Multi-dimensional wheel force sensor and mounting structure thereof

Abstract

The invention provides a multi-dimensional wheel force sensor and a mounting structure thereof, the sensor comprises an inner support, an outer support and an elastic body connected between the inner support and the outer support, the elastic body is provided with radial beams arranged around the center, supporting beams connecting the inner support and the outer support between the adjacent radial beams, and circumferential beams connected to the inner support or the outer support, high rigidity and wide range can be obtained in a limited space; specific through holes or strain grooves are formed in each beam structure, a local strain concentration area is formed, rigidity and sensitivity are balanced, strain measuring elements are differentially arranged based on mechanical response characteristics of each beam, physical decoupling is achieved, and the measuring precision is improved; the sensor mounting structure is optimally designed, lossless mounting can be achieved, unsprung mass increase can be controlled to the maximum extent, the problems that the size and performance of a traditional sensor are difficult to consider, and the original state of a vehicle is affected by mounting are solved, and the sensor has the advantages of being small in size, wide in range, high in precision and high in adaptability.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a multidimensional wheel force sensor and its mounting structure. Background Technology

[0002] Multidimensional wheel force sensors can measure the forces and / or torques between the tires and the road surface in real time during vehicle operation, serving as a crucial foundation for vehicle dynamics modeling, overall vehicle performance development, and intelligent driving perception. However, existing multidimensional wheel force sensors generally suffer from multiple contradictions between miniaturization and high performance, and between installation adaptability and vehicle operational stability. Traditional sensor structural designs often sacrifice load-bearing capacity in pursuit of high sensitivity, while increasing stiffness and measurement range can easily lead to increased size and bulkiness, hindering engineering applications. Furthermore, installation typically requires structural modifications to the braking system or wheel hub, or the addition of adapter components, which not only complicates installation but also introduces significant additional mass, increasing unsprung mass and severely degrading vehicle ride comfort, handling stability, and wheel contact characteristics.

[0003] Therefore, there is an urgent need to design a multi-dimensional wheel force sensor that can fundamentally solve the above contradictions, achieve a highly compact and lightweight sensor structure within a limited installation space, and ensure that it has a sufficiently large load range, a high structural natural frequency, good measurement sensitivity and isotropy, and can be integrated into the original wheel hub system of the vehicle in a way that minimizes modifications and has high adaptability. This would provide a reliable, accurate multi-dimensional wheel force measurement method for vehicle testing with minimal interference to the original state of the vehicle. Summary of the Invention

[0004] This invention provides a multi-dimensional wheel force sensor and its mounting structure, which solves the technical problems of balancing the size and performance of multi-dimensional wheel force sensors in limited installation space, as well as the impact of installation on the original state and operational stability of the vehicle.

[0005] The multidimensional wheel force sensor provided by this invention includes:

[0006] An inner support, the center point of which is configured as the origin of the coordinate system; External support, which is arranged around the coordinate origin; An elastomer, connected to the inner support and / or the outer support, the elastomer comprising at least: Radial beams, a plurality of said radial beams are arranged around said coordinate origin and connected to said inner support and / or said outer support; A support beam is disposed between at least partially adjacent radial beams and connected to the inner support and the outer support.

[0007] In one embodiment of the present invention, the elastic body further includes circumferential beams, the opposite ends of a plurality of circumferential beams are connected to the outer support or the inner support, and the circumferential connecting beams are arranged around the coordinate origin; One end of the radial beam forms a T-shaped connection with the inner wall of the circumferential beam, and the other end forms a T-shaped connection with the inner support; or one end of the radial connecting beam forms a T-shaped connection with the outer support, and the other end forms a T-shaped connection with the outer wall of the circumferential beam.

[0008] In one embodiment of the present invention, the circumferential beam is provided with a first through hole and a first strain groove extending along its height direction.

[0009] In one embodiment of the present invention, the support beam is provided with a second through hole or a second strain groove extending along its height direction.

[0010] In one embodiment of the present invention, the elastic body is provided with a first strain measuring element and / or a second strain measuring element for measuring the radial force component strain. The first strain measuring element and / or the second strain measuring element are attached to both sides of the circumferential beam along its width direction and are located on both sides of the first through hole or the first strain groove.

[0011] In one embodiment of the present invention, the elastic body is provided with a first strain measuring element and / or a second strain measuring element for measuring the radial force component strain, and the first strain measuring element and / or the second strain measuring element are attached to both sides of the radial beam along its width direction.

[0012] In one embodiment of the present invention, the radial beam is further provided with a third through hole or a third strain groove extending along its height direction, and the first strain measuring element and / or the second strain measuring element are arranged on both sides of the third through hole or the third strain groove along the width direction of the radial beam.

[0013] In one embodiment of the present invention, a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component are provided on both sides of the support beam along its height direction, and a fifth strain measuring element for measuring the strain of the axial force component is provided on both sides of the radial beam along its height direction; or a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component are provided on both sides of the radial beam along its height direction, and a fifth strain measuring element for measuring the strain of the axial force component is provided on both sides of the support beam along its height direction.

[0014] In one embodiment of the present invention, a sixth strain measuring element for measuring torque components is provided on both sides of the support beam along its width direction, and the sixth strain measuring element is attached to both sides of the second through hole or the second strain groove.

[0015] In one embodiment of the present invention, a multi-dimensional wheel force sensor as described in any of the above embodiments is included. The support end of the multi-dimensional wheel force sensor is connected to a brake component or a wheel support via a support assembly, and the loading end of the multi-dimensional wheel force sensor is connected to a wheel hub or a wheel spoke via a connecting assembly.

[0016] The beneficial effects of this invention are as follows: The multi-dimensional wheel force sensor and its installation structure proposed in this invention, by adding a support beam between the inner and outer supports to share part of the load, ensures the overall structural strength and stiffness without excessively increasing the cross-sectional dimensions of each beam of the traditional radial beam in pursuit of measurement range. Furthermore, by independently designing the support beam in conjunction with the design of other beam structures, local sensitivity can be effectively adjusted. A high-stiffness direct force transmission path is constructed within a limited space, which significantly improves the overall structural stiffness and natural frequency of the elastic body. Without significantly increasing the axial thickness and radial dimensions of the sensor, the sensor's load-bearing capacity and impact load range are significantly improved. This solves the contradiction between high stiffness and high sensitivity and avoids measurement distortion caused by resonance due to vehicle or road vibration. It fundamentally coordinates the sensor's requirements for small size, large range, and high dynamic performance. By setting different structures and dimensions for the support beam and radial beam, it is possible to better adapt to the measurement needs of the range, sensitivity and dynamic performance of forces and moments in different directions; By symmetrically setting through holes or strain grooves at specific positions of the circumferential beam, support beam, and radial beam, a controllable local strain concentration area is formed, which effectively improves the measurement sensitivity of force / moment in the corresponding direction and compensates for the impact of the overall stiffness increase on sensitivity. At the same time, the symmetrical hole and groove design ensures the consistency of sensor stiffness and sensitivity in the radial direction, enhances the isotropicity of measurement, and lays a good foundation for subsequent high-precision multidimensional force decoupling calculation. By strategically arranging strain measurement elements that measure forces / torques in different dimensions on different types of beams or at different axial positions on the same beam, the measurement signal area separation is achieved from a physical structure perspective. This effectively avoids mechanical coupling and electrical signal crosstalk caused by the small size of the sensors and the close proximity of the measurement points. It can obtain a better patching range for the measurement of forces and torques in different directions, and significantly improve the independence and decoupling accuracy of each component in six-dimensional force measurement. By adapting the sensor to the wheel body, the connection method of the sensor is optimized, allowing it to be embedded between the wheel hub and the brake disc. This achieves minimal modification or zero-destructive installation of the vehicle's original braking system and wheel hub structure. At the same time, the compact and lightweight design minimizes the additional unsprung mass introduced by adding the sensor, minimizing the adverse effects on the vehicle's original ride comfort and handling stability, and improving compatibility with different vehicle models and wheel rim specifications. It has the advantages of small size, large range, high precision, and high adaptability. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0018] In the attached diagram: Figure 1 This is a schematic diagram of the structure of a multidimensional wheel force sensor provided in an embodiment of the present invention (the elastic body has circumferential beams and through holes are opened on each beam). Figure 2 This is a schematic diagram of the structure of a multidimensional wheel force sensor provided in one embodiment of the present invention (the elastic body has circumferential beams and strain grooves are formed on each beam). Figure 3 This is a schematic diagram of the structure of a multidimensional wheel force sensor provided in one embodiment of the present invention (the elastic body has no circumferential beams and each beam has through holes). Figure 4 This is a schematic diagram of the structure of a multi-dimensional wheel force sensor provided in one embodiment of the present invention (the elastic body has no circumferential beams and strain grooves are provided on each beam). Figure 5 This is a schematic diagram of the installation structure of a multi-dimensional wheel force sensor provided in one embodiment of the present invention.

[0019] The attached figures are labeled as follows: 100, Inner support; 200, Outer support; 300, Elastic body; 310, Support beam; 311, Second through hole; 312, Second strain groove; 320, Radial beam; 321, Third through hole; 322, Third strain groove; 330, Circumferential beam; 331, First through hole; 332, First strain groove; 10. Multidimensional wheel force sensor; 20. Support assembly; 30. Connecting assembly. Detailed Implementation

[0020] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0023] Multidimensional wheel force sensors can measure the forces and / or torques between the tires and the road surface in real time during vehicle operation, serving as a crucial foundation for vehicle dynamics modeling, overall vehicle performance development, and intelligent driving perception. However, existing multidimensional wheel force sensors face multiple contradictions between miniaturization and high performance, and between installation adaptability and vehicle operational stability. Traditional sensor structures, in pursuit of high measurement sensitivity and isotropy, often employ slender beam structures or complex hollow designs for their elastomers. This results in insufficient structural stiffness and strength when subjected to the enormous impact loads that may occur during vehicle operation, making them prone to plastic deformation or even damage, and limiting the measurement range. Conversely, increasing material or structural dimensions to improve load-bearing capacity and measurement range not only significantly increases the sensor's size and weight, making it difficult to fit into the extremely limited installation space inside the vehicle's wheel hub, but also leads to decreased sensitivity in all directions, significant differences in interdimensional sensitivity and dynamic performance, and even decoupling singularities. Secondly, the installation of existing sensors usually requires structural modifications to the original vehicle braking system (such as brake discs) or wheel hubs, or the addition of complex adapter components. This not only complicates the installation but also introduces significant additional mass, which is directly added to the vehicle's unsprung mass. The increase in unsprung mass will seriously degrade the vehicle's ride comfort, handling stability, and wheel contact characteristics, causing the test results to affect the original state of the vehicle and casting doubt on the validity of the data.

[0024] Please see Figures 1 to 5This invention proposes a multidimensional wheel force sensor 10, which includes an inner support 100, an outer support 200, and an elastic body 300. The center point of the inner support 100 is configured as the coordinate origin to establish the sensor's own mechanical reference coordinate system; the outer support 200 is arranged around the coordinate origin. Functionally, the inner support 100 and the outer support 200 serve as the support end and the loading end of each other, that is, one end acts as the support end and the other end acts as the loading end, thus forming a basic force transmission mode of "internal fixation-external loading" or "external fixation-internal loading"; the elastic body 300 is connected to the inner support 100 and / or the outer support 200, and it includes at least a support beam 310 and a radial beam 320 disposed between the inner support 100 and the outer support 200. The elastic body 300, as the core sensing element of the sensor, generates micro-strain proportional to the force / torque in each direction under external load. When the sensor is working, the road force exerted on the wheel is transmitted to the elastic body 300 through the loading end, causing strain in a specific area of ​​the elastic body 300. This strain is detected by a strain measuring element (such as a strain gauge) attached to the elastic body and converted into an electrical signal. After processing by subsequent circuitry, multidimensional forces and torques can be calculated. This invention, by introducing a specific support beam 310 structure and designing the overall structure of the elastic body 300, coordinates the sensor's requirements for high stiffness, large range, high sensitivity, and isotropy within a limited space, effectively solving the contradiction between the size and performance of traditional sensors. By sharing part of the load with the support beam 310, the overall structural strength and stiffness are ensured, avoiding the performance compromises that a single beam structure inevitably makes when meeting high load-bearing and high sensitivity requirements. The introduction of the support beam allows the elastic body 300 to avoid excessively increasing its cross-sectional size to pursue a larger range, thus enabling a configuration more conducive to generating significant strain while ensuring structural safety. At the same time, the characteristic structures on the support beam can be independently optimized to adjust local sensitivity. Through the differentiated design of the support beam and the radial beam with different beam structures and dimensions, the contradiction between high stiffness and high sensitivity is effectively resolved. It should be noted that the dimensions of the radial beam and the support beam can be flexibly designed and adjusted according to the specific specifications of the sensor, and do not need to be kept consistent.

[0025] Please see Figures 1 to 5In an optional embodiment of the present invention, the inner support 100 and the outer support 200 can be, for example, annular or disc-shaped structures, with connecting holes for positioning and connection. The inner diameter of the outer support 200 is larger than the outer diameter of the inner support 100, and the two are connected by an elastic body 300. When the "inner fixed-outer loaded" mode is adopted, the inner support 100 can be fixed to the vehicle brake disc by fasteners such as bolts as a support end, while the outer support 200 can be connected to the wheel hub by a connecting flange as a loading end, bearing the entire load from the wheel; conversely, in the "outer fixed-inner loaded" mode, the outer support 200 is fixed, and the inner support 100 is connected to the wheel hub and serves as a loading end. The design is highly flexible, allowing the sensor to adapt to different vehicle space layouts and installation interface requirements.

[0026] Please see Figures 1 to 5 It should be noted that, for ease of describing the measurement principle, a three-dimensional Cartesian coordinate system is established with the sensor coordinate origin as the origin. The direction passing through the origin and perpendicular to the sensor's main plane is defined as the Z-axis (axial direction), and the two mutually perpendicular directions within the sensor's main plane are the X-axis and Y-axis (radial direction). Accordingly, the force generated by the tire contacting the road surface can be decomposed into three force components along the X, Y, and Z axes of the sensor coordinate system (i.e., radial forces Fx and Fy, and axial force Fz), and three moment components about these three axes (i.e., bending moment Mx, My, and torque Mz).

[0027] Please see Figures 1 to 5 In an optional embodiment of the present invention, the elastic body 300 includes a circumferential beam 330, a radial beam 320, and a support beam 310. A plurality of radial beams 320 are arranged around the coordinate origin and connected to an inner support 100 and / or an outer support 200; the support beam 310 is arranged between at least partially adjacent radial beams 320 and connected to the inner support 100 and the outer support 200, forming a direct reinforcement path from the inside out; the opposite ends of the plurality of circumferential beams 330 are connected to the outer support 200 or the inner support 100, and the circumferential connecting beams are arranged around the coordinate origin. Specifically, the radial beam 320 is arranged uniformly radially around the coordinate origin. When the circumferential beam 330 is connected to the outer support 200, one end of the radial beam 320 forms a T-shaped connection structure with the inner wall of the circumferential beam 330, and the other end forms a T-shaped connection structure with the inner support 100. When the circumferential beam 330 is connected to the inner support 100, one end of the radial connecting beam forms a T-shaped connection structure with the outer support 200, and the other end forms a T-shaped connection structure with the outer wall of the circumferential beam 330. When the sensor is subjected to a large radial force or impact load, the support beam 310 can effectively distribute the load and prevent the force from being excessively concentrated on the radial beam 320. Thus, while ensuring that the elastic body 300 does not undergo plastic deformation, the range of the sensor is significantly extended, achieving high load-bearing capacity in a small volume.

[0028] Please see Figures 1 to 5In another optional embodiment of the present invention, the elastic body 300 includes radial beams 320 and support beams 310, i.e., no circumferential beam 330 is provided, and the outer support 200 and the inner support 100 are connected by radial beams 320 and support beams 310. Specifically, a plurality of radial beams 320 are arranged around the coordinate origin and connected to the inner support 100 and the outer support 200; the support beams 310 are arranged between at least some of the adjacent radial beams 320 and connected to the inner support 100 and the outer support 200. This simplified structure can reduce the processing complexity, and the setting of the support beams 310 can maintain the necessary overall stiffness and stability of the elastic body 300, ensuring the structural integrity of the sensor under multidimensional force. By setting the different structures and dimensions of the support beams and radial beams, the measurement requirements of the range, sensitivity and dynamic performance of forces and torques in different directions can be better adapted.

[0029] Please see Figures 1 to 5 In an optional embodiment of the present invention, the radial beam 320, the circumferential beam 330, the inner support 100, and the outer support 200 are centrally symmetrically distributed in a three-dimensional coordinate system. This highly symmetrical and regular geometric layout lays the physical foundation for the sensor to achieve excellent isotropic measurement performance, enabling the elastic body 300 to have balanced stiffness characteristics in all directions. Under the action of similar loads (such as Fx and Fy) in different directions, it can produce approximately consistent strain responses, greatly simplifying the signal decoupling algorithm and improving measurement accuracy.

[0030] Please see Figures 1 to 5In an optional embodiment of the present invention, a pair of first through holes 331 extending along the height direction are provided on the circumferential beam 330, and the first through holes 331 are symmetrically arranged about the central radial plane of the circumferential beam 330 and the centerline of the width direction of the circumferential beam 330; or a first strain groove 332 extending along the height direction is provided on the circumferential beam 330, and the first strain groove 332 is symmetrically arranged about the central radial plane of the circumferential beam 330 and the centerline of the width direction of the circumferential beam 330. The two ends of the circumferential beam 330 are connected to the inner support 100 or the outer support 200, and form a "T"-shaped connection structure with the radial beam 320, providing a certain stiffness and deformation when transmitting loads. The first through holes 331 (or first strain grooves 332) are provided to improve the local sensitivity of the elastic body 300 by forming a strain concentration area in the vicinity of the circumferential beam 330 while ensuring the overall stiffness of the circumferential beam 330. When radial forces Fx or Fy are applied, the symmetrical slot design ensures symmetrical and significant bending strain on both sides of the circumferential beam 330, thereby greatly improving the output strength of the strain measurement element signal, i.e., increasing the measurement sensitivity of the radial force. Simultaneously, this symmetrical structure helps maintain the consistency of the sensor's stiffness in the X and Y directions. It is understood that the first through-hole 331 can be one or more pairs, and its shape can be circular, elliptical, or oblong, or it can be a vertical double through-hole formed by two parallel cylindrical through-holes connected to each other in a vertical plane, to adapt to different stress concentration and sensitivity requirements.

[0031] Please see Figures 1 to 5 In an optional embodiment of the present invention, a second through hole 311 extending along its height direction is provided on the support beam 310, and the second through hole 311 is symmetrically arranged about the central radial plane of the support beam 310; or a second strain groove 312 extending along its height direction is provided on the support beam 310, and the second strain groove 312 is symmetrically arranged about the central radial plane of the support beam 310. The structure of the second through hole 311 or the second strain groove 312 allows for fine adjustment of the local stiffness of the support beam 310. Without significantly affecting the main reinforcing function of the support beam 310, the influence of this area on the measurement sensitivity when subjected to loads (radial forces Fx, Fy, and torque Mz) is optimized, thereby effectively balancing the contradiction between the overall stiffness increase brought about by increasing the support beam 310 and the local measurement sensitivity requirements. Similarly, the number and shape of the second through holes 311 are not limited and can be set according to actual needs to optimize stress concentration effect and measurement sensitivity.

[0032] Please see Figures 1 to 5In an optional embodiment of the present invention, a third through hole 321 extending along its height direction is provided on the radial beam 320, and the third through hole 321 is symmetrically arranged about the central radial plane of the radial beam 320; or a third strain groove 322 extending along its height direction is provided on the radial beam 320, and the third strain groove 322 is symmetrically arranged about the central radial plane of the radial beam 320. In the simplified structure without the circumferential beam 330, by providing the third through hole 321 or the third strain groove 322, when the radial force Fx or Fy is applied, sufficient measurement signal output for the axial force is ensured in the simplified structure. The symmetrical hole and groove design ensures that symmetrical and significant bending strain can be generated, thereby greatly improving the output strength of the strain measurement element signal, improving the measurement sensitivity of the radial force, and maintaining the consistency of the sensor stiffness in the X and Y directions.

[0033] Please see Figures 1 to 5 In an optional embodiment of the present invention, the elastic body 300 is provided with a first strain measuring element and / or a second strain measuring element for measuring the radial force components Fx and / or Fy strain. In a specific embodiment, the elastic body 300 includes a circumferential beam 330, and the circumferential beam 330 has a first through hole 331 or a first strain groove 332. The first strain measuring element and / or the second strain measuring element are attached to both sides of the circumferential beam 330 along its width direction and are located on both sides of the first through hole 331 or the first strain groove 332. When a radial force is applied, the symmetrical holes and grooves cause the beams on both sides to bend. The strain gauges attached here can be sensitive to the maximum bending strain difference, thereby efficiently and accurately detecting the radial force component, making full use of local strain concentration, and obtaining a radial force signal with a high signal-to-noise ratio in a compact space.

[0034] Please see Figures 1 to 5Specifically, in the case of four radial beams, for example, the first strain measuring element is used to measure the radial force component Fx in the sensor coordinate system. Its corresponding strain gauge is arranged on the Y-direction circumferential beam 330. On the two Y-direction circumferential beams 330 located in the positive and negative X-axis directions, a first strain measuring element is attached to each side of its respective first through-hole 331 (or first strain groove 332), forming a Wheatstone full-bridge circuit for accurate measurement of Fx. When the force Fx in the X-axis direction acts on the inner support 100 or the outer support 200, the Y-direction circumferential beam 330 will undergo bending deformation along the X-axis direction, and the stress will concentrate on both sides of the first through-hole 331 (or first strain groove 332). Attaching the first strain measuring element at this location allows for precise capture of the strain caused by Fx, thereby accurately measuring the magnitude of Fx. Similarly, the second strain gauge is used to measure the radial force component Fy. Strain gauges are arranged on the circumferential beam 330 in the X-direction. On the two circumferential beams 330 located in the positive and negative Y-axis directions, a second strain gauge is attached to each side of its respective first through-hole 331 (or first strain groove 332), forming another Wheatstone full-bridge circuit for precise measurement of Fy. This symmetrical, cross-arrangement utilizes the stress concentration effect to improve measurement sensitivity. Due to the symmetry of the strain gauge positions, interference from other force / torque components can be eliminated, achieving a better decoupling effect. Each Fx or Fy measurement typically requires four or eight strain gauges to form a Wheatstone full-bridge circuit to achieve temperature compensation, decoupling, and improved measurement accuracy.

[0035] Please see Figures 1 to 5 In another embodiment, the circumferential beam 330 is not provided on the elastic body 300. The first and / or second strain measuring elements for measuring the radial force components Fx and / or Fy can be attached to both sides of the radial beam 320 along its width direction. Further, the first and / or second strain measuring elements can be arranged along the width direction of the radial beam 320 on both sides of the third through hole 321 or the third strain groove 322. The first and second strain measuring elements respectively measure the radial force components Fx and Fy, and their arrangement is similar to that in the above embodiment. In this case, the radial beam 320 bends under the action of radial force, and the structure at the third through hole 321 or the third strain groove 322 can amplify the bending strain, allowing the strain gauge attached thereto to effectively sense the radial force.

[0036] Please see Figures 1 to 5In an optional embodiment of the present invention, based on the cantilever beam model, the bending strain is greatest in the root region of the beam. In order to measure the radial bending moment Mx, My and the axial force Fz, the strain measuring element needs to be arranged in the root region of the beam. The radial beam 320 is provided with a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component Mx and / or My on both sides of its height direction; the support beam 310 is provided with a fifth strain measuring element for measuring the strain of the axial force component Fz on both sides of its height direction; or the support beam 310 is provided with a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component Mx and / or My on both sides of its height direction; the radial beam 320 is provided with a fifth strain measuring element for measuring the strain of the axial force component Fz on both sides of its height direction. Specifically, for example, the third strain measuring element is used to detect the radial bending moment component Mx, and it can be set on the radial beam 320 in the Y direction; the fourth strain measuring element is used to detect the radial bending moment component My, and it can be set on the radial beam 320 in the X direction; the fifth strain measuring element is used to detect the axial force Fz. A pair of support beams 310 can be selected and the corresponding strain gauges can be arranged on them. Similarly, strain measuring elements corresponding to forces / torques in each direction are arranged to form a Wheatstone full-bridge or half-bridge circuit to achieve measurement.

[0037] It should be noted that by arranging strain gauges measuring different components on different types of beams or different functional sections of the same beam, crosstalk of electrical signals caused by excessive proximity of strain gauges due to the small size of the elastic body 300 can be avoided. This allows for a better patching range for measuring forces and moments in different directions, significantly improving the independence and accuracy of multidimensional force calculation. At the same time, the length of the radial beam can be shorter, and the corresponding stiffness will also be improved.

[0038] Please see Figures 1 to 5 In an optional embodiment of the present invention, a sixth strain measuring element for measuring the torque component Mz is provided on both sides of the support beam 310 along its width direction. The sixth strain measuring element is attached to both sides of the second through hole 311 or the second strain groove 312. When the axial torque Mz acts on the sensor, the support beam 310 undergoes torsional deformation, generating significant strain at the edge of the second through hole 311 or the second strain groove 312. The strain gauge attached thereto can sensitively detect this strain change, thereby realizing the measurement of Mz. By setting the torque measurement point on the support beam 310 and utilizing the stress concentration effect formed by the hole and groove, the torque measurement area is ensured to be spatially separated from other force measurement areas, achieving sufficiently high torque measurement sensitivity within a compact structure; at the same time, the length of the radial beam can be shorter, and the corresponding stiffness will also be improved.

[0039] Please see Figures 1 to 5In an optional embodiment of the present invention, the support beam 310 ensures high overall stiffness and a large range; the circumferential beam 330 and its first through hole 331 optimize radial force sensitivity; the second through hole 311 on the support beam 310 balances its influence on axial and radial force sensitivity; different types of strain gauges distributed at different positions on the circumferential beam 330, radial beam 320, and support beam 310 achieve signal separation in physical space. When the entire sensor is working, each beam structure makes a coordinated and differentiated strain response to external loads according to its position and shape characteristics, and finally captures the six-dimensional force signal completely and accurately through a carefully arranged strain gauge network, achieving a unity of small volume, large range, high sensitivity and good isotropy.

[0040] Please see Figures 1 to 5 In another optional embodiment of the present invention, in a simplified structure without the circumferential beam 330, the radial beam 320 and the support beam 310 together constitute the core load-bearing and sensing network. Strain gauges are functionally distributed at the roots of the radial beam 320 and the support beam 310 (for measuring Fz and Mx / My), and near the slotted areas of the support beam 310 and the radial beam 320 (for measuring Mz and Fx / Fy), thus achieving layout separation. This structure achieves the core measurement objective with a simple structure and has high flexibility.

[0041] Please see Figures 1 to 5 The present invention also proposes a multi-dimensional wheel force sensor mounting structure, including a multi-dimensional wheel force sensor 10 as described in any of the above embodiments, which can be embedded in the wheel body structure. Specifically, the support end of the multi-dimensional wheel force sensor 10 is connected to the brake component (such as a brake disc or a brake component that rotates synchronously with the wheel) or the wheel support part through a support component 20 (e.g., a mounting base), and the loading end is connected to the wheel hub or wheel spoke through a connecting component 30. The connecting component 30 can be, for example, a connecting flange, to fix the loading end of the multi-dimensional wheel force sensor 10 to the wheel hub or wheel spoke. This connection structure allows the force and / or torque generated by the wheel during driving to be transmitted to the elastic body 300 through the connecting flange, thereby ensuring the effectiveness of the force flow transmission path and the accuracy of the measurement. The multi-dimensional wheel force sensor 10 can measure the force and / or torque generated by the wheel body during driving.

[0042] Please see Figures 1 to 5In an optional embodiment of the present invention, the connection method between the multi-dimensional wheel force sensor 10 and the main wheel structure is highly compatible. Its support end (inner support 100 or outer support 200) can be directly fixed to the mounting surface of the original brake disc of the vehicle via bolts from the support component 20. The radial dimension of the support component 20 is specially designed to ensure it is less than the minimum distance from the center of the brake disc to the brake caliper, thereby avoiding motion interference with the braking system and achieving non-destructive installation. The loading end can be connected to the wheel body via a dedicated connecting flange. The connecting flange has a central boss on the side facing the wheel hub, used to replace the original wheel hub axle head for precise centering of the wheel hub, ensuring coaxiality. The bolt holes on the connecting flange can be designed according to the hole spacing of different wheel hub or spoke specifications, so that when users replace wheels, they only need to adapt the connecting flange without modifying the sensor core or vehicle structure, greatly improving adaptability and ease of use. By embedding the multi-dimensional wheel force sensor 10 into the narrow space between the wheel hub and the brake disc, the present invention minimizes the additional unsprung mass caused by adding the sensor, thereby minimizing the impact on the original handling stability of the vehicle.

[0043] Please see Figures 1 to 5 In an optional embodiment of the present invention, the multidimensional wheel force sensor 10 also integrates an attitude sensor, such as a micro inertial measurement unit. This attitude sensor can be mounted on a connecting flange or elastomer 300, or disposed on a support end, and should be as close as possible to the geometric center of the multidimensional wheel force sensor 10. The attitude sensor is used to measure the three-dimensional angular velocity and attitude angle of the wheel during driving in real time. This attitude information is acquired synchronously with the multidimensional force signal and can be used for dynamic coordinate transformation, accurately converting the force / torque measured in the sensor coordinate system to the vehicle coordinate system or the ground coordinate system, providing precise input for vehicle dynamics analysis. Preferably, the attitude sensor can be integrated on a PCB board, which also includes signal conditioning circuitry, acquisition circuitry, and a wireless transmission module (such as radio frequency, Bluetooth, or WiFi). By integrating attitude sensors, signal acquisition circuits, and wireless transmission modules into the sensor body, the system can synchronously and in-situ acquire wheel force and motion attitude information, facilitating precise dynamic coordinate transformation. This eliminates the need for traditional slip rings and lengthy cables, greatly simplifying the complexity of the on-board testing system and improving its reliability and convenience. It constitutes a complete, compact, and efficient vehicle dynamic force measurement solution, effectively reducing the complexity and cost of the measurement device.

[0044] Please see Figures 1 to 5In an optional embodiment of the present invention, when the vehicle is in motion, the six-dimensional force / torque exerted by the road surface on the tire is transmitted to the loading end of the sensor via the rim, spokes, and / or hub and connecting flange, and then acts on the elastic body 300. The elastic body 300 generates a complex micro-strain field, and each strain measurement element senses the strain at its location and outputs an electrical signal. At the same time, the attitude sensor records the rotation and attitude changes of the wheel in real time. All these signals are conditioned and acquired by the acquisition and processing circuitry integrated on the circuit board near the sensor, and transmitted to the receiving device outside the vehicle via a wireless transmission module (such as Bluetooth or Wi-Fi), eliminating the need for traditional slip rings and wired transmission, thus simplifying the testing system. Finally, by fusing the force signal, torque signal, and attitude signal, complete dynamic information on the interaction force between the tire and the road surface during vehicle operation can be obtained.

[0045] In summary, the multi-dimensional wheel force sensor and its mounting structure of this invention, by introducing a support beam 310 structure connecting the inner support 100 and the outer support 200, effectively improves the stiffness and range of the elastic body 300 without significantly increasing the volume, resulting in a volume far smaller than that of existing wheel force sensors. By designing symmetrical through holes or strain grooves at specific locations on each beam, the overall stiffness and local sensitivity are precisely balanced. Combined with different structural and dimensional settings of the support beam and radial beam, a better patch range can be obtained for measuring forces and moments in different directions, avoiding singularities during decoupling. By strategically arranging strain measurement elements measuring different components on different beams or in different regions of beams, signal decoupling is physically achieved, avoiding crosstalk. The length of the radial beam can be shorter, and the corresponding stiffness will also be improved. Through a highly adaptable mounting interface design, minimal modifications to the original vehicle structure and a very low increase in unsprung mass are achieved. By integrating attitude sensing and wireless transmission, a complete, compact, and efficient vehicle dynamic force measurement system is formed. It achieves excellent comprehensive performance with small size, large range, high precision, high adaptability, and low interference.

[0046] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

[0047] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0048] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0049] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0050] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0051] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0052] The above description of the embodiments shown in this invention (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the invention to the precise forms disclosed herein. Although specific embodiments and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the invention, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the invention in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the invention.

[0053] This document has generally described the systems and methods in detail to aid in understanding the invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details, or using other means, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0054] Therefore, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the foregoing disclosure, and it should be understood that in some cases, certain features of the invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terminology used in the following claims and / or the specific embodiments disclosed as the best mode for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the invention will be defined only by the appended claims.

Claims

1. A multidimensional wheel force sensor, characterized in that, include: An inner support, the center point of which is configured as the origin of the coordinate system; External support, which is arranged around the coordinate origin; An elastomer, connected to the inner support and / or the outer support, the elastomer comprising at least: Radial beams, a plurality of said radial beams are arranged around said coordinate origin and connected to said inner support and / or said outer support; A support beam is disposed between at least partially adjacent radial beams and connected to the inner support and the outer support.

2. The multidimensional wheel force sensor according to claim 1, characterized in that, The elastic body further includes circumferential beams, the opposite ends of a plurality of circumferential beams being connected to the outer support or the inner support, and the circumferential connecting beams being arranged around the coordinate origin; One end of the radial beam forms a T-shaped connection with the inner wall of the circumferential beam, and the other end forms a T-shaped connection with the inner support; or one end of the radial connecting beam forms a T-shaped connection with the outer support, and the other end forms a T-shaped connection with the outer wall of the circumferential beam.

3. The multidimensional wheel force sensor according to claim 2, characterized in that, The circumferential beam is also provided with a first through hole or a first strain groove that extends along its height direction.

4. The multidimensional wheel force sensor according to claim 2, characterized in that, The support beam is provided with a second through hole or a second strain groove that extends along its height direction.

5. The multidimensional wheel force sensor according to claim 3, characterized in that, The elastic body is provided with a first strain measuring element and / or a second strain measuring element for measuring the radial force component strain. The first strain measuring element and / or the second strain measuring element are attached to both sides of the circumferential beam along its width direction and are located on both sides of the first through hole or the first strain groove.

6. The multidimensional wheel force sensor according to claim 1, characterized in that, The elastic body is provided with a first strain measuring element and / or a second strain measuring element for measuring the radial force component strain, and the first strain measuring element and / or the second strain measuring element are attached to both sides of the radial beam along its width direction.

7. The multidimensional wheel force sensor according to claim 6, characterized in that, The radial beam is also provided with a third through hole or a third strain groove that extends along its height direction, and the first strain measuring element and / or the second strain measuring element are arranged on both sides of the third through hole or the third strain groove along the width direction of the radial beam.

8. The multidimensional wheel force sensor according to claim 4, characterized in that, The radial beam is provided with a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component on both sides along its height direction; the support beam is provided with a fifth strain measuring element for measuring the strain of the axial force component on both sides along its height direction; or the support beam is provided with a third strain measuring element and / or a fourth strain measuring element for measuring the strain of the bending moment component on both sides along its height direction; and the radial beam is provided with a fifth strain measuring element for measuring the strain of the axial force component on both sides along its height direction.

9. The multidimensional wheel force sensor according to claim 4, characterized in that, The support beam is provided with a sixth strain measuring element for measuring the torque component on both sides along its width direction. The sixth strain measuring element is attached to both sides of the second through hole or the second strain groove.

10. A multi-dimensional wheel force sensor mounting structure, characterized in that, The multi-dimensional wheel force sensor includes any one of claims 1 to 9, wherein the support end of the multi-dimensional wheel force sensor is connected to the brake component or the wheel support via a support assembly, and the loading end of the multi-dimensional wheel force sensor is connected to the wheel hub or the wheel spoke via a connecting assembly.

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