, and rotates the connecting seat to θ 1 to serve as an initial angle;
when the second type six-dimensional force acceleration sensor is used or tested, the driver establishes a second test matrix group T2 (C2, ω b2, tb2 and θ 2), selects a corresponding clamping block C2i from the C2 matrix according to requirements, selects a corresponding rotating speed ω b2i from the ω b2 matrix, selects a corresponding test time tb2i from the tb2 matrix, and rotates the connecting seat to θ 2 to serve as an initial angle;
when the third type six-dimensional force acceleration sensor is used or tested, the driver establishes a third test matrix group T3 (C3, ω b3, tb3 and θ 3), selects a corresponding clamping block C3i from the C3 matrix according to requirements, selects a corresponding rotating speed ω b3i from the ω b3 matrix, selects a corresponding test time tb3i from the tb3 matrix, and rotates the connecting seat to θ 3 to serve as an initial angle;
when the nth model six-dimensional force acceleration sensor is used or tested, the driver establishes an nth test matrix group Tn (Cn, ω bn, tbn, θ n), selects a corresponding clamping block Cni from the Cn matrix according to requirements, selects a corresponding rotating speed ω bni from the ω bn matrix, selects a corresponding test time tbni from the tbn matrix, and rotates the connecting seat to θ n to serve as an initial angle.
Specifically, after the driver establishes the Tn matrix set and rotates the connection seat to θ n:
when the driver tests or uses the transverse shaft of the nth six-dimensional force acceleration sensor, the driver establishes an nth transverse test matrix group Tnx (Cnx, omega bnx, tbnx), clamps the left side or the right side of the nth six-dimensional force acceleration sensor by using a clamping block corresponding to Cnx, adjusts the rotating speed to omega bnx, and adjusts the rotating time to tbnx so as to test or use the transverse shaft of the six-dimensional force acceleration sensor;
when the driver tests or uses the vertical axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth vertical test matrix group Tny (Cny, omega bny, tbny), clamps the front or the back of the nth six-dimensional force acceleration sensor by using a clamping block corresponding to Cny, adjusts the rotating speed to omega bny, and adjusts the rotating time to tbny so as to test or use the vertical axis of the six-dimensional force acceleration sensor;
when the driver tests or uses the longitudinal axis of the n-th six-dimensional force acceleration sensor, the driver establishes an n-th longitudinal test matrix set Tnz (Cnz, omega bnz, tbnz), clamps the upper side or the lower side of the n-th model six-dimensional force acceleration sensor by using a clamping block corresponding to Cnz, and adjusts the rotating speed to be omega bnz and the rotating time to be tbnz so as to test or use the longitudinal axis of the six-dimensional force acceleration sensor.
Specifically, a preset angle rotating speed matrix omega a and a preset angle time matrix ta are further arranged in the driver; for a preset angular rotation speed matrix ω a, ω a (ω a1, ω a2, ω a3... ω an), wherein ω a1 is a first preset angular rotation speed, ω a2 is a second preset angular rotation speed, ω a3 is a third preset angular rotation speed, and ω an is an nth preset angular rotation speed; for a preset angle time matrix ta, ta (ta 1, ta2, ta3.. tan), where ta1 is a first preset angle time, ta2 is a second preset angle time, ta3 is a third preset angle time, and tan is an nth preset angle time; when installing six-dimensional force acceleration sensor to assigned position, the driver can be according to the demand with the connecting seat rotation to assigned angle:
when the connecting base needs to adjust the rotation angle to theta 1, the driver establishes a first angle matrix R1 (omega a1, ta 1) and rotates at the rotation speed of omega a1 for a ta1 time length according to parameters in the R1 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 2, the driver establishes a second angle matrix R2 (omega a2, ta 2) and rotates at the rotation speed of omega a2 for a ta2 time length according to parameters in the R2 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 3, the driver establishes a third angle matrix R3 (omega a3, ta 3) and rotates at the rotation speed of omega a3 for a ta3 time length according to parameters in the R3 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta n, the driver establishes an nth angle matrix Rn (omega an, tan) and rotates at the rotation speed of omega an for a tan time period according to parameters in the Rn matrix, and then stops rotating the connecting base to a specified angle.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A support device based on a six-dimensional force acceleration sensor, comprising:
the device comprises a base, a rotating cavity, a through groove, a fixed spring and a top ball, wherein the rotating cavity is formed in the base, the through groove is formed in the upper part of the rotating cavity in a separated mode, the top wall of the rotating cavity is provided with the fixed spring, and the bottom of the fixed spring is provided with the top ball;
the clamping block is used for clamping the six-dimensional force acceleration sensor with the corresponding shape, a plurality of movable grooves are formed in the clamping block, connecting blocks are arranged at the tops of the movable grooves, bent rods are arranged below the connecting blocks, return springs are arranged in the movable grooves respectively, and the return springs are connected with the corresponding bent rods and the side wall, close to the outer side, of the movable groove respectively;
the bottom of the connecting seat is fixedly connected with a rotating plate;
the clamping ring is sleeved on the connecting seat and is used for matching with the clamping block to fix the six-dimensional force acceleration sensor on the upper surface of the connecting seat; when the six-dimensional force acceleration sensor is installed, the clamping block is sleeved at the bottom of the six-dimensional force acceleration sensor, after the six-dimensional force acceleration sensor is sleeved, the clamping block is placed on the upper surface of the connecting seat, the bent rod is inserted into the clamping ring, and the clamping ring fixes the bent rod at a specified position so as to fix the clamping block and the six-dimensional force acceleration sensor on the upper surface of the connecting seat together;
the bottom of the base is provided with a driver for driving the rotating plate to rotate, and the driver is internally provided with a rotating speed detector and a timer for respectively recording the rotating speed and the rotating time of the driver; a preset angle matrix theta (theta 1, theta 2, theta 3.. theta n) is arranged in the driver, wherein theta 1 is a first preset angle, theta 2 is a second preset angle, theta 3 is a third preset angle, and theta n is an nth preset angle; when the six-dimensional force acceleration sensor is installed on the upper surface of the connecting seat, the driver rotates the connecting seat to a specified angle according to requirements so as to perform subsequent detection or use on the six-dimensional force acceleration sensor.
2. The six-dimensional force acceleration sensor-based supporting device according to claim 1, characterized in that a preset clamping block matrix group C, a preset test rotation speed matrix group ω b and a preset test time matrix group tb are further provided in the driver; for preset clamping block matrix groups C, C (C1, C2, C3... Cn), wherein C1 is a first preset clamping block matrix suitable for the shape of a first model six-dimensional force acceleration sensor, C2 is a second preset clamping block matrix suitable for the shape of a second model six-dimensional force acceleration sensor, C3 is a third preset clamping block matrix suitable for the shape of a third model six-dimensional force acceleration sensor, and Cn is an nth preset clamping block matrix suitable for the shape of an nth model six-dimensional force acceleration sensor; for an nth preset clamping block matrix Cn, Cn (Cnx, Cny, Cnz), wherein Cnx is an nth transverse clamping block which has the same shape as the left/right side of the nth model six-dimensional force acceleration sensor and is used for fixing the left/right side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cny is an nth vertical clamping block which has the same shape as the front/back side of the nth model six-dimensional force acceleration sensor and is used for fixing the front/back side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat, Cnz is an nth longitudinal clamping block which has the same shape as the upper/lower side of the nth model six-dimensional force acceleration sensor and is used for fixing the upper/lower side of the nth model six-dimensional force acceleration sensor on the upper surface of the connecting seat;
for a preset test rotation speed matrix group ω b, ω b (ω b1, ω b2, ω b3... ω bn), wherein ω b1 is a first preset test rotation speed matrix, ω b2 is a second preset test rotation speed matrix, ω b3 is a third preset test rotation speed matrix, and ω bn is an nth preset test rotation speed matrix; for an nth preset test rotation speed matrix ω bn, ω bn (ω bnx, ω bny, ω bnz), where ω bnx is an nth horizontal rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth horizontal clamping block Cnx, ω bny is an nth vertical rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth vertical clamping block Cny, and ω bnz is an nth vertical rotation speed used when detecting an nth six-dimensional acceleration force sensor using the nth vertical clamping block Cnz;
for a set of preset test time matrices tb, tb (tb 1, tb2, tb3.. tbn), wherein tb1 is a first preset test time matrix, tb2 is a second preset test time matrix, tb3 is a third preset test time matrix, and tbn is an nth preset test time matrix; for the nth preset test time matrix tbn, tbn (tbnx, tbny, tbnz), where tbnx is the nth transverse test time used when the nth six-dimensional force acceleration sensor is sensed using the nth transverse clamping block Cnx, tbny is the nth vertical test time used when the nth six-dimensional force acceleration sensor is sensed using the nth vertical clamping block Cny, and tbnz is the nth longitudinal test time used when the nth six-dimensional force acceleration sensor is sensed using the nth longitudinal clamping block Cnz;
when the first model six-dimensional force acceleration sensor is used or tested, the driver establishes a first test matrix group T1 (C1, ω b1, tb1 and θ 1), selects a corresponding clamping block C1i from the C1 matrix according to requirements, selects a corresponding rotating speed ω b1i from the ω b1 matrix, selects a corresponding test time tb1i from the tb1 matrix, and rotates the connecting seat to θ 1 to serve as an initial angle;
when the second type six-dimensional force acceleration sensor is used or tested, the driver establishes a second test matrix group T2 (C2, ω b2, tb2 and θ 2), selects a corresponding clamping block C2i from the C2 matrix according to requirements, selects a corresponding rotating speed ω b2i from the ω b2 matrix, selects a corresponding test time tb2i from the tb2 matrix, and rotates the connecting seat to θ 2 to serve as an initial angle;
when the third type six-dimensional force acceleration sensor is used or tested, the driver establishes a third test matrix group T3 (C3, ω b3, tb3 and θ 3), selects a corresponding clamping block C3i from the C3 matrix according to requirements, selects a corresponding rotating speed ω b3i from the ω b3 matrix, selects a corresponding test time tb3i from the tb3 matrix, and rotates the connecting seat to θ 3 to serve as an initial angle;
when the nth model six-dimensional force acceleration sensor is used or tested, the driver establishes an nth test matrix group Tn (Cn, ω bn, tbn, θ n), selects a corresponding clamping block Cni from the Cn matrix according to requirements, selects a corresponding rotating speed ω bni from the ω bn matrix, selects a corresponding test time tbni from the tbn matrix, and rotates the connecting seat to θ n to serve as an initial angle.
3. The six-dimensional force acceleration sensor based support device of claim 2, characterized in that after the actuator establishes the Tn matrix set and rotates the connection seat to θ n:
when the driver tests or uses the transverse axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth transverse test matrix set Tnx (Cnx, omega bnx, tbnx), uses a clamping block corresponding to Cnx to clamp the nth six-dimensional force acceleration sensor, adjusts the rotating speed to omega bnx, and adjusts the rotating time to tbnx so as to test or use the transverse axis of the six-dimensional force acceleration sensor;
when the driver tests or uses the vertical axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth vertical test matrix group Tny (Cny, omega bny, tbny), uses a clamping block corresponding to Cny to clamp the nth type six-dimensional force acceleration sensor, adjusts the rotating speed to omega bny, and adjusts the rotating time to tbny to test or use the vertical axis of the six-dimensional force acceleration sensor;
when the driver tests or uses the longitudinal axis of the nth six-dimensional force acceleration sensor, the driver establishes an nth longitudinal test matrix set Tnz (Cnz, omega bnz, tbnz), clamps the nth six-dimensional force acceleration sensor by using the clamping block corresponding to Cnz, adjusts the rotating speed to omega bnz, and adjusts the rotating time to tbnz so as to test or use the longitudinal axis of the six-dimensional force acceleration sensor.
4. The six-dimensional force acceleration sensor-based supporting device according to claim 3, characterized in that a preset angular rotation speed matrix ω a and a preset angular time matrix ta are further provided in the driver; for a preset angular rotation speed matrix ω a, ω a (ω a1, ω a2, ω a3... ω an), wherein ω a1 is a first preset angular rotation speed, ω a2 is a second preset angular rotation speed, ω a3 is a third preset angular rotation speed, and ω an is an nth preset angular rotation speed; for a preset angle time matrix ta, ta (ta 1, ta2, ta3.. tan), where ta1 is a first preset angle time, ta2 is a second preset angle time, ta3 is a third preset angle time, and tan is an nth preset angle time; when installing six-dimensional force acceleration sensor to assigned position, the driver can be according to the demand with the connecting seat rotation to assigned angle:
when the connecting base needs to adjust the rotation angle to theta 1, the driver establishes a first angle matrix R1 (omega a1, ta 1) and rotates at the rotation speed of omega a1 for a ta1 time length according to parameters in the R1 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 2, the driver establishes a second angle matrix R2 (omega a2, ta 2) and rotates at the rotation speed of omega a2 for a ta2 time length according to parameters in the R2 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta 3, the driver establishes a third angle matrix R3 (omega a3, ta 3) and rotates at the rotation speed of omega a3 for a ta3 time length according to parameters in the R3 matrix, and then stops rotating the connecting base to a specified angle;
when the connecting base needs to adjust the rotation angle to theta n, the driver establishes an nth angle matrix Rn (omega an, tan) and rotates at the rotation speed of omega an for a tan time period according to parameters in the Rn matrix, and then stops rotating the connecting base to a specified angle.
5. The six-dimensional force acceleration sensor-based supporting device according to claim 1, wherein a plurality of L grooves with L-shaped cross sections are formed in the clamping ring, a plurality of grooves are formed in the inner wall of the clamping ring, each groove is communicated with the corresponding L groove, and when the six-dimensional force acceleration sensor is installed, the bent rod is inserted into the corresponding L groove to fix the clamping block on the upper surface of the connecting seat.
6. The six-dimensional force acceleration sensor-based supporting device according to claim 5, characterized in that an extrusion spring is arranged in an L-shaped groove, one end of the extrusion spring is fixedly connected with the end of the L-shaped groove, a sliding rod penetrates through the extrusion spring, a bump is arranged at one end of the sliding rod, which is positioned in the L-shaped groove, a pushing block is arranged at one end of the sliding rod, which is positioned in the groove, when the clamping block is installed, each bending rod enters the corresponding L-shaped groove, after the bending rod is reset, the resetting spring generates a pulling force on the bending rod to reset the bending rod, when the bending rod is reset, the L-shaped groove restrains the bending rod to fix the clamping block at a specified position, meanwhile, the bending rod exerts a pressure on the bump and pushes the corresponding pushing block to the outside of the groove through the sliding rod, when the clamping block is disassembled, the pushing block is respectively pressed to drive the bump to press the corresponding bending rod, at the moment, the L-shaped groove no longer restrains the bending rod, and.
7. The supporting device based on the six-dimensional force acceleration sensor as claimed in claim 1, wherein each connecting block has a bottom surface formed with a rotating groove, each rotating groove is provided with a rotating shaft, each bending rod is sleeved on the corresponding rotating shaft, each bending rod slides on the corresponding rotating shaft when the clamping block is mounted and dismounted, and the return spring moves the bending rod to an initial position when the bending rod stops being stressed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010562542.3A CN111458536B (en) | 2020-06-19 | 2020-06-19 | Supporting device based on six-dimensional force acceleration sensor |
| PCT/CN2020/127160 WO2021253713A1 (en) | 2020-06-19 | 2020-11-06 | Support device based on six-dimensional force acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010562542.3A CN111458536B (en) | 2020-06-19 | 2020-06-19 | Supporting device based on six-dimensional force acceleration sensor |
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| CN111458536A true CN111458536A (en) | 2020-07-28 |
| CN111458536B CN111458536B (en) | 2020-10-30 |
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| CN202010562542.3A Active CN111458536B (en) | 2020-06-19 | 2020-06-19 | Supporting device based on six-dimensional force acceleration sensor |
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| CN (1) | CN111458536B (en) |
| WO (1) | WO2021253713A1 (en) |
Cited By (1)
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| WO2021253713A1 (en) * | 2020-06-19 | 2021-12-23 | 山东明源智能装备科技有限公司 | Support device based on six-dimensional force acceleration sensor |
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| WO2021253713A1 (en) | 2021-12-23 |
| CN111458536B (en) | 2020-10-30 |
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