JP2021032743A - Load detector - Google Patents

Abstract

To provide a load detector that is applicable to a wider range of loads.SOLUTION: The load detector includes: a supporting unit for supporting a load applied unit with respect to a reference surface so that the load applied unit can be displaced in a first direction, the load applied unit receiving loads including an average load from one side to the other side in the first direction and a variable load overlapping with the average load; an opposite load generation unit capable of applying, to the load applied unit, an opposite load from the other side to one side of the first direction and variable according to the average load; and a deformation amount detection unit for detecting the amount of deformation due to a variable load generated in the supporting unit.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a load detector.

As a load detecting device for detecting and measuring a load acting on an object, a load cell (strain gauge, semiconductor gauge) has been widely used so far. In this type of device, the load cell is mounted along the surface of the object. For example, when a strain gauge is used, the output voltage of the strain gauge changes between both ends of the strain gauge based on the magnitude of the relative displacement caused by the load. By this change in voltage, the load applied to the object can be detected and measured.

Here, the maximum value of the load that can be measured by the load detection device is determined based on the maximum load that can occur in the usage environment of the object. Therefore, it is necessary to increase the rigidity of the object as the value of this maximum load increases. However, when the rigidity is increased in this way, the amount of deformation of the object itself becomes small, so that it becomes difficult to capture a minute load by the strain gauge. As a result, there is a risk that the desired measurement accuracy cannot be ensured as a load detecting device. In particular, when the load applied to the object includes an average load as a normally applied component and a fluctuating load as a fluctuating component superimposed on the average load, it is difficult to detect and measure the fluctuating load. ..

Therefore, for example, as described in Patent Document 1 below, a technique has been proposed in which a preload (load reaction force) is applied to an object in advance by a coil spring to cancel the average load as described above. As a result, it is said that the fluctuating load can be detected and measured without being affected by the average load.

Japanese Unexamined Patent Publication No. 2005-114599

However, in the device described in Patent Document 1, the size of the preload is uniquely determined by the characteristics of the selected coil spring. Therefore, for example, depending on the magnitude of the average load, preload cannot be appropriately generated. As a result, the range that can be used as the load detection device may be limited.

The present disclosure has been made to solve the above problems, and an object of the present disclosure is to provide a load detection device that can be applied to a wider range of loads.

In order to solve the above problems, the load detection device according to the present disclosure is subjected to a load including an average load from one side to the other side in the first direction and a variable load superimposed on the average load. The load portion, the support portion that supports the loaded portion in a displaceable state with respect to the reference surface in the first direction, and the magnitude of the average load while moving from the other side to one side in the first direction. It is provided with an opposite load generating portion that applies an opposite load that can be changed based on the above to the loaded portion, and a deformation amount detecting portion that detects the deformation amount due to the fluctuating load generated in the support portion.

According to the present disclosure, it is possible to provide a load detection device that can be applied to a wider range of loads.

It is sectional drawing which shows the structure of the load detection apparatus which concerns on 1st Embodiment of this disclosure. It is a figure which looked at the load detection apparatus which concerns on 1st Embodiment of this disclosure from the axial direction. It is sectional drawing which shows the 1st modification of the load detection apparatus which concerns on 1st Embodiment of this disclosure. It is sectional drawing which shows the 2nd modification of the load detection apparatus which concerns on 1st Embodiment of this disclosure. It is sectional drawing which shows the 3rd modification of the load detection apparatus which concerns on 1st Embodiment of this disclosure. It is sectional drawing which shows the structure of the load detection apparatus which concerns on 2nd Embodiment of this disclosure. It is sectional drawing which shows the structure of the load detection apparatus which concerns on 3rd Embodiment of this disclosure.

<First Embodiment>
(Structure of load detection device)
Hereinafter, the load detection device according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the load detecting device 100 according to the present embodiment includes a support portion 2 provided on the outer peripheral side of a rotating shaft 1 (loaded portion) extending along an axis A1 extending in the first direction. As a casing 3 that covers the rotating shaft 1 and the support portion 2 from the outer peripheral side, a fixing member 4 that fixes the support portion 2 to the inner peripheral surface of the casing 3, an opposite load generating portion 5, and a deformation amount detecting portion 6. It is equipped with a strain gauge G.

(Structure of rotating shaft)
The rotating shaft 1 has a cylindrical shaft body 11 centered on the axis A1 and a tubular outer peripheral member 12 through which the shaft body 11 is inserted. The shaft body 11 is rotatable around the axis A1. The outer peripheral member 12 rotatably supports the shaft body 11. Although not shown in detail, a bearing device is provided between the inner peripheral surface of the outer peripheral member 12 and the outer peripheral surface of the shaft body 11. Further, an annular flange portion 11F that protrudes radially outward from the shaft body 11 is provided at one end of the shaft body 11 on one side in the first direction. The end surface of the flange portion 11F on the other side in the first direction is in contact with the outer peripheral member 12.

As shown by the arrow in FIG. 1, the rotating shaft 1 is in a state where a load is applied from one side to the other side in the first direction based on an external force or the like. Specifically, this load is the sum of the average load Fabg and the variable load ΔF superimposed on the average load Fabg. The average load Fabg is a component that shows a constant magnitude regardless of time. The fluctuating load ΔF is a component that fluctuates with time. As will be described in detail later, the load detection device 100 according to the present embodiment is used for detecting and measuring such a load.

(Structure of support part)
The support portion 2 projects radially outward with respect to the axis A1 from the outer peripheral surface of the outer peripheral member 12. In the present embodiment, a plurality of support portions 2 are provided at intervals in the first direction. Further, as shown in FIG. 2, in the present embodiment, four support portions 2 are provided at equal intervals in the circumferential direction with respect to the axis A1. That is, in the present embodiment, a total of eight support portions 2 are provided. The radial outer ends of the support portions 2 are fixed to the inner peripheral surface of the fixing member 4. The fixing member 4 has a cylindrical shape centered on the axis A1. Further, the fixing member 4 is fixed to the inner peripheral surface of the casing 3. The casing 3 has a cylindrical shape centered on the axis A1, and houses the rotating shaft 1, the supporting portion 2, and the fixing member 4 inside the casing 3. The inner peripheral surface of the casing 3 is a reference surface Sg.

(Structure of opposite load generating part)
An opposite load generating portion 5 is provided on the other side of the first direction along the axis A1 (that is, the side opposite to the above-mentioned load direction). The counter load generating unit 5 is provided to cancel the average load Fabg among the components included in the above load. The opposite load generating portion 5 includes an iron core 51 integrally provided on the outer peripheral surface of the outer peripheral member 12, a holder portion 52H fixed to the inner peripheral surface (reference surface Sg) of the casing 3, and the holder portion 52H. It has a coil portion 52C provided on the inner peripheral side of the above. The coil portion 52C faces the iron core 51 at a distance in the radial direction. The coil portion 52C generates an electromagnetic force due to an induced current between the coil portion 52C and the iron core 51 by electric power supplied from the outside. This electromagnetic force is transmitted to the shaft body 11 via the flange portion 11F. It is possible to adjust the magnitude of the electromagnetic force by changing the amount of current supplied to the coil portion 52C.

(Structure of deformation amount detection unit)
A strain gauge G as a deformation amount detecting portion 6 is attached to the surface of the supporting portion 2. The output voltage of the strain gauge G changes as the support portion 2 is deformed. By capturing the change in voltage with an external measuring device (not shown), the amount of deformation of the support portion 2 is detected. The strain gauge G may be provided on all the support portions 2 one by one, or may be provided only on a part of the support portions 2. Further, as the deformation amount detecting unit 6, a semiconductor gauge can be used instead of the strain gauge G.

(Action effect)
Next, the operation of the load detection device 100 according to the present embodiment will be described. As described above, a load is applied to the rotating shaft 1 from one side in the first direction to the other side. Due to this load, the rotating shaft 1 is slightly displaced toward the other side in the first direction. The support portion 2 is deformed with the displacement of the rotating shaft 1. Specifically, the support portion 2 is inclined toward the other side in the first direction as it goes inward in the radial direction. Such deformation can be captured by the strain gauge G described above.

Here, the maximum value of the load that can be measured by the load detection device 100 is determined based on the maximum load that can occur in the usage environment of the object. Therefore, it is necessary to increase the rigidity of the object as the value of this maximum load increases. In the example of this embodiment, it is necessary to increase the rigidity of the support portion 2. However, when the rigidity is increased in this way, the amount of deformation of the object itself becomes small, so that it becomes difficult to capture a minute load by the strain gauge. As a result, there is a risk that the desired measurement accuracy cannot be ensured as a load detecting device. In particular, when the load applied to the object includes the average load Favg as a component normally applied and the fluctuating load ΔF as a fluctuating component superimposed on the average load Favg, the fluctuating load ΔF is detected and measured. Difficult to do.

Therefore, in the present embodiment, the opposite load generating portion 5 is configured to apply another load (opposite load Fr) to the rotating shaft 1 from the direction opposite to the load. This opposite load has the same magnitude as the average load Fabg, and its applied direction is opposite to that of the load. That is, the opposite load Fr is equal to −Favg.

In this way, the opposite load Fr generated by the opposite load generating portion 5 can offset the average load Fabg applied to the rotating shaft 1 as the loaded portion. In this state, the strain gauge G as the deformation amount detecting unit 6 detects the deformation amount due to the fluctuating load ΔF generated in the support unit 2. Therefore, the fluctuating load ΔF can be precisely detected and measured without being affected by the magnitude of the average load Fabg. In particular, the magnitude of the counterload Fr generated by the counterload generation unit 5 can be changed based on the magnitude of the average load Fabg. Therefore, the fluctuating load ΔF can be precisely detected in a wider range according to the environmental conditions (the size of the assumed maximum load and the average load Fabg) in which the load detecting device 100 is used. That is, the applicable load range of the load detection device 100 can be widened.

Further, according to the above configuration, the opposite load Fr can be applied to the rotating shaft 1 as the opposite load generating portion 5 based on the electromagnetic force generated between the iron core 51 and the coil portion 52C. That is, the magnitude of the opposite load Fr can be adjusted only by changing the magnitude of the current flowing through the coil portion 52C. As a result, the accuracy of detection / measurement can be further improved, and the applicable load range of the load detection device 100 can be further widened.

<First modification>
As a first modification of the load detecting device 100, the configuration shown in FIG. 3 can be adopted. In the example of FIG. 3, a load cell Lc is used as the deformation amount detecting unit 6b instead of the strain gauge G described above. Specifically, as the load cell Lc, a piezoelectric load cell is preferably used. The output voltage of the load cell Lc changes according to the compressive force or the tensile force applied to the load cell Lc. Further, in the example of the figure, the support portion 2b is located on the first member 21 provided on the reference surface Sg side (that is, the fixing member 4) and on the other side in the first direction with respect to the first member 21. It has a second member 22 which is provided at intervals and is fixed to the outer peripheral surface of the outer peripheral member 12. The load cell Lc is sandwiched between the first member 21 and the second member 22.

In the above configuration, when a fluctuating load ΔF is applied to the rotating shaft 1, the relative distance between the first member 21 and the second member 22 changes based on the fluctuating load ΔF. The output voltage of the load cell Lc changes due to the change in the relative distance. By detecting this voltage change with an external measuring device or the like, the magnitude of the fluctuating load ΔF can be measured more precisely.

<Second modification>
Further, as a second modification, the configuration shown in FIG. 4 can be adopted. In the example of FIG. 4, while the support portion 2 has the same configuration as that of the first embodiment, the configuration of the counter load generating portion 5b is different from that of the first embodiment and the first modification. Specifically, the opposite load generating portion 5b has a solenoid 53 provided between the holder portion 52H and the outer peripheral member 12 described above. Specifically, as the solenoid 53, a push-pull solenoid is preferably used. This type of solenoid 53 can generate a compressive force or a tensile force by changing its length according to the magnitude of electric power supplied from the outside.

According to the above configuration, the opposite load Fr can be applied to the rotating shaft 1 as the loaded portion based on the force generated by the solenoid 53. In particular, the magnitude of the opposite load Fr can be adjusted only by changing the magnitude of the current flowing through the solenoid 53. As a result, the accuracy of detection / measurement can be further improved.

<Third modification example>
Further, as a third modification, the configuration shown in FIG. 5 can be adopted. In the example of FIG. 5, a configuration is adopted in which the deformation amount detecting unit 6b having the load cell Lc described in the first modified example and the counter load generating unit 5b having the solenoid 53 described in the second modified example are combined. There is. With such a configuration, it is possible to obtain the same effect as that of the first embodiment, and it is possible to further improve the accuracy of detection / measurement.

<Second embodiment>
Subsequently, the load detection device 200 according to the second embodiment of the present disclosure will be described with reference to FIG. The same reference numerals are given to the same configurations as those of the first embodiment and the modified examples thereof, and detailed description thereof will be omitted. As shown in FIG. 6, the support portion 2c according to the present embodiment further includes a third member 23 in addition to the first member 21 and the second member 22 described in the first modification described above. .. The third member 23 is supported so as to be relatively displaceable in the first direction with respect to the first member 21. Specifically, the third member 23 is supported and fixed to the fixing member 4 by a feed screw B as an opposite load generating portion 5c. Further, the third member 23 is in contact with the reference surface Sg in a slidable state. Therefore, by changing the screwing amount of the feed screw B, it is possible to adjust the relative position of the third member 23 with respect to the fixing member 4 and the first member 21. That is, by screwing the feed screw B, the above-mentioned opposite load Fr can be applied to the rotating shaft 1.

Further, another load cell Lc as a deformation amount detecting unit 6 is provided between the second member 22 and the third member 23. That is, in the present embodiment, the load cell Lc is also provided between the first member 21 and the second member 22 and between the second member 22 and the third member 23. In the following description, the load cell Lc provided between the first member 21 and the second member 22 is referred to as a first load cell Lc1, and a load cell provided between the second member 22 and the third member 23. Lc is called a second load cell Lc2.

In the above configuration, a compressive force due to the opposite load Fr is normally applied to these load cells Lc. In this state, for example, when the second member 22 provided on the rotation shaft 1 side as the loaded portion is displaced to the other side in the first direction (that is, a fluctuating load ΔF from one side to the other side occurs). (Case), a tensile force is applied to the first load cell Lc1 on one side, and a further compressive force is applied to the second load cell Lc2 on the other side. Here, it is generally known that a load cell can sufficiently resist a compressive force but is weak against a tensile force. This tendency is particularly remarkable in piezoelectric load cells. However, in the above configuration, a compressive force due to the opposite load Fr is applied in advance to the first load cell Lc1 on one side to which the tensile force is applied. Therefore, when the tensile force due to the displacement as described above is applied, the compressive force and the tensile force cancel each other out. As a result, the first load cell Lc1 on one side is not deformed with respect to the initial state due to pulling, or is deformed only slightly. As a result, the detection / measurement can be performed with a margin with respect to the service limit of the load cell Lc. In other words, the service limit required for the load cell Lc can be kept low. As a result, the manufacturing cost and maintenance cost of the device can be reduced.

Further, according to the above configuration, the magnitude of the opposite load Fr can be easily and precisely adjusted by changing the screwing amount of the feed screw B. Further, since the counter load generating portion 5c can be configured only by providing the feed screw B, it is possible to simplify the configuration of the apparatus and reduce the cost based on the configuration.

<Third Embodiment>
Next, the load detection device 300 according to the third embodiment of the present disclosure will be described with reference to FIG. 7. The same reference numerals are given to the same configurations as those of the above-described embodiments and modifications, and detailed description thereof will be omitted. As shown in FIG. 7, in the present embodiment, instead of the configuration of the second embodiment, the counter load generating portion 5d uses a solenoid 53b provided between the third member 23 and the fixing member 4 described above. Have. Specifically, the push-pull solenoid described above is preferably used as the solenoid 53b. The length of the solenoid 53b changes according to the electric power supplied from the outside. Therefore, for example, when the solenoid 53b contracts, a load is applied to the load cell Lc and the second member 22 via the third member 23. This load is transmitted to the rotating shaft 1 via the second member 22. That is, the opposite load Fr can be applied to the rotating shaft 1.

According to the above configuration, in addition to the same action and effect as in the second embodiment, the magnitude of the opposite load Fr can be easily and precisely adjusted by changing the advancing / retreating amount (length) of the solenoid 53b. it can. Further, since the opposite load generating portion 5d can be configured only by providing the solenoid 53b, it is possible to simplify the configuration of the device and reduce the cost based on the configuration.

The embodiments of the present disclosure and examples of modifications thereof have been described in detail with reference to the drawings. The specific configuration is not limited to this embodiment and its modifications, and includes design changes and the like within a range that does not deviate from the gist of the present disclosure.
For example, in each of the above-described embodiments and modifications thereof, the rotating shaft 1 has been described as an example of the loaded portion. However, the loaded portion is not limited to the rotating shaft 1, and any device or component exposed to a load acting in a specific direction can be used as the loaded portion.

<Additional notes>
The load detection device described in each embodiment is grasped as follows, for example.

(1) The load detecting device 100 according to the first aspect is given a load including an average load Fabg from one side to the other side in the first direction and a variable load ΔF superimposed on the average load Fabg. The support portion 2 that supports the loaded portion 1 with respect to the reference surface Sg in a displaceable state in the first direction, and the magnitude of the average load ΔF while moving from the other side to one side in the first direction. A deformation amount detection unit that detects the amount of deformation due to the fluctuating load ΔF generated in the support unit 2 and the opposite load generation unit 5 that applies the opposite load Fr that can be changed based on 6 and.

According to the above configuration, the average load Fabg applied to the loaded portion 1 can be offset by the counterload Fr generated by the counterload generating portion 5. In this state, the deformation amount detecting unit 6 detects the deformation amount due to the fluctuating load ΔF generated in the support unit 2. Therefore, the fluctuating load ΔF can be precisely detected and measured without being affected by the magnitude of the average load Fabg. In particular, the magnitude of the counterload Fr generated by the counterload generation unit 5 can be changed based on the magnitude of the average load Fabg. Therefore, the fluctuating load ΔF can be precisely detected in a wider range according to the environmental conditions (the size of the assumed maximum load and the average load Fabg) in which the load detecting device 100 is used.

(2) In the load detecting device 100 according to the second aspect, the opposite load generating portion 5 is provided on the iron core 51 provided on the loaded portion 1 and on the reference surface Sg side, and the iron core 51 is provided. It has a coil portion 52C that applies an electromagnetic force as the opposite load Fr to the loaded portion 1 by facing the load portion 1.

According to the above configuration, the opposite load Fr can be applied to the loaded portion 1 based on the electromagnetic force generated between the iron core 51 as the opposite load generating portion 5 and the coil portion 52C. In particular, the magnitude of the opposite load Fr can be adjusted only by changing the magnitude of the current flowing through the coil portion 52C. As a result, the accuracy of detection / measurement can be further improved.

(3) In the load detecting device 100 according to the third aspect, the opposite load generating portion 5b is provided between the reference surface Sg and the loaded portion 1, and is opposite to the loaded portion 1. It is a solenoid 53 that gives a load Fr.

According to the above configuration, the opposite load Fr can be applied to the loaded portion 1 based on the force generated by the solenoid 53. In particular, the magnitude of the opposite load Fr can be adjusted only by changing the magnitude of the current flowing through the solenoid 53. As a result, the accuracy of detection / measurement can be further improved.

(4) In the load detection device 100 according to the fourth aspect, the support portion 2b includes a first member 21 provided on the reference surface Sg side and the deformation amount detection unit 6b with respect to the first member 21. It has a second member 22 which is connected from the first direction and is provided in the loaded portion 1, and the deformation amount detecting unit 6b is the first member based on the variable load ΔF. It is a load cell Lc whose voltage changes due to the relative displacement generated between the 21 and the second member 22.

According to the above configuration, the relative displacement caused by the fluctuating load ΔF between the first member 21 and the second member 22 can be detected as the voltage change of the load cell Lc. As a result, the magnitude of the fluctuating load ΔF and its change can be detected and measured more precisely.

(5) In the load detection device 200 according to the fifth aspect, the support portion 2c further includes a third member 23 that is displaceably supported in the first direction with respect to the first member 21. The deformation amount detecting unit 6c is provided between the second member 22 and the third member 23, and the relative displacement that occurs between the second member 22 and the third member 23 based on the variable load ΔF. It also has another load cell Lc whose voltage changes with.

According to the above configuration, load cells Lc are provided between the first member 21 and the second member 22, and between the second member 22 and the third member 23, respectively. A compressive force due to the opposite load Fr is normally applied to these load cells Lc. In this state, for example, when the second member 22 provided on the loaded portion 1 side is displaced to the other side in the first direction (that is, when a variable load ΔF from one side to the other side occurs), one side. A tensile force is applied to the load cell Lc on the side, and a further compressive force is applied to the load cell Lc on the other side. Here, it is generally known that a load cell can sufficiently resist a compressive force but is weak against a tensile force. This tendency is particularly remarkable in the piezoelectric type load cell Lc. However, in the above configuration, a compressive force due to the opposite load Fr is applied in advance to the load cell Lc on one side to which the tensile force is applied. Therefore, when the tensile force due to the displacement as described above is applied, the compressive force and the tensile force cancel each other out. As a result, the load cell Lc on one side is not deformed from the initial state due to pulling, or is deformed only slightly. As a result, the detection / measurement can be performed with a margin with respect to the service limit of the load cell Lc. In other words, the service limit required for the load cell Lc can be kept low. As a result, the manufacturing cost and maintenance cost of the device can be reduced.

(6) In the load detecting device 200 according to the sixth aspect, the opposite load generating portion 5c is provided between the first member 21 and the third member 23, and the first member of the third member 23 is provided. It has a feed screw B that changes the relative position in the first direction with respect to the member 21.

According to the above configuration, the magnitude of the opposite load Fr can be easily and precisely adjusted by changing the screwing amount of the feed screw B. Further, since the counter load generating portion 5c can be configured only by providing the feed screw B, it is possible to simplify the configuration of the apparatus and reduce the cost based on the configuration.

(7) In the load detecting device 300 according to the seventh aspect, the opposite load generating portion 5d is provided between the first member 21 and the third member 23, and the first member of the third member 23 is provided. It has a solenoid 53b that changes the relative position in the first direction with respect to the member 21.

According to the above configuration, the magnitude of the opposite load Fr can be easily and precisely adjusted by changing the advancing / retreating amount (length) of the solenoid 53b. Further, since the opposite load generating portion 5d can be configured only by providing the solenoid 53b, it is possible to simplify the configuration of the device and reduce the cost based on the configuration.

100, 200, 300 Load detection device 1 Rotating shaft (loaded part)
11 Shaft body 11F Flange part 12 Outer peripheral member 2, 2b, 2c Support part 21 First member 22 Second member 23 Third member 3 Casing 4 Fixing member 5, 5b, 5c, 5d Opposite load generating part 51 Iron core 52C Coil part 52H Holder part 6,6b Deformation amount detection part A1 Axis line Fabg Average load Fr Opposite load ΔF Fluctuating load G Strain gauge Lc Load cell Lc1 First load cell Lc2 Second load cell Sg Reference plane

Claims (7)

The loaded portion to which the average load from one side to the other side in the first direction and the load including the fluctuating load superimposed on the average load are applied is placed on the reference surface in a state where it can be displaced in the first direction. The support part that supports it and
An opposite load generating portion that applies an opposite load that can be changed based on the magnitude of the average load to the loaded portion while moving from the other side to the one side in the first direction.
A deformation amount detection unit that detects the deformation amount due to the fluctuating load generated in the support portion,
A load detector equipped with. The opposite load generating part is
An iron core provided on the loaded portion and
A coil portion provided on the reference surface and facing the iron core to apply an electromagnetic force as the opposite load to the loaded portion.
The load detecting device according to claim 1. The opposite load generating part is
The load detecting device according to claim 1, which is a solenoid provided between the reference surface and the loaded portion and applies the opposite load to the loaded portion. The support portion
The first member provided on the reference surface side and
A second member that is connected to the first member from the first direction via the deformation amount detecting portion and is provided on the loaded portion.
Have,
The deformation amount detection unit is
The load detection device according to any one of claims 1 to 3, which is a load cell in which a voltage changes due to a relative displacement generated between the first member and the second member based on the fluctuating load. The support portion further includes a third member that is displaceably supported in the first direction with respect to the first member.
The deformation amount detecting unit is provided between the second member and the third member, and the voltage changes due to the relative displacement generated between the second member and the third member based on the fluctuating load. The load detection device according to claim 4, further comprising another load cell. 5. The opposite load generating portion is provided between the first member and the third member, and has a feed screw that changes the relative position of the third member in the first direction with respect to the first member. The load detector according to. The fifth aspect of the present invention has a solenoid that is provided between the first member and the third member and that changes the relative position of the third member in the first direction with respect to the first member. The load detector described.

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