CN112179547B - Six-component force sensor rotary application device - Google Patents
Six-component force sensor rotary application device Download PDFInfo
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- CN112179547B CN112179547B CN202010806004.4A CN202010806004A CN112179547B CN 112179547 B CN112179547 B CN 112179547B CN 202010806004 A CN202010806004 A CN 202010806004A CN 112179547 B CN112179547 B CN 112179547B
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- component force
- force sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a six-component force sensor rotary application device, which comprises a wheel assembly and a signal transmission mechanism, wherein the wheel assembly comprises a rim, a rim adapter, a hub adapter, a brake disc and a six-component force sensor, the rim adapter, the hub adapter and the brake disc are arranged in the rim, the six-component force sensor is arranged between the rim adapter and the hub adapter, the six-component force sensor comprises an inner mounting ring and an outer mounting ring, the hub adapter is connected with the inner mounting ring, and the rim adapter is connected with the outer mounting ring; the signal transmission mechanism is arranged outside the rim and electrically connected with the six-component sensor, and the signal transmission mechanism is used for receiving a test signal of the six-component sensor and then sending the test signal to the signal collection and processing device. The six-component force sensor ensures that the stress of the wheel is completely transmitted to the vehicle body from the wheel assembly through the six-component force sensor, solves the problem of low matching performance of the six-component force sensor in the structural form and the application device of the existing form, and improves the measurement accuracy of the six-component force.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a rotary application device of a six-component force sensor.
Background
As tire dynamics have gradually entered the field of view of various manufacturers, six-component wheel sensors have also been developed to measure tire forces. The six-component force sensor is widely used for acquiring three-direction force and three-direction moment transmitted from wheels to a vehicle body of an automobile. The six-component force sensor belongs to an external testing device and cannot be directly connected with an original wheel assembly of an automobile, so that a special application device needs to be designed to connect the six-component force sensor with a wheel. The existing sensors are various in types, different sensors are different in shape and specification, and correspondingly tested wheels are different, so that the types of application devices are various and complicated, the reasonability and the matching of the design of the application devices directly determine the accuracy of measurement results, and the six-component sensor is a key point of the application technology of the six-component sensor.
Disclosure of Invention
The invention mainly aims to provide a rotary application device of a six-component force sensor, and aims to solve the problem that in the prior art, the six-component force sensor cannot be well connected with wheels and a vehicle body, so that the measurement accuracy of the six-component force is low.
In order to achieve the above object, the present invention provides a six-component force sensor rotary application device, including:
A wheel assembly including a rim and a rim adapter mounted within the rim, a six component force sensor mounted between the rim adapter and the hub adapter, the six component force sensor including an inner mounting ring and an outer mounting ring, a brake disc and a hub adapter, the hub adapter connected with the inner mounting ring, the rim adapter connected with the outer mounting ring, the rim adapter mounted between the six component force sensor and the rim, the hub adapter mounted between the six component force sensor and the brake disc;
the signal transmission mechanism is arranged outside the rim and electrically connected with the six-component sensor, and is used for receiving a test signal of the six-component sensor and sending the test signal to a signal collection and processing device; the signal transmission mechanism comprises a connector and an encoder arranged on the connector, the connector is arranged on the rim, the signal transmission mechanism further comprises a fixing frame and a guide rod, the fixing frame is detachably arranged on the body of an automobile, the guide rod is detachably arranged on the fixing frame, and the guide rod is used for fixing a connecting wire of the encoder; the utility model discloses a sensor, including the guide bar, the guide bar with the one end that the encoder is connected is provided with the hinge joint, the mount with the junction of guide bar is provided with spacing spout, the guide bar can freely slide in the spacing spout.
Preferably, the hub adapter comprises a first flange, a connecting ring and a second flange which are connected in sequence, the first flange is connected with the inner mounting ring, and the second flange is connected with the brake disc.
Preferably, a plurality of first connecting holes are uniformly formed in the circumference of the first flange plate, a plurality of corresponding first connecting holes are formed in the inner mounting ring, and the first connecting holes are connected with the first connecting holes through bolts.
Preferably, the second flange plate is provided with a plurality of second connecting holes arranged at intervals around the connecting ring, the brake disc is provided with a plurality of bearing bolts, and the plurality of bearing bolts are connected with the plurality of second connecting holes in a one-to-one correspondence manner.
Preferably, the hub adapter is an integrally formed piece.
Preferably, the rim adapter is plate-shaped, the rim adapter is provided with a plurality of first mounting holes arranged at intervals, the rim is provided with a plurality of first fixing holes, the plurality of first fixing holes and the plurality of first mounting holes are arranged in a one-to-one correspondence manner, and each first fixing hole is connected with the corresponding first mounting hole through a bolt.
Preferably, the rim adapter further defines a plurality of second mounting holes spaced apart from each other, the outer mounting ring defines a plurality of second aligning holes, the plurality of second aligning holes are arranged in one-to-one correspondence with the plurality of second mounting holes, and each of the second aligning holes is connected to the corresponding second mounting hole through a bolt.
Preferably, a central hole is formed in the center of the rim adapter, the first mounting holes and the second mounting holes are formed around the central hole, and the central hole is used for mounting the signal transmission mechanism.
Preferably, the connector is installed in centre bore department, the encoder is installed on the connector, just the encoder with six component force sensor electricity is connected, the encoder is used for receiving six component force sensor's test signal to send test signal to signal collection processing apparatus.
The wheel assembly is provided with the hub adapter and the rim adapter, the hub adapter is used for the adaptive connection of the six-component sensor and the brake disc, the rim adapter is used for the adaptive connection of the six-component sensor and the rim, the rim adapter is connected with the inner mounting ring of the six-component sensor, the hub adapter is connected with the outer mounting ring of the six-component sensor, the six-component sensor is well connected, the stress of a wheel is transmitted to the outer mounting ring of the six-component sensor through the rim adapter, and is transmitted to the hub adapter through the inner mounting ring of the six-component sensor and finally transmitted to a vehicle body, and therefore the measurement of the six-component force of the wheel is achieved. The six-component force sensor transmits the measured test signal to the signal transmission mechanism, the signal transmission mechanism processes the received test signal and then sends the processed test signal to the signal collection and processing device, and the signal collection and processing device calculates and obtains accurate test data. The six-component force sensor ensures that the stress of the wheel is completely transmitted to the vehicle body from the wheel assembly through the six-component force sensor, solves the problem of low matching performance of the six-component force sensor in the structural form and the application device of the existing form, and improves the measurement accuracy of the six-component force.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a perspective view of a six-component force sensor rotary application device according to an embodiment of the present invention;
FIG. 2 is an exploded view of a six-component force sensor rotary application device according to an embodiment of the present invention;
FIG. 3 is an exploded view of a wheel assembly of a six component force sensor rotary application device in accordance with one embodiment of the present invention;
FIG. 4 is a partially exploded view of a wheel assembly of a six component force sensor rotary application device in accordance with one embodiment of the present invention;
fig. 5 is a schematic perspective view of a signal transmission mechanism of a rotary application device of a six-component force sensor according to an embodiment of the invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name(s) |
| 100 | Six-component force sensor rotary application device | 134 | Second butt joint hole |
| 1 | |
14 | Rim |
| 11 | |
141 | |
| 111 | |
142 | |
| 12 | |
143 | |
| 121 | |
15 | |
| 122 | Second flange plate | 151 | A |
| 123 | Connecting |
2 | |
| 124 | First connecting |
21 | Connector with a |
| 125 | Second connecting |
22 | Encoder for encoding a |
| 13 | Six- |
23 | |
| 131 | |
231 | |
| 132 | |
24 | |
| 133 | First butt- |
241 | Articulated joint |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a rotary application device of a six-component force sensor.
As shown in fig. 1 to 5, in the present embodiment, the six component force sensor rotary application device 100 includes a wheel assembly 1 and a signal transmission mechanism 2; the wheel assembly 1 comprises a rim 15, a rim adapter 14, a six-component force sensor 13, a brake disc 11 and a hub adapter 12, wherein the rim adapter 14, the six-component force sensor 13, the brake disc 11 and the hub adapter 12 are installed in the rim 15; the signal transmission mechanism 2 is installed outside the rim 15, the signal transmission mechanism 2 is electrically connected with the six-component sensor 13, and the signal transmission mechanism 2 is used for receiving a test signal of the six-component sensor 13 and sending the test signal to the signal collection processing device.
Specifically, the wheel assembly 1 in the present embodiment is provided with a hub adapter 12 and a rim adapter 14, the hub adapter 12 is used for adapting and connecting the six-component force sensor 13 and the brake disc 11, the rim adapter 14 is used for adapting and connecting the six-component force sensor 13 and the rim 15, the rim adapter 14 is connected with the inner mounting ring 131 of the six-component force sensor 13, the hub adapter 12 is connected with the outer mounting ring 132 of the six-component force sensor 13, so that the six-component force sensor 13 is well connected, the wheel stress is transmitted to the outer mounting ring 132 of the six-component force sensor 13 through the rim adapter 14, is transmitted to the hub adapter 12 through the inner mounting ring 131 of the six-component force sensor 13, and is finally transmitted to the vehicle body, thereby realizing the measurement of the six-component force of the wheel. The six-component force sensor 13 transmits the measured test signal to the signal transmission mechanism 2, the signal transmission mechanism 2 processes the received test signal and then sends the processed test signal to the signal collection and processing device, and the signal collection and processing device calculates accurate test data. The embodiment ensures that the wheel stress is completely transmitted from the wheel assembly 1 to the vehicle body through the six-component sensor 13, eliminates the problem of low matching of the hub adapter 12 and the rim adapter 14, and improves the measurement accuracy of the six-component sensor.
Further, as shown in fig. 4, the hub adapter 12 includes a first flange 121, a connecting ring 123 and a second flange 122 connected in sequence, the first flange is connected to the inner mounting ring 131, and the second flange 122 is connected to the brake disk 11. As shown in fig. 3, the first flange 121 and the second flange 122 of the hub adapter 12 are arranged at intervals, the first flange 121 and the second flange 122 are connected by a connecting ring 123, the first flange 121 and the second flange 122 are both in a disc shape, the diameter of the first flange 121 is smaller than that of the second flange 122, the first flange 121 is connected to the inner mounting ring 131 of the six-component force sensor 13, the second flange 122 is connected to the brake disc 11, and the stress of the wheel is transmitted from the inner mounting ring 131 of the six-component force sensor 13 to the first flange 121, and then transmitted from the first flange 121 to the second flange 122 through the connecting ring 123, and then transmitted to the brake disc 11 and thus to the vehicle body.
Furthermore, as shown in fig. 4, a plurality of first connection holes 124 are uniformly formed on the circumference of the first flange 121, a plurality of corresponding first connection holes 133 are formed on the inner mounting ring 131, and the plurality of first connection holes 124 and the plurality of first connection holes 133 are connected by bolts. As shown in fig. 3, the first connection hole 133 of the six-component force sensor 13 is tightly connected with the first connection hole 124 of the first flange 121 through a bolt, and the plurality of first connection holes 124 and the first connection hole 133 are uniformly arranged, so that the stress uniformity of the torque force is ensured, and the connection stability of the six-component force sensor 13 and the hub adapter 12 is improved.
In this embodiment, as shown in fig. 4, the second flange 122 is provided with a plurality of second connection holes 125 arranged at intervals around the connection ring 123, the brake disc 11 is provided with a plurality of bearing bolts 111, and the plurality of bearing bolts 111 are connected with the plurality of second connection holes 125 in a one-to-one correspondence manner. Four bearing bolts 111 are arranged on the brake disc 11, four corresponding second connecting holes 125 are formed in the second flange plate 122, the second flange plate 122 is mounted on the four bearing bolts 111 through the four second connecting holes 125, the length of the connecting ring 123 is longer than that of the bearing bolts 111, the bearing bolts 111 cannot interfere with the six-component force sensor 13 after penetrating through the second connecting holes 125, and the structural design is reasonable.
In this embodiment, the hub adapter 12 is an integrally formed part. The assembly process of the wheel assembly 1 is simplified, the simplicity of the structure is guaranteed, meanwhile, the continuity of stress transmission of the wheel assembly 1 is guaranteed, the measurement precision is improved, and the overall dynamic performance of the wheel assembly 1 cannot be influenced.
In this embodiment, as shown in fig. 4, the rim adapter 14 is in a circular plate shape, the rim adapter 14 is provided with a plurality of first mounting holes 141 arranged at intervals, the rim 15 is provided with a plurality of first fixing holes 151, the plurality of first fixing holes 151 and the plurality of first mounting holes 141 are arranged in a one-to-one correspondence manner, and each first fixing hole 151 and the corresponding first mounting hole 141 are connected by a bolt. The rim adapter 14 is uniformly provided with four first mounting holes 141 along the circumferential direction so as to correspond to the four first fixing holes 151 on the rim 15, and the four first mounting holes 141 and the four first fixing holes 151 are connected by bolts, so that the rim adapter 14 is tightly mounted on the rim 15, and the stress of the rim 15 is uniformly transmitted to the six-component force sensor 13 through the rim adapter 14.
In this embodiment, as shown in fig. 4, the rim adapter 14 further defines a plurality of second mounting holes 142 arranged at intervals, the outer mounting ring 132 defines a plurality of second connection holes 134, the plurality of second connection holes 134 are arranged in a one-to-one correspondence with the plurality of second mounting holes 142, and each second connection hole 134 is connected to the corresponding second mounting hole 142 through a bolt. The second mounting hole 142 is arranged around the first mounting hole 141, and the second mounting hole 142 is connected with the second connection hole 134 through a bolt, so that the rim adapter 14 is tightly connected with the six-component force sensor 13, and the rim adapter 14 is connected with the outer mounting ring 132 of the six-component force sensor 13, and cannot interfere with the inner mounting ring 131 of the six-component force sensor 13, the structural design is reasonable, and the measurement accuracy is further improved.
In this embodiment, as shown in fig. 2 and 5, a central hole 143 is formed in a central position of the rim adapter 14, and the plurality of first mounting holes 141 and the plurality of second mounting holes 142 are formed around the central hole 143, and the central hole 143 is used for mounting the signal transmission mechanism 2. A through hole is formed in the rim 15 at a position corresponding to the central hole 143, and the signal transmission mechanism 2 is installed in the central hole 143 through the through hole and connected with the six-component force sensor 13.
In this embodiment, as shown in fig. 5, the signal transmission mechanism 2 includes a connector 21 and an encoder 22 installed on the connector 21, the connector 21 is installed at the central hole 143, the encoder 22 is installed on the connector 21, and the encoder 22 is electrically connected to the six-component force sensor 13, and the encoder 22 is configured to receive a test signal of the six-component force sensor 13 and send the test signal to the signal collection processing device. Encoder 22 passes through connector 21 to be installed outside rim 15, guarantees the stability of installation, avoids encoder 22 to drop, and encoder 22 is used for receiving test signal and sends to signal collection processing apparatus to test signal coding processing, and encoder 22 is connected with signal collection processing apparatus through external connection line, guarantees signal transmission's stability.
In this embodiment, as shown in fig. 5, the signal transmission mechanism 2 further includes a fixing frame 23 and a guide rod 24, the fixing frame 23 is detachably mounted on the body of the automobile, the guide rod 24 is detachably mounted on the fixing frame 23, and the guide rod 24 is used for fixing the connection line of the encoder 22. One end that guide bar 24 and encoder 22 are connected is provided with a hinge 241, guide bar 24 can the activity for hinge 241 and rotate, adjust the angle of guide bar 24 and rim 15, mount 23 is provided with a spacing spout 231 with the junction of guide bar 24, guide bar 24 can freely slide in spacing spout 231, adjust the angle of guide bar 24 and rim 15 at certain extent with the cooperation of hinge 241, can be suitable for different motorcycle types, avoid guide bar 24 and automobile body to take place to interfere, and guide bar 24 has played certain direction and supporting role to the connecting wire, avoid the connecting wire flagging to take place to interfere with the automobile body.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields directly/indirectly applied to the present invention are included in the scope of the present invention.
Claims (9)
1. A six-component force sensor rotary applicator, comprising:
a wheel assembly including a rim and a rim adapter mounted within the rim, a six-component force sensor, a brake disc and a hub adapter, the six-component force sensor being mounted between the rim adapter and the hub adapter, the six-component force sensor including an inner mounting ring and an outer mounting ring, the hub adapter being connected with the inner mounting ring, the rim adapter being connected with the outer mounting ring, the rim adapter being mounted between the six-component force sensor and the rim, the hub adapter being mounted between the six-component force sensor and the brake disc;
the signal transmission mechanism is arranged outside the rim and electrically connected with the six-component sensor, and is used for receiving a test signal of the six-component sensor and sending the test signal to a signal collection and processing device; the signal transmission mechanism comprises a connector and an encoder arranged on the connector, the connector is arranged on the rim, the signal transmission mechanism further comprises a fixing frame and a guide rod, the fixing frame is detachably arranged on the body of an automobile, the guide rod is detachably arranged on the fixing frame, and the guide rod is used for fixing a connecting wire of the encoder; the utility model discloses a sensor, including the guide bar, the guide bar with the one end that the encoder is connected is provided with the hinge joint, the mount with the junction of guide bar is provided with spacing spout, the guide bar can freely slide in the spacing spout.
2. The six-component force sensor rotary type application device according to claim 1, wherein the hub adapter includes a first flange, a connection ring, and a second flange connected in this order, the first flange being connected to the inner mounting ring, and the second flange being connected to the brake disk.
3. The rotary type application device of claim 2, wherein a plurality of first connection holes are uniformly formed on the circumference of the first flange, a plurality of corresponding first connection holes are formed on the inner mounting ring, and the plurality of first connection holes are connected with the plurality of first connection holes through bolts.
4. The rotary type application device of the six-component force sensor according to claim 2, wherein a plurality of second connecting holes are formed in the second flange plate around the connecting ring at intervals, a plurality of bearing bolts are provided in the brake disc, and the plurality of bearing bolts are connected with the plurality of second connecting holes in a one-to-one correspondence manner.
5. The six-component force sensor rotary applicator of claim 2, wherein the hub adapter is a one-piece molded part.
6. The rotary application device of a six-component force sensor according to any one of claims 1 to 5, wherein the rim adapter is plate-shaped, the rim adapter defines a plurality of first mounting holes arranged at intervals, the rim defines a plurality of first fixing holes, the plurality of first fixing holes are arranged in one-to-one correspondence with the plurality of first mounting holes, and each first fixing hole is connected with the first mounting hole corresponding to the first fixing hole through a bolt.
7. The rotary six-component force sensor application device according to claim 6, wherein the rim adapter further defines a plurality of second mounting holes spaced apart from each other, the outer mounting ring defines a plurality of second alignment holes, the plurality of second alignment holes are arranged in a one-to-one correspondence with the plurality of second mounting holes, and each of the second alignment holes is connected to the corresponding second mounting hole by a bolt.
8. The six-component force sensor rotary application device of claim 7, wherein a central hole is formed in a central position of the rim adapter, and a plurality of the first mounting holes and a plurality of the second mounting holes are formed around the central hole, and the central hole is used for mounting the signal transmission mechanism.
9. The rotary six-component force sensor application device according to claim 8, wherein the connector is installed at the central hole, the encoder is installed on the connector, and the encoder is electrically connected to the six-component force sensor, and the encoder is configured to receive a test signal from the six-component force sensor and transmit the test signal to the signal collecting and processing device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010806004.4A CN112179547B (en) | 2020-08-12 | 2020-08-12 | Six-component force sensor rotary application device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010806004.4A CN112179547B (en) | 2020-08-12 | 2020-08-12 | Six-component force sensor rotary application device |
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| CN112179547A CN112179547A (en) | 2021-01-05 |
| CN112179547B true CN112179547B (en) | 2022-05-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115575016A (en) * | 2022-11-29 | 2023-01-06 | 长春工业大学 | Piezoelectric type wheel six-component force sensor device |
| CN115824482B (en) * | 2022-12-07 | 2024-05-14 | 福州大学 | Six-component force testing device for realizing accurate measurement of tire force under vehicle running condition and working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324919B1 (en) * | 1998-02-04 | 2001-12-04 | Michigan Scientific Corporation | Multi-axis wheel load transducer |
| CN104309417B (en) * | 2014-09-30 | 2016-08-24 | 吉林大学 | Intelligent tire and test development platform thereof |
| CN104527322A (en) * | 2014-12-16 | 2015-04-22 | 哈尔滨工业大学 | Planet vehicle wheel integrating six-dimension force/force moment testing functions |
| CN105980636B (en) * | 2015-01-29 | 2019-05-03 | 株式会社小松制作所 | Working truck |
| CN204801428U (en) * | 2015-04-22 | 2015-11-25 | 荣成荣鹰橡胶制品有限公司 | Take fast -assembling solid tyre of adapter |
| CN105652896B (en) * | 2015-12-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of turntable for legged type robot exercise testing |
| CN106644514B (en) * | 2016-12-28 | 2018-10-19 | 中国北方车辆研究所 | A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable |
| CN108572084B (en) * | 2018-04-26 | 2020-10-23 | 北京福田戴姆勒汽车有限公司 | Fixing and limiting device and method for front wheel six-component slip ring and medium-weight truck |
| CN208270131U (en) * | 2018-06-27 | 2018-12-21 | 江铃汽车股份有限公司 | A kind of automotive wheel six square phase adapter |
| CN109406034B (en) * | 2018-12-03 | 2024-03-08 | 中汽研汽车检验中心(常州)有限公司 | Six-component force sensor outer side assembly |
| CN209689807U (en) * | 2019-03-12 | 2019-11-26 | 中国第一汽车股份有限公司 | A kind of six-component sensor adapter system |
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