JP2011112568A - Component force meter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a component force meter that facilitates independent adjusting of a detection sensitivity of a moment and a detection sensitivity of a force during the designing. <P>SOLUTION: The component force meter includes a pair of support pillars 19 having a predetermined height provided at a predetermined interval, a central rigid part 18 which has a force reception face at the top face, a thickness smaller than the height of the support pillars and a length smaller than the predetermined interval, a thin part 15 which is expanded or contracted depending on a force acting on the central rigid part in a predetermined direction, a thin part 16 which is expanded or contracted depending on the force acting on the central rigid part in a predetermined direction, four strain gauges P1 to P4 respectively attached to two positions of the thin part 15 and two positions of the thin part 16, and four strain gauges L1 to L4 respectively attached to two positions of the thin part 15 and two positions of the thin part 16. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a force meter.

  Conventionally, a plurality of thin-walled portions (strain-generating portions) are provided on a member, and various forces are detected using a strain gauge and a bridge circuit to detect a force acting on a rigid body from the X, Y, and Z-axis directions and a moment around each axis. Such multi-axis force meters are known (see, for example, Patent Documents 1 and 2 and Non-Patent Documents 1 and 2).

  Patent Document 1 discloses a lower pedestal member, two columnar members erected on the lower pedestal member, a strain body connected in a doubly supported manner by an upper end portion thereof, and an upper surface of a central portion of the strain body. A multi-component force meter (a multi-axis force meter) composed of a provided load introducing portion is described. The strain body is formed with a thin portion for detecting an X-axis direction force component, a thin portion for detecting a Y-axis direction force component, and a thin portion for detecting a Z-axis direction force component. Each of these parts is attached with a strain gauge for converting the amount of strain into an amount of electricity. The moment around the X axis is assembled with the first plurality of strain gauges, the moment around the Y axis is assembled with the second plurality of strain gauges, and the moment around the Z axis is assembled with the third plurality of strain gauges. It can be detected by a bridge circuit.

  Further, in Patent Document 2, 32 strain gauges are attached to each of the four sensing surfaces of each of the four prism-shaped sensing part beams, and the relative sensitivity in the cross section of each beam. The four strain gauges affixed to the surface constitute a bridge circuit to form a total of eight bridge circuits. The output signals of the eight sets of bridge circuits are input to the arithmetic conversion circuit, and the 6 minutes A multi-component force measuring method and apparatus for measuring a six-component force by converting it into a force and performing at least primary interference correction of these six-component force interferences are described.

  Non-Patent Document 1 describes a technique for detecting a force by a parallel plate structure and a technique for detecting a moment by a radiation plate structure. Non-Patent Document 1 describes a six-axis force meter having a parallel plate structure and a radiation plate structure. With this 6-axis force meter, the force acting from the X, Y, and Z-axis directions and the moment around each axis are detected.

  Further, Non-Patent Document 2 describes a technique for detecting a force by a parallel plate structure of a target arrangement with a connected round hole structure, and a technique for detecting a moment by a radial plate structure of a target arrangement by a connected round hole structure. Non-Patent Document 2 describes a robot six-axis force meter having a parallel flat plate structure based on this connected round hole structure and a radial flat plate structure based on this connected round hole structure. The robot's six-axis force meter detects the force acting from the X, Y, and Z-axis directions and the moment around each axis.

Japanese Patent No. 3265539 JP 2003-50171 A

“Multi-axis force sensor and its application”, Journal of Precision Engineering, 57-10, 1991. “Trials of 6-axis force meters for robots” Transactions of the Japan Society of Mechanical Engineers (C), 54-497, 1988.

  However, in the devices described in Patent Documents 1 and 2 and Non-Patent Documents 1 and 2, when the size of a member is adjusted to adjust the detection sensitivity of one moment, the other interference causes The detection sensitivity of force and moment is also affected, and there is a problem that it is very difficult to independently adjust the detection sensitivity of each moment and the detection sensitivity of force.

  The present invention has been made to solve the above-described problems, and provides a force meter that makes it easier to independently adjust moment detection sensitivity and force detection sensitivity at the time of design. For the purpose.

  In order to achieve the above object, a force meter according to a first aspect of the present invention comprises a pair of struts having a predetermined height extending from a base body in a predetermined direction at a predetermined interval, a force receiving surface on the upper surface, and a thickness. A central rigid body portion that is thinner than a height of the column and shorter than the predetermined interval, and one end of the central rigid body portion is connected to one tip of the pair of columns on the upper surface side of the central rigid body portion, and A thin first thin portion that expands and contracts in response to a force acting in the predetermined direction of the central rigid body portion, and the other end of the central rigid body portion on the upper surface side of the central rigid body portion and the other tip portion of the pair of struts 2 of the thin thin part which expands and contracts according to the force which acts on the predetermined direction of the central rigid body part, two places of the first thin part, and 2 of the second thin part Four first strain gauges attached to the location, and the first thin portion Point, and a four second strain gauge attached to the two positions of the second thin portion.

  The four first strain gauges are, for example, a connection part between one end of the central rigid body part and the first thin part, a connection part between the first thin part and one tip part of the pair of struts, It is attached to the connecting portion between the other end of the central rigid body portion and the second thin portion, and the connecting portion between the second thin portion and the other tip of the pair of support columns.

  The four second strain gauges are, for example, a connection part between one end of the central rigid body part and the first thin part, and a connection between the first thin part and one tip part of the pair of support columns. And a connecting portion between the other end of the central rigid body portion and the second thin portion, and a connecting portion between the second thin portion and the other tip portion of the pair of support columns.

  According to the force meter of the first invention, the force in a predetermined direction acting on the central rigid body portion can be detected using the first strain gauge (or the second strain gauge), and the second strain gauge Using the strain gauge (or the first strain gauge), it is possible to detect the moment about the axis in the direction perpendicular to the predetermined direction and the length direction of the central rigid body portion acting on the central rigid body portion. That is, such a component force meter of the first invention functions as a two component force meter.

  According to the force meter of the first invention, by adjusting the length of the central rigid body portion at the time of design, the predetermined force acting on the central rigid body portion by the first strain gauge (or the second strain gauge) is adjusted. Without affecting the detection sensitivity of the force, the second strain gauge (or the first strain gauge) acts on the central rigid body portion around the predetermined direction and the axis in the direction perpendicular to the length direction of the central rigid body portion. The moment detection sensitivity can be adjusted. Therefore, according to the force meter of the first aspect of the invention, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  The base is formed by a first through hole formed on one end of the base, and a thin third thin part that expands and contracts in response to a force acting in the length direction of the central rigid part; A fourth thin wall portion formed by a second through hole formed on the other end side of the base body and extending and contracting in response to a force acting in the length direction of the central rigid body portion. It may be configured to further include four third strain gauges attached to the third thin portion and the fourth thin portion.

  In such a configuration, a force in a predetermined direction acting on the central rigid body portion can be detected using the first strain gauge (or the second strain gauge), and the second strain gauge (or the second strain gauge) 1), the moment around the axis in the direction perpendicular to the predetermined direction and the length direction of the central rigid body portion acting on the central rigid body portion can be detected, and a third strain gauge is used. Thus, the longitudinal force acting on the central rigid body portion can be detected. That is, when configured in this way, the force meter of the first invention functions as a three-component force meter.

  By adopting such a configuration, by adjusting the length of the central rigid body portion at the time of design, it acts on the central rigid body portion by the first strain gauge (or the second strain gauge) and the third strain gauge. The predetermined direction and the central rigid body portion acting on the central rigid body portion by the second strain gauge (or the first strain gauge) without affecting the detection sensitivity of the force in the predetermined direction and the detection sensitivity in the length direction. The detection sensitivity of the moment about the axis in the direction orthogonal to the length direction can be adjusted. Accordingly, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  Note that the four third strain gauges are attached to, for example, both end portions in the vertical direction of the third thin portion and both end portions in the vertical direction of the fourth thin portion.

  In order to achieve the above object, the force meter of the second invention includes a pair of support columns having a predetermined height extending from the base body in a predetermined direction at a predetermined interval, and a force receiving surface on the upper surface. A central rigid body portion having a thickness smaller than a height of the support column and a length shorter than the predetermined interval, and one end of the central rigid body portion connected to one tip portion of the pair of support columns on the upper surface side of the central rigid body portion; A thin first thin wall portion that expands and contracts in response to a force acting in the predetermined direction of the central rigid body portion, and the other end of the central rigid body portion on the upper surface side of the central rigid body portion on the other side of the pair of struts Connected to the tip, and formed by a thin second thin part that expands and contracts in response to the force acting in the predetermined direction of the central rigid part, and a first through hole formed on one end side of the base. And according to the force acting in the longitudinal direction of the central rigid body portion. The thin-walled third thin-walled portion and the second through-hole formed on the other end side of the base and the thin-walled first-wall that expands and contracts according to the force acting in the length direction of the central rigid body portion. Two thin-walled parts, and the distance between the first thin-walled part of one structure and the first thin-walled part of the other structure, and the second Two structures arranged so that the distance between the thin-walled portion and the second thin-walled portion of the other structure is the same, the central rigid body portion of the one structure, and the central rigid body of the other structure A connecting rigid body part for connecting the parts, the first thin part of the one structure, the second thin part of the one structure, the first thin part of the other structure, And four first strain gauges attached to the second thin portion of the other structure, and the first structure of the one structure. Four second parts attached to the thin part, the second thin part of the one structure, the first thin part of the other structure, and the second thin part of the other structure Strain gauge, the first thin part of the one structure, the second thin part of the one structure, the first thin part of the other structure, and the other structure Four third strain gauges attached to the second thin part, the third thin part of the one structure, the fourth thin part of the one structure, and the other structure The third thin-walled portion of the object, four fourth strain gauges attached to the fourth thin-walled portion of the other structure, the third thin-walled portion of the one structure, and the one Of the fourth thin-walled portion of the structure, the third thin-walled portion of the other structure, and the other And four fifth strain gauges attached to the fourth thin portion.

  According to such a force meter of the second invention, a force in a predetermined direction acting on the connecting rigid body portion using the first strain gauge, the second strain gauge, and the third strain gauge, and the connection Detecting the moment around the axis in the direction perpendicular to the length direction of the central rigid body part acting on the connecting rigid body part and the moment around the axis in the longitudinal direction of the central rigid body part acting on the connecting rigid body part be able to. According to the force meter of the second invention, a moment about an axis in a predetermined direction acting on the connecting rigid body portion using the fourth strain gauge and the fifth strain gauge, and acting on the connecting rigid body portion. It is possible to detect the force in the length direction. That is, such a component force meter of the second invention functions as a five component force meter.

  According to the force meter of the second aspect of the invention, by adjusting the length of the central rigid body portion at the time of design, the detection sensitivity of the force in the predetermined direction acting on the connecting rigid body portion and the force in the length direction are adjusted. The detection sensitivity of the moment about the axis in the direction perpendicular to the predetermined direction acting on the central rigid body portion and the length direction of the central rigid body portion can be adjusted without affecting the detection sensitivity. Therefore, according to the force meter of the second invention, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  The four first strain gauges are, for example, a connecting portion between one end of the central rigid body portion of the one structure and the first thin-walled portion, and the other end of the central rigid body portion of the one structure. And the second thin-walled portion, one end of the central rigid body portion of the other structure and the first thin-walled portion, and the other end of the central rigid body portion of the other structure. And the second thin-walled portion.

  The four second strain gauges are, for example, a connecting portion between one tip of the pair of struts of the one structure and the first thin portion, and the pair of struts of the one structure. A connecting portion between the other tip portion of the pair and the second thin portion, a connecting portion between one tip portion of the pair of struts of the other structure and the first thin portion, and the other structure. Are attached to a connecting portion between the other tip portion of the pair of support columns and the second thin portion.

  In addition, the four third strain gauges are, for example, a connecting portion between one tip portion of the pair of struts of the one structure and the first thin portion, and the central rigid body portion of the one structure. A connection portion between the other end of the second structure and the second thin portion, a connection portion between the one end of the central rigid body portion of the other structure and the first thin portion, and the pair of struts of the other structure. Is attached to a connecting portion between the other tip portion of the second thin portion and the second thin portion.

  The four fourth strain gauges are, for example, a lower end portion in the vertical direction of the third thin portion of the one structure, and a lower end portion in the vertical direction of the fourth thin portion of the one structure. The upper end portion in the up-down direction of the third thin portion of the other structure, and the upper end portion in the up-down direction of the fourth thin portion of the other structure.

  The four fifth strain gauges are, for example, upper end portions in the vertical direction of the third thin portion of the one structure, and upper end portions in the vertical direction of the fourth thin portion of the one structure. And the lower end portion in the vertical direction of the third thin portion of the other structure, and the lower end portion in the vertical direction of the fourth thin portion of the other structure.

  Further, the connecting rigid body part is formed by a third through hole formed at a position adjacent to the central part of the connecting rigid body part on the one structure side of the connecting rigid body part, and A fifth thin-walled portion that expands and contracts in response to a force acting on a length portion of the central rigid body portion and a central portion of the connecting rigid body portion in a direction orthogonal to the predetermined direction; and the connecting rigid body portion A position on one structure side that is adjacent to the central portion of the connecting rigid body portion and is separated from the third through hole by a first distance in the length direction of the central rigid body portion of the one structure. A thin sixth portion that expands and contracts in response to a force acting in a direction perpendicular to the central portion of the connecting rigid body portion, and the connecting rigid body portion. Adjacent to the center of the connecting rigid body on the other structure side And is formed by a fifth through hole formed at a second distance away from the third through hole in the orthogonal direction, and in the orthogonal direction of the central portion of the connecting rigid body portion. A seventh thin-walled portion that expands and contracts in response to an acting force, and is adjacent to the central portion of the connecting rigid body portion on the other structure side of the connecting rigid body portion, and the fifth penetration Formed by a sixth through hole formed at a position away from the hole in the length direction of the central rigid body portion of the other structure by the first distance, and the orthogonal portion of the central portion of the connecting rigid body portion A thin-walled eighth thin-walled portion that expands and contracts in response to a force acting in the direction of movement, and includes the fifth thin-walled portion, the sixth thin-walled portion, the seventh thin-walled portion, and the first thin-walled portion. To further comprise four sixth strain gauges attached to the eight thin portions It may be.

  The component force meter of the second invention in the case of such a configuration further uses the sixth strain gauge to operate in the direction perpendicular to the predetermined direction and the length direction acting on the central portion of the connecting rigid body portion. Can be detected. That is, the component force meter of the second invention in such a case functions as a six component force meter.

  By adopting such a configuration, by adjusting the length of the central rigid body portion at the time of design, the detection sensitivity of the force in a predetermined direction acting on the central portion of the central rigid body portion, the detection sensitivity of the force in the length direction, And the detection sensitivity of the moment about the axis in the direction perpendicular to the predetermined direction and the length direction of the central rigid body portion acting on the central portion of the central rigid body portion without affecting the detection sensitivity of the force in the orthogonal direction. Can be adjusted. Accordingly, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  Note that the four sixth strain gauges are, for example, the end of the fifth thin-walled portion that is opposite to the side where the central portion of the connecting rigid-body is adjacent, and the connecting rigid body of the sixth thin-walled portion. An end opposite to the side where the central part is adjacent, an end opposite to the side where the central part of the connecting rigid body part of the seventh thin part is adjacent, and the eighth thin part A central portion of the connecting rigid body portion is attached to an end portion opposite to the adjacent side.

  The four sixth strain gauges are, for example, an end portion of the fifth thin portion on the side where the central portion of the connecting rigid body portion is adjacent, and a center portion of the connecting thin rigid body portion of the sixth thin portion. An end portion on the side where the portion is adjacent, an end portion on the side where the center portion of the connecting rigid body portion of the seventh thin portion is adjacent, and a center portion of the connecting rigid body portion of the eighth thin portion are adjacent It is attached to the end part on the side.

  In order to achieve the above object, the force meter of the third invention comprises a pair of struts having a predetermined height extending from the base body in a predetermined direction at a predetermined interval, and a force receiving surface on the upper surface. A central rigid body portion having a thickness smaller than a height of the support column and a length shorter than the predetermined interval, and one end of the central rigid body portion connected to one tip portion of the pair of support columns on the upper surface side of the central rigid body portion; A thin first thin wall portion that expands and contracts in response to a force acting in the predetermined direction of the central rigid body portion, and the other end of the central rigid body portion on the upper surface side of the central rigid body portion on the other side of the pair of struts Connected to the tip, and formed by a thin second thin part that expands and contracts in response to the force acting in the predetermined direction of the central rigid part, and a first through hole formed on one end side of the base. And according to the force acting in the longitudinal direction of the central rigid body portion. The thin-walled third thin-walled portion and the second through-hole formed on the other end side of the base and the thin-walled first-wall that expands and contracts according to the force acting in the length direction of the central rigid body portion. Two thin-walled parts, and the distance between the first thin-walled part of one structure and the first thin-walled part of the other structure, and the second Two structures arranged so that the distance between the thin-walled portion and the second thin-walled portion of the other structure is the same, the central rigid body portion of the one structure, and the central rigid body of the other structure A connecting rigid body part for connecting the connecting rigid body part by a third through hole formed at a position adjacent to the central part of the connecting rigid body part on the one structure side of the connecting rigid body part The center of the connecting rigid body portion formed and in a direction perpendicular to the length direction of the central rigid body portion and the predetermined direction A fifth thin-walled portion that expands and contracts in response to a force acting on the one side of the connecting rigid body portion and adjacent to the central portion of the connecting rigid body portion, and the third penetration Formed by a fourth through hole formed at a first distance away from the hole in the length direction of the central rigid part of the one structure, and the orthogonal part of the central part of the connecting rigid part A thin-walled sixth thin-walled portion that expands and contracts in response to a force acting on the other side of the connecting rigid body portion and adjacent to the central portion of the connecting rigid-body portion; Depending on the force acting in the orthogonal direction at the central part of the connecting rigid body part, formed by a fifth through hole formed at a second distance away from the through hole in the orthogonal direction. A thin-walled seventh thin-walled portion and the other of the connecting rigid-body portion On the other side of the structure and adjacent to the central part of the connecting rigid body part and away from the fifth through hole by the first distance in the length direction of the central rigid body part of the other structure It is formed by a sixth through-hole formed at a position, and includes an eighth thin-walled portion that expands and contracts in response to the force acting in the orthogonal direction at the central portion of the connecting rigid body portion. The connecting rigid body portion, the first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the other thin portion. Four first strain gauges attached to the second thin part of the structure, the first thin part of the one structure, the second thin part of the one structure, and the other Attached to the first thin part of the structure and the second thin part of the other structure. Four second strain gauges, the first thin part of the one structure, the second thin part of the one structure, the first thin part of the other structure, and Four third strain gauges attached to the second thin part of the other structure, the third thin part of the one structure, and the fourth thin part of the one structure , Four third strain gauges attached to the third thin-walled portion of the other structure, and the fourth thin-walled portion of the other structure, the fifth thin-walled portion, the sixth 4th strain gauges attached to the thin-walled portion, the seventh thin-walled portion, and the eighth thin-walled portion, the fifth thin-walled portion, the sixth thin-walled portion, and the seventh thin-walled portion Part and four sixth strain gauges attached to the eighth thin part.

  According to the force meter of the third invention, a force in a predetermined direction acting on the connecting rigid body portion using the first strain gauge, the second strain gauge, and the third strain gauge, and the connecting rigid body portion It is possible to detect the moment around the axis in the direction perpendicular to the predetermined direction acting and the length direction of the central rigid body portion, and the moment around the axis in the length direction of the central rigid body portion acting on the connecting rigid body portion. Further, according to the force meter of the third invention, the force in the length direction acting on the connecting rigid body portion using the fourth strain gauge, the fifth strain gauge, and the sixth strain gauge, and the connection It is possible to detect a moment around an axis in a predetermined direction that acts on the rigid body portion and a force in a direction orthogonal to the predetermined direction and the length direction that acts on the rigid coupling portion. That is, the component force meter of the third invention functions as a six component force meter.

  According to the force meter of the third invention, by adjusting the length of the central rigid body portion at the time of design, the detection sensitivity of the force in the predetermined direction acting on the central portion of the connecting rigid body portion, the force in the length direction Without affecting the detection sensitivity and the detection sensitivity of the force in the orthogonal direction, the predetermined direction acting on the central portion of the connecting rigid body portion and the axis in the direction orthogonal to the length direction of the central rigid body portion. The moment detection sensitivity can be adjusted.

  According to the force meter of the third invention, the distance between the third through hole and the fourth through hole and the distance between the fifth through hole and the sixth through hole are adjusted at the time of designing. By adjusting the length of the central part in the length direction, the detection sensitivity of the force in the predetermined direction, the detection sensitivity of the force in the length direction, and the detection sensitivity of the force in the orthogonal direction are affected. Without affecting, the detection sensitivity of the moment around the axis in the predetermined direction acting on the central portion of the connecting rigid body portion can be adjusted.

  Further, according to the force meter of the third invention, at the time of designing, the distance between the first thin portion of one structure and the first thin portion of the other structure (the second thickness of the one structure). By adjusting the distance between the thin wall portion and the second thin wall portion of the other structure), the force detection sensitivity in a predetermined direction, the force detection sensitivity in the length direction, and the force detection sensitivity in the orthogonal direction The detection sensitivity of the moment about the longitudinal axis acting on the central portion of the connecting rigid body portion can be adjusted without affecting the connection.

  Therefore, according to the force meter of the third invention, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  The four first strain gauges are, for example, a connecting portion between one end of the central rigid body portion of the one structure and the first thin-walled portion, and the other end of the central rigid body portion of the one structure. And the second thin-walled portion, one end of the central rigid body portion of the other structure and the first thin-walled portion, and the other end of the central rigid body portion of the other structure. And the second thin-walled portion.

  The four second strain gauges are, for example, a connecting portion between one tip of the pair of struts of the one structure and the first thin portion, and the pair of struts of the one structure. A connecting portion between the other tip portion of the pair and the second thin portion, a connecting portion between one tip portion of the pair of struts of the other structure and the first thin portion, and the other structure. Are attached to a connecting portion between the other tip portion of the pair of support columns and the second thin portion.

  In addition, the four third strain gauges are, for example, a connecting portion between one tip portion of the pair of struts of the one structure and the first thin portion, and the central rigid body portion of the one structure. A connection portion between the other end of the second structure and the second thin portion, a connection portion between the one end of the central rigid body portion of the other structure and the first thin portion, and the pair of struts of the other structure. Is attached to a connecting portion between the other tip portion of the second thin portion and the second thin portion.

  The four fourth strain gauges are, for example, upper end portions in the vertical direction of the third thin portion of the one structure, and upper end portions in the vertical direction of the fourth thin portion of the one structure. And the lower end portion in the vertical direction of the third thin portion of the other structure, and the lower end portion in the vertical direction of the fourth thin portion of the other structure.

  Further, the four fifth strain gauges are, for example, the end portion of the fifth thin-walled portion that is opposite to the side where the central portion of the connecting rigid-body portion is adjacent, and the connecting rigid body of the sixth thin-walled portion. An end opposite to the side where the central part is adjacent, an end opposite to the side where the central part of the connecting rigid body part of the seventh thin part is adjacent, and the eighth thin part A central portion of the connecting rigid body portion is attached to an end portion opposite to the adjacent side.

  The four sixth strain gauges are, for example, an end portion of the fifth thin portion on the side where the central portion of the connecting rigid body portion is adjacent, and a center portion of the connecting thin rigid body portion of the sixth thin portion. An end portion on the side where the portion is adjacent, an end portion on the side where the center portion of the connecting rigid body portion of the seventh thin portion is adjacent, and a center portion of the connecting rigid body portion of the eighth thin portion are adjacent It is attached to the end part on the side.

  In order to achieve the above object, a force meter according to a fourth aspect of the present invention includes a pair of struts having a predetermined height extending from the base body in a predetermined direction at a predetermined interval, and a force receiving surface on the upper surface. A central rigid body portion having a thickness smaller than a height of the support column and a length shorter than the predetermined interval, and one end of the central rigid body portion connected to one tip portion of the pair of support columns on the upper surface side of the central rigid body portion; A thin first thin wall portion that expands and contracts in response to a force acting in the predetermined direction of the central rigid body portion, and the other end of the central rigid body portion on the upper surface side of the central rigid body portion on the other side of the pair of struts Connected to the tip, and formed by a thin second thin part that expands and contracts in response to the force acting in the predetermined direction of the central rigid part, and a first through hole formed on one end side of the base. And according to the force acting in the longitudinal direction of the central rigid body portion. The thin-walled third thin-walled portion and the second through-hole formed on the other end side of the base and the thin-walled first-wall that expands and contracts according to the force acting in the length direction of the central rigid body portion. Two thin-walled parts, and the distance between the first thin-walled part of one structure and the first thin-walled part of the other structure, and the second Two structures arranged so that the distance between the thin-walled portion and the second thin-walled portion of the other structure is the same, the central rigid body portion of the one structure, and the central rigid body of the other structure A connecting rigid body part for connecting the connecting rigid body part by a third through hole formed at a position adjacent to the central part of the connecting rigid body part on the one structure side of the connecting rigid body part The center of the connecting rigid body portion formed and in a direction perpendicular to the length direction of the central rigid body portion and the predetermined direction A fifth thin-walled portion that expands and contracts in response to a force acting on the one side of the connecting rigid body portion and adjacent to the central portion of the connecting rigid body portion, and the third penetration Formed by a fourth through hole formed at a first distance away from the hole in the length direction of the central rigid part of the one structure, and the orthogonal part of the central part of the connecting rigid part A thin-walled sixth thin-walled portion that expands and contracts in response to a force acting on the other side of the connecting rigid body portion and adjacent to the central portion of the connecting rigid-body portion; Depending on the force acting in the orthogonal direction at the central part of the connecting rigid body part, formed by a fifth through hole formed at a second distance away from the through hole in the orthogonal direction. A thin-walled seventh thin-walled portion, the other of the connecting rigid-body portions On the structure side, adjacent to the central portion of the connecting rigid body portion, and away from the fifth through hole in the length direction of the central rigid body portion of the other structure at the first distance. An eighth thin-walled portion formed by the formed sixth through-hole and extending and contracting according to the force acting in the orthogonal direction at the central portion of the connecting rigid body portion, at the center of the central portion The four opposing edges of the four edges formed by the provided square through holes are connected to the force receiving portion and expands and contracts according to the force acting in the length direction of the force receiving portion. Connects the force receiving portion with two opposing edges that are different from the two sides among the four thin edges of the ninth thin wall portion and the four edges formed by the rectangular through hole, and the force receiving portion. The two thin tenths that expand and contract in response to the force acting in the orthogonal direction A connecting rigid body portion including a meat portion; the first thin portion of the one structure; the second thin portion of the one structure; and the first thin portion of the other structure. Four first strain gauges attached to the thin-walled portion and the second thin-walled portion of the other structure, the first thin-walled portion of the one structure, and the first of the one structure Two thin-walled portions, the first thin-walled portion of the other structure, and the four second strain gauges attached to the second thin-walled portion of the other structure, Attached to the first thin part, the second thin part of the one structure, the first thin part of the other structure, and the second thin part of the other structure Four third strain gauges, the third thin portion of the one structure, and the fourth of the one structure A thin portion, four fourth strain gauges attached to the third thin portion of the other structure, and the fourth thin portion of the other structure, the fifth thin portion, Four fifth strain gauges attached to the sixth thin part, the seventh thin part, and the eighth thin part, one of the two tenth thin parts, and the two Four tenths attached to the other two places of the tenth thin-walled parts, or two places of one of the two ninth thin-walled parts, and the other two places of the two ninth thin-walled parts With strain gauge.

  According to the force meter of the fourth invention, a force in a predetermined direction acting on the force receiving portion of the connecting rigid body portion using the first strain gauge, the second strain gauge, and the third strain gauge, and the connection Moment in the direction perpendicular to the predetermined direction acting on the force receiving portion of the rigid body portion and the length direction of the central rigid portion, and the length direction of the central rigid portion acting on the force receiving portion of the connecting rigid portion A moment around the axis can be detected.

  Further, according to the force meter of the fourth invention, the force in the length direction acting on the force receiving portion of the connecting rigid body portion can be detected using the fourth strain gauge, and the fifth strain is detected. The force in the direction orthogonal to the predetermined direction and the length direction acting on the force receiving portion of the connecting rigid body portion can be detected using a gauge. Furthermore, it is possible to detect a moment around an axis in a predetermined direction that acts on the force receiving portion of the connecting rigid body portion using the sixth strain gauge. That is, the component force meter of the fourth invention functions as a six component force meter.

  According to the force meter of the fourth aspect of the invention, by adjusting the length of the central rigid body portion at the time of designing, the force detection sensitivity in a predetermined direction, the force detection sensitivity in the length direction, and the orthogonal direction It is possible to adjust the detection sensitivity of the moment about the axis in the direction orthogonal to the predetermined direction and the length direction of the central rigid body portion acting on the force receiving portion of the connecting rigid body portion without affecting the force detection sensitivity. it can.

  Further, according to the force meter of the fourth invention, at the time of designing, the size (length) of the length direction of the force receiving portion (the length direction of the central rigid body portion) and the length direction of the force receiving portion By adjusting the magnitude of the orthogonal direction, the sixth distortion can be obtained without affecting the force detection sensitivity in the predetermined direction, the force detection sensitivity in the length direction, and the force detection sensitivity in the orthogonal direction. The detection sensitivity of the moment about the axis in the predetermined direction acting on the force receiving portion of the rigid connecting portion of the gauge can be adjusted.

  Furthermore, according to the force meter of the fourth invention, at the time of designing, the distance between the first thin portion of one structure and the first thin portion of the other structure (the second thickness of one structure). By adjusting the distance between the thin wall portion and the second thin wall portion of the other structure), the force detection sensitivity in a predetermined direction, the force detection sensitivity in the length direction, and the force detection sensitivity in the orthogonal direction The detection sensitivity of the moment around the longitudinal axis acting on the force receiving portion of the connecting rigid body portion can be adjusted without affecting the force.

  Therefore, according to the force meter of the fourth aspect of the invention, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In addition, by adopting such a configuration, it is possible to reduce the size as compared with a conventional force meter (for example, it is possible to design a thin thickness), and it is easy to incorporate into various detection objects. Become.

  The four first strain gauges are, for example, a connecting portion between one end of the central rigid body portion of the one structure and the first thin-walled portion, and the other end of the central rigid body portion of the one structure. And the second thin-walled portion, one end of the central rigid body portion of the other structure and the first thin-walled portion, and the other end of the central rigid body portion of the other structure. And the second thin-walled portion.

  The four second strain gauges are, for example, a connecting portion between one tip of the pair of struts of the one structure and the first thin portion, and the pair of struts of the one structure. A connecting portion between the other tip portion of the pair and the second thin portion, a connecting portion between one tip portion of the pair of struts of the other structure and the first thin portion, and the other structure. Are attached to a connecting portion between the other tip portion of the pair of support columns and the second thin portion.

  In addition, the four third strain gauges are, for example, a connecting portion between one tip portion of the pair of struts of the one structure and the first thin portion, and the central rigid body portion of the one structure. A connection portion between the other end of the second structure and the second thin portion, a connection portion between the one end of the central rigid body portion of the other structure and the first thin portion, and the pair of struts of the other structure. Is attached to a connecting portion between the other tip portion of the second thin portion and the second thin portion.

  The four fourth strain gauges are, for example, upper end portions in the vertical direction of the third thin portion of the one structure, and upper end portions in the vertical direction of the fourth thin portion of the one structure. And the lower end portion in the vertical direction of the third thin portion of the other structure, and the lower end portion in the vertical direction of the fourth thin portion of the other structure.

  Further, the four fifth strain gauges are, for example, the end portion of the fifth thin-walled portion that is opposite to the side where the central portion of the connecting rigid-body portion is adjacent, and the connecting rigid body of the sixth thin-walled portion. An end opposite to the side where the central part is adjacent, an end opposite to the side where the central part of the connecting rigid body part of the seventh thin part is adjacent, and the eighth thin part A central portion of the connecting rigid body portion is attached to an end portion opposite to the adjacent side. The four fifth strain gauges are, for example, an end portion of the fifth thin portion on the side where the central portion of the connecting rigid body portion is adjacent, and a center portion of the connecting thin rigid body portion of the sixth thin portion. An end portion on the side where the portion is adjacent, an end portion on the side where the center portion of the connecting rigid body portion of the seventh thin portion is adjacent, and a center portion of the connecting rigid body portion of the eighth thin portion are adjacent It is attached to the end part on the side.

  The four sixth strain gauges are, for example, both end portions of the surface on the one structure side in one of the two tenth thin portions, and the other in the other of the two tenth thin portions. It is attached to both ends of the surface on the structure side.

  Further, a reinforcing material for increasing the rigidity of the central rigid body portion may be attached to the central rigid body portion. Thereby, the rigidity of the central rigid body portion is increased, and the force and moment of the detection target can be detected with higher accuracy.

  Further, a reinforcing material for increasing the rigidity of the portion between the first through hole and the second through hole of the base is attached to the portion between the first through hole and the second through hole of the base. It may be. Thereby, the rigidity of the part between the 1st through-hole and 2nd through-hole of a base | substrate increases, and the force and moment of a detection target can be detected more accurately.

  As described above, according to the force meters of the first to fourth inventions, the moment detection sensitivity and the force detection sensitivity can be independently adjusted at the time of design more easily. . Moreover, according to each component force meter of the 1st-4th invention, compared with the conventional force meter, size reduction is attained and it becomes easy to incorporate with respect to various detection objects.

  As described above, according to the first to fourth force meters according to the present invention, the moment detection sensitivity and the force detection sensitivity can be independently adjusted at the time of design more easily. The effect of is obtained.

  Moreover, according to the 1st-4th force meter which concerns on this invention, compared with the conventional force meter, size reduction is attained and the effect that it becomes easy to incorporate with respect to various detection objects is acquired. .

It is a perspective view of the component force meter of a 1st embodiment. It is a front view of the component force meter of a 1st embodiment. It is a top view of the component force meter of a 1st embodiment. It is a block diagram of the component force meter of 1st Embodiment. By adjusting the length of the central rigid body portion at the time of design, the strain gauges P1 to P4 do not affect the detection sensitivity of the force (Fz) in a predetermined direction acting on the central rigid body portion by the strain gauges L1 to L4. It is a figure for demonstrating the reason which can adjust the detection sensitivity of the moment (My) around the axis | shaft (Y axis) of the orthogonal direction which acts on a center rigid body part. It is a diagram for explaining a detection sensitivity G _My and stiffness S'. It is a figure which shows an example of the bridge for Fz detection. It is a figure which shows an example of the bridge for My detection. It is a perspective view of the component force meter of 2nd Embodiment. It is a front view of the component force meter of 2nd Embodiment. It is a partial figure of the expanded view of the component force meter of 2nd Embodiment. It is a figure for demonstrating the distortion of four distortion gauges D1-D4. It is a perspective view of the component force meter of 3rd Embodiment. It is a partial figure of the expanded view of the component force meter of 3rd Embodiment. It is a figure for demonstrating distortion of each strain gauge. It is a perspective view of the component force meter of 4th Embodiment. It is a top view of the rigid part for a connection of the component force meter of 4th Embodiment. It is a partial figure of the expanded view of the component force meter of 4th Embodiment. It is a figure for demonstrating the distortion of four distortion gauges S1-S4. It is a perspective view of the component force meter of 5th Embodiment. It is a top view of the rigid part for connection of the component force meter of 5th Embodiment. It is a partial figure of the expanded view of the component force meter of 5th Embodiment. It is a figure for demonstrating distortion of four distortion gauges Y1-Y4. It is a perspective view of the component force meter of 6th Embodiment. It is a top view of the rigid part for a connection of the component force meter of 6th Embodiment. It is a partial figure of the expanded view of the component force meter of 6th Embodiment. It is a figure for demonstrating distortion of four distortion gauges Y1-Y4. It is a figure for demonstrating the reinforcing material for improving the rigidity of a center rigid body part. It is a figure for demonstrating the reinforcing material for improving the rigidity of the part between the 1st through-hole of a base | substrate, and a 2nd through-hole. It is a figure for demonstrating the integral-molding type component force meter.

  Hereinafter, embodiments of a force meter of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
First, the first embodiment will be described. FIG. 1 is a perspective view of a component force meter 10 according to the first embodiment. FIG. 2 is a front view of the force meter 10 according to the first embodiment. FIG. 3 is a top view of the force meter 10 of the first embodiment.

  As shown in FIGS. 1 and 2, the force meter 10 includes, for example, one surface of a rectangular parallelepiped rigid body as a force receiving surface 11, one surface orthogonal to the force receiving surface 11 as a processing surface 12, and the processing surface 12. On the other hand, two through holes 13 and 14 are provided at a position equidistant from the force receiving surface 11 so that the space between the force receiving surface 11 is thin. The thin-walled portions formed by the two through holes 13 and 14 are referred to as thin-walled portions (strain-generating portions) 15 and 16. And in the force meter 10, the through-hole connection part 17 is provided so that it may be shown in figure. This through-hole connecting portion 17 is a hole formed by connecting two through-holes 13 and 14, and the presence of this through-hole connecting portion 17 causes the central rigid body portion 18 in FIG. When a force in the direction (perpendicular to the force receiving surface 11) is applied, the thin portions 15 and 16 expand and contract.

  That is, as shown in FIG. 4, the component force meter 10 of the present embodiment extends from the base body 1 in a predetermined direction (a height direction of the support column 19, a direction perpendicular to the force receiving surface 11) at a predetermined interval. A pair of support columns 19 (19a, 19b) having a predetermined height, and a force receiving surface 11 on the upper surface, and a central rigid body portion 18 having a thickness smaller than the height of the support columns 19 and shorter than the predetermined interval are provided. ing.

  The thin-walled portion 15 connects one end of the central rigid body portion 18 to the tip end portion of one of the pair of support columns 19 (support column 19a) on the upper surface side of the central rigid body portion 18, and the force acting on the central rigid body portion 18 in the predetermined direction. It is a thin-walled member that expands and contracts in response to. The thin-walled portion 16 connects the other end of the central rigid body portion 18 to the tip of the other of the pair of support columns 19 (support column 19b) on the upper surface side of the central rigid body portion 18, and in the predetermined direction of the central rigid body portion 18. It is a thin member that expands and contracts in response to the acting force. The thin portion 15 corresponds to, for example, a first thin portion, and the thin portion 16 corresponds to, for example, a second thin portion.

  In addition, a strain gauge P4 is attached to a connecting portion between the one end of the central rigid body portion 18 and the thin-walled portion 15 (more specifically, an end of the thin-walled portion 15 on the central rigid body portion 18 side). A strain gauge P1 is attached to a connecting portion (more specifically, an end of the thin portion 15 on the side of the support 19a) with one end of the support column 19 (the support column 19a), and the other end of the central rigid body portion 18 is connected to the thin wall portion. A strain gauge P3 is attached to a connecting portion with the portion 16 (more specifically, an end portion on the central rigid body portion 18 side of the thin portion 16), and the distal end of the thin portion 16 and the other of the pair of support columns 19 (support column 19b). A strain gauge P <b> 2 is attached to a portion connected to the portion (more specifically, an end portion of the thin portion 16 on the column 19 b side). The four strain gauges P1 to P4 correspond to, for example, the first strain gauge of the first invention. That is, the four strain gauges P <b> 1 to P <b> 4 are attached to two locations of the thin portion 15 and two locations of the thin portion 16.

  In addition, a strain gauge L1 is attached to a connecting portion between the one end of the central rigid body portion 18 and the thin wall portion 15 (more specifically, an end portion of the thin wall portion 15 on the central rigid body portion 18 side). A strain gauge L2 is attached to a connecting portion (more specifically, an end portion of the thin wall portion 15 on the column 19a side) of one of the support columns 19 (the support column 19a), and the other end of the central rigid body portion 18 is connected to the thin wall portion. The strain gauge L3 is attached to the connecting portion with the portion 16 (more specifically, the end of the thin portion 16 on the central rigid body portion 18 side), and the other end of the thin portion 16 and the pair of support posts 19 (the support posts 19b). A strain gauge L4 is attached to a portion connected to the portion (more specifically, an end portion of the thin portion 16 on the column 19b side). The four strain gauges L1 to L4 correspond to, for example, the second strain gauge of the first invention. That is, the four strain gauges L <b> 1 to L <b> 4 are attached to two locations of the thin portion 15 and two locations of the thin portion 16.

  Although details of an example of a specific detection method will be described later, using a known technique, a predetermined direction (normal line of the force receiving surface 11) acting on the central rigid body portion 18 using the four strain gauges L1 to L4. The force in the vector direction (perpendicular to the force receiving surface 11) can be detected, and around the axis in the orthogonal direction acting on the central rigid body portion 18 using the four strain gauges P1 to P4. Can be detected. That is, the component force meter 10 of the present embodiment functions as a two component force meter.

  In the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction is the predetermined direction. In the following description, Ff represents a force acting in the f-axis direction, and Mm represents a moment acting around the m-axis.

  According to the structure of the force meter 10 of the present embodiment, by adjusting the length d of the central rigid body portion 18 at the time of designing, a predetermined direction acting on the central rigid body portion by the strain gauges L1 to L4 is adjusted. It is possible to adjust the detection sensitivity of the moment (My) around the axis (Y axis) in the orthogonal direction acting on the central rigid body portion 18 by the strain gauges P1 to P4 without affecting the detection sensitivity of the force (Fz). it can. The reason will be described below.

For example, when Fz having a size of 2F acts on the central rigid body portion 18 as shown in FIG. 5A, the strains of the strain gauges L2 and L4 become + ε as shown in FIG. The distortion of L1 and L3 is −ε. When Fz acts on the central rigid body portion 18 in this way, it is considered that a strain having the same absolute value of the theoretical size is generated in each of the strain gauges L1 to L4. At this time, the magnitude of Fz acting on one of the two thin portions (strain plate) 15 and 16 is considered to be F. In this case the detection sensitivity _{G Fz} of Fz with thin portions 15 and 16 can be represented by the following formula (1), also the stiffness S of the thin portions 15 and 16 be represented by the following formula (2) it can.

However, in the equations (1) and (2), as shown in FIG. 5B, δ is the deflection of the thin portions 15, 16, L is the length of the thin portions 15, 16, and t is the thin portion 15, 16. The thickness of 16 is b, the width of the thin portions 15 and 16, and E is the Young's modulus (material characteristics) of the material. Note that, as is clear from the equations (1) and (2), the detection sensitivity _GFz and the stiffness S are in a contradictory relationship with respect to L, t, and b.

Further, as shown in FIG. 6, when My having a size M (= F · (d / 2) · 2 = F · d) acts on the central rigid body portion 18, as shown in FIG. The strain gauges P1 and P3 have a strain of + ε, and the strain gauges P2 and P4 have a strain of −ε. When My acts on the central rigid body portion 18 in this way, it is considered that a strain having the same absolute value of the theoretical size is generated in each of the strain gauges P1 to P4. At this time, My detection sensitivity G _My using the thin portions 15 and 16 can be expressed by the following equation (3), and the rigidity S ′ of the thin portions 15 and 16 can be expressed by the following equation (4). Can do.

  Where d is the length of the central rigid body portion, δ is the deflection of the thin wall portions 15, 16, L is the length of the thin wall portions 15, 16, t is the thickness of the thin wall portions 15, 16, and b is the thin wall portion 15, 16. The width of 16 and E is the Young's modulus (material characteristics) of the material.

Thus, as is clear from equation (1) to (4), at design time, by adjusting the length d of the central portion, without affecting the detection sensitivity G _Fz and stiffness S, the detection sensitivity G _My and stiffness S 'Can be adjusted.

  Thus, according to the force meter 10 of the present embodiment, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  An example of a method for detecting Fz and My will be described. For example, as shown in FIG. 7, Fz (the force in the predetermined direction acting on the central rigid body portion 18) detected so that the strain gauges L1 and L3 face each other and the strain gauges L2 and L4 face each other is detected. As shown in FIG. 8, the strain gauges P1 and P3 are opposed to each other, and the strain gauges P2 and P4 are opposed to My (in the above-described orthogonal direction acting on the central rigid body portion 18). Based on the output voltage of the Fz detection bridge to which the bridge application voltage e is applied and the output voltage of the My detection bridge to which the bridge application voltage e is applied, using the detection bridge) My can be detected.

For example, when the center of the force receiving surface 11 of the central rigid body portion 18 is set as the position of the test center, and Fz and My act on the central rigid body portion 18 independently, the input (acting) weight is i (i = Fz, In terms of My), a two-component vector voltage output (V ⁱ _{2 × 1} ) for two bridge axes with respect to the input i is expressed by the following equation (α ⁱ _{2 × 1} ) using a constant α ⁱ _{2 × 1} determined from the detection result: 5), and can be expressed as in equation (6).

Here, the α ⁱ _{Fz bridge} is a constant corresponding to the Fz bridge when i (i = Fz, My) acts, and the α ⁱ _{My bridge} is the case where i (i = Fz, My) acts. It is a constant corresponding to the My bridge, the V ⁱ _{Fz bridge} is the output voltage of the Fz bridge when i (i = Fz, My) acts, and the V ⁱ _{My bridge} is acted by i (i = Fz, My) Is the output voltage of the My bridge.

In addition, the value of each constant α ⁱ _{j bridge} (i = j = Fz, My) can be obtained by a test experiment. In addition, α ⁱ _{j bridge} (i ≠ j) is for a so-called crosstalk component and is theoretically 0, but in practice, it may be a value other than 0 depending on the structure of the force meter. is there.

Next, each force (Fz in the present embodiment) and moment (My in the present embodiment) as at the time of verification do not act independently, but force and moment are combined and act on the verification center at the same time. Considering the case, the two-component force bridge output voltage (V _{2 × 1} ) at this time is obtained by linearly adding the output voltages when each force and each moment included in the composite weight act independently. Since it is considered, V _{2 × 1} can be expressed by the following formula (7).

Here, when the 2 × 2 matrix by α ⁱ _{2 × 1} is represented by A and the two component force vector (Fz, My) is represented by F _{2 × 1} , the following equations (8), (9) and Become.

Therefore, by using the inverse matrix A ⁻¹ of the constant matrix A obtained in advance by the test experiment, F _{2 × 1} (Fz, My) can be obtained as shown in the following formula (10).

  In addition, assuming that force and moment are acting on the test center, when converting the two component force measured (detected) as described above to the two component force acting on an arbitrary point, known coordinate conversion By performing the calculation, it is possible to detect the two component forces acting on an arbitrary point.

  The component force meter 10 of the present embodiment has been described above. According to the force meter 10 of the present embodiment, it is possible to easily and independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design. Further, by configuring as described above, it is possible to reduce the size (for example, it is possible to reduce the thickness) as compared with the conventional component force meter, and it is easy to incorporate into various detection objects. The effect of is obtained. For example, the component force meter 10 of the present embodiment can be incorporated into a vehicle model vibration experiment apparatus in which a measurement target is a vehicle model of about ¼ scale (for example, a total length of about 1 m).

  Moreover, the attachment position of each strain gauge L1-L4 and P1-P4 demonstrated by this Embodiment is an example, and is not restricted to said content. The mounting position can be changed according to the force and moment to be detected.

  The order of the strain gauges L1 to L4 and P1 to P4 described in the present embodiment on the bridge configuration (positions of the strain gauges L1 to L4 and P1 to P4 on the bridge configuration) is also an example, and is detected. Any form may be used as long as it can be changed according to the force and moment to be detected and the force and moment to be detected can be detected appropriately.

[Second Embodiment]
Next, a second embodiment will be described. The same parts as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted. FIG. 9 is a perspective view of the force meter 20 according to the second embodiment. FIG. 10 is a front view of the force meter 20 according to the second embodiment. FIG. 11 is a partial development view of the component force meter 20 according to the second embodiment.

  As shown in FIGS. 9 and 10, the component force meter 20 of the present embodiment includes a thin-walled thin portion 22 formed by a through-hole 21 formed on one end side of the processed surface 12 of the base 1, and A thin-walled portion 24 formed by a through-hole 23 formed on the other end side of the processed surface 12 of the substrate 1 is provided.

  The thin portion 22 and the thin portion 24 are formed so as to expand and contract in accordance with the force acting in the length direction (X-axis direction) of the central rigid portion 18. The thin portion 22 corresponds to, for example, a third thin portion, and the thin portion 24 corresponds to, for example, a fourth thin portion.

  That is, the force meter 20 of the present embodiment has a pair of struts having a predetermined height extending from the base body 1 in a predetermined direction (a height direction of the support column 19 and a direction perpendicular to the force receiving surface 11) at a predetermined interval. 19 (19a, 19b), in addition to the central rigid body portion 18 and the two thin-walled portions 15, 16 having the force receiving surface 11 on the upper surface, the thickness being thinner than the height of the support column 19 and the length being shorter than the predetermined interval, A thin portion 22 and a thin portion 24 are provided.

  Further, as shown in FIGS. 9, 10 and 11, there are four distortions at both ends in the vertical direction (Z-axis direction) of the thin portion 22 and both ends in the vertical direction of the thin portion 24. Gauges D1-D4 are attached. More specifically, the strain gauge D1 is attached to the lower end portion of the thin portion 22, the strain gauge D2 is attached to the upper end portion of the thin portion 22, and the strain gauge D3 is attached to the lower end portion of the thin portion 24. D 4 is attached to the upper end portion of the thin portion 24. The four strain gauges D1 to D4 correspond to, for example, the third strain gauge of the first invention. That is, the four strain gauges D <b> 1 to D <b> 4 are attached to two locations of the thin portion 22 and two locations of the thin portion 24.

  Here, when only the force in the X-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges D1 to D4 theoretically have values as shown in FIG. That is, the strain gauges D1 and D4 have a strain of + ε, and the strain gauges D2 and D3 have a strain of −ε. In the example of FIG. 12, it is assumed that a force is acting in the direction of the arrow.

  As for a specific detection method, using the technique described in the first embodiment, a predetermined direction (power receiving surface) acting on the central rigid body portion 18 using the four strain gauges L1 to L4. 11 in the direction of the normal vector (direction perpendicular to the force receiving surface 11), the Z-axis direction), and the force acting on the central rigid body 18 using the four strain gauges P1 to P4. It is possible to detect moments about the axes in the orthogonal direction, and to detect force in the length direction (X-axis direction) acting on the central rigid body portion 18 using the four strain gauges D1 to D4. it can. That is, the component force meter 20 of the present embodiment functions as a three component force meter.

  As in the first embodiment, in the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction. Is the predetermined direction. Similarly to the first embodiment, Ff represents a force acting in the f-axis direction, and Mm represents a moment acting around the m-axis.

According to the structure of the force meter 20 of the present embodiment, as in the first embodiment, the strain gauges L1 to L4 are adjusted by adjusting the length d of the central rigid body portion 18 at the time of designing. and D1~D4 without affecting the detection sensitivity _{G Fx} detection sensitivity _{G Fz,} and longitudinal force in a predetermined direction of the force acting (Fz) (Fx) in the central rigid part by strain gauges P1~P4 It is possible to adjust the detection sensitivity G _My of the moment (My) around the axis (Y axis) in the orthogonal direction that acts on the central rigid body portion 18 due to. The detection sensitivity of My can be adjusted by adjusting the length d without affecting the detection sensitivity of Fx, as shown in the following equation (11). This is because _GFx does not depend on the parameter of length d.

  However, in Formula (11), L is the length of the thin portions 22, 24, t is the thickness of the thin portions 22, 24, b is the width of the thin portions 22, 24, and E is the Young's modulus (material characteristics) of the material. is there.

  The component force meter 20 of the present embodiment has been described above. According to the force meter 20 of the present embodiment, it is possible to obtain an effect that the detection sensitivity of the moment and the detection sensitivity of the force can be independently adjusted at the time of design. In addition, by configuring as described above, it is possible to reduce the size as compared with the conventional force meter, and it is possible to obtain an effect that it can be easily incorporated into various detection objects. The component force meter 20 of the present embodiment is, for example, a vehicle model vibration experiment apparatus in which the measurement object is a vehicle model of about ¼ scale (for example, a total length of about 1 m), as in the first embodiment. Can be incorporated into

  Moreover, the attachment position of each strain gauge L1-L4, P1-P4, and D1-D4 demonstrated by this Embodiment is an example, and is not restricted to said content. The mounting position can be changed according to the force and moment to be detected.

  Also, the order of the strain gauges L1 to L4, P1 to P4, and D1 to D4 in the bridge configuration (the positions of the strain gauges L1 to L4, P1 to P4, and D1 to D4 on the bridge structure) will be detected. Various forms are conceivable depending on the force and the moment, and any form may be used as long as the force and the moment to be detected can be appropriately detected (position).

[Third Embodiment]
Next, a third embodiment will be described. Parts similar to those in the first embodiment and the second embodiment are denoted by the same reference numerals, and description thereof is omitted. FIG. 13 is a perspective view of the force meter 30 according to the third embodiment. FIG. 14 is a partial development view of the force meter 30 according to the third embodiment.

  The component force meter 30 according to the present embodiment has a predetermined height extending from the base body 1 in a predetermined direction (a height direction of the support column 19 and a direction perpendicular to the force receiving surface 11) at a predetermined interval of the second embodiment. A pair of support columns 19 (19a, 19b), a force receiving surface 11 on the upper surface, a central rigid body portion 18 having a thickness smaller than the height of the support columns 19 and a length shorter than the predetermined interval, two thin portions 15, 16, two rigid structures 31 each including a thin portion 22 and a thin portion 24 are provided. This structure 31 corresponds to a structure obtained by removing 12 strain gauges (L1 to L4, P1 to P4, D1 to D4) from the force meter 20 of the second embodiment.

  The two structures 31 are arranged such that the processed surface 12 of one structure 31 and the processed surface 12 of the other structure 31 are parallel to each other. That is, the distance between the thin part 15 of one structure 31 and the thin part 15 of the other structure 31 and the distance between the thin part 16 of one structure 31 and the thin part 16 of the other structure 31 are: The two structures 31 are arranged so as to be the same. More specifically, for example, the distance between the center position of the thin portion 15 of one structure 31 and the center position of the thin portion 15 of the other structure 31, and the center position of the thin portion 16 of the one structure 31. The two structures 31 are arranged so that the distance from the center position of the thin portion 16 of the other structure 31 is the same.

  That is, the force meter 30 according to the present embodiment includes a pair of support columns 19 having a predetermined height extending from the base body 1 in a predetermined direction with a predetermined interval, and a force receiving surface 11 on the upper surface, and the thickness of the support column 19 is increased. The central rigid body portion 18 that is thinner than the height and shorter than the predetermined interval, and one end of the central rigid body portion 18 are connected to the front end portion of one of the pair of support columns 19 (support column 19a) on the upper surface side of the central rigid body portion 18. In addition, the thin-walled thin portion 15 that expands and contracts according to the force acting in the predetermined direction of the central rigid body portion 18 and the other end of the central rigid body portion 18 on the upper surface side of the central rigid body portion 18 (the column 19b ) And a thin-walled thin portion 16 that expands and contracts in response to the force acting in the predetermined direction of the central rigid body portion 18, and a through-hole 21 formed on one end side of the base 1, and Acts in the length direction of the central rigid body 18 A thin-walled portion 22 that expands and contracts in response to a force and a through-hole 23 formed on the other end of the base 1, and a thin-walled portion that expands and contracts in response to a force acting in the length direction of the central rigid body portion 18. The two structures 31 having the thin portion 24, the distance between the thin portion 15 of one structure 31 and the thin portion 15 of the other structure 31, and the thin portion 16 of the one structure 31 Two structures 31 are arranged so that the distance from the thin portion 16 of the other structure 31 is the same.

  As shown in FIGS. 13 and 14, the force meter 30 of the present embodiment includes a connecting rigid body portion 32. The connecting rigid body portion 32 includes a force receiving surface 33 on the upper surface, and connects the central rigid body portion 18 of one structure 31 and the central rigid body portion 18 of the other structure 31 on the lower surface. The connecting rigid body portion 32 may connect the central rigid body portion 18 of one structure 31 and the central rigid body portion 18 of the other structure 31 on the side surface. That is, the connecting rigid body portion 32 connects the central rigid body portion 18 of one structure 31 and the central rigid body portion 18 of the other structure 31.

  A strain gauge R2 is attached to a connecting portion (more specifically, an end of the thin portion 15 on the central rigid portion 18 side) between one end of the central rigid portion 18 of one structure 31 and the thin portion 15. The strain gauge R4 is attached to the connecting portion (more specifically, the end of the thin portion 16 on the central rigid portion 18 side) between the other end of the central rigid body portion 18 and the thin portion 16 of the structure 31, and the other structure. The strain gauge R1 is attached to a connecting portion between the one end of the central rigid body portion 18 of the object 31 and the thin portion 15 (more specifically, the end of the thin portion 15 on the central rigid portion 18 side), and the other structure 31 is attached. The strain gauge R3 is attached to the connecting portion (more specifically, the end of the thin portion 16 on the central rigid portion 18 side) between the other end of the central rigid portion 18 and the thin portion 16. These four strain gauges R1 to R4 correspond to, for example, the first strain gauge of the second invention. That is, the strain gauges R <b> 1 to R <b> 4 are provided on the thin portion 15 of one structure 31, the thin portion 16 of one structure 31, the thin portion 15 of the other structure 31, and the thin portion 16 of the other structure 31. It is attached.

  Further, a strain gauge is connected to a connecting portion (more specifically, an end portion of the thin portion 15 on the side of the column 19a) of one of the pair of columns 19 of the one structure 31 (the column 19a) and the thin portion 15. P3 is attached, and the connecting portion between the tip of the other (support 19b) of the pair of support columns 19 of one structure 31 and the thin portion 16 (more specifically, the end of the thin portion 16 on the support 19b side). The strain gauge P4 is attached to the other structure 31 and the connecting portion between one end of the pair of support columns 19 (the support column 19a) and the thin portion 15 (more specifically, on the support portion 19a side of the thin portion 15). The strain gauge P <b> 1 is attached to the end portion, and the connecting portion (more specifically, the strut of the thin portion 16) between the tip end portion of the other strut 19 of the other structure 31 (the strut 19 b) and the thin portion 16. 19b side end) strain gauge P2 is attached To have. These four strain gauges P1 to P4 correspond to, for example, the second strain gauge of the second invention. That is, the strain gauges P <b> 1 to P <b> 4 are provided on the thin portion 15 of one structure 31, the thin portion 16 of one structure 31, the thin portion 15 of the other structure 31, and the thin portion 16 of the other structure 31. It is attached.

  Further, a strain gauge is connected to a connecting portion (more specifically, an end portion of the thin portion 15 on the side of the column 19a) of one of the pair of columns 19 of the one structure 31 (the column 19a) and the thin portion 15. L3 is attached, and the strain gauge L4 is connected to the connecting portion (more specifically, the end of the thin portion 16 on the central rigid portion 18 side) between the other end of the central rigid portion 18 and the thin portion 16 of one structure 31. Is attached, and a strain gauge L2 is attached to a connecting portion between the one end of the central rigid body portion 18 of the other structure 31 and the thin portion 15 (more specifically, an end portion of the thin portion 15 on the central rigid portion 18 side). The strain gauge is connected to the connecting portion (more specifically, the end of the thin portion 16 on the column 19b side) of the other portion (the column 19b) of the pair of columns 19 of the other structure 31 and the thin portion 16. L1 is attached. These four strain gauges L1 to L4 correspond to, for example, the third strain gauge of the second invention. That is, the strain gauges L <b> 1 to L <b> 4 are provided on the thin portion 15 of one structure 31, the thin portion 16 of one structure 31, the thin portion 15 of the other structure 31, and the thin portion 16 of the other structure 31. It is attached.

  Also, a strain gauge Y1 is attached to the lower end portion in the vertical direction of the thin portion 22 of one structure 31, and a strain gauge Y2 is attached to the lower end portion in the vertical direction of the thin portion 24 of one structure 31. A strain gauge Y3 is attached to the upper end portion in the vertical direction of the thin portion 22 of the structure 31, and a strain gauge Y4 is attached to the upper end portion in the vertical direction of the thin portion 24 of the other structure 31. These four strain gauges Y1 to Y4 correspond to, for example, the fourth strain gauge of the second invention. That is, the four strain gauges Y1 to Y4 include the thin portion 22 of one structure 31, the thin portion 24 of one structure 31, the thin portion 22 of the other structure 31, and the thin portion of the other structure 31. 24 is attached.

  Further, a strain gauge D3 is attached to the upper end portion in the vertical direction of the thin portion 22 of one structure 31, and a strain gauge D2 is attached to the upper end portion in the vertical direction of the thin portion 24 of one structure 31. The strain gauge D4 is attached to the lower end portion in the vertical direction of the thin portion 22 of the structure 31 and the strain gauge D1 is attached to the lower end portion in the vertical direction of the thin portion 24 of the other structure 31. These four strain gauges D1 to D4 correspond to, for example, the fifth strain gauge of the second invention. That is, the four strain gauges D1 to D4 include the thin portion 22 of one structure 31, the thin portion 24 of one structure 31, the thin portion 22 of the other structure 31, and the thin portion of the other structure 31. 24 is attached.

  Here, when only the force in the X-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges D1 to D4 theoretically have values as shown in FIG. That is, the strain gauges D2 and D4 have a strain of + ε, and the strain gauges D1 and D3 have a strain of −ε. In the example of FIG. 15A, it is assumed that a force is acting in the direction of the arrow.

  Further, when only the force in the Z-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges L1 to L4 theoretically have values as shown in FIG. That is, the strain gauges L1 and L3 have a strain of + ε, and the strain gauges L2 and L4 have a strain of −ε. In the example of FIG. 15B, it is assumed that a force is acting in the direction of the arrow.

  When only the moment acting around the axis in the Y-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges P1 to P4 theoretically have values as shown in FIG. It becomes. That is, the strain gauges P2 and P4 have a strain of + ε, and the strain gauges P1 and P3 have a strain of −ε. In the example of FIG. 15C, it is assumed that a moment is acting in the direction of the arrow.

  When only the moment acting around the axis in the X-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges R1 to R4 are theoretically values as shown in FIG. It becomes. That is, the strain of the strain gauges R2 and R4 is + ε, and the strain of the strain gauges R1 and R3 is −ε. In the example of FIG. 15D, it is assumed that a moment is acting in the direction of the arrow.

  Further, when only the moment acting around the axis in the Z-axis direction is applied to the central rigid body portion 18, the strains of the four strain gauges Y1 to Y4 are theoretically values as shown in FIG. It becomes. That is, the strain gauges Y1 and Y3 have a strain of + ε, and the strain gauges Y2 and Y4 have a strain of −ε. In the example of FIG. 15E, it is assumed that a moment is acting in the direction of the arrow.

  For a specific detection method, using the technique as described in the first embodiment, a predetermined direction (Z-axis) acting on the connecting rigid body portion 32 using the four strain gauges L1 to L4. Direction) force (Fz) can be detected, and the moment (My) about the axis in the orthogonal direction (Y-axis direction) acting on the connecting rigid body portion 32 using the four strain gauges P1 to P4. Can be detected, and the force (Fx) in the length direction (X-axis direction) acting on the connecting rigid body portion 32 can be detected using the four strain gauges D1 to D4. Further, in the component force meter 30 of the present embodiment, the moment (Mx) around the longitudinal axis (X-axis direction) acting on the connecting rigid body portion 32 is detected using the four strain gauges R1 to R4. The moment (Mz) about the axis in the predetermined direction (Z-axis direction) acting on the connecting rigid body portion 32 can be detected using the four strain gauges Y1 to Y4. That is, the component force meter 30 of the present embodiment functions as a five component force meter.

  As a method of assembling the bridge, strain gauges facing each other can be determined so that desired forces and moments can be detected using a conventionally known technique or the like.

  As in the first embodiment, in the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction. Is the predetermined direction. Similarly to the first embodiment, Ff represents a force acting in the f-axis direction, and Mm represents a moment acting around the m-axis.

  According to the structure of the force meter 30 of the present embodiment, as in the second embodiment, the strain gauges L1 to L4 are adjusted by adjusting the length d of the central rigid body portion 18 at the time of designing. And the center of the strain gauges P1 to P4 without affecting the detection sensitivity of the force (Fz) in the predetermined direction acting on the connecting rigid body portion 32 by D1 to D4 and the detection sensitivity of the force (Fx) in the length direction. The detection sensitivity of the moment (My) around the axis (Y axis) in the orthogonal direction acting on the rigid body portion 18 can be adjusted.

  The component force meter 30 of the present embodiment has been described above. According to the force meter 30 of the present embodiment, it is possible to obtain an effect that the detection sensitivity of the moment and the detection sensitivity of the force can be independently adjusted at the time of design. In addition, by configuring as described above, it is possible to reduce the size as compared with the conventional force meter, and it is possible to obtain an effect that it can be easily incorporated into various detection objects. The force meter 30 according to the present embodiment is a vehicle model (for example, a total length of about 1 m) whose measurement target is about ¼ scale, for example, as in the first and second embodiments. It can be incorporated into a certain vehicle model vibration experiment apparatus.

  Moreover, the attachment position of each strain gauge L1-L4, P1-P4, R1-R4, D1-D4, and Y1-Y4 demonstrated by this Embodiment is an example, and is not restricted to said content. The mounting position can be changed according to the force and moment to be detected.

  Also, the order of the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, and Y1 to Y4 on the bridge configuration (the strain gauges L1 to L4, P1 to P4, R1 to R4 on the bridge configuration) , D1 to D4, and positions Y1 to Y4) can take various forms depending on the force and moment to be detected, but in the order (position) in which the force and moment to be detected can be appropriately detected. Any form can be used.

[Fourth Embodiment]
Next, a fourth embodiment will be described. The description of the same parts as those in the first embodiment, the second embodiment, and the third embodiment will be omitted. FIG. 16 is a perspective view of a force meter 40 according to the fourth embodiment. FIG. 17 is a plan view of the connecting rigid part 41 of the force meter 40 according to the fourth embodiment. FIG. 18 is a part of a development view of the force meter 40 of the fourth embodiment. A force meter 40 according to the present embodiment includes a connecting rigid body portion 41 in which four thin holes are formed by providing four through holes in the connecting rigid body portion 32 of the force meter 30 according to the third embodiment. Each of the four strain gauges is attached to each of the four thin-walled portions so that the force in the Y-axis direction acting on the central portion 42 of the connecting rigid body portion 41 can be detected. The force meter 40 according to the present embodiment is obtained by simply performing a new process and attaching a strain gauge to the connecting rigid body portion as described above in the force meter 30 according to the third embodiment. The part is the same as in the third embodiment. Therefore, in the following description, the description will be made mainly on parts different from the third embodiment.

  Note that, as in the third embodiment, the component force meter 40 according to the present embodiment has a pair of struts 19 having a predetermined height extending from the base body 1 in a predetermined direction with a predetermined interval and a top surface. A central rigid body portion 18 having a force surface 11 and having a thickness smaller than the height of the support column 19 and a length shorter than the predetermined interval, and one end of the central rigid body portion 18 on the upper surface side of the central rigid body portion 18. The thin rigid portion 15 is connected to the distal end portion of the one (post 19a) and expands and contracts in response to the force acting in the predetermined direction of the central rigid portion 18, and the other end of the central rigid portion 18 is connected to the central rigid portion 18. Connected to the tip of the other of the pair of columns (columns 19b) on the upper surface side, the thin thin portion 16 that expands and contracts in response to the force acting in the predetermined direction of the central rigid body portion 18, and one end side of the base 1 Formed by the formed through-hole 21 and the central rigid The thin-walled thin portion 22 that expands and contracts according to the force acting in the length direction of the portion 18 and the through-hole 23 formed on the other end side of the base 1 and acts in the length direction of the central rigid portion 18. Two structures 31 each having a thin-walled thin portion 24 that expands and contracts according to the force to be applied, and the distance between the thin-walled portion 15 of one structure 31 and the thin-walled portion 15 of the other structure 31; There are two structures 31 arranged such that the distance between the thin part 16 of the structure 31 and the thin part 16 of the other structure 31 is the same.

  As shown in FIGS. 16, 17, and 18, the component force meter 40 of the present embodiment includes a connecting rigid body portion 41.

  The connecting rigid body portion 41 includes a thin-walled thin portion 44 formed by a through-hole 43 formed at a position adjacent to the center portion 42 on the one structure 31 side. The thin portion 44 expands and contracts according to the force acting in the Y-axis direction of the central portion 42.

  Further, the connecting rigid body portion 41 is adjacent to the central portion 42 on the one structure 31 side, and is predetermined in the X-axis direction from the through hole 43 (more specifically, the center position of the through hole 43). The thin portion 46 is formed by a through hole 45 having a center formed at a position separated by a first distance. The thin portion 46 expands and contracts according to the force acting in the Y-axis direction of the central portion 42.

  The connecting rigid body portion 41 is adjacent to the central portion 42 on the other structure 31 side and is determined in advance in the Y-axis direction from the through hole 43 (more specifically, the center position of the through hole 43). The thin portion 48 is formed by a through hole 47 having a center formed at a position separated by a second distance. The thin portion 48 expands and contracts according to the force acting in the Y-axis direction of the central portion 42.

  The connecting rigid body portion 41 is adjacent to the central portion 42 on the other structure 31 side, and is connected to the through hole 47 (more specifically, the center position of the through hole 47) in the X-axis direction. The thin-walled thin portion 50 is formed by a through-hole 49 having a center formed at a distance of 1 distance. The thin portion 50 expands and contracts according to the force acting in the Y-axis direction of the central portion 42.

  As described above, the thin portion 44, the thin portion 46, the thin portion 48, and the thin portion 50 are formed to expand and contract according to the force acting in the Y-axis direction of the central portion 42. The thin portion 44 corresponds to, for example, a fifth thin portion, the thin portion 46 corresponds to, for example, a sixth thin portion, and the thin portion 48 corresponds to, for example, a seventh thin portion, The thin portion 50 corresponds to, for example, an eighth thin portion.

  Further, a strain gauge S1 is attached to the opposite end of the thin portion 44 where the central portion 42 is adjacent, and a strain gauge S3 is attached to the opposite end of the thin portion 46 where the central portion 42 is adjacent. The strain gauge S4 is attached to the opposite end of the thin portion 48 where the central portion 42 is adjacent, and the strain gauge S2 is attached to the opposite end of the thin portion 50 where the central portion 42 is adjacent. It has been. These four strain gauges S1 to S4 correspond to, for example, the sixth strain gauge of the second invention.

  The strain gauge S4 is attached to the end of the thin portion 44 adjacent to the central portion 42, the strain gauge S2 is attached to the end of the thin portion 46 adjacent to the central portion 42, and the central portion of the thin portion 48 is attached. The strain gauge S1 may be attached to the end portion on the side where 42 is adjacent, and the strain gauge S3 may be attached to the end portion on the side where the central portion 42 of the thin portion 50 is adjacent.

  That is, the four strain gauges S <b> 1 to S <b> 4 are attached to the thin portion 44, the thin portion 46, the thin portion 48, and the thin portion 50.

  Each figure shows an example in which a force receiving portion is provided in the center of the central portion 42 so that force and moment are applied to the force receiving portion, but this force receiving portion can be omitted. There is a force and moment acting on the central portion 42 when the force receiving portion is omitted. Hereinafter, the expression “force and moment act on the central portion 42” means that if the force receiving portion is omitted, the force and moment act on the central portion 42. When the portion is provided, it means that force and moment act on the force receiving portion.

  Here, when only the force in the Y-axis direction acts on the central portion 42, the strains of the four strain gauges S1 to S4 theoretically have values as shown in FIG. That is, the strain gauges S2 and S4 have a strain of + ε, and the strain gauges S1 and S3 have a strain of −ε. In the example of FIG. 19, it is assumed that a force is acting in the direction of the arrow.

  About the force of the Y-axis direction which acts on the center part 42, it can detect using the technique which was demonstrated in said 1st Embodiment-3rd Embodiment. That is, the force Fy in the Y-axis direction acting on the central portion 42 can be detected using the four strain gauges S1 to S4. In the present embodiment, the force (Fz) in the predetermined direction (Z-axis direction) acting on the central portion 42 can be detected using the four strain gauges L1 to L4, and the four strain gauges P1. ~ P4 can be used to detect the moment (My) around the axis in the orthogonal direction (Y-axis direction) acting on the central part 42, and the central part 42 can be detected using four strain gauges D1 to D4. The acting force (Fx) in the length direction (X-axis direction) can be detected, and the length direction (X-axis direction) around the axis acting on the central portion 42 using the four strain gauges R1 to R4. The moment (Mx) of the predetermined direction (Z-axis direction) acting on the central portion 42 can be detected using the four strain gauges Y1 to Y4. Can do. Therefore, the component force meter 40 of the present embodiment functions as a six component force meter.

  Also in this embodiment, in the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction is the predetermined direction. The direction. Also in this embodiment, Ff represents the force acting in the f-axis direction, and Mm represents the moment acting around the m-axis.

According to the structure such as the force meter 40 of the present embodiment, by adjusting the length d of the central rigid body portion 18 at the time of designing based on the same principle as in the first embodiment and the like, strain gauge L1 to L4, D1 to D4, and the detection sensitivity _{G Fz} in the predetermined direction of the force (Fz) acting on the central portion 42 by S1 to S4, the detection sensitivity _{G Fx} of longitudinal force (Fx), and quadrature The detection sensitivity G of the moment (My) around the axis (Y axis) in the orthogonal direction acting on the central portion 42 of the strain gauges P1 to P4 without affecting the detection sensitivity G _{Fy My} can be adjusted. Fy detection sensitivity _{G Fy} without affecting the, can adjust the detection sensitivity _{G My} of My by adjusting the length d, as shown in Equation (12) below, the detection sensitivity of Fy _{G Fy} This is because the value of is not affected by the value of the length d.

  However, in Formula (12), L is the length of thin part 44,46,48,50, t is the thickness of thin part 44,46,48,50, b is the width of thin part 44,46,48,50. , E is the Young's modulus (material characteristics) of the material.

  As described above, according to the force meter 40 of the present embodiment, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  The component force meter 40 of the present embodiment has been described above. According to the force meter 40 of the present embodiment, it is possible to obtain an effect that the detection sensitivity of the moment and the detection sensitivity of the force can be independently adjusted at the time of design. In addition, by configuring as described above, it is possible to reduce the size as compared with the conventional force meter, and it is possible to obtain an effect that it can be easily incorporated into various detection objects. In the component force meter 40 of the present embodiment, for example, as in the first embodiment, a vehicle model vibration experiment in which the measurement target is a vehicle model of about ¼ scale (for example, a total length of about 1 m). It can be incorporated into the device.

  Moreover, the attachment positions of the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and S1 to S4 described in the present embodiment are examples, and are limited to the above contents. I can't. The mounting position can be changed according to the force and moment to be detected.

  Also, the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and the order of S1 to S4 on the bridge configuration (each of the strain gauges L1 to L4 and P1 to P4 on the bridge configuration). , R1 to R4, D1 to D4, positions Y1 to Y4, and S1 to S4) may take various forms depending on the force and moment to be detected, but the force and moment to be detected are appropriate. Any form may be used as long as the order (position) can be detected.

[Fifth Embodiment]
Next, a fifth embodiment will be described. Parts similar to those in the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment are denoted by the same reference numerals, and description thereof is omitted. FIG. 20 is a perspective view of a force meter 55 according to the fifth embodiment. FIG. 21 is a plan view of the connecting rigid portion 41 of the force meter 55 according to the fifth embodiment. FIG. 22 is a partial development view of the component force meter 55 according to the fifth embodiment. The difference between the force meter 55 of the present embodiment and the force meter 40 of the fourth embodiment is only the mounting positions of the four strain gauges Y1 to Y4, and the other configurations are the same. . Therefore, in the following description, it is mainly performed about a different part from 4th Embodiment.

  Note that, as in the third embodiment and the fourth embodiment, the component force meter 55 of the present embodiment is a pair of a predetermined height extending from the base body 1 in a predetermined direction at a predetermined interval. And the central rigid body portion 18 having a thickness smaller than the height of the support column 19 and shorter than the predetermined interval, and one end of the central rigid body portion 18 being connected to the central rigid body portion 18. A thin-walled thin portion 15 that is connected to the tip of one of the pair of columns 19 (columns 19a) on the upper surface side and expands and contracts in response to the force acting in the predetermined direction of the central rigid body portion 18, and the central rigid body portion 18 The other end is connected to the tip of the other of the pair of columns (column 19b) on the upper surface side of the central rigid body portion 18, and the thin-walled thin portion 16 that expands and contracts according to the force acting on the central rigid body portion 18 in the predetermined direction. And through holes 21 formed on one end side of the substrate 1. The central rigid body portion 18 is formed by a thin-walled thin portion 22 that is formed and expands and contracts in response to a force acting in the length direction of the central rigid body portion 18 and a through-hole 23 formed on the other end side of the base 1. Two structural bodies 31 having a thin-walled thin part 24 that expands and contracts in response to a force acting in the longitudinal direction of the first structural body 31 and the thin-walled part 15 of the other structural body 31. And the two structures 31 arranged so that the distance between the thin portion 16 of one structure 31 and the thin portion 16 of the other structure 31 is the same.

  As shown in FIGS. 20, 21, and 22, in the force meter 55 of the present embodiment, the strain gauge Y <b> 1 is attached to the end of the thin portion 44 on the side where the central portion 42 is adjacent to the thin portion 44. The strain gauge Y2 is attached to the end of the portion 46 adjacent to the central portion 42, the strain gauge Y4 is attached to the end of the thin portion 48 adjacent to the central portion 42, and the central portion 42 of the thin portion 50. A strain gauge Y3 is attached to the end of the adjacent side. These four strain gauges Y1 to Y4 of the present embodiment correspond to, for example, the sixth strain gauge of the third invention.

  The strain gauge Y4 is attached to the opposite end of the side where the central portion 42 of the thin portion 44 is adjacent, and the strain gauge Y3 is attached to the opposite end of the side where the central portion 42 of the thin portion 46 is adjacent, The strain gauge Y1 is attached to the opposite end of the thin portion 48 where the central portion 42 is adjacent, and the strain gauge Y2 is attached to the opposite end of the thin portion 50 where the central portion 42 is adjacent. Also good.

  That is, the four strain gauges Y <b> 1 to Y <b> 4 are attached to the thin portion 44, the thin portion 46, the thin portion 48, and the thin portion 50.

  Here, when only the moment around the axis in the Z-axis direction acts on the central portion 42, the strains of the four strain gauges Y1 to Y4 theoretically have values as shown in FIG. That is, the strain gauges Y1 and Y3 have a strain of + ε, and the strain gauges Y2 and Y4 have a strain of −ε. In the example of FIG. 23, it is assumed that a moment is acting in the direction of the arrow.

  The moment about the Z-axis direction acting on the central portion 42 can be detected by using the techniques described in the first to fourth embodiments. That is, the moment about the Z-axis direction acting on the central portion 42 can be detected using the four strain gauges Y1 to Y4. The component force meter 55 according to the present embodiment functions as a six component force meter.

  Also in this embodiment, in the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction is the predetermined direction. The direction. Also in this embodiment, Ff represents the force acting in the f-axis direction, and Mm represents the moment acting around the m-axis.

According to the structure such as the force meter 55 of the present embodiment, by adjusting the length d of the central rigid body portion 18 at the time of designing based on the same principle as that of the above-described fourth embodiment, gauge L1 to L4, D1 to D4, and by S1 to S4, the detection sensitivity _{G Fz} in the predetermined direction of the force applied to the central portion 42 (Fz), the detection sensitivity _{G Fx} of force in the longitudinal direction (X axis direction), And the moment (My) around the axis (Y axis) in the orthogonal direction acting on the central portion 42 by the strain gauges P1 to P4 without affecting the detection sensitivity _GFy of the force in the orthogonal direction (Y axis direction). The detection sensitivity can be adjusted.

Further, according to the structure such as the force meter 55 of the present embodiment, the center portion is adjusted by adjusting the distance between the through hole 43 and the through hole 45 and the distance between the through hole 47 and the through hole 49 at the time of design. by adjusting 42 the length direction of the size of the (length), a predetermined force detection sensitivity G _Fz, the detection sensitivity G _Fx in the length direction of the _force, and the detection sensitivity G of force to the orthogonal without affecting the _fy, it is possible to adjust the detection sensitivity G _Mz of the predetermined direction of the axis of the moment Mz acting on the central portion 42 by the strain gauge Y1 to Y4. As shown in the following equation (13), the size d ′ of the central portion 42 in the length direction affects the value of the detection sensitivity G _Mz of the moment Mz in the present embodiment. This is because the detection sensitivity G _Fz , the detection sensitivity G _Fx , and the detection sensitivity G _Fy are not affected.

  However, in Formula (13), L is the length of thin part 44,46,48,50, t is the thickness of thin part 44,46,48,50, b is the width of thin part 44,46,48,50. , E is the Young's modulus (material characteristics) of the material.

Furthermore, according to the structure such as the force meter 55 of the present embodiment, the distance between the thin portion 15 of one structure 31 and the thin portion 15 of the other structure 31 (one structure 31) is designed. of by adjusting the distance) D'' the thin portion 16 of the thin portion 16 and the other structure 31, the predetermined direction of the force detection sensitivity G _Fz, the detection sensitivity G _Fx of longitudinal _force, and the quadrature without affecting the detection sensitivity G _Fy of force that can adjust the detection sensitivity G _Mx in the length direction of the axis of the moment Mx acting on the central portion 42 by the strain gauge R1 to R4. This is because the distance d ″ between the thin portion 15 of one structure 31 and the thin portion 15 of the other structure 31 is the value of the detection sensitivity G _Mx of the moment Mx, as shown in the following formula (14). This is because, as described above, the values of the detection sensitivity G _Fz , the detection sensitivity G _Fx , and the detection sensitivity G _Fy are not affected.

  However, in Formula (14), L is the length of the thin parts 15 and 16, t is the thickness of the thin parts 15 and 16, b is the width of the thin parts 15 and 16, and E is the Young's modulus (material characteristic) of the material. is there.

  As described above, according to the force meter 55 of the present embodiment, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  In the above, the component force meter 55 of this Embodiment was demonstrated. According to the force meter 55 of the present embodiment, it is possible to obtain an effect that the detection sensitivity of the moment and the detection sensitivity of the force can be independently adjusted at the time of design. In addition, by configuring as described above, it is possible to reduce the size as compared with the conventional force meter, and it is possible to obtain an effect that it can be easily incorporated into various detection objects. In the component force meter 55 of the present embodiment, for example, as in the first embodiment, a vehicle model vibration experiment in which the measurement object is a vehicle model of about ¼ scale (for example, a total length of about 1 m). It can be incorporated into the device.

  Moreover, the attachment positions of the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and S1 to S4 described in the present embodiment are examples, and are limited to the above contents. I can't. The mounting position can be changed according to the force and moment to be detected.

  Also, the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and the order of S1 to S4 on the bridge configuration (each of the strain gauges L1 to L4 and P1 to P4 on the bridge configuration). , R1 to R4, D1 to D4, positions Y1 to Y4, and S1 to S4) may take various forms depending on the force and moment to be detected, but the force and moment to be detected are appropriate. Any form may be used as long as the order (position) can be detected.

[Sixth Embodiment]
Next, a sixth embodiment will be described. The description of the same parts as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, and the fifth embodiment is omitted. FIG. 24 is a perspective view of a force meter 60 according to the sixth embodiment. FIG. 25 is a plan view of the connecting rigid body portion 61 of the force meter 60 according to the sixth embodiment. FIG. 26 is a partial development view of the force meter 60 according to the sixth embodiment. The difference between the force meter 60 of the present embodiment and the force meter 55 of the fifth embodiment is that the center of the central portion 42 is processed by the force meter 60 of the present embodiment. This is that the mounting positions of the two strain gauges Y1 to Y4 are changed, and the other configurations are the same. Therefore, in the following description, it is mainly performed about a different part from 5th Embodiment.

  The force meter 60 according to the present embodiment is similar to the third embodiment, the fourth embodiment, and the fifth embodiment. A pair of struts 19 having a predetermined height extending from the center, a force receiving surface 11 on the upper surface, a central rigid body portion 18 having a thickness smaller than the height of the struts 19 and a length shorter than the predetermined interval, and a central rigid body portion One end of 18 is connected to the tip end of one of the pair of support columns 19 (support column 19a) on the upper surface side of the central rigid body portion 18, and the thin and thin wall expands and contracts according to the force acting on the central rigid body portion 18 in the predetermined direction. The other end of the central rigid body 18 and the other end of the central rigid body 18 are connected to the tip of the other of the pair of columns (the column 19b) on the upper surface side of the central rigid body 18, and the force acting on the central rigid body 18 in the predetermined direction is connected. A thin-walled thin portion 16 that expands and contracts accordingly, and one end side of the base 1 A thin-walled thin portion 22 that is formed by the formed through-hole 21 and expands and contracts according to the force acting in the length direction of the central rigid body portion 18, and a through-hole 23 formed on the other end side of the base 1. And a thin-walled thin-walled portion 24 that expands and contracts in response to a force acting in the length direction of the central rigid body portion 18, the thin-walled portion 15 of one structure 31 and the other Two structures 31 arranged such that the distance between the thin portion 15 of the structure 31 and the distance between the thin portion 16 of one structure 31 and the thin portion 16 of the other structure 31 are the same. I have.

  As shown in FIGS. 24, 25, and 26, the force meter 60 of the present embodiment includes a connecting rigid body portion 61. The connecting rigid body portion 61 includes two opposite edges 62_a, 62_c and a force receiving portion among the four edges 62_a, 62_b, 62_c, 62_d formed by a quadrangular through hole 62 provided in the center of the central portion 42. 63, and is formed by two thin-walled portions 64, 65 that expand and contract according to the force acting in the length direction (X-axis direction) of the force receiving portion 63, and the rectangular through-hole 62. Among the four edges 62_a, 62_b, 62_c, 62_d, the opposing edges 62_b, 62_d different from the above two sides are connected to the force receiving portion 63, and the force receiving portion 63 is orthogonally crossed (Y-axis direction). ), And includes two thin-walled portions 66 and 67 that expand and contract according to the force acting on them. The two thin portions 64 and 65 correspond to the ninth thin portion, and the two thin portions 66 and 67 correspond to the tenth thin portion.

  In addition, strain gauges Y1 and Y2 are attached to both end portions of the surface on the one structure 31 side in one of the two thin portions 66 and 67 (for example, the thin portion 66), and the other of the two thin portions 66 and 67 ( For example, strain gauges Y3 and Y4 are attached to both end portions of the surface on the other structure 31 side in the thin portion 67). These four strain gauges Y1 to Y4 of the present embodiment correspond to, for example, the sixth strain gauge of the fourth invention.

  That is, the four strain gauges Y1 to Y4 are two portions of one of the two thin portions 66 and 67 (for example, the thin portion 66) and the other two portions of the two thin portions 66 and 67 (for example, the thin portion 67). It is attached to the place. The four strain gauges Y1 to Y4 are connected to two portions of one of the two thin portions 64 and 65 (for example, the thin portion 64) and the other of the two thin portions 64 and 65 (for example, the thin portion 65). You may make it attach to a location.

  Here, when only the moment (Mz) around the axis in the Z-axis direction acts on the force receiving portion 63, the strains of the four strain gauges Y1 to Y4 theoretically have values as shown in FIG. Become. That is, the strain gauges Y1 and Y3 have a strain of + ε, and the strain gauges Y2 and Y4 have a strain of −ε. In the example of FIG. 27, it is assumed that a moment is acting in the direction of the arrow.

  The moment about the Z-axis direction acting on the force receiving portion 63 can be detected using the techniques described in the first to fifth embodiments. That is, the moment about the Z-axis direction acting on the force receiving portion 63 can be detected using the four strain gauges Y1 to Y4. The component force meter 60 of the present embodiment functions as a six component force meter.

  Also in this embodiment, in the three axes of the X, Y, and Z axes of the orthogonal coordinate system, the X-axis direction is the length direction, the Y-axis direction is the orthogonal direction, and the Z-axis direction is the predetermined direction. The direction. Also in this embodiment, Ff represents the force acting in the f-axis direction, and Mm represents the moment acting around the m-axis.

According to the structure such as the component force meter 60 of the present embodiment, the length d of the central rigid body portion 18 is designed at the time of designing based on the same principle as in the fourth embodiment and the fifth embodiment. By adjusting the detection sensitivity G _Fz of the force (Fz) in a predetermined direction acting on the force receiving portion 63 by the strain gauges L1 to L4, D1 to D4, and S1 to S4, in the length direction (X axis direction). Without affecting the force detection sensitivity G _Fx and the force detection sensitivity G _Fy in the orthogonal direction (Y-axis direction), the axes in the orthogonal direction acting on the force receiving portion 63 by the strain gauges P1 to P4 (Y The detection sensitivity G _My of the moment (My) about the axis) can be adjusted.

Further, according to the structure of the force meter 60 of the present embodiment, the size (length) d1 of the force receiving portion 63 in the length direction (X-axis direction) and the length direction of the force receiving portion 63 by adjusting the size d2 orthogonal directions (Y-axis direction) and a predetermined direction of the force detection sensitivity G _Fz, the detection sensitivity G _Fx in the length direction of the _force, and the detection sensitivity of the force in the direction the orthogonal without affecting the G _Fy, it is possible to adjust the detection sensitivity _{G Mz} of the predetermined direction of the axis of the moment Mz acting on the force receiving portion 63 by the strain gauge Y1 to Y4. As shown in the following equation (15), the size d1 of the force receiving portion 63 in the length direction (X-axis direction) and the size d2 of the force receiving portion 63 in the Y-axis direction are as follows. This affects the value of the detection sensitivity G _Mz of the form moment Mz, but does not affect the values of the detection sensitivity G _Fz , the detection sensitivity G _Fx , and the detection sensitivity G _Fy as described above. is there.

  However, in Formula (15), L is the length of thin part 64,65,66,67, t is the thickness of thin part 64,65,66,67, b is the width of thin part 64,65,66,67. , E is the Young's modulus (material characteristics) of the material.

Further, according to the structure such as the force meter 60 of the present embodiment, the thin wall portion 15 of one structure 31 and the other structure are designed at the time of design based on the same principle as that of the fifth embodiment. 31 by adjusting the distance d ″ (the distance between the thin portion 16 of one structure 31 and the thin portion 16 of the other structure 31) d ″, the force detection sensitivity G _{Fz in} a predetermined direction. The longitudinal force acting on the force receiving portion 63 by the strain gauges R1 to R4 without affecting the longitudinal force detection sensitivity G _Fx and the orthogonal force detection sensitivity G _Fy. The detection sensitivity G _Mx of the moment Mx can be adjusted.

  As described above, according to the force meter 60 of the present embodiment, it becomes easier to independently adjust the moment detection sensitivity and the force detection sensitivity at the time of design.

  The component force meter 60 of the present embodiment has been described above. According to the force meter 60 of the present embodiment, it is possible to obtain an effect that the detection sensitivity of the moment and the detection sensitivity of the force can be independently adjusted at the time of design. In addition, by configuring as described above, it is possible to reduce the size as compared with the conventional force meter, and it is possible to obtain an effect that it can be easily incorporated into various detection objects. In the component force meter 60 of the present embodiment, for example, as in the first embodiment, a vehicle model vibration experiment in which the measurement object is a vehicle model of about ¼ scale (for example, a total length of about 1 m). It can be incorporated into the device.

  Moreover, the attachment positions of the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and S1 to S4 described in the present embodiment are examples, and are limited to the above contents. I can't. The mounting position can be changed according to the force and moment to be detected.

  Also, the strain gauges L1 to L4, P1 to P4, R1 to R4, D1 to D4, Y1 to Y4, and the order of S1 to S4 on the bridge configuration (each of the strain gauges L1 to L4 and P1 to P4 on the bridge configuration). , R1 to R4, D1 to D4, positions Y1 to Y4, and S1 to S4) may take various forms depending on the force and moment to be detected, but the force and moment to be detected are appropriate. Any form may be used as long as the order (position) can be detected.

  The first to sixth embodiments have been described above. As shown in FIGS. 28A and 28B, in each of the first to sixth embodiments, a reinforcing member 70 for increasing the rigidity of the central rigid body portion 18 is attached to the central rigid body portion 18. You may do it. Thereby, the rigidity of the center rigid body part 18 increases, and the force and moment of the detection target can be detected with higher accuracy.

  In addition, as shown in FIGS. 29A and 29B, in the second to sixth embodiments, a reinforcing material for increasing the rigidity of the portion between the through hole 21 and the through hole 23 of the base body. You may make it attach 71 to the part between the through-hole 21 and the through-hole 23 of a base | substrate. Thereby, the rigidity of the part between the through-hole 21 and the through-hole 23 of a base | substrate increases, and the force and moment of a detection target can be detected more accurately. In addition, you may make it attach the reinforcing material 71 while attaching the reinforcing material 70 in 2nd-6th embodiment.

  Further, as shown in FIG. 30, a monolithic component force meter may be generated from a rectangular solid block by wire electric discharge machining or the like. Thereby, generation | occurrence | production of the hysteresis by the friction of a coupling | bond part can be suppressed.

DESCRIPTION OF SYMBOLS 1 Base 10 Component force meter 11 Force-receiving surface 15, 16 Thin part 18 Central rigid-body part 19a One support | pillar 19b The other support | pillar L, P Strain gauge

Claims (8)

A pair of struts of a predetermined height extending from the base body in a predetermined direction at a predetermined interval;
A central rigid body portion having a force receiving surface on the upper surface and having a thickness smaller than the height of the support column and a length shorter than the predetermined interval;
One end of the central rigid body portion is connected to one end portion of the pair of struts on the upper surface side of the central rigid body portion, and the first thin-walled member that expands and contracts according to the force acting in the predetermined direction of the central rigid body portion. And the thin part of
The other end of the central rigid body portion is connected to the other tip of the pair of struts on the upper surface side of the central rigid body portion, and the thin rigid first portion that expands and contracts according to the force acting in the predetermined direction of the central rigid body portion. 2 thin parts,
Two first strain gauges attached to two locations of the first thin portion and two locations of the second thin portion; and
Two second strain gauges attached to two locations of the first thin portion and two locations of the second thin portion;
A force meter equipped with. The substrate is
A thin third portion formed by a first through-hole formed at one end of the base body and extending and contracting in response to a force acting in a length direction of the central rigid body portion;
And a fourth thin portion that is formed by a second through hole formed on the other end side of the base body and expands and contracts in response to a force acting in the length direction of the central rigid body portion. And
The component force meter according to claim 1, further comprising four third strain gauges attached to two locations of the third thin portion and two locations of the fourth thin portion. A central rigid body portion having a pair of struts having a predetermined height extending from the base body in a predetermined direction at a predetermined interval and a force receiving surface on the upper surface, and having a thickness smaller than the height of the strut and having a length shorter than the predetermined interval. And connecting one end of the central rigid body portion to one tip of the pair of struts on the upper surface side of the central rigid body portion, and extending and contracting according to the force acting in the predetermined direction of the central rigid body portion The first thin wall portion and the other end of the central rigid body portion are connected to the other tip of the pair of struts on the upper surface side of the central rigid body portion, and the force acting in the predetermined direction of the central rigid body portion The thin-walled second thin portion that expands and contracts in response to the first through-hole formed on one end side of the base and expands and contracts according to the force acting in the length direction of the central rigid body portion Formed on the third thin-walled portion and the other end of the base body. Two structures having a fourth thin-walled portion formed by a second through-hole and extending and contracting in response to a force acting in the length direction of the central rigid body portion, one structure The distance between the first thin-walled portion and the first thin-walled portion of the other structure is the same as the distance between the second thin-walled portion of one structure and the second thin-walled portion of the other structure. Two structures arranged so that
A connecting rigid body portion that connects the central rigid body portion of the one structure and the central rigid body portion of the other structure;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four first strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four second strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four third strain gauges attached to the thin section;
The third thin portion of the one structure, the fourth thin portion of the one structure, the third thin portion of the other structure, and the fourth portion of the other structure Four fourth strain gauges attached to the thin section;
The third thin portion of the one structure, the fourth thin portion of the one structure, the third thin portion of the other structure, and the fourth portion of the other structure Four fifth strain gauges attached to the thin section;
A force meter equipped with. The connecting rigid body part is:
Formed by a third through hole formed at a position adjacent to the central portion of the connecting rigid body portion on the one structure side of the connecting rigid body portion, and the length direction of the central rigid body portion; A thin fifth portion that expands and contracts according to the force acting on the central portion of the connecting rigid portion in the direction orthogonal to the predetermined direction;
It is on the one structure side of the connecting rigid body portion and is adjacent to the central portion of the connecting rigid body portion, and from the third through hole in the length direction of the central rigid body portion of the one structure. A sixth thin-walled portion that is formed by a fourth through hole formed at a position separated by a first distance and that expands and contracts according to the force acting in the orthogonal direction at the center of the connecting rigid body portion When,
It is on the other structure side of the connecting rigid body part, adjacent to the central part of the connecting rigid body part, and formed at a position away from the third through hole by a second distance in the orthogonal direction. A seventh thin-walled portion that is formed by a fifth through-hole and expands and contracts in response to a force acting in the orthogonal direction of the central portion of the connecting rigid body portion;
On the other structure side of the connecting rigid body portion, adjacent to the central portion of the connecting rigid body portion, and from the fifth through hole in the length direction of the central rigid body portion of the other structure. An eighth thin wall that is formed by a sixth through hole formed at a position apart from the first distance and that expands and contracts according to the force acting in the orthogonal direction of the central portion of the connecting rigid body portion And comprising
The component force according to claim 3, further comprising four sixth strain gauges attached to the fifth thin portion, the sixth thin portion, the seventh thin portion, and the eighth thin portion. Total. A central rigid body portion having a pair of struts having a predetermined height extending from the base body in a predetermined direction at a predetermined interval and a force receiving surface on the upper surface, and having a thickness smaller than the height of the strut and having a length shorter than the predetermined interval. And connecting one end of the central rigid body portion to one tip of the pair of struts on the upper surface side of the central rigid body portion, and extending and contracting according to the force acting in the predetermined direction of the central rigid body portion The first thin wall portion and the other end of the central rigid body portion are connected to the other tip of the pair of struts on the upper surface side of the central rigid body portion, and the force acting in the predetermined direction of the central rigid body portion The thin-walled second thin portion that expands and contracts in response to the first through-hole formed on one end side of the base and expands and contracts according to the force acting in the length direction of the central rigid body portion Formed on the third thin-walled portion and the other end of the base body. Two structures having a fourth thin-walled portion formed by a second through-hole and extending and contracting in response to a force acting in the length direction of the central rigid body portion, one structure The distance between the first thin-walled portion and the first thin-walled portion of the other structure is the same as the distance between the second thin-walled portion of one structure and the second thin-walled portion of the other structure. Two structures arranged so that
A connecting rigid body portion for connecting a central rigid body portion of the one structure and a central rigid body portion of the other structure, wherein the connecting rigid body is on the one structure side of the connecting rigid body portion. It is formed by a third through-hole formed at a position adjacent to the central part of the part, and acts on the central part of the connecting rigid body part in the length direction of the central rigid body part and the direction orthogonal to the predetermined direction A fifth thin-walled portion that expands and contracts in response to force, is adjacent to the central portion of the connecting rigid body portion on the one structure side of the connecting rigid body portion, and from the third through hole It is formed by a fourth through-hole formed at a position separated by a first distance in the length direction of the central rigid body portion of one structure and acts in the orthogonal direction of the central portion of the connecting rigid body portion. A sixth thin-walled portion that expands and contracts in response to the force to be applied, the connecting rigid A fifth portion formed on the other structure side of the portion and adjacent to the central portion of the connecting rigid body portion and at a second distance away from the third through hole in the orthogonal direction. A thin-walled seventh thin portion that is formed by a through-hole and expands and contracts in response to a force acting in the direction perpendicular to the central portion of the connecting rigid body portion, and the other structure side of the connecting rigid body portion And is adjacent to the central portion of the connecting rigid body portion and formed at a position away from the fifth through hole in the length direction of the central rigid body portion of the other structure by the first distance. A connecting rigid body portion formed by a sixth through-hole and configured to include a thin-walled eighth thin portion that expands and contracts in response to a force acting in the direction perpendicular to the central portion of the connecting rigid body portion; ,
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four first strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four second strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four third strain gauges attached to the thin section;
The third thin portion of the one structure, the fourth thin portion of the one structure, the third thin portion of the other structure, and the fourth portion of the other structure Four fourth strain gauges attached to the thin section;
Four fifth strain gauges attached to the fifth thin portion, the sixth thin portion, the seventh thin portion, and the eighth thin portion;
Four sixth strain gauges attached to the fifth thin part, the sixth thin part, the seventh thin part, and the eighth thin part;
A force meter equipped with. A central rigid body portion having a pair of struts having a predetermined height extending from the base body in a predetermined direction at a predetermined interval and a force receiving surface on the upper surface, and having a thickness smaller than the height of the strut and having a length shorter than the predetermined interval. And connecting one end of the central rigid body portion to one tip of the pair of struts on the upper surface side of the central rigid body portion, and extending and contracting according to the force acting in the predetermined direction of the central rigid body portion The first thin wall portion and the other end of the central rigid body portion are connected to the other tip of the pair of struts on the upper surface side of the central rigid body portion, and the force acting in the predetermined direction of the central rigid body portion The thin-walled second thin portion that expands and contracts in response to the first through-hole formed on one end side of the base and expands and contracts according to the force acting in the length direction of the central rigid body portion Formed on the third thin-walled portion and the other end of the base body. Two structures having a fourth thin-walled portion formed by a second through-hole and extending and contracting in response to a force acting in the length direction of the central rigid body portion, one structure The distance between the first thin-walled portion and the first thin-walled portion of the other structure is the same as the distance between the second thin-walled portion of one structure and the second thin-walled portion of the other structure. Two structures arranged so that
A connecting rigid body portion for connecting a central rigid body portion of the one structure and a central rigid body portion of the other structure, wherein the connecting rigid body is on the one structure side of the connecting rigid body portion. It is formed by a third through-hole formed at a position adjacent to the central part of the part, and acts on the central part of the connecting rigid body part in the length direction of the central rigid body part and the direction orthogonal to the predetermined direction A fifth thin-walled portion that expands and contracts in response to force, is adjacent to the central portion of the connecting rigid body portion on the one structure side of the connecting rigid body portion, and from the third through hole It is formed by a fourth through-hole formed at a position separated by a first distance in the length direction of the central rigid body portion of one structure and acts in the orthogonal direction of the central portion of the connecting rigid body portion. A sixth thin-walled portion that expands and contracts in response to the force to be applied, the connecting rigid A fifth portion formed on the other structure side of the portion and adjacent to the central portion of the connecting rigid body portion and at a second distance away from the third through hole in the orthogonal direction. A thin seventh portion that is formed by a through-hole and expands and contracts in response to a force acting in the direction perpendicular to the central portion of the connecting rigid body portion, on the other structure side of the connecting rigid body portion And is adjacent to the central portion of the connecting rigid body portion and is formed at a position away from the fifth through hole in the length direction of the central rigid body portion of the other structure by the first distance. A thin-walled eighth thin-walled portion which is formed by through-holes 6 and expands and contracts in response to the force acting in the orthogonal direction at the central portion of the connecting rigid body portion, and a rectangular shape provided at the center of the central portion. Of the four edges formed by the through-holes, And the four force-receiving portions, and the four thin-walled ninth thin portions that expand and contract in response to the force acting in the longitudinal direction of the force-receiving portion, and the four through holes formed in the square shape. Two tenth thin-walled members that connect two opposite edges of the edge and the force-receiving portion and extend and contract according to the force acting in the orthogonal direction of the force-receiving portion. A connecting rigid body portion including a portion;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four first strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four second strain gauges attached to the thin section;
The first thin portion of the one structure, the second thin portion of the one structure, the first thin portion of the other structure, and the second thin portion of the other structure. Four third strain gauges attached to the thin section;
The third thin portion of the one structure, the fourth thin portion of the one structure, the third thin portion of the other structure, and the fourth portion of the other structure Four fourth strain gauges attached to the thin section;
Four fifth strain gauges attached to the fifth thin portion, the sixth thin portion, the seventh thin portion, and the eighth thin portion;
One of the two tenth thin portions and the other two portions of the two tenth thin portions, or two of the two ninth thin portions, and the two tenth portions Four sixth strain gauges attached to the other two locations of the thin portion of 9;
A force meter equipped with.   The force meter according to any one of claims 1 to 6, wherein a reinforcing material for increasing the rigidity of the central rigid body portion is attached to the central rigid body portion.   The reinforcing material for increasing the rigidity of the portion between the first through hole and the second through hole of the base is attached to the portion between the first through hole and the second through hole of the base. The force meter according to any one of 2 to 7.

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