Waterproof and dustproof structure and method for multi-dimensional force sensor

Abstract

The invention discloses a multi-dimensional force sensor waterproof and dustproof structure and method, and relates to the technical field of multi-dimensional force sensors.The multi-dimensional force sensor waterproof and dustproof structure comprises a sensing base, a pressure-bearing base is installed above the sensing base, a lead screw is installed at the upper end of the pressure-bearing base, a nut is installed on the outer wall of the lead screw, and the nut is installed on the upper end of the pressure-bearing base. A staggered water separation groove is formed in the joint of the pressure bearing seat and the sensing base, hoop positioning grooves are formed in the upper end and the lower end of the staggered water separation groove, a flexible waterproof layer is arranged on the outer side of the staggered water separation groove, and two limiting hoops are arranged at the joints of the upper end and the lower end of the flexible waterproof layer and the hoop positioning grooves; according to the scheme, the problem that the waterproof and dustproof effects of the multi-dimensional force sensor are affected due to the fact that a certain gap exists at the joint of the upper cover plate and the base of an existing multi-dimensional force sensor in order to guarantee stress detection, and water and dust easily enter the sensor from the gap is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-dimensional force sensors, and in particular to a waterproof and dustproof structure and method for a multi-dimensional force sensor. Background Art

[0002] A multi-dimensional force sensor refers to a sensor that can simultaneously measure three-dimensional orthogonal forces / torques in a Cartesian coordinate system. The research on related technologies has a long history and is widely used in intelligent collaborative robots, intelligent robot manufacturing, rehabilitation and medical robots, human-computer interaction and remote control operating systems, as well as space and deep-sea exploration.

[0003] Existing multi-dimensional force sensors, such as announcement number CN117705335B, are named as an inductive reconfigurable multi-dimensional force sensor, which relates to the field of multi-dimensional force / torque sensors. They are composed of a base, an inductance measurement module, and a force-displacement conversion device. The inductance measurement module is fixed on the base for measuring the inductance of the coil array. The force-displacement conversion device is composed of an upper cover plate, an elastic body, and a metal plate and fixed together. The multi-dimensional force / torque borne by the upper cover plate is converted into a multi-dimensional displacement / rotation of the metal plate.

[0004] However, in order to ensure force detection, there is a certain gap between the connection between the upper cover and the base of the existing multi-dimensional force sensor. Water and dust can easily enter the sensor through the gap, thereby affecting the waterproof and dustproof effect of the multi-dimensional force sensor. To this end, we provide a waterproof and dustproof structure and method for a multi-dimensional force sensor. Summary of the invention

[0005] The object of the present invention is to provide a waterproof and dustproof structure and method for a multi-dimensional force sensor, so as to solve the problem in the above-mentioned background technology that in order to ensure force detection, there is a certain gap between the connection between the upper cover and the base of the existing multi-dimensional force sensor, and water and dust can easily enter the sensor through the gap, thereby affecting the waterproof and dustproof effect of the multi-dimensional force sensor.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a waterproof and dustproof structure of a multi-dimensional force sensor, comprising a sensing base, a pressure-bearing seat is installed above the sensing base, a screw rod is installed at the upper end of the pressure-bearing seat, a nut is installed on the outer wall of the screw rod, an offset water-blocking groove is provided at the connection between the pressure-bearing seat and the sensing base, a clamp positioning groove is provided at the upper and lower ends of the offset water-blocking groove, a flexible waterproof layer is provided on the outer side of the offset water-blocking groove, two limiting clamps are provided at the connection between the upper and lower ends of the flexible waterproof layer and the clamp positioning groove, and the two limiting clamps are arranged oppositely, connecting ears are provided at both ends of the limiting clamps, a docking head is provided at the front end of the sensing base, a connecting head is installed at the front end of the docking head, a wire is provided at the front end of the connecting head, and a There is a rubber positioning ring, and the rubber positioning ring is bonded and connected to the limiting clamp, a water-expandable tape patch is arranged on the outer wall of the rubber positioning ring, a protective sleeve is arranged on the outside of the connecting ear, a water-expandable filling layer is arranged inside the protective sleeve, a docking groove is arranged inside the docking groove, a male head is installed inside the docking groove, and three male heads are arranged, a docking boss is arranged at the end of the connecting head, a female head is arranged inside the docking boss, and three female heads are arranged, an offset water-blocking groove is arranged on the outside of the docking groove, a water-blocking ring sleeve is arranged on the outside of the offset water-blocking groove, a rubber convex ring is arranged on the outside of the water-blocking ring sleeve, an annular groove is arranged on the outside of the water-blocking ring sleeve, a water-expandable ring is arranged on the outside of the annular groove, and water seepage holes are arranged around the outer wall of the connecting head, and the water seepage holes extend to the back of the water-expandable ring;

[0007] By setting water-swelling materials at the joints between the butt joint and the connector, at the joints between the limit clamp and the clamp positioning groove, and at the joints between the protective cover and the limit clamp connection ear, one of the water-swelling materials is made of special rubber as the main raw material, mixed with inorganic water-absorbing materials and high-viscosity resins, etc. When the sensor is exposed to water or immersed in water on a large scale;

[0008] The water expansion ring located at the joint of the butt joint and the connector expands under the water diversion effect of the water seepage pores around the outer wall of the connector. On the one hand, it fills the gap between the connector and the butt joint by itself, and on the other hand, it tightens the plastic buckle and the slot by the expansion effect. The two effects work together to improve the waterproof performance of the joint between the butt joint and the connector.

[0009] The water-expandable patch located at the connection between the limit clamp and the clamp positioning groove can expand by its own water absorption to fill the seam between the limit clamp and the clamp positioning groove, thus delaying water ingress to a certain extent.

[0010] The water-expandable filling layer arranged inside the protective cover can absorb water and expand under the water diversion effect of the water seepage port, thereby filling the gap between the protective cover and the connecting ear, reinforcing the limit clamp to prevent it from loosening;

[0011] The above-mentioned multiple groups of structures work together to ensure that the multi-dimensional force sensor has good waterproof performance even when it is completely immersed in water.

[0012] Preferably, screw holes are provided on the outer walls of the protective cover and the connecting ear, and the protective cover and the connecting ear are connected via the screw holes and screws. A water seepage port is provided at the rear end of the protective cover, and a dustproof net is installed inside the water seepage port.

[0013] Preferably, card slots are provided inside on both sides of the docking joint, and card slots are provided on the outer walls on both sides of the docking joint, and the card slots are communicated with the card slots. Plastic buckles are installed on the ends on both sides of the connecting head. The docking joint and the connecting head are connected by a buckle type, which is easy to install. When disassembly is required, just press the plastic buckles from both sides and pull the connecting head outward.

[0014] Preferably, a waterproof and dustproof method for a waterproof and dustproof structure of a multi-dimensional force sensor comprises the following steps:

[0015] Step 1: Use the limit clamps set by the two sets of clamps to fix the flexible waterproof layer at the connection between the sensor base and the pressure-bearing seat. The flexible waterproof layer protects against water and dust to prevent water and dust from entering the connection gap between the sensor base and the pressure-bearing seat. The connection ear of the limit clamp is connected to the protective cover and fixed with screws to ensure the stability of the limit clamp;

[0016] Step 2: Plug the docking head of the multi-dimensional force sensor and the connector with wires, and fix them by cooperating with two sets of card slots on the docking head through two sets of plastic buckles on the connector. After fixation, the docking groove around the male head is engaged with the docking protrusion around the female head to achieve the first level of waterproofing. The waterproof ring sleeve on the outside of the docking protrusion is inserted into the misaligned waterproof groove on the outside of the docking groove to achieve the second level of waterproofing. The rubber convex ring on the outside of the misaligned waterproof groove is inserted into the annular groove on the outside of the waterproof ring sleeve to achieve the third level of waterproofing.

[0017] Step 3: When the multi-dimensional force sensor touches water or enters water on a large scale, the water seepage holes around the outer wall of the connector can guide water to the water expansion ring inside the connector. After the water expansion ring expands when it encounters water, on the one hand, it relies on itself to fill the gap between the connector and the butt joint, and on the other hand, it relies on the expansion effect to tighten the plastic buckle and the slot. The two effects work together to improve the waterproof performance of the connection between the butt joint and the connector. The protective cover on the connecting ear of the limit clamp leads water inward under the action of the seepage port. The water expansion filling layer in the protective cover absorbs water and expands to fill the gap between the protective cover and the connecting ear, thereby reinforcing the limit clamp. The rubber positioning ring on the inner wall of the limit clamp and the water expansion tape patch on the outer wall of the rubber positioning ring can rely on the expansion effect of the water expansion tape patch to fill the joint when the sensor is immersed and causes water to enter the limit clamp joint, thereby delaying water ingress to a certain extent.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention provides a flexible waterproof layer at the connection between the sensor base and the pressure-bearing seat. The upper and lower ends of the flexible waterproof layer are respectively fixed to the sensor base and the pressure-bearing seat through limiting clamps. When the pressure-bearing seat is subjected to force, the flexible waterproof layer is made of flexible material and will not interfere with the force state. At the same time, the flexible waterproof layer can shield water and dust to prevent water and dust from entering the connection gap between the sensor base and the pressure-bearing seat. This solves the problem that a certain gap exists at the connection between the upper cover plate and the base of the existing multi-dimensional force sensor to ensure force detection, and water and dust can easily enter the sensor from the gap, thereby affecting the waterproof and dustproof effect of the multi-dimensional force sensor.

[0020] 2. The protective cover is placed on the outside of the connecting ear of the limit clamp and fixed by screws. The protective cover can ensure the stability of the limit clamp.

[0021] 3. By arranging a rubber positioning ring on the inner wall of the limiting clamp, when the limiting clamp fixes the flexible waterproof layer, the rubber positioning ring can be engaged with the clamp positioning groove to make the connection tighter.

[0022] 4. The docking joint and the connecting head of the multi-dimensional force sensor of the present invention are provided with multiple waterproof structures. When fixed, two groups of plastic buckles on the connecting head cooperate with two groups of card grooves on the docking head to realize the plug-in fixation of the two. After fixation, the docking groove around the male head is engaged with the docking protrusion around the female head to realize the first level of waterproofing. The water-blocking ring sleeve on the outside of the docking protrusion is inserted into the displaced water-blocking groove outside the docking groove to realize the second level of waterproofing. The rubber protrusion ring on the outside of the displaced water-blocking groove is inserted into the annular groove outside the water-blocking ring sleeve to realize the third level of waterproofing. The multiple waterproof structures cooperate with each other to avoid the situation where water seepage during power connection causes damage to the sensor.

[0023] 5. The present invention provides water-swelling materials at the joints between the butt joint and the connector, at the joints between the limit clamp and the clamp positioning groove, and at the joints between the protective cover and the limit clamp connection ear. One of the water-swelling materials is made of special rubber as the main raw material, and is mixed with inorganic water-absorbing materials and high-viscosity resins. When the sensor is exposed to water or immersed in water over a large area;

[0024] The water expansion ring located at the joint of the butt joint and the connector expands under the water diversion effect of the water seepage pores around the outer wall of the connector. On the one hand, it fills the gap between the connector and the butt joint by itself, and on the other hand, it tightens the plastic buckle and the slot by the expansion effect. The two effects work together to improve the waterproof performance of the joint between the butt joint and the connector.

[0025] The water-expandable patch located at the connection between the limit clamp and the clamp positioning groove can expand by its own water absorption to fill the seam between the limit clamp and the clamp positioning groove, thus delaying water ingress to a certain extent.

[0026] The water-expandable filling layer arranged inside the protective cover can absorb water and expand under the water diversion effect of the water seepage port, thereby filling the gap between the protective cover and the connecting ear, reinforcing the limit clamp to prevent it from loosening;

[0027] The above-mentioned multiple groups of structures work together to ensure that the multi-dimensional force sensor has good waterproof performance even when it is completely immersed in water. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the back structure of the present invention;

[0030] Figure 3 It is a schematic diagram of the local structure of the butt joint of the present invention;

[0031] Figure 4 It is a schematic diagram of the local structure of the connector of the present invention;

[0032] Figure 5 It is a schematic structural diagram of the flexible waterproof layer and the sensor of the present invention in a separated state;

[0033] Figure 6 It is an enlarged schematic diagram of the structure at A of the present invention;

[0034] Figure 7 It is a schematic diagram of the partial structure of the protective cover of the present invention;

[0035] In the figure: 1. sensor base; 2. pressure bearing seat; 3. screw rod; 4. nut; 5. flexible waterproof layer; 6. limit clamp; 601. connecting ear; 602. rubber positioning ring; 603. water expansion tape patch; 7. protective cover; 701. water expansion filling layer; 702. water seepage port; 703. dustproof net; 8. screw; 9. butt joint; 901. butt joint groove; 902. male head; 903. offset water isolation groove; 904. rubber convex ring; 905. slot; 906. slot; 10. connector; 101. butt joint; 102. female head; 103. water isolation ring sleeve; 104. annular groove; 105. water expansion ring; 106. water seepage hole; 107. plastic buckle; 11. wire; 12. offset water isolation groove; 13. clamp positioning slot; 14. screw hole. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] See also Figure 1-7An embodiment of the present invention is a waterproof and dustproof structure of a multi-dimensional force sensor, comprising a sensing base 1, a pressure-bearing seat 2 is installed above the sensing base 1, a screw rod 3 is installed at the upper end of the pressure-bearing seat 2, a nut 4 is installed on the outer wall of the screw rod 3, an offset water barrier 12 is provided at the connection between the pressure-bearing seat 2 and the sensing base 1, a clamp positioning groove 13 is provided at the upper and lower ends of the offset water barrier 12, a flexible waterproof layer 5 is provided on the outer side of the offset water barrier 12, two limiting clamps 6 are provided at the connection between the upper and lower ends of the flexible waterproof layer 5 and the clamp positioning groove 13, and the two limiting clamps 6 are arranged oppositely, and connecting ears 601 are provided at both ends of the limiting clamps 6, a docking head 9 is provided at the front end of the sensing base 1, a connector 10 is installed at the front end of the docking head 9, and a wire 11 is provided at the front end of the connector 10.

[0038] See also Figure 6 A rubber positioning ring 602 is provided on the inner wall of the limiting clamp 6, and the rubber positioning ring 602 is bonded and connected to the limiting clamp 6. When the limiting clamp 6 fixes the flexible waterproof layer 5, the connection can be made tighter by engaging the rubber positioning ring 602 with the clamp positioning groove 13.

[0039] See also Figure 6 A water-swellable patch 603 is provided on the outer wall of the rubber positioning ring 602. The water-swellable patch 603 is made of special rubber as the main raw material, and is mixed with inorganic water-absorbing materials and high-viscosity resins and other materials. When the sensor is immersed in water and causes water to enter the joint of the limit clamp 6, the water-swellable patch 603 can rely on its own water absorption to expand, thereby filling the joint and delaying the water ingress to a certain extent.

[0040] See also Figure 1 and Figure 6 , a protective sleeve 7 is arranged outside the connecting ear 601, a water-expanding filling layer 701 is arranged inside the protective sleeve 7, screw holes 14 are arranged on the outer walls of the protective sleeve 7 and the connecting ear 601, and the protective sleeve 7 and the connecting ear 601 are connected through the screw holes 14 and the screws 8, a water seepage port 702 is arranged at the rear end of the protective sleeve 7, a dust-proof net 703 is installed inside the water seepage port 702, the connecting ear 601 of the limiting clamp 6 is sleeved with the protective sleeve 7 outside and fixed by the screws 8, so as to ensure the clamping stability of the limiting clamp 6, when the multi-dimensional force sensor touches water or enters water in a large range, the protective sleeve 7 draws water inward under the action of the water seepage port 702, and the water-expanding filling layer 701 inside thereof absorbs water and expands, which fills the gap between the protective sleeve 7 and the connecting ear 601, further improving the firmness of the connection at the limiting clamp 6, and avoiding the situation that the limiting clamp 6 is loosened and causes water to enter the sensor, and the dust-proof net 703 can prevent dust and impurities from entering the protective sleeve 7.

[0041] See also Figure 1 , Figure 3 and Figure 4 A docking groove 901 is provided inside the docking joint 9, and a male head 902 is installed inside the docking groove 901, and three male heads 902 are provided. A docking boss 101 is provided at the end of the connecting head 10, and a female head 102 is provided inside the docking boss 101, and three female heads 102 are provided. The docking groove 901 outside the male head 902 can be engaged with the docking boss 101 on the female head 102 to achieve the first level of waterproofing.

[0042] See also Figure 3 and Figure 4 An offset watertight groove 903 is arranged on the outer side of the docking groove 901, and a watertight ring sleeve 103 is arranged on the outer side of the docking protrusion 101. When the male head 902 and the female head 102 are docked, the watertight ring sleeve 103 can be inserted into the offset watertight groove 903, and the second level of waterproofing is achieved by relying on the offset structure.

[0043] See also Figure 3 and Figure 4 A rubber convex ring 904 is arranged on the outer side of the offset watertight groove 903, and an annular groove 104 is arranged on the outer side of the watertight ring sleeve 103. When the male head 902 and the female head 102 are docked, the rubber convex ring 904 can be inserted into the annular groove 104, and the rubber elasticity makes it tightly connected with the annular groove 104, thereby further improving the waterproof performance of the connection between the connector 10 and the docking connector 9, and achieving the effect of the third waterproofing.

[0044] See also Figure 3 and Figure 4 , slots 905 are provided inside on both sides of the docking joint 9, and slots 906 are provided on the outer walls on both sides of the docking joint 9, and the slots 906 are communicated with the slots 905, and plastic buckles 107 are installed at the ends on both sides of the connector 10. The docking joint 9 and the connector 10 are connected by a snap-on connection, which is easy to install and has high firmness. When disassembly is required, it is only necessary to press the plastic buckle 107 from both sides and pull the connector 10 outward, which is convenient and quick.

[0045] See also Figure 3 and Figure 4 A water expansion ring 105 is arranged on the outside of the annular groove 104, and water seepage holes 106 are arranged around the outer wall of the connector 10, and the water seepage holes 106 extend to the back of the water expansion ring 105. When the multi-dimensional force sensor touches water or enters water on a large scale, the water seepage holes 106 around the outer wall of the connector 10 can guide water to the water expansion ring 105 in the connector 10. After the water expansion ring 105 expands when it encounters water, on the one hand, it relies on itself to fill the gap between the connector 10 and the docking head 9, and on the other hand, it relies on the expansion effect to tighten the plastic buckle 107 and the card slot 905. The two effects work together to improve the waterproof performance of the connection between the docking head 9 and the connector 10.

[0046] See also Figure 1-Figure 7, a waterproof and dustproof method for a multi-dimensional force sensor waterproof and dustproof structure, comprising the following steps:

[0047] Step 1: Use the limit clamp 6 set by the two sets of clamps to fix the flexible waterproof layer 5 at the connection between the sensor base 1 and the pressure-bearing seat 2. The flexible waterproof layer 5 is used to block water and dust to prevent water and dust from entering the connection gap between the sensor base 1 and the pressure-bearing seat 2. The connection ear 601 of the limit clamp 6 is externally sleeved with the protective cover 7 and connected and fixed by screws 8 to ensure the clamping stability of the limit clamp 6;

[0048] Step 2: Plug the docking head 9 of the multi-dimensional force sensor and the connector 10 with the wire 11, and fix them by the two sets of plastic buckles 107 on the connector 10 and the two sets of card grooves 905 on the docking head 9. After fixation, the docking groove 901 around the male head 902 is engaged with the docking protrusion 101 around the female head 102 to achieve the first level of waterproofing. The waterproof ring sleeve 103 on the outside of the docking protrusion 101 is inserted into the dislocated waterproof groove 903 on the outside of the docking groove 901 to achieve the second level of waterproofing. The rubber convex ring 904 on the outside of the dislocated waterproof groove 903 is inserted into the annular groove 104 on the outside of the waterproof ring sleeve 103 to achieve the third level of waterproofing.

[0049] Step 3: When the multi-dimensional force sensor touches water or enters water in a large range, the water seepage holes 106 around the outer wall of the connector 10 can guide water to the water expansion ring 105 inside the connector 10. After the water expansion ring 105 expands in water, on the one hand, it relies on itself to fill the gap between the connector 10 and the docking head 9, and on the other hand, it relies on the expansion effect to tighten the plastic buckle 107 and the card slot 905. The two effects work together to improve the waterproof performance of the connection between the docking head 9 and the connector 10, and the limit clamp 6 is connected The protective cover 7 on the ear 601 draws water inwards under the action of the water seepage port 702, and the water-swellable filling layer 701 in the protective cover 7 absorbs water and expands to fill the gap between the protective cover 7 and the connecting ear 601, thereby reinforcing the limiting clamp 6. When the sensor is immersed and water enters the joint of the limiting clamp 6, the water-swellable tape patch 603 can fill the joint by the expansion effect of the water-swellable tape patch 603, thereby delaying the water ingress to a certain extent.

[0050] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A waterproof and dustproof structure of a multi-dimensional force sensor, comprising a sensor base (1), characterized in that: A pressure bearing seat (2) is installed above the sensing base (1), a screw rod (3) is installed at the upper end of the pressure bearing seat (2), a nut (4) is installed on the outer wall of the screw rod (3), a misaligned water isolation groove (12) is provided at the connection between the pressure bearing seat (2) and the sensing base (1), a clamp positioning groove (13) is provided at the upper and lower ends of the misaligned water isolation groove (12), and a flexible waterproof layer (5) is provided on the outer side of the misaligned water isolation groove (12). Two limiting clamps (6) are provided at the connection points between the upper end and the lower end of the flexible waterproof layer (5) and the clamp positioning groove (13), and the two limiting clamps (6) are arranged opposite to each other, and connecting ears (601) are provided at both ends of the limiting clamps (6), and a docking head (9) is provided at the front end of the sensor base (1), a connector (10) is installed at the front end of the docking head (9), and a wire (11) is provided at the front end of the connector (10).

2. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 1, characterized in that: A rubber positioning ring (602) is provided on the inner wall of the position limiting hoop (6), and the rubber positioning ring (602) is bonded and connected to the position limiting hoop (6).

3. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 2, characterized in that: A water-swellable tape patch (603) is provided on the outer wall of the rubber positioning ring (602).

4. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 3, characterized in that: A protective sleeve (7) is arranged outside the connecting ear (601), a water-expandable filling layer (701) is arranged inside the protective sleeve (7), screw holes (14) are arranged on the outer walls of the protective sleeve (7) and the connecting ear (601), and the protective sleeve (7) and the connecting ear (601) are connected via the screw holes (14) and the screws (8), a water seepage port (702) is arranged at the rear end of the protective sleeve (7), and a dustproof net (703) is installed inside the water seepage port (702).

5. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 4, characterized in that: The docking joint (9) is provided with a docking groove (901) inside, a male head (902) is installed inside the docking groove (901), and three male heads (902) are provided; the end of the connecting head (10) is provided with a docking convex head (101), and a female head (102) is provided inside the docking convex head (101), and three female heads (102) are provided.

6. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 5, characterized in that: The outer side of the docking groove (901) is provided with an offset water blocking groove (903), and the outer side of the docking protrusion (101) is provided with a water blocking ring sleeve (103).

7. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 6, characterized in that: A rubber convex ring (904) is arranged on the outer side of the offset water isolation groove (903), and an annular groove (104) is arranged on the outer side of the water isolation ring sleeve (103).

8. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 7, characterized in that: The interior of both sides of the docking head (9) is provided with a card slot (905), the outer walls of both sides of the docking head (9) are provided with a card slot (906), and the card slot (906) is connected to the card slot (905), and the ends of both sides of the connecting head (10) are installed with plastic buckles (107).

9. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 8, characterized in that: A water expansion ring (105) is arranged outside the annular groove (104), and water seepage holes (106) are arranged around the outer wall of the connector (10), and the water seepage holes (106) extend to the back side of the water expansion ring (105).

10. A waterproof and dustproof method for a multi-dimensional force sensor waterproof and dustproof structure, implemented based on the waterproof and dustproof structure of a multi-dimensional force sensor according to claim 9, characterized in that: The following steps are involved: Step 1: Use the limiting clamp (6) provided by the two sets of clamps to fix the flexible waterproof layer (5) at the connection between the sensor base (1) and the pressure-bearing seat (2), and use the flexible waterproof layer (5) to block water and dust to prevent water and dust from entering the connection gap between the sensor base (1) and the pressure-bearing seat (2). The connecting ear (601) of the limiting clamp (6) is externally sleeved with the protective sleeve (7) and connected and fixed by screws (8) to ensure the clamping stability of the limiting clamp (6); Step 2: plug the docking head (9) of the multi-dimensional force sensor and the connector (10) with the wire (11), and fix them by engaging two groups of plastic buckles (107) on the connector (10) with two groups of card grooves (905) on the docking head (9). After fixation, the docking groove (901) around the male head (902) is engaged with the docking protrusion (101) around the female head (102) to achieve the first level of waterproofing. The waterproof ring sleeve (103) outside the docking protrusion (101) is inserted into the misaligned waterproof groove (903) outside the docking groove (901) to achieve the second level of waterproofing. The rubber convex ring (904) outside the misaligned waterproof groove (903) is inserted into the annular groove (104) outside the waterproof ring sleeve (103) to achieve the third level of waterproofing. Step 3: When the multi-dimensional force sensor touches water or enters water in a large area, the water seepage holes (106) around the outer wall of the connector (10) can guide water to the water expansion ring (105) in the connector (10). After the water expansion ring (105) expands when it encounters water, on the one hand, it relies on itself to fill the gap between the connector (10) and the docking head (9), and on the other hand, it relies on the expansion effect to tighten the plastic buckle (107) and the card slot (905). The two effects work together to improve the waterproof performance of the connection between the docking head (9) and the connector (10), and the limit clamp (6) connects the ear ( The protective sleeve (7) on the connecting ear (601) draws water inward under the action of the water seepage port (702), and the water-expandable filling layer (701) in the protective sleeve (7) absorbs water and expands to fill the gap between the protective sleeve (7) and the connecting ear (601), thereby reinforcing the limiting clamp (6). When the sensor is immersed and water enters the joint of the limiting clamp (6) due to the water seepage port (702), the water-expandable tape patch (603) can fill the joint by the expansion effect of the water-expandable tape patch (603), thereby delaying the water ingress to a certain extent.

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