A deep-water six-dimensional force sensor

Abstract

The present application relates to the field of sensor technology, and specifically to a deep-water six-dimensional force sensor, comprising a housing, a sensor body installed inside the housing, a balance membrane sealed between the top of the sensor body away from the housing and the top of the housing close to the opening, the balance membrane is arranged in a stepped shape, and a first corrugated structure is arranged on the balance membrane along the axial direction of the housing, and a second corrugated structure is arranged on the balance membrane along the radial direction of the housing; a sealed space is formed between the balance membrane, the housing and the sensor body, and the sealed space is filled with balance oil. Under the action of the balance membrane, the present application can make the oil pressure inside the sealed space tend to balance with the pressure of the external seawater, thereby effectively avoiding the damage to the sensor caused by the high pressure in the deep ocean; and the first corrugated structure and the second corrugated structure arranged on the balance membrane can effectively reduce the interference and restriction of the balance membrane on the sensor body in the six-dimensional direction of space, thereby ensuring the accuracy of the six-dimensional force sensor.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a deep-water six-dimensional force sensor. Background Art

[0002] With the development and progress of science and technology, people's exploration and development of the ocean are becoming more and more in-depth. Underwater instruments and equipment (including underwater robots, underwater sensors, underwater operation tools, underwater power sources, etc.) are constantly moving towards the deep sea; six-dimensional force sensors, as key equipment for force and torque measurement in deep-sea environments, can not only significantly improve the accuracy and safety of marine operations, avoid operating errors and equipment damage, but also provide key data support for the optimal design of marine engineering equipment.

[0003] However, the force sensors on underwater robots operating in deep waters can be affected by high water pressure, which can damage key components. If a pressure-resistant design is used to overcome the high water pressure in deep waters, not only will the volume, mass, and underwater movement resistance of the force sensor increase, but the accuracy of the six-dimensional force sensor used in underwater robots will also decrease, or even make it impossible to work.

[0004] Therefore, how to effectively prevent the high pressure in the deep ocean from damaging the sensor and ensure the accuracy of the six-dimensional force sensor is an urgent problem that technicians in this field need to solve. Summary of the invention

[0005] In order to effectively prevent the high pressure in the deep ocean from damaging the sensor and ensure the accuracy of the six-dimensional force sensor, the present application provides a deep-water six-dimensional force sensor.

[0006] The deep-water six-dimensional force sensor provided in this application adopts the following technical solution:

[0007] A deepwater six-dimensional force sensor comprises a shell, a sensor body is installed inside the shell, the upper end of the shell is set as an opening, a balance membrane is sealed between the top of the sensor body away from the shell and the top of the shell close to the opening, the balance membrane is set in a stepped shape, and a first corrugated structure is set on the balance membrane along the axial direction of the shell, and a second corrugated structure is set on the balance membrane along the radial direction of the shell; a sealed space is formed between the balance membrane, the shell and the sensor body, and the sealed space is filled with balance oil.

[0008] By adopting the above technical scheme, the sealing space formed between the balancing membrane, the housing and the sensor body is filled with balancing oil. By utilizing the compressible property of the balancing oil, under the action of the balancing membrane, when the pressure of the housing in the external working environment changes, the oil pressure inside the sealing space can be balanced with the pressure of the external seawater, thereby effectively avoiding the damage to the sensor caused by the high pressure in the deep ocean. The first corrugated structure and the second corrugated structure arranged on the balancing membrane can effectively reduce the interference and restriction of the balancing membrane on the sensor body in the six-dimensional direction of space, thereby ensuring the accuracy of the six-dimensional force sensor.

[0009] Optionally, the balancing membrane is made of a soft material, the first corrugated structure and the second corrugated structure are both multiple U-shaped structures connected in sequence, and the corners of the first corrugated structure and the second corrugated structure are both provided with rounded corners with smooth transition.

[0010] By adopting the above technical solution and using a soft material to make the balancing membrane, it can be ensured that the balancing membrane is more easily elastically deformed under the action of water pressure, and further ensures that the oil pressure inside the sealed space and the pressure of the seawater outside the shell tend to be balanced. The first corrugated structure and the second corrugated structure are connected in sequence in the form of multiple U-shaped structures and rounded corners are set at the corners, which can reduce the stress concentration and fatigue damage of the balancing membrane during the elastic deformation process, which is conducive to ensuring the service life of the balancing membrane during the working process.

[0011] Optionally, a first sealing installation hole communicating with the sealing space is opened on the outer shell, a first piston cylinder is sealingly installed inside the first sealing installation hole on the outer shell, and a first piston body is sealingly and slidably connected inside the first piston cylinder.

[0012] By adopting the above technical solution and utilizing the sealed sliding of the first piston body, the first piston body will move in the first piston cylinder under the action of water pressure, so that the oil pressure inside the sealed space and the water pressure outside the outer shell tend to be balanced. This design further ensures the effect of balancing the pressure inside and outside the outer shell.

[0013] Optionally, two groups of first sealing grooves are symmetrically formed on the outer side surface of the first piston body near the two ends of the first piston body, and first sealing rings are installed inside the first sealing grooves.

[0014] By adopting the above technical solution and utilizing two sets of first sealing rings, the sealing performance between the first piston body and the first piston cylinder can be improved, thereby effectively reducing the risks of oil leakage and seawater infiltration.

[0015] Optionally, a second sealing groove is formed on the outer side surface of the first piston body between the two groups of the first sealing grooves, a second sealing ring is installed inside the second sealing groove, and an adjustment component is transmission-connected between the inside of the first piston body and the second sealing ring.

[0016] By adopting the above technical solution, the sealing structure formed by the second sealing ring between the first sealing ring further improves the sealing performance between the first piston body and the first piston cylinder, and the sealing degree of the second sealing ring can be adjusted by the adjustment component.

[0017] Optionally, the adjusting component includes a push block, a plurality of slide grooves are opened on the first piston body at a position inside the second sealing groove along the radial direction of the first piston body, the slide grooves are arranged in a centrally symmetrical manner, the push block is slidably connected inside the slide groove, the outer end of the push block is fixedly bonded to the inner side surface of the second sealing ring, an installation cavity connected to the slide groove is opened inside the first piston body, a drive disk is rotatably connected inside the installation cavity, a drive strip arranged in a spiral shape is fixedly connected to the drive disk, the push block is opened with a drive groove corresponding to the drive strip, and the drive groove cooperates with the drive strip for transmission.

[0018] By adopting the above technical solution, it is only necessary to rotate the driving disk, and the driving disk can drive the top pressure block to slide along the radial direction of the first piston body through the driving bar and the driving groove. When the top pressure block slides toward the outside of the first piston body, it will push the outer side surface of the second sealing ring to fit tightly against the inner side surface of the first piston cylinder, thereby increasing the sealing degree between the first piston body and the first piston cylinder. When the top pressure block slides toward the inside of the first piston body, it will pull the outer side surface of the second sealing ring away from the inner side surface of the first piston cylinder, thereby reducing the sealing degree between the first piston body and the first piston cylinder, thereby achieving the adjustment of the sealing degree of the second sealing ring.

[0019] Optionally, a driving shaft is fixedly connected to one end of the driving disk facing the outside of the outer shell, and the driving shaft passes through the end face of the first piston body. A spiral groove is provided on the outer side of the driving shaft. A limiting plate is fixedly connected to the end of the first piston cylinder close to the outside of the outer shell corresponding to the radial direction of the driving shaft. The limiting plate is fixedly connected to a limiting column facing the outer side of the driving shaft, and the limiting column can be slidably fitted and inserted in the spiral groove on the outer side of the driving shaft.

[0020] By adopting the above technical solution, by utilizing the mutual cooperation between the spiral groove opened on the surface of the driving shaft and the limiting column on the limiting plate, the driving disk can be automatically driven to rotate according to the change of external pressure during operation, thereby realizing automatic adjustment of the sealing degree of the second sealing ring; as the sensor continues to dive during operation, the seawater pressure outside the sensor will continue to increase. When the seawater pressure increases, the water pressure inside the seawater will push the first piston body to move toward the inside of the sealing space. During the movement of the first piston body, the driving disk and the driving shaft will be driven to move synchronously. The driving disk and the driving shaft will move synchronously. During the movement, the spiral groove and the limit column will cooperate with each other to rotate forwardly. When the driving disk rotates forwardly, it will drive the top pressure block to slide to the outside of the first piston body through the driving bar and the driving groove, thereby pushing the outer side surface of the second sealing ring to fit tightly against the inner side surface of the first piston cylinder, thereby increasing the sealing degree between the first piston body and the first piston cylinder. In this way, the sealing performance between the first piston body and the first piston cylinder can be automatically increased when the seawater pressure increases, which can effectively prevent internal oil leakage and prevent seawater from penetrating into the interior, thereby ensuring the safety and reliability of the internal components of the shell.

[0021] Optionally, a second sealing mounting hole connected to the sealed space is opened on the outer shell, and a second piston cylinder is sealed and installed inside the second sealing mounting hole on the outer shell, and the internal sealing sliding connection of the second piston cylinder is connected to a second piston body, and an electric telescopic component is fixedly connected to one end of the second piston cylinder away from the sealed space, and the movable end of the electric telescopic component is fixedly connected to the second piston body.

[0022] By adopting the above technical solution, the electric telescopic component can be used to drive the second piston body inside the second piston cylinder to slide. When the second piston body slides in a direction close to the sealed space, the pressure inside the sealed space can be increased. When the second piston body slides in a direction away from the sealed space, the pressure inside the sealed space can be reduced. In this way, the oil pressure inside the sealed space can be adjusted and compensated by controlling the electric telescopic component during operation, so that the oil pressure inside the sealed space and the pressure of the external seawater can quickly reach a balanced state.

[0023] Optionally, a third sealing mounting hole connected to the sealed space is opened on the outer shell, and an internal mounting seat is located on the outer shell within the third sealing mounting hole. A first pressure sensor is fixedly mounted on the mounting seat at one end facing the interior of the sealed space, and a second pressure sensor is fixedly mounted on the mounting seat at one end away from the interior of the sealed space.

[0024] By adopting the above technical solution, the first pressure sensor and the second pressure sensor can be used to monitor the oil pressure inside the sealed space and the pressure of the external seawater in real time.

[0025] Optionally, a control board is fixedly installed on the housing inside the sealed space, the control board is electrically connected to the first pressure sensor and the second pressure sensor, and the electric telescopic member is electrically connected to the control board.

[0026] By adopting the above technical solution, the first pressure sensor and the second pressure sensor can monitor the oil pressure inside the sealed space and the pressure signal of the external seawater in real time and transmit them to the control board. The control board can calculate the pressure difference between the inside and outside of the sealed space according to the oil pressure inside the sealed space and the pressure signal of the external seawater, and conveniently control the electric telescopic part to extend and retract according to the pressure difference, thereby adjusting the oil pressure inside the sealed space so that the oil pressure inside the sealed space is equal to the pressure of the external seawater.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. The present application utilizes the compressible property of the pressure balancing oil. At the same time, under the action of the balancing membrane, when the pressure of the external working environment of the housing changes, the oil pressure inside the sealed space can be balanced with the pressure of the external seawater, thereby effectively avoiding the damage to the sensor caused by the high pressure in the deep ocean. The first corrugated structure and the second corrugated structure arranged on the balancing membrane can effectively reduce the interference and restriction of the balancing membrane on the sensor body in the six-dimensional direction of space, thereby ensuring the accuracy of the six-dimensional force sensor.

[0029] 2. The present application utilizes the mutual cooperation between the spiral groove provided on the surface of the driving shaft and the limit column on the limit plate, so as to automatically drive the driving disk to rotate according to the change of external pressure during operation, thereby realizing automatic adjustment of the sealing degree of the second sealing ring; and thus, the sealing performance between the first piston body and the first piston cylinder can be automatically increased when the seawater pressure increases, which can effectively prevent the leakage of internal oil and prevent the penetration of seawater into the interior, thereby ensuring the safety and reliability of the internal components of the housing.

[0030] 3. The present application utilizes an electric telescopic component to drive the second piston body inside the second piston cylinder to slide. When the second piston body slides in a direction close to the sealed space, the pressure inside the sealed space can be increased. When the second piston body slides in a direction away from the sealed space, the pressure inside the sealed space can be reduced. In this way, the oil pressure inside the sealed space can be adjusted and compensated by controlling the electric telescopic component during operation, thereby quickly achieving a balanced state between the oil pressure inside the sealed space and the pressure of the external seawater. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structural assembly state of an embodiment of the present application.

[0032] Figure 2 It is a schematic diagram of the cross-sectional state of the first internal structure of an embodiment of the present application.

[0033] Figure 3 yes Figure 2 Schematic diagram of the enlarged structure of Part I.

[0034] Figure 4 yes Figure 2 Schematic diagram of the enlarged structure of Part II.

[0035] Figure 5 It is a schematic diagram of the explosion state of the internal structure of the first piston cylinder in the embodiment of the present application.

[0036] Figure 6 It is a schematic diagram of the cross-sectional state of the internal structure of the first piston cylinder in an embodiment of the present application.

[0037] Figure 7 It is a schematic diagram of the cross-sectional state of the second internal structure of an embodiment of the present application.

[0038] Figure 8 yes Figure 7 Schematic diagram of the enlarged structure of Part III.

[0039] Fig. 9 yes Figure 7 An enlarged schematic diagram of the structure of Part V.

[0040] Explanation of reference numerals: 100, housing; 101, opening; 200, sensor body; 201, first screw; 202, outer edge sealing steel ring; 203, second screw; 204, center sealing steel ring; 205, third screw; 206, cable; 207, oil inlet; 208, oil cover; 209, sealant; 300, balance membrane; 301, first corrugated structure; 302, second corrugated structure; 303, fillet; 400, balance oil; 500, first sealing mounting hole; 501, first piston cylinder; 502, first piston body; 503, first sealing groove; 504, first sealing Sealing ring; 505, second sealing groove; 506, second sealing ring; 600, adjusting assembly; 601, top pressure block; 602, slide groove; 603, mounting cavity; 604, driving disk; 605, driving strip; 606, driving groove; 607, driving shaft; 608, spiral groove; 609, limiting plate; 610, limiting column; 700, second sealing mounting hole; 701, second piston cylinder; 702, second piston body; 703, electric telescopic member; 800, third sealing mounting hole; 801, mounting seat; 802, first pressure sensor; 803, second pressure sensor; 900, control board. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-9 This application is described in further detail.

[0042] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] The embodiment of the present application discloses a deep-water six-dimensional force sensor.

[0045] Please refer to Figure 1 and Figure 2 In one embodiment of the present application, a deep-water six-dimensional force sensor includes a housing 100, the housing 100 is arranged in a cylindrical shape, the upper end of the housing 100 is arranged as an opening 101, the interior of the housing 100 is fixedly installed with a sensor body 200 by means of a flange structure in a screw-locking manner, the sensor body 200 is coaxially arranged with the housing 100, and a balance membrane 300 is fixedly sealed and connected between the top of the sensor body 200 away from the housing 100 and the top of the housing 100 near the opening 101 by means of a flange structure in a screw-locking manner, a sealed space is formed between the balance membrane 300, the housing 100 and the sensor body 200, and the sealed space is filled with balance oil 400, and the balance oil 400 adopts a mineral oil with insulating properties and compressibility. Under the action of the balance membrane 300, when the pressure of the housing 100 in the external working environment changes, the oil pressure inside the sealed space can be balanced with the pressure of the external seawater, thereby effectively avoiding the damage of the sensor to the high pressure in the deep sea.

[0046] Please refer to Figure 1 and Figure 2 In a specific embodiment of the present application, the sensor body 200 is connected and fixed to the housing 100 by a first screw 201, an outer edge sealing steel ring 202 is provided at the connection between the housing 100 and the balancing membrane 300, and the outer edge sealing steel ring 202 is fixedly connected to the top of the housing 100 by a second screw 203, and the outer edge of the balancing membrane 300 is pressed between the outer edge sealing steel ring 202 and the top of the housing 100, and a central sealing steel ring 204 is provided at the connection between the balancing membrane 300 and the sensor body 200, and the central sealing steel ring 204 is fixedly connected to the top of the sensor body 200 by a third screw 205, and the inner ring of the balancing membrane 300 is pressed between the central sealing steel ring 204 and the sensor body 200. The method of compressing and installing the balancing membrane 300 using the outer edge sealing steel ring 202 and the center sealing steel ring 204 can not only ensure the sealing performance between the balancing membrane 300 and the housing 100 and the sensor body 200, but also ensure the stability and reliability of the balancing membrane 300 during operation, and can also be conveniently maintained or replaced by disassembly during later use.

[0047] Please refer to Figure 2 In a specific embodiment of the present application, a cable 206 penetrating the side wall of the housing 100 is connected to the sensor body 200, and an oil inlet 207 is provided on the sensor body 200. An oil cap 208 is connected to the inside of the oil inlet 207 through a threaded seal, and the connection between the sensor body 200, the cable 206 and the oil cap 208 is sealed with a sealant 209. The sealing performance of the sensor body 200 is improved by sealing the sealant 209, thereby ensuring safety and stability in the later working process.

[0048] Please refer to Figure 1 and Figure 2 In one embodiment of the present application, the balancing membrane 300 is arranged in a stepped shape, and a first corrugated structure 301 is arranged on the balancing membrane 300 along the axial direction of the housing 100, and a second corrugated structure 302 is arranged on the balancing membrane 300 along the radial direction of the housing 100. The first corrugated structure 301 and the second corrugated structure 302 arranged on the balancing membrane 300 can effectively reduce the interference and restriction of the balancing membrane 300 on the sensor body 200 in the six-dimensional direction of space, thereby ensuring the accuracy of the six-dimensional force sensor.

[0049] In one embodiment of the present application, the balancing membrane 300 is made of a soft silicone material. The balancing membrane 300 is made of a soft silicone material. The use of silicone can ensure that the balancing membrane 300 is more easily elastically deformed under the action of water pressure, thereby further ensuring that the oil pressure inside the sealed space and the pressure of the seawater outside the shell 100 tend to be balanced.

[0050] It is understandable that in other specific embodiments of the present application, the balancing membrane 300 may also be made of rubber or a composite material of rubber and silicone.

[0051] Please refer to Figure 1 and Figure 3 In one embodiment of the present application, the first corrugated structure 301 and the second corrugated structure 302 are both connected in sequence in the form of multiple U-shaped structures, and the corners of the balancing membrane 300 and the first corrugated structure 301 and the second corrugated structure 302 are both provided with smooth transition fillets 303. Connecting the first corrugated structure 301 and the second corrugated structure 302 in sequence in the form of multiple U-shaped structures and providing fillets 303 at the corners can reduce the stress concentration and fatigue damage of the balancing membrane 300 during the elastic deformation process, which is conducive to ensuring the service life of the balancing membrane 300 during the working process.

[0052] Please refer to Figure 1 and Figure 4In one embodiment of the present application, a first sealing installation hole 500 connected to the sealed space is provided on the housing 100, and a first piston cylinder 501 is installed in the first sealing installation hole 500 on the housing 100. The first piston cylinder 501 is fixedly installed on the housing 100 by screw locking with a flange structure. In order to ensure the sealing performance between the first piston cylinder 501 and the housing 100, a sealing gasket can be installed at the connection between the first piston cylinder 501 and the housing 100. The first piston cylinder 501 is slidably connected to the first piston body 502 in the internal sealing. During operation, the first piston body 502 moves in the first piston cylinder 501 under the action of water pressure, so that the oil pressure inside the sealed space and the water pressure outside the housing 100 tend to be balanced. This design further ensures the effect of balancing the pressure inside and outside the housing 100.

[0053] Please refer to Figure 4 and Figure 5 In one embodiment of the present application, two groups of first sealing grooves 503 are symmetrically formed on the outer side of the first piston body 502 near the two ends of the first piston body 502, and first sealing rings 504 are installed inside the first sealing grooves 503. During operation, the two groups of first sealing rings 504 can improve the sealing performance between the first piston body 502 and the first piston cylinder 501, effectively reducing the risk of oil leakage and seawater infiltration.

[0054] Please refer to Figure 4 and Figure 5 In one embodiment of the present application, a second sealing groove 505 is provided on the outer side of the first piston body 502 between the two groups of first sealing grooves 503, and a second sealing ring 506 is installed in the second sealing groove 505. The sealing structure formed by the second sealing ring 506 between the first sealing ring 504 further improves the sealing performance between the first piston body 502 and the first piston cylinder 501, and an adjustment component 600 is connected to the inside of the first piston body 502 and the second sealing ring 506 in a transmission manner. The sealing degree of the second sealing ring 506 can be adjusted by the adjustment component 600.

[0055] Please refer to Figure 5 and Figure 6In one embodiment of the present application, the adjustment component 600 includes a top pressure block 601, and a plurality of slide grooves 602 are opened along the radial direction of the first piston body 502 at a position inside the second sealing groove 505 on the first piston body 502, and the slide grooves 602 are centrally symmetrically arranged. The top pressure block 601 is slidably connected inside the slide groove 602, and the outer end of the top pressure block 601 is fixedly bonded to the inner side surface of the second sealing ring 506. An installation cavity 603 connected to the slide groove 602 is opened inside the first piston body 502, and a driving disk 604 is rotatably connected inside the installation cavity 603, and a driving strip 605 arranged in a spiral shape is fixedly connected to the driving disk 604. A driving groove 606 is opened on the top pressure block 601 corresponding to the driving strip 605, and the driving groove 606 cooperates with the driving strip 605 for transmission. During operation, it is only necessary to rotate the driving disk 604, and the driving disk 604 can drive the top pressure block 601 to slide along the radial direction of the first piston body 502 through the driving bar 605 and the driving groove 606. When the top pressure block 601 slides toward the outside of the first piston body 502, it will push the outer side surface of the second sealing ring 506 to be close to the inner side surface of the first piston cylinder 501, thereby increasing the sealing degree between the first piston body 502 and the first piston cylinder 501. When the top pressure block 601 slides toward the inside of the first piston body 502, it will pull the outer side surface of the second sealing ring 506 away from the inner side surface of the first piston cylinder 501, thereby reducing the sealing degree between the first piston body 502 and the first piston cylinder 501, thereby achieving the adjustment of the sealing degree of the second sealing ring 506.

[0056] Please refer to Figure 5 and Figure 6 In one embodiment of the present application, a driving shaft 607 is fixedly connected to one end of the driving disk 604 facing the outside of the housing 100. The driving shaft 607 penetrates the end surface of the first piston body 502. A spiral groove 608 is provided on the outer side of the driving shaft 607. A limiting plate 609 is fixedly connected to the radial direction of the driving shaft 607 at one end of the first piston cylinder 501 close to the outside of the housing 100. A limiting column 610 is fixedly connected to the outer side of the limiting plate 609 facing the driving shaft 607. The limiting column 610 is slidably inserted in the spiral groove 608 on the outer side of the driving shaft 607. During operation, the spiral groove 608 provided on the surface of the driving shaft 607 cooperates with the limiting column 610 on the limiting plate 609, so that the driving disk 604 can be automatically driven to rotate according to the change of external pressure during operation, thereby realizing the automatic adjustment of the sealing degree of the second sealing ring 506.

[0057] Please refer to Figure 6In a specific embodiment of the present application, the housing 100, the first piston cylinder 501, the first piston body 502, the drive disc 604, and the drive shaft 607 are all made of nickel-based alloy. The nickel-based alloy has good anti-corrosion properties, so as to ensure the corrosion resistance of the drive disc 604 and the drive shaft 607 when working in the deep sea.

[0058] It is understandable that in other embodiments of the present application, the housing 100, the first piston cylinder 501, the first piston body 502, the drive disk 604, and the drive shaft 607 can also be made of other materials or processes with better corrosion resistance, such as titanium alloy or electroplated anti-corrosion layer.

[0059] Please refer to Figure 7 and Figure 8 In one embodiment of the present application, a second sealing installation hole 700 communicating with the sealed space is provided on the housing 100, and a second piston cylinder 701 is sealedly installed inside the second sealing installation hole 700 on the housing 100, and a second piston body 702 is sealed and slidably connected inside the second piston cylinder 701, and an electric telescopic member 703 is fixedly connected to the end of the second piston cylinder 701 away from the sealed space, and the movable end of the electric telescopic member 703 is fixedly connected to the second piston body 702. The electric telescopic member 703 can drive the second piston body 702 inside the second piston cylinder 701 to slide, and when the second piston body 702 slides in a direction close to the sealed space, the pressure inside the sealed space can be increased, and when the second piston body 702 slides in a direction away from the sealed space, the pressure inside the sealed space can be reduced, so that the oil pressure inside the sealed space can be adjusted and compensated by controlling the electric telescopic member 703 during the working process, so that the oil pressure inside the sealed space and the pressure of the external seawater can quickly reach a balanced state.

[0060] In a specific embodiment of the present application, the electric telescopic member 703 can be configured as an electric push rod. Of course, in other specific embodiments of the present application, the electric telescopic member 703 can also be configured as other devices or mechanisms that are easy to control electrically, such as a linear motor, or a crank slider mechanism driven by a stepper motor.

[0061] Please refer to Figure 7 and Fig. 9In one embodiment of the present application, a third sealing installation hole 800 connected to the sealed space is provided on the housing 100, and a mounting seat 801 is provided inside the third sealing installation hole 800 on the housing 100. A first pressure sensor 802 is fixedly installed on one end of the mounting seat 801 facing the inside of the sealed space, and a second pressure sensor 803 is fixedly installed on one end of the mounting seat 801 away from the inside of the sealed space. The first pressure sensor 802 and the second pressure sensor 803 can be used to monitor the oil pressure inside the sealed space and the pressure of the external seawater in real time.

[0062] Please refer to Figure 7 In one embodiment of the present application, a control panel 900 is fixedly installed on the housing 100 inside the sealed space, and the control panel 900 is electrically connected to the first pressure sensor 802 and the second pressure sensor 803, and the electric telescopic member 703 is electrically connected to the control panel 900. The first pressure sensor 802 and the second pressure sensor 803 can monitor the oil pressure inside the sealed space and the pressure signal of the external seawater in real time, and transmit it to the control panel 900. The control panel 900 can calculate the pressure difference between the inside and outside of the sealed space according to the oil pressure inside the sealed space and the pressure signal of the external seawater, and conveniently control the electric telescopic member 703 to expand and contract according to the pressure difference, thereby adjusting the oil pressure inside the sealed space so that the oil pressure inside the sealed space is equal to the pressure of the external seawater.

[0063] The implementation principle of a deep-water six-dimensional force sensor in the embodiment of the present application is:

[0064] During operation, when the sensor enters a deep-water environment, the water pressure in the deep-water environment acts on the balance membrane 300, and the balance oil 400 inside the sealed space is compressed by the balance membrane 300. By utilizing the compressible property of the balance oil 400, the oil pressure inside the sealed space can be balanced with the pressure of the external seawater, thereby effectively avoiding damage to the sensor caused by the high pressure in the deep-water ocean. At the same time, the first corrugated structure 301 and the second corrugated structure 302 arranged on the balance membrane 300 can effectively reduce the interference and restriction of the balance membrane 300 on the sensor body 200 in the six-dimensional direction of space, thereby ensuring the accuracy of the six-dimensional force sensor.

[0065] As the sensor continues to dive during operation, the seawater pressure outside the sensor will continue to increase. When the seawater pressure increases, the water pressure inside the seawater will push the first piston body 502 to move toward the inside of the sealed space. During the movement of the first piston body 502, the driving disc 604 and the driving shaft 607 will drive synchronous movement. During the movement, the driving disc 604 and the driving shaft 607 will rotate forward in cooperation with each other between the spiral groove 608 and the limiting column 610. When the driving disc 604 rotates forward, it will drive the top pressure block 601 to slide toward the outside of the first piston body 502 through the driving bar 605 and the driving groove 606, thereby pushing the outer side surface of the second sealing ring 506 to be close to the inner side surface of the first piston cylinder 501, thereby increasing the sealing degree between the first piston body 502 and the first piston cylinder 501. In this way, the sealing performance between the first piston body 502 and the first piston cylinder 501 can be automatically increased when the seawater pressure increases, which can effectively prevent the internal oil leakage and the seawater from penetrating into the interior, thereby ensuring the safety and reliability of the internal components of the housing 100.

[0066] When the sensor dives or rises quickly during operation, a pressure difference will appear between the oil pressure inside the sealed space and the pressure of the external seawater during the balancing process. The first pressure sensor 802 and the second pressure sensor 803 can monitor the oil pressure inside the sealed space and the pressure signal of the external seawater in real time and transmit them to the control board 900. The control board 900 can calculate the pressure difference between the inside and outside of the sealed space according to the oil pressure inside the sealed space and the pressure signal of the external seawater, and conveniently control the electric telescopic component 703 to extend and retract according to the pressure difference. The electric telescopic component 703 will drive the second piston body 702 inside the second piston cylinder 701 to slide; when the second piston body 702 slides in a direction close to the sealed space, the pressure inside the sealed space can be increased, and when the second piston body 702 slides in a direction away from the sealed space, the pressure inside the sealed space can be reduced. In this way, the oil pressure inside the sealed space can be adjusted and compensated by controlling the electric telescopic component 703 during operation, so that the oil pressure inside the sealed space and the pressure of the external seawater can quickly reach a balanced state.

[0067] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A deep-water six-dimensional force sensor, characterized in that: The invention comprises a housing (100), wherein a sensor body (200) is installed inside the housing (100), an upper end portion of the housing (100) is arranged as an opening (101), a balancing membrane (300) is sealedly connected between a top portion of the sensor body (200) away from the housing (100) and a top portion of the housing (100) close to the opening (101), the balancing membrane (300) being arranged in a stepped shape, and a first corrugated structure (301) is arranged on the balancing membrane (300) along the axial direction of the housing (100), and a second corrugated structure (302) is arranged on the balancing membrane (300) along the radial direction of the housing (100); a sealed space is formed between the balancing membrane (300), the housing (100) and the sensor body (200), and the sealed space is filled with balancing oil (400); The housing (100) is provided with a first sealing installation hole (500) connected to the sealing space; a first piston cylinder (501) is sealingly installed inside the first sealing installation hole (500) on the housing (100); and a first piston body (502) is sealingly slidably connected inside the first piston cylinder (501); Two groups of first sealing grooves (503) are symmetrically formed on the outer side surface of the first piston body (502) near the two ends of the first piston body (502), and a first sealing ring (504) is installed inside the first sealing groove (503); A second sealing groove (505) is provided on the outer side surface of the first piston body (502) between the two groups of the first sealing grooves (503); a second sealing ring (506) is installed in the interior of the second sealing groove (505); and an adjusting component (600) is drivingly connected between the interior of the first piston body (502) and the second sealing ring (506); The adjusting assembly (600) comprises a pressing block (601), a plurality of sliding grooves (602) are provided on the first piston body (502) at positions inside the second sealing groove (505) along the radial direction of the first piston body (502), the sliding grooves (602) are arranged symmetrically with respect to the center, the pressing block (601) is slidably connected inside the sliding grooves (602), the outer end of the pressing block (601) is fixedly bonded to the inner side surface of the second sealing ring (506), a mounting cavity (603) in communication with the sliding grooves (602) is provided inside the first piston body (502), a driving disk (604) is rotatably connected inside the mounting cavity (603), a driving strip (605) arranged in a spiral shape is fixedly connected to the driving disk (604), a driving groove (606) is provided on the pressing block (601) corresponding to the driving strip (605), and the driving groove (606) cooperates with the driving strip (605) for transmission; The housing (100) is provided with a second sealing installation hole (700) connected to the sealing space; a second piston cylinder (701) is sealingly installed inside the second sealing installation hole (700) on the housing (100); a second piston body (702) is sealingly and slidably connected inside the second piston cylinder (701); an electric telescopic component (703) is fixedly connected to one end of the second piston cylinder (701) away from the sealing space; and a movable end of the electric telescopic component (703) is fixedly connected to the second piston body (702).

2. A deep-water six-dimensional force sensor according to claim 1, characterized in that: The balancing membrane (300) is made of a soft material, the first corrugated structure (301) and the second corrugated structure (302) are both in the form of a plurality of U-shaped structures connected in sequence, and the corners of the first corrugated structure (301) and the second corrugated structure (302) are both provided with rounded corners (303) with smooth transitions.

3. A deep-water six-dimensional force sensor according to claim 1, characterized in that: A driving shaft (607) is fixedly connected to one end of the driving disk (604) facing the outside of the housing (100); the driving shaft (607) passes through the end surface of the first piston body (502); a spiral groove (608) is provided on the outer side surface of the driving shaft (607); an end of the first piston cylinder (501) close to the outside of the housing (100) is fixedly connected to a limiting plate (609) corresponding to the radial direction of the driving shaft (607); the limiting plate (609) is fixedly connected to a limiting column (610) facing the outer side surface of the driving shaft (607); the limiting column (610) is slidably fitted and inserted into the spiral groove (608) on the outer side surface of the driving shaft (607).

4. A deep-water six-dimensional force sensor according to claim 1, characterized in that: The housing (100) is provided with a third sealing installation hole (800) connected to the sealed space, the housing (100) is provided with an internal mounting seat (801) located in the third sealing installation hole (800), a first pressure sensor (802) is fixedly mounted on one end of the mounting seat (801) facing the inside of the sealed space, and a second pressure sensor (803) is fixedly mounted on one end of the mounting seat (801) away from the inside of the sealed space.

5. A deep-water six-dimensional force sensor according to claim 4, characterized in that: A control panel (900) is fixedly mounted on the housing (100) and located inside the sealed space; the control panel (900) is electrically connected to the first pressure sensor (802) and the second pressure sensor (803); and the electric telescopic member (703) is electrically connected to the control panel (900).

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