CN103575446A - Medium-measurement-range three-dimensional force sensor - Google Patents
Medium-measurement-range three-dimensional force sensor Download PDFInfo
- Publication number
- CN103575446A CN103575446A CN201310472529.9A CN201310472529A CN103575446A CN 103575446 A CN103575446 A CN 103575446A CN 201310472529 A CN201310472529 A CN 201310472529A CN 103575446 A CN103575446 A CN 103575446A
- Authority
- CN
- China
- Prior art keywords
- rectangular beam
- boss
- foil gauge
- force sensor
- dimensional force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a medium-measurement-range three-dimensional force sensor which comprises a loading boss. A front rectangular beam, a rear rectangular beam, a left rectangular beam and a right rectangular beam are horizontally arranged on the outer side of the loading boss and distributed in a cross mode. Strain foils are arranged at the positions, close to the loading boss, of the upper side and the lower side of the left rectangular beam and the upper side and the lower side of the right rectangular beam respectively, and strain foils are arranged at the positions, close to the loading boss, of the left side and the right side of the left rectangular beam and the left side and the right side of the right rectangular beam respectively. Strain foils are arranged at the positions, close to the loading boss, of the left side and the right side of the front rectangular beam and the left side and the right side of the rear rectangular beam respectively. The outer ends of the front rectangular beam, the rear rectangular beam, the left rectangular beam and the right rectangular beam are respectively connected with a fixing boss. The medium-measurement-range three-dimensional force sensor has the advantages of being small in size, simple in structure, small in dead weight influence, high in sensitivity, capable of eliminating load eccentric influences, high in precision and capable of precisely testing contact force in the X, Y, and Z directions in the moving process of a big body type creature (for example, a human being), being used for academic research and also being used for industrial measurement.
Description
Technical field
The present invention relates to dynamometry technical field, particularly relate to a kind of medium range three-dimensional force sensor.
Background technology
By zoologizeing motion, animals' pad and the contact force of creeping between surface, can disclose animal laws of motion under complex environment, for designing the robot that can adapt to various operating modes, provides the bionical mechanics data of the aspects such as motion, gait.
The development such as 1994 Nian， Tsing-Hua University Cheong Kuoc Vas parallel bars three-dimensional strength measurement system.This system is comprised of 4 three-dimensional force transducers, dynamic strain indicator, the 7T17S digital signal processor that are arranged on four legs of parallel bars, and measurement data and the figure of various real-time processing can be provided.Through the actual test of sportsman, obtained satisfied result, can be used in the athletic hands-on of parallel bars.Sensor adopts radially pressurized annulus to be subject to bending formula to measure three-dimensional force in conjunction with cylinder.Foil gauge group full-bridge.Vertical direction (z direction) range 2000N, horizontal direction (x, y direction) range 1000N, dynamometry error is in 5%.
2002, the peaceful grade of the Sun Yi of Hefei intelligent machine institute designed a kind of novel three-dimensional force sensor.Considered the characteristics such as the dynamic performance of traditional mechanics quantity sensor and static demarcating index, it has respectively been tieed up between sensitivity and dimension to the indexs such as coupling coefficient and taken into full account.During structural design, having accomplished has good sensitivity to the power of survey dimension, and for non-surveys that dimension overcomes may be insensitive, between making like this to tie up, be coupled little, guarantee that total has enough rigidity simultaneously.The strength journey of three directions is 0～3000N.
The WL.Jin of Singapore Nan Yang School of Mechanical Engineering of University of Science and Technology and department of mechanical engineering of Univ California-Berkeley is at the three-dimensional force sensor of common research and development in 1998, adopt silicon micro-fabrication technology that the sensitive element of sensor and flexible member are integrated by silicon substrate manufacture craft and silicon-Jin covalent bond technology, every a slice of four diaphragms of element of sensor is all integrated with two Wheatstone bridges, External Force Acting is passed to elastic layer in bearing bed by the silicon cross sensor of sensitive layer, the displacement of elastic layer passes to again the diaphragm of sensitive layer with shearing force and axial force form, utilize Wheatstone bridge to detect.
On market, the three-dimensional force sensor of existing medium range or size are bigger than normal, and precision is not high, or expensive, can not be suitable for completely scientific research and market application demand.Therefore must develop precision high, size is little, is easy to install and relatively cheap three-dimensional force sensor.
Summary of the invention
The object of this invention is to provide a kind of medium range three-dimensional force sensor, to overcome prior art above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A range three-dimensional force sensor, comprises loading boss, and the center of described loading boss is provided with screwed hole of centre; Outside described loading boss, level is provided with and is the front rectangular beam of cross distribution, rear rectangular beam, left rectangular beam and right rectangular beam, described left rectangular beam and the upper and lower both sides of right rectangular beam are respectively equipped with foil gauge R1 and R2, foil gauge R4 and R3 near the position that loads boss, described left rectangular beam and right rectangular beam arranged on left and right sides are respectively equipped with foil gauge R5 and R8, foil gauge R6 and R7 near the position that loads boss on the upper side, and described front rectangular beam and rear rectangular beam arranged on left and right sides are respectively equipped with foil gauge R9 and R12, foil gauge R10 and R11 near the position that loads boss on the upper side; The outer end of described front rectangular beam, rear rectangular beam, left rectangular beam and right rectangular beam is all connected with fixing lug boss, and the center of described fixing lug boss is equipped with fixed orifice; Described fixing lug boss is provided with connection terminal one, connection terminal two and connection terminal three.
Further, described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal one.
Further, described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal two.
Further, described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal three.
Further, described front rectangular beam and rear rectangular beam are coaxial, described left rectangular beam and right rectangular beam are coaxial, and described front rectangular beam is mutually vertical with left rectangular beam, the center line intersection point of described front rectangular beam, rear rectangular beam, left rectangular beam and right rectangular beam and the center superposition that loads boss.
Further, the height of described loading boss is greater than the height of fixing lug boss.
Beneficial effect of the present invention is: volume is little, simple in structure, and effect of weight is little, highly sensitive; Can eliminate load over centre impact, precision is high; Can accurately test build compared with the contact force in X, Y, tri-directions of Z in mcroorganism (as people) motion process, can be used for academic research, also can be used for commercial measurement.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the structural representation of medium range three-dimensional force sensor described in the embodiment of the present invention;
Fig. 2 is the sectional view of the upward view of Fig. 1;
Fig. 3 is the Hui Sitong full-bridge circuit figure that foil gauge R1, R2 described in the embodiment of the present invention, R3, R4 form;
Fig. 4 is the Hui Sitong full-bridge circuit figure that foil gauge R5, R6 described in the embodiment of the present invention, R7, R8 form;
Fig. 5 is the Hui Sitong full-bridge circuit figure that foil gauge R9, R10 described in the embodiment of the present invention, R11, R12 form;
Fig. 6 is the structured flowchart of the data acquisition equipment of medium range three-dimensional force sensor described in the embodiment of the present invention.
In figure:
R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12: foil gauge;
1, fixing lug boss; 2, front rectangular beam; 3, rear rectangular beam; 4, left rectangular beam; 5, right rectangular beam; 6, load boss; 7, fixed orifice; 8, screwed hole of centre; U, direct supply; Ui, voltage measurement end; I, connection terminal one; II, connection terminal two; III, connection terminal three.
Embodiment
As shown in Fig. 1-6, a kind of medium range three-dimensional force sensor described in the embodiment of the present invention, comprises and loads boss 6, the center of described loading boss 6 is provided with screwed hole of centre 8, described loading boss 6 outside levels are provided with the front rectangular beam 2 that is cross distribution, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5, on described left rectangular beam 4 and right rectangular beam 5, lower both sides are respectively equipped with foil gauge R1 and R2 near the position that loads boss 6, foil gauge R4 and R3, described left rectangular beam 4 and right rectangular beam 5 left sides, right both sides are respectively equipped with foil gauge R5 and R8 near the position that loads boss 6 on the upper side, foil gauge R6 and R7, described front rectangular beam 2 and rear rectangular beam 3 left sides, right both sides are respectively equipped with foil gauge R9 and R12 near the position that loads boss 6 on the upper side, foil gauge R10 and R11, the outer end of described front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5 is all connected with fixing lug boss 1, and the center of described fixing lug boss 1 is equipped with fixed orifice 7, described fixing lug boss 1 is provided with connection terminal one I, connection terminal two II and connection terminal three III.
Described front rectangular beam 2 and rear rectangular beam 3 are coaxial, described left rectangular beam 4 and right rectangular beam 5 are coaxial, described front rectangular beam 2 is mutually vertical with left rectangular beam 4, the center line intersection point of described front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5 and the center superposition that loads boss 6.
The height of described loading boss 6 is greater than the height of fixing lug boss 1.Loading boss 6 bottom surfaces has the gap of 0.5mm for realizing mechanical protection with fixing lug boss 1 bottom surface, load boss 6 upper surfaces than fixing lug boss 1 high 2mm left and right so that loading.
Front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5 are thinner rectangular cross section beam.
As Fig. 3, described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal one I; Foil gauge R1, R2, R4 and R3 are sequentially composed in series Hui Sitong full-bridge, and voltage measurement end Ui mono-end is connected between R1 and R2, and the other end is connected between R3 and R4; Direct supply U mono-end is connected between R1 and R3, and the other end is connected between R2 and R4.This Hui Sitong full-bridge is for measuring the size of the Z direction power Fz shown in accompanying drawing 1 or 2.
As Fig. 4, described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal two II; Foil gauge R5, R6, R8 and R7 are sequentially composed in series Hui Sitong full-bridge, and voltage measurement end Ui mono-end is connected between R5 and R6, and the other end is connected between R7 and R8; Direct supply U mono-end is connected between R5 and R7, and the other end is connected between R6 and R8.This Hui Sitong full-bridge is for measuring the size of the Y-direction power Fy shown in accompanying drawing 1 or 2.
As Fig. 5, described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal three III; Foil gauge R9, R10, R12 and R11 are sequentially composed in series Hui Sitong full-bridge, and voltage measurement end Ui mono-end is connected between R9 and R10, and the other end is connected between R11 and R12; Direct supply U mono-end is connected between R9 and R11, and the other end is connected between R10 and R12.This Hui Sitong full-bridge is for measuring the size of the directions X power Fx shown in accompanying drawing 1 or 2.
By the foil gauge bridge-type circuit shown in Fig. 3, Fig. 4, Fig. 5, the change in resistance of the foil gauge on medium range three-dimensional force sensor is become to change in voltage output.
During use, four fixing lug boss 1 are fixed by bolts to respectively on basis, loading boss 6 is connected with force bearing plate, the voltage that three voltage measurement end Ui that connection terminal one I, connection terminal two II and connection terminal three III are drawn measure amplifies laggard row data acquisition through amplifying circuit, and by the data importing PC terminal (Fig. 6) collecting.
When being subject to Z direction power at loading boss 6 tops, horizontal beam is subject to curved, and two ends will produce larger strain.Foil gauge R1, R2, R3, R4 by first group of electric bridge can measure horizontal beam upper and lower surface strain value, can convert and obtain the size of Z direction power Fz; When loading boss 6 tops and be subject to directions X power, front rectangular beam 2 and rear rectangular beam 3 are subject to axial push-pull and flecition simultaneously, and left rectangular beam 4 and right rectangular beam 5 by bending and twisting action simultaneously.Consider that front rectangular beam 2 and rear rectangular beam 3 are main supports that the party makes progress, select foil gauge R9, R10, R11, R12 group bridge can measure the size of directions X power Fx, and can access larger strain; In like manner, select foil gauge R5, R6, R7, R8 group bridge can measure the size of Y-direction power Fy, and can access larger strain.
The overall dimensions of sensor preferably within the scope of 75mm * 75mm * 15mm, the preferred 13mm * 8mm * 4mm of the size of rectangular cross section beam.The preferred Fz of dynamometry range is that 2000N, Fx and Fy are 1000N.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but do any variation in its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection scope of the present invention.
Claims (6)
1. a medium range three-dimensional force sensor, comprises and loads boss (6), it is characterized in that: the center of described loading boss (6) is provided with screwed hole of centre (8), described loading boss (6) outside level is provided with the front rectangular beam (2) that is cross distribution, rear rectangular beam (3), left rectangular beam (4) and right rectangular beam (5), on described left rectangular beam (4) and right rectangular beam (5), lower both sides are respectively equipped with foil gauge R1 and R2 near the position that loads boss (6), foil gauge R4 and R3, described left rectangular beam (4) and right rectangular beam (5) left side, right both sides are respectively equipped with foil gauge R5 and R8 near the position that loads boss (6) on the upper side, foil gauge R6 and R7, described front rectangular beam (2) and rear rectangular beam (3) left side, right both sides are respectively equipped with foil gauge R9 and R12 near the position that loads boss (6) on the upper side, foil gauge R10 and R11, the outer end of described front rectangular beam (2), rear rectangular beam (3), left rectangular beam (4) and right rectangular beam (5) is all connected with fixing lug boss (1), and the center of described fixing lug boss (1) is equipped with fixed orifice (7), described fixing lug boss (1) is provided with connection terminal one (I), connection terminal two (II) and connection terminal three (III).
2. a kind of medium range three-dimensional force sensor according to claim 1, is characterized in that: described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal one (I).
3. a kind of medium range three-dimensional force sensor according to claim 2, is characterized in that: described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal two (II).
4. a kind of medium range three-dimensional force sensor according to claim 3, is characterized in that: described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal three (III).
5. a kind of medium range three-dimensional force sensor according to claim 4, it is characterized in that: described front rectangular beam (2) and rear rectangular beam (3) are coaxial, described left rectangular beam (4) and right rectangular beam (5) are coaxial, described front rectangular beam (2) is mutually vertical with left rectangular beam (4), the center line intersection point of described front rectangular beam (2), rear rectangular beam (3), left rectangular beam (4) and right rectangular beam (5) and the center superposition that loads boss (6).
6. a kind of medium range three-dimensional force sensor according to claim 5, is characterized in that: the height of described loading boss (6) is greater than the height of fixing lug boss (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310472529.9A CN103575446B (en) | 2013-10-11 | 2013-10-11 | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310472529.9A CN103575446B (en) | 2013-10-11 | 2013-10-11 | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103575446A true CN103575446A (en) | 2014-02-12 |
| CN103575446B CN103575446B (en) | 2016-04-27 |
Family
ID=50047714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310472529.9A Active CN103575446B (en) | 2013-10-11 | 2013-10-11 | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103575446B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832361A (en) * | 2016-06-03 | 2016-08-10 | 深圳柏斯生物科技有限公司 | Electric booster for X-ray machine and control method thereof |
| CN106768523A (en) * | 2017-02-14 | 2017-05-31 | 南京泽荣自动化系统有限责任公司 | A kind of press tonnage measuring method and its device |
| CN108225622A (en) * | 2017-12-25 | 2018-06-29 | 广州中国科学院工业技术研究院 | A kind of three-dimensional force sensor |
| CN108801503A (en) * | 2017-04-21 | 2018-11-13 | 意法半导体股份有限公司 | Strain gauge for the health status for monitoring fabricated construction |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN109060194A (en) * | 2018-10-12 | 2018-12-21 | 苏州科技大学 | Load cell |
| CN109702710A (en) * | 2017-10-26 | 2019-05-03 | 深圳市肯綮科技有限公司 | A kind of foot device and its lower limb power assistive device of detectable plantar pressure |
| CN109974916A (en) * | 2019-04-03 | 2019-07-05 | 东南大学 | A kind of type polar distance variable capacitance formula three-dimensional force sensor structure |
| US10737929B2 (en) | 2017-04-26 | 2020-08-11 | Stmicroelectronics S.R.L. | Trench-based microelectromechanical transducer and method for manufacturing the microelectromechanical transducer |
| CN111855043A (en) * | 2020-07-31 | 2020-10-30 | 长飞光纤光缆股份有限公司 | Fiber grating soil pressure sensor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4448083A (en) * | 1981-04-13 | 1984-05-15 | Yamato Scale Company, Ltd. | Device for measuring components of force and moment in plural directions |
| DE4012829A1 (en) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Multi-indensional force measurement - has string gauges, piezoelectric sensors on membrane arms with three=dimensional force input hub |
| JP2004045044A (en) * | 2002-07-08 | 2004-02-12 | Kansai Tlo Kk | 6-axis inner force sense sensor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988008521A1 (en) * | 1987-04-24 | 1988-11-03 | Kabushiki Kaisha Nexy Kenkyusho | Force and moment detector using resistor |
| KR100199691B1 (en) * | 1997-05-19 | 1999-06-15 | 김동진 | 6-component load cell |
-
2013
- 2013-10-11 CN CN201310472529.9A patent/CN103575446B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4448083A (en) * | 1981-04-13 | 1984-05-15 | Yamato Scale Company, Ltd. | Device for measuring components of force and moment in plural directions |
| DE4012829A1 (en) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Multi-indensional force measurement - has string gauges, piezoelectric sensors on membrane arms with three=dimensional force input hub |
| JP2004045044A (en) * | 2002-07-08 | 2004-02-12 | Kansai Tlo Kk | 6-axis inner force sense sensor |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832361A (en) * | 2016-06-03 | 2016-08-10 | 深圳柏斯生物科技有限公司 | Electric booster for X-ray machine and control method thereof |
| CN106768523A (en) * | 2017-02-14 | 2017-05-31 | 南京泽荣自动化系统有限责任公司 | A kind of press tonnage measuring method and its device |
| US10935444B2 (en) | 2017-04-21 | 2021-03-02 | Stmicroelectronics S.R.L. | Stress sensor for monitoring the health state of fabricated structures such as constructions, buildings, infrastructures and the like |
| CN108801503A (en) * | 2017-04-21 | 2018-11-13 | 意法半导体股份有限公司 | Strain gauge for the health status for monitoring fabricated construction |
| US10737929B2 (en) | 2017-04-26 | 2020-08-11 | Stmicroelectronics S.R.L. | Trench-based microelectromechanical transducer and method for manufacturing the microelectromechanical transducer |
| CN109702710A (en) * | 2017-10-26 | 2019-05-03 | 深圳市肯綮科技有限公司 | A kind of foot device and its lower limb power assistive device of detectable plantar pressure |
| CN108225622A (en) * | 2017-12-25 | 2018-06-29 | 广州中国科学院工业技术研究院 | A kind of three-dimensional force sensor |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN108972601B (en) * | 2018-08-10 | 2024-03-26 | 佛山科学技术学院 | End effector capable of sensing three-dimensional force |
| CN109060194A (en) * | 2018-10-12 | 2018-12-21 | 苏州科技大学 | Load cell |
| CN109060194B (en) * | 2018-10-12 | 2023-11-24 | 苏州科技大学 | Force transducer |
| CN109974916A (en) * | 2019-04-03 | 2019-07-05 | 东南大学 | A kind of type polar distance variable capacitance formula three-dimensional force sensor structure |
| CN109974916B (en) * | 2019-04-03 | 2020-12-29 | 东南大学 | Variable-pole-pitch capacitive three-dimensional force sensor structure |
| CN111855043A (en) * | 2020-07-31 | 2020-10-30 | 长飞光纤光缆股份有限公司 | Fiber grating soil pressure sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103575446B (en) | 2016-04-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103575446B (en) | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor | |
| CN103091026B (en) | Parallel structure six-dimension force sensor | |
| CN203323855U (en) | Double scale tray electronic platform scale | |
| CN101419102B (en) | Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information | |
| CN202928671U (en) | I-beam vehicle dynamic weighing sensor | |
| CN201255672Y (en) | Force measuring sensor | |
| CN205593682U (en) | Answer variant three -dimensional pressure sensor | |
| CN101694407B (en) | Over-constrained wide-range parallel sextuple force measuring platform | |
| CN103616116A (en) | Mechanical decoupling heavy load parallel six-dimension force measuring platform | |
| CN101907502B (en) | Parallel-connection three-dimensional force sensor with decoupling structure | |
| CN102435375A (en) | Triple-parallel legged decoupling six-dimensional force measurement sensor comprising elastic mass motion pairs | |
| CN102288334A (en) | Parallel piezoelectric six-dimensional large force sensor | |
| CN202281665U (en) | Cantilever beam type two-dimensional force transducer | |
| CN102175137A (en) | Extensometer for measuring micro-deformation of component | |
| CN211668674U (en) | Strain type pressure sensor | |
| CN203203668U (en) | A cantilever beam weighing sensor with bi-symmetric cantilevers | |
| CN201417189Y (en) | Nine-cylinder type force transducer | |
| CN202255706U (en) | Three-dimensional force sensor | |
| CN102338675A (en) | Three-dimensional force sensor | |
| CN203534742U (en) | Integrated pumping well polished rod axial force and torque sensor | |
| CN101776696B (en) | Three-dimensional flow velocity sensor | |
| CN103575436B (en) | Multi-range macro and micro force sensor | |
| CN201417170Y (en) | Weighting load sensor | |
| CN201488787U (en) | Force-measuring weighing sensor | |
| CN208488197U (en) | A kind of primary structure member and the strain transducer with the primary structure member |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |