A waterproof and dustproof structure and method for a multi-dimensional force sensor

Abstract

The present invention discloses a waterproof and dustproof structure and method for a multi-dimensional force sensor, which relates to the technical field of multi-dimensional force sensors. The waterproof and dustproof structure of the multi-dimensional force sensor includes a sensing base, a pressure-bearing seat is installed above the sensing base, a lead screw is installed at the upper end of the pressure-bearing seat, a nut is installed on the outer wall of the lead screw, a misaligned water separating groove is provided at the connection between the pressure-bearing seat and the sensing base, clamping hoop positioning grooves are provided at both the upper and lower ends of the misaligned water separating groove, a flexible waterproof layer is provided outside the misaligned water separating groove, and two limiting clamping hoops are provided at the connections between the upper and lower ends of the flexible waterproof layer and the clamping hoop positioning grooves, and the two limiting clamping hoops are arranged oppositely. This solution solves the problem that there is a certain gap at the connection between the upper cover and the base of the existing multi-dimensional force sensor to ensure force detection, and water and dust easily enter the sensor through the gap, thus affecting the waterproof and dustproof effect of the multi-dimensional force sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of multi - dimensional force sensors, and particularly to a waterproof and dust - proof structure and method for a multi - dimensional force sensor. Background Technique

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

[0003] An existing multi - dimensional force sensor, such as the one with the publication number CN117705335B, named an inductive reconfigurable multi - dimensional force sensor, which relates to the field of multi - dimensional force / moment sensors, is composed of a base, an inductance measurement module, and a force - displacement conversion device. The inductance measurement module is fixed on the base and used to measure the inductance of the coil array. The force - displacement conversion device is composed of an upper cover plate, an elastomer, and a metal plate and is fixed together. The multi - dimensional force / moment borne by the upper cover plate is converted into multi - dimensional displacement / rotation of the metal plate.

[0004] However, at the connection between the upper cover plate and the base of the existing multi - dimensional force sensor, in order to ensure force detection, there is a certain gap at the connection, and water and dust are likely to enter the sensor through the gap, thus affecting the waterproof and dust - proof effect of the multi - dimensional force sensor. Therefore, we provide a waterproof and dust - proof structure and method for a multi - dimensional force sensor. Summary of the Invention

[0005] The purpose of the present invention is to provide a waterproof and dust - proof structure and method for a multi - dimensional force sensor, so as to solve the problem that in the existing multi - dimensional force sensor, there is a certain gap at the connection between the upper cover plate and the base to ensure force detection, and water and dust are likely to enter the sensor through the gap, thus affecting the waterproof and dust - proof effect of the multi - dimensional force sensor as mentioned in the above background technique.

[0006] To achieve the above object, the present invention provides the following technical solution: A waterproof and dustproof structure for a multi-dimensional force sensor, including a sensing base, a pressure-bearing seat is installed above the sensing base, a lead screw is installed at the upper end of the pressure-bearing seat, a nut is installed on the outer wall of the lead screw, a dislocation water separation groove is provided at the connection between the pressure-bearing seat and the sensing base, clamping hoop positioning grooves are provided at both the upper and lower ends of the dislocation water separation groove, a flexible waterproof layer is provided outside the dislocation water separation groove, two limiting clamping hoops are provided at the connections between the upper and lower ends of the flexible waterproof layer and the clamping hoop positioning grooves, and the two limiting clamping hoops are arranged oppositely. Connection ears are provided at both ends of the limiting clamping hoop. A docking head is provided at the front end of the sensing base, a connection head is installed at the front end of the docking head, a wire is provided at the front end of the connection head, a rubber positioning ring is provided on the inner wall of the limiting clamping hoop, and the rubber positioning ring is adhesively connected to the limiting clamping hoop. A water swelling tape patch is provided on the outer wall of the rubber positioning ring. A protective sleeve is provided outside the connection ear, a water swelling filling layer is provided inside the protective sleeve, a docking groove is provided inside the docking head, a male head is installed inside the docking groove, and three male heads are provided. A docking convex head is provided at the end of the connection head, a female head is provided inside the docking convex head, and three female heads are provided. A dislocation water separation groove is provided outside the docking groove, a water separation ring sleeve is provided outside the docking convex head, a rubber convex ring is provided outside the dislocation water separation groove, an annular groove is provided outside the water separation ring sleeve, a water swelling ring is provided outside the annular groove, and water seepage fine holes are provided around the outer wall of the connection head, and the water seepage fine holes extend to the back of the water swelling ring;

[0007] By arranging water swelling materials at the docking part of the docking head and the connection head, the connection part of the limiting clamping hoop and the clamping hoop positioning groove, and the connection part of the protective sleeve and the connection ear of the limiting clamping hoop, one of which is a water swelling material made by mixing a special rubber as the main raw material with inorganic water-absorbing materials and high-viscosity resins, etc. When the sensor is in contact with water or immersed in water on a large scale;

[0008] The water swelling ring located at the docking part of the docking head and the connection head expands under the water guiding action of the water seepage fine holes around the outer wall of the connection head. On the one hand, it fills the gap between the connection head and the docking head by itself. On the other hand, relying on the expansion effect, it tightens the plastic buckle and the card slot. The two effects cooperate to improve the waterproof performance of the connection between the docking head and the connection head;

[0009] The water swelling tape patch located at the connection part of the limiting clamping hoop and the clamping hoop positioning groove can expand by its own water absorption to fill the joint between the limiting clamping hoop and the clamping hoop positioning groove, and delay the water ingress to a certain extent;

[0010] The water swelling filling layer provided inside the protective sleeve can absorb water and expand under the water guiding action of the water seepage port, so as to fill the gap between the protective sleeve and the connection ear, reinforce the limiting clamping hoop, and prevent it from loosening;

[0011] The above - mentioned multiple sets of structures work together, enabling the multi - dimensional force sensor to have good waterproof performance even when completely immersed in water.

[0012] Preferably, screw holes are provided on the outer walls of both the protective sleeve and the connecting ear, and the protective sleeve and the connecting ear are connected through the screw holes and screws. A water seepage port is provided at the rear end of the protective sleeve, and a dust - proof net is installed inside the water seepage port.

[0013] Preferably, clamping grooves are provided inside both sides of the docking head, and clamping ports are provided on the outer walls of both sides of the docking head, and the clamping ports are communicated with the clamping grooves. Plastic buckles are installed at the ends of both sides of the connecting head. The docking head and the connecting head are connected in a snap - fit manner, which is convenient for installation. When disassembly is required, just press the plastic buckles from both sides and pull the connecting head outwards.

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

[0015] Step 1: Use the limit hoops set by two groups of clamps to fix the flexible waterproof layer at the connection between the sensing base and the pressure - bearing seat. The flexible waterproof layer shields water and dust, preventing water and dust from entering the connection gap between the sensing base and the pressure - bearing seat. The connecting ear of the limit hoop is sleeved with a protective sleeve outside and is fixedly connected by screws to ensure the clamping stability of the limit hoop.

[0016] Step 2: Insert and connect the docking head of the multi - dimensional force sensor and the connecting head with a wire. The two plastic buckles on the connecting head cooperate with the two clamping grooves on the docking head for snap - fit fixation. After fixation, the docking grooves around the male head are engaged with the docking protrusions around the female head to achieve the first - level waterproofing. The water - isolating ring sleeve outside the docking protrusion is inserted into the offset water - isolating groove outside the docking groove to achieve the second - level waterproofing. The rubber convex ring outside the offset water - isolating groove is inserted into the annular groove outside the water - isolating ring sleeve to achieve the third - level waterproofing.

[0017] Step 3: When the multi - dimensional force sensor is in wide - range contact with water or enters water, the water seepage pores around the outer wall of the connecting head can guide the water to the water - swelling ring inside the connecting head. After the water - swelling ring swells when encountering water, on the one hand, it fills the gap between the connecting head and the docking head by itself, and on the other hand, it tightens the plastic buckles and the clamping grooves by the swelling effect. The two effects work together to improve the waterproof performance at the connection between the docking head and the connecting head. The protective sleeve on the connecting ear of the limit hoop guides water inwards under the action of the water seepage port, and the water - swelling filling layer inside the protective sleeve absorbs water and swells to fill the gap between the protective sleeve and the connecting ear, strengthening the limit hoop. The rubber positioning ring on the inner wall of the limit hoop and the water - swelling tape patch on the outer wall of the rubber positioning ring can, when water enters through the seam of the limit hoop due to the sensor being immersed, fill the seam by the swelling effect of the water - swelling tape patch, delaying the water inflow to a certain extent.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. By providing a flexible waterproof layer at the connection between the sensing base and the pressure-bearing seat, the upper and lower ends of the flexible waterproof layer are fixed to the sensing base and the pressure-bearing seat respectively through limit clamps. When the pressure-bearing seat is stressed, since the flexible waterproof layer is made of flexible material, it will not interfere with the stress state. At the same time, the flexible waterproof layer can block and protect water and dust, preventing water and dust from entering the connection gap between the sensing base and the pressure-bearing seat, and solving the problem that there is a certain gap 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 are easily introduced into the sensor through the gap, thus affecting the waterproof and dustproof effects of the multi-dimensional force sensor.

[0020] 2. A protective sleeve is sleeved outside the connecting ear of the limit clamp and fixed by screw connection, and the protective sleeve can ensure the clamping stability of the limit clamp.

[0021] 3. By providing a rubber positioning ring on the inner wall of the limit clamp, when the limit clamp fixes the flexible waterproof layer, the connection can be made more tightly through the engagement of the rubber positioning ring and the clamp positioning groove.

[0022] 4. Multiple waterproof structures are provided at the docking head and the connecting head of the multi-dimensional force sensor of the present invention. When fixing, the two groups of plastic buckles on the connecting head cooperate with the two groups of card slots on the docking head to realize the plug-in fixation of the two. After fixation, the docking grooves around the male head are engaged with the docking convex heads around the female head to achieve the first layer of waterproofing. The water-blocking ring sleeve outside the docking convex head is inserted into the misaligned water-blocking groove outside the docking groove to achieve the second layer of waterproofing. The rubber convex ring outside the misaligned water-blocking groove is inserted into the annular groove outside the water-blocking ring sleeve to achieve the third layer of waterproofing. The multiple waterproof structures cooperate with each other to avoid the situation that the sensor is damaged due to water seepage at the power connection.

[0023] 5. By providing water-swellable materials at the docking part of the docking head and the connecting head, the connection part between the limit clamp and the clamp positioning groove, and the connection part between the protective sleeve and the connecting ear of the limit clamp. One of them is a water-absorbing and swelling material made by mixing special rubber as the main raw material with inorganic water-absorbing materials and highly viscous resins, etc. When the sensor is in large-scale contact with water or immersed in water;

[0024] The water-swellable ring located at the docking part of the docking head and the connecting head swells under the water-leading action of the fine water seepage holes around the outer wall of the connecting head. On the one hand, it fills the gap between the connecting head and the docking head by itself, and on the other hand, it tightens the plastic buckle and the card slot by the swelling action. The two effects cooperate to improve the waterproof performance at the connection between the docking head and the connecting head;

[0025] The water-swellable tape patch located at the connection part between the limit clamp and the clamp positioning groove can swell by its own water absorption to fill the joint between the limit clamp and the clamp positioning groove, and delay the water ingress to a certain extent;

[0026] The water-swellable filling layer arranged inside the protective sleeve can absorb water and expand under the water diversion action of the water seepage port, so as to fill the gap between the protective sleeve and the connecting ear, reinforce the limiting hoop and prevent it from loosening.

[0027] The cooperation of the above-mentioned multiple groups of structures enables the multi-dimensional force sensor to have good waterproof performance even when it is completely immersed in water. 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 partial structure of the docking head of the present invention;

[0031] Figure 4 It is a schematic diagram of the partial structure of the connecting head of the present invention;

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

[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 sleeve of the present invention;

[0035] In the figure: 1, sensing base; 2, pressure-bearing seat; 3, lead screw; 4, nut; 5, flexible waterproof layer; 6, limiting hoop; 601, connecting ear; 602, rubber positioning ring; 603, water-swellable tape patch; 7, protective sleeve; 701, water-swellable filling layer; 702, water seepage port; 703, dust-proof net; 8, screw; 9, docking head; 901, docking groove; 902, male head; 903, staggered water separation groove; 904, rubber convex ring; 905, card slot; 906, card position opening; 10, connecting head; 101, docking convex head; 102, female head; 103, water separation ring sleeve; 104, annular groove; 105, water-swellable ring; 106, water seepage fine hole; 107, plastic buckle; 11, wire; 12, staggered water separation groove; 13, hoop positioning groove; 14, screw hole. Detailed Embodiments

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

[0037] Please refer to Figure 1-7, an embodiment provided by the present invention: a waterproof and dustproof structure for a multi-dimensional force sensor, comprising a sensing base 1, a pressure-bearing seat 2 is installed above the sensing base 1, a lead screw 3 is installed at the upper end of the pressure-bearing seat 2, a nut 4 is installed on the outer wall of the lead screw 3, a dislocation water separation groove 12 is arranged at the connection between the pressure-bearing seat 2 and the sensing base 1, clamping hoop positioning grooves 13 are arranged at both the upper and lower ends of the dislocation water separation groove 12, a flexible waterproof layer 5 is arranged outside the dislocation water separation groove 12, and two limiting clamping hoops 6 are arranged at the connections between the upper and lower ends of the flexible waterproof layer 5 and the clamping hoop positioning grooves 13, and the two limiting clamping hoops 6 are arranged oppositely. Connection ears 601 are arranged at both ends of the limiting clamping hoop 6, a docking head 9 is arranged at the front end of the sensing base 1, a connection head 10 is installed at the front end of the docking head 9, and a wire 11 is arranged at the front end of the connection head 10.

[0038] Please refer to Figure 6 , a rubber positioning ring 602 is arranged on the inner wall of the limiting clamping hoop 6, and the rubber positioning ring 602 is adhesively connected to the limiting clamping hoop 6. When the limiting clamping hoop 6 fixes the flexible waterproof layer 5, the connection can be made more compact through the engagement of the rubber positioning ring 602 and the clamping hoop positioning groove 13.

[0039] Please refer to Figure 6 , a water-swellable tape patch 603 is arranged on the outer wall of the rubber positioning ring 602. The water-swellable tape patch 603 is made by mixing special rubber as the main raw material, inorganic water-absorbing materials and high-viscosity resins and other materials. When the sensor is immersed in water and water enters the joint of the limiting clamping hoop 6, the water-swellable tape patch 603 can expand by relying on its own water absorption, so as to fill the joint and delay the water ingress to a certain extent.

[0040] Please refer to Figure 1 and Figure 6 , a protective sleeve 7 is arranged outside the connection ear 601, a water-swellable 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 connection ear 601, and the protective sleeve 7 and the connection ear 601 are connected by the screw holes 14 and 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 connection ear 601 of the limiting clamping hoop 6 is sleeved with the protective sleeve 7 and fixed by the screw 8, which can ensure the clamping stability of the limiting clamping hoop 6. When the multi-dimensional force sensor is in large-scale contact with water or enters the water, the protective sleeve 7 will introduce water inward under the action of the water seepage port 702. After the water-swellable filling layer 701 inside it absorbs water and expands, it will fill the gap between the protective sleeve 7 and the connection ear 601, further improving the firmness of the connection of the limiting clamping hoop 6 and avoiding the situation that the sensor internal water ingress occurs due to the loosening of the limiting clamping hoop 6. The dust-proof net 703 can prevent dust and impurities from entering the protective sleeve 7.

[0041] Please refer to Figure 1 、 Figure 3 andFigure 4 , the inside of the docking head 9 is provided with a docking groove 901, and a male head 902 is installed inside the docking groove 901. There are three male heads 902. The end of the connecting head 10 is provided with a docking convex head 101. The inside of the docking convex head 101 is provided with a female head 102. There are three female heads 102. The docking groove 901 outside the male head 902 can be engaged with the docking convex head 101 on the female head 102 to achieve the first layer of waterproofing.

[0042] Please refer to Figure 3 and Figure 4 , a dislocation water separation groove 903 is arranged outside the docking groove 901, and a water separation ring sleeve 103 is arranged outside the docking convex head 101. When the male head 902 and the female head 102 are docked, the water separation ring sleeve 103 can be inserted into the dislocation water separation groove 903, and the second layer of waterproofing is achieved by relying on the dislocation structure.

[0043] Please refer to Figure 3 and Figure 4 , a rubber convex ring 904 is arranged outside the dislocation water separation groove 903, and an annular groove 104 is arranged outside the water separation 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 it is tightly connected to the annular groove 104 by relying on the rubber elasticity, further improving the waterproof performance at the connection between the connecting head 10 and the docking head 9, achieving the effect of the third layer of waterproofing.

[0044] Please refer to Figure 3 and Figure 4 , clamping grooves 905 are arranged inside both sides of the docking head 9, and clamping openings 906 are arranged on the outer walls of both sides of the docking head 9, and the clamping openings 906 are communicated with the clamping grooves 905. Plastic buckles 107 are installed at the ends of both sides of the connecting head 10. The docking head 9 and the connecting head 10 are connected in a snap-fit manner, which is convenient and fast to install and has high firmness. When disassembly is required, just press the plastic buckles 107 from both sides and pull the connecting head 10 outwards.

[0045] Please refer to Figure 3 and Figure 4 , a water swelling ring 105 is arranged outside the annular groove 104, and water seepage fine holes 106 are arranged around the outer wall of the connecting head 10, and the water seepage fine holes 106 extend to the back of the water swelling ring 105. When the multi-dimensional force sensor comes into contact with water on a large scale or enters the water, the water seepage fine holes 106 around the outer wall of the connecting head 10 can guide the water to the water swelling ring 105 inside the connecting head 10. After the water swelling ring 105 swells when it meets water, on the one hand, it fills the gap between the connecting head 10 and the docking head 9 by itself, and on the other hand, it tightens the plastic buckle 107 and the clamping groove 905 by relying on the swelling effect. The two effects work together to improve the waterproof performance at the connection between the docking head 9 and the connecting head 10.

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

[0047] Step 1: Use the limit retaining hoops 6 arranged in two groups of clamps to fix the flexible waterproof layer 5 at the connection between the sensing base 1 and the pressure-bearing seat 2. The flexible waterproof layer 5 is used to block water and dust, preventing water and dust from entering the connection gap between the sensing base 1 and the pressure-bearing seat 2. A protective sleeve 7 is sleeved outside the connecting ear 601 of the limit retaining hoop 6 and is connected and fixed by screws 8 to ensure the clamping stability of the limit retaining hoop 6;

[0048] Step 2: Insert and connect the docking head 9 of the multi-dimensional force sensor and the connecting head 10 with a wire 11. The two plastic buckles 107 on the connecting head 10 are engaged and fixed with the two card slots 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 water-blocking ring sleeve 103 outside the docking protrusion 101 is inserted into the offset water-blocking groove 903 outside the docking groove 901 to achieve the second level of waterproofing. The rubber convex ring 904 outside the offset water-blocking groove 903 is inserted into the annular groove 104 outside the water-blocking ring sleeve 103 to achieve the third level of waterproofing;

[0049] Step 3: When the multi-dimensional force sensor is in extensive contact with water or enters the water, the water seepage pores 106 around the outer wall of the connecting head 10 can guide the water to the water swelling ring 105 inside the connecting head 10. After the water swelling ring 105 swells when encountering water, on the one hand, it relies on itself to fill the gap between the connecting head 10 and the docking head 9, and on the other hand, it tightens the plastic buckle 107 and the card slot 905 by the swelling effect. The two effects work together to improve the waterproof performance at the connection between the docking head 9 and the connecting head 10. The protective sleeve 7 on the connecting ear 601 of the limit retaining hoop 6 guides water inward under the action of the water seepage port 702. The water swelling filling layer 701 in the protective sleeve 7 absorbs water and swells to fill the gap between the protective sleeve 7 and the connecting ear 601 to reinforce the limit retaining hoop 6. The rubber positioning ring 602 on the inner wall of the limit retaining hoop 6 and the water swelling belt patch 603 on the outer wall of the rubber positioning ring 602 can fill the joint by the swelling effect of the water swelling belt patch 603 when the joint of the limit retaining hoop 6 leaks water due to the sensor being soaked, delaying the water ingress to a certain extent.

[0050] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

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-blocking 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-blocking groove (12), a flexible waterproof layer (5) is provided on the outer side of the misaligned water-blocking groove (12), and two limit clamps are provided at the connection between the upper and lower ends of the flexible waterproof layer (5) and the clamp positioning groove (13). Hoop (6), and two limiting hoops (6) are arranged opposite to each other, both ends of the limiting hoops (6) are provided with connecting ears (601), the front end of the sensing base (1) is provided with a docking head (9), the front end of the docking head (9) is installed with a connecting head (10), the front end of the connecting head (10) is provided with a wire (11), the inner wall of the limiting hoop (6) is provided with a rubber positioning ring (602), and the rubber positioning ring (602) is bonded and connected to the limiting hoop (6), and the outer wall of the rubber positioning ring (602) is provided with a water-expandable tape patch (603).

2. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 1, 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).

3. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 2, 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.

4. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 3, 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).

5. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 4, 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).

6. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 5, 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).

7. The waterproof and dustproof structure of a multi-dimensional force sensor according to claim 6, 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).

8. 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 7, 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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