Multi-dimensional force sensor

Abstract

The embodiment of the utility model provides a multi-dimensional force sensor. The multi-dimensional force sensor comprises a first seat body, a second seat body, an elastic body and a flexible rubber pad assembly. The second seat body is arranged on one side of the first seat body along the first direction, the elastic body is arranged between the first seat body and the second seat body, and the elastic body is provided with an attaching area for attaching a variable piece. The flexible rubber mat assembly is arranged between the elastic body and the first seat body; in a projection plane perpendicular to the first direction, the projection of the attaching area is located in the projection range of the flexible rubber mat assembly. The multi-dimensional force sensor provided by the embodiment of the utility model has good detection performance while having a good waterproof effect.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a multidimensional force sensor. Background Technology

[0002] A six-dimensional force sensor is a type of force sensor that can simultaneously detect three force components and three torque components. The resultant force and resultant torque can be obtained from the force and torque components in the X, Y, and Z directions. The six-dimensional force sensor contains multiple measuring beams, with strain gauges attached to the walls of the beams. A strain gauge is a deformation sensor that converts the strain experienced on the measuring beam into an electrical signal output. Its working principle utilizes the expansion and contraction deformation of the sheet material, which changes the internal resistance and generates an induced signal.

[0003] However, in related technologies, the waterproof structure of the six-dimensional force sensor not only has poor waterproof performance, but also has a significant impact on the force on the elastomer, thereby reducing the detection performance of the six-dimensional force sensor and resulting in poor detection performance. Utility Model Content

[0004] In view of this, the main objective of the embodiments of this application is to provide a multidimensional force sensor that has both good waterproof effect and good detection performance.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] This application provides a multidimensional force sensor, including:

[0007] The first body;

[0008] The second seat is disposed on one side of the first seat along the first direction;

[0009] An elastomer is disposed between the first base and the second base, the elastomer having a mounting area for supplying the variable sheet for mounting;

[0010] A flexible adhesive pad assembly is provided between the elastomer and the first seat; in a projection plane perpendicular to the first direction, the projection of the affixing area is located within the projection range of the flexible adhesive pad assembly.

[0011] In one embodiment, the elastomer includes an external strain ring, an internal strain variant, and a measuring beam having the attachment area. A portion of the external strain ring extends through the first direction to form a receiving space. The internal strain variant is disposed within the receiving space, and the measuring beam is disposed within the receiving space between the external strain ring and the internal strain variant.

[0012] In a projection plane perpendicular to the first direction, the projection of the accommodating space located between the external strain ring and the internal strain variant lies within the projection range of the flexible pad assembly.

[0013] In one embodiment, the elastomer includes a connecting portion, the flexible pad assembly includes a waterproof pad, the waterproof pad extends through a portion of the first direction to form a clearance opening, and the connecting portion passes through the clearance opening to connect with the first seat.

[0014] In one embodiment, the flexible pad assembly further includes an inner fixing pad ring, which is disposed on the side of the waterproof pad away from the elastomer and is circumferentially arranged around the connecting portion. The inner fixing pad ring is connected to the elastomer to press the waterproof pad onto the elastomer.

[0015] In one embodiment, the inner fixing rubber pad ring has at least one first fastening hole, the elastomer has at least one second fastening hole, a portion of the inner sidewall of the clearance opening is recessed to form at least one through hole, the first fastening hole, the through hole and the second fastening hole are connected in a one-to-one correspondence and are fastened together by fasteners.

[0016] In one embodiment, the flexible pad assembly further includes an external fixing pad ring located on the side of the waterproof pad away from the elastomer and extending around the circumferential outer edge of the waterproof pad. The external fixing pad ring, the waterproof pad, and the elastomer are fastened together to press the waterproof pad onto the elastomer.

[0017] In one embodiment, the multidimensional force sensor further includes a sealing ring, wherein the second base and the elastic body are fitted together, and the sealing ring is disposed between the second base and the elastic body to seal the fitting area between the second base and the elastic body.

[0018] In one embodiment, a portion of the second seat near the elastomer is recessed to form a sealing groove extending circumferentially around the second seat, and the sealing ring is disposed in the sealing groove.

[0019] In one embodiment, the second seat has a plurality of third fastening holes, each of the third fastening holes being spaced apart around the outer circumference of the sealing groove, and the elastic body having a plurality of fourth fastening holes on the side near the second seat, the third fastening holes and the fourth fastening holes being connected in a one-to-one correspondence and being fastened together by fasteners.

[0020] In one embodiment, the elastomer has a cable passage on one side along the circumferential direction, and the multidimensional force sensor further includes a cable adapter and a waterproof wire clamping nut. One end of the cable adapter is threaded to the cable passage, and the waterproof wire clamping nut is used to install onto the cable and is threaded to the other end of the cable adapter.

[0021] This application provides a multidimensional force sensor, which includes a first base, a second base, an elastic body, and a flexible rubber pad assembly. The elastic body is disposed between the first and second bases, and the flexible rubber pad assembly is disposed between the elastic body and the first base. In a projection plane perpendicular to a first direction, the projection of the attachment area lies within the projection range of the flexible rubber pad assembly. On the one hand, in related multidimensional force sensors, the base and elastic body are not integrally formed. When the multidimensional force sensor is used in rainy or humid environments, external water can easily seep into the sensor from the connection between the base and the elastic body, flowing along the first direction to the strain gauge attached to the elastic body, thus wetting the strain gauge and significantly affecting its measurement. The multidimensional force sensor of this application adds a flexible rubber pad assembly between the elastic body and the first base, enabling the flexible rubber pad assembly to achieve a better sealing effect under the pressure of the elastic body and the first base, thereby reducing the possibility of external water seeping into the multidimensional force sensor from between the first base and the elastic body. Furthermore, by ensuring that the flexible pad assembly covers at least the mounting area for supplying the strain gauge along the first direction, the flexible pad assembly can shield the strain gauge along the first direction. Even if a small amount of external water enters the multi-dimensional force sensor, the flexible pad assembly can, under its shielding effect, prevent the external water from flowing directly along the first direction to the strain gauge located in the mounting area, thus reducing the impact of external water on the measurement results of the strain gauge located in the mounting area, and therefore achieving a good waterproof effect. On the other hand, the flexible pad assembly is made of flexible material, and when external force is applied to the multi-dimensional force sensor, it can minimize the force exerted on the elastic body, thus ensuring the detection performance of the multi-dimensional force sensor as much as possible. Therefore, using a flexible pad assembly as a waterproof structure allows the multi-dimensional force sensor to have both good waterproof effect and good detection performance. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a multidimensional force sensor according to an embodiment of this application;

[0023] Figure 2 for Figure 1 Schematic diagram of the internal fixing rubber pad ring;

[0024] Figure 3 for Figure 1Schematic diagram of the structure of the waterproof gasket;

[0025] Figure 4 for Figure 1 Schematic diagram of the structure of a medium elastomer;

[0026] Figure 5 for Figure 1 Schematic diagram of the structure of the second seat in the middle;

[0027] Figure 6 This is an exploded view of a portion of the structure of a robot with a multidimensional force sensor according to another embodiment of this application.

[0028] Explanation of reference numerals in the attached figures

[0029] 1. Multidimensional force sensor; 10. First base; 20. Second base; 20a. Sealing groove; 20b. Third fastening hole; 30. Elastomer; 30a. Second fastening hole; 30b. Cable passage; 31. External strain ring; 31a. Accommodation space; 32. Internal strain ring; 33. Measuring beam; 34. Connecting part; 40. Flexible rubber pad assembly; 41. Waterproof rubber pad; 41a. Clearance opening; 41b. Through hole; 42. Internal fixing rubber pad ring; 42a. First fastening hole; 43. External fixing rubber pad ring; 50. Sealing ring; 60. Cable adapter; 70. Waterproof wire clamping nut; 2. Working arm; 3. Connector. Detailed Implementation

[0030] In this application, the "first direction" orientation or positional relationship is based on the appendix. Figure 1 The orientation or positional relationship shown is for illustrative purposes only and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0031] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] A multidimensional force sensor 1 refers to a force sensor capable of simultaneously measuring force and torque components in two or more directions. In a Cartesian coordinate system, force and torque can each be decomposed into three components. Therefore, the most complete form of multidimensional force is a six-dimensional force / torque sensor, which is a sensor capable of simultaneously measuring three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). A multidimensional force sensor 1 can be a six-dimensional force / torque sensor, or it can be other types of force / torque sensors.

[0034] The multi-dimensional force sensor 1 boasts high measurement accuracy and a reliable measurement structure, making it well-suited for applications in humanoid robots, precision assembly, aerospace, and medical equipment. For example, in industrial robotics, the multi-dimensional force sensor 1 can provide more accurate force information to humanoid robots, improving their motion accuracy and reaction speed. Furthermore, in material handling, assembly, and welding processes, the multi-dimensional force sensor 1 can monitor and control robot movements in real time, enhancing operational accuracy and safety. In the medical field, the multi-dimensional force sensor 1 can be used in rehabilitation and surgical robots to improve operational precision. In this embodiment, the multi-dimensional force sensor 1, by incorporating a flexible rubber pad assembly 40 between the elastic body 30 and the first base 10, improves the waterproofing between the elastic body 30 and the first base 10 while reducing its own impact on the elastic body 30's stress, thus maintaining good detection performance. This allows the multi-dimensional force sensor 1 to operate stably for extended periods in harsh environments such as rain, humidity, and underwater conditions.

[0035] For example, please refer to Figure 6 The robot includes a work arm 2 driven by a actuator to perform tasks. The end effector of the work arm 2 includes a connector 3 for connecting various task tools. A multi-dimensional force sensor 1 is installed within the connector 3. One of the first base 10 and the second base 20 of the multi-dimensional force sensor 1 is connected to the work arm 2, and the other is connected to the connector 3. The connector 3 can be used to connect various task tools, such as grippers, suction cups, etc. During the robot's execution of corresponding tasks via the task tools, the multi-dimensional force sensor 1 can detect the interaction force / torque information between the work arm 2 and the connector 3, thus meeting the force control requirements of the robot's end effector.

[0036] For example, a robot includes a base and a robot body. The robot body is mounted on the base, and a multi-dimensional force sensor 1 is installed inside the base. The base is used to fix the robot to a workbench. One of the first housing 10 and the second housing 20 of the multi-dimensional force sensor 1 is connected to the base, and the other is connected to the robot body. By setting the multi-dimensional force sensor 1 at the robot body and the base, when the robot body is subjected to an external force, the multi-dimensional force sensor 1 can detect the external force information, so as to obtain the location and magnitude of the force on the robot, thereby improving the detection accuracy of the robot, accurately controlling the robot to perform corresponding actions, and enhancing the robot's intelligence and user experience.

[0037] One embodiment of this application provides a multidimensional force sensor 1. Please refer to [link / reference]. Figure 1 The multidimensional force sensor 1 includes a first base 10, a second base 20, an elastomer 30, and a flexible pad assembly 40.

[0038] The second seat 20 is disposed on one side of the first seat 10 along the first direction.

[0039] The elastomer 30 is disposed between the first base 10 and the second base 20, and the elastomer 30 has a mounting area for supplying the variable sheet.

[0040] A flexible adhesive pad assembly 40 is provided between the elastomer 30 and the first seat 10; in the projection plane perpendicular to the first direction, the projection of the affixing area is located within the projection range of the flexible adhesive pad assembly 40.

[0041] Specifically, the specific structures of the first seat 10 and the second seat 20 are not limited.

[0042] For example, both the first mounting body 10 and the second mounting body 20 are flange structures. The first mounting body 10 is an upper mounting flange, and the second mounting body 20 is a lower mounting flange.

[0043] The elastic body 30 is placed in the detection environment. By transmitting the force in the detection environment to the elastic body 30, the elastic body 30 will deform under the action of external force. The mechanical deformation is converted into an electrical signal by the strain gauge, so as to realize the detection of multi-dimensional force and torque.

[0044] The mounting area on the elastomer 30 is the area used for supplying the laminate mounting.

[0045] The specific structure of the elastomer 30 can be set according to the actual situation.

[0046] For example, please see Figure 4The elastic body 30 includes an external strain ring 31, an internal strain gauge 32, and a measuring beam 33 having a mounting area. A portion of the external strain ring 31 extends along a first direction to form a receiving space 31a. The internal strain gauge 32 is disposed within the receiving space 31a, and the measuring beam 33 is disposed within the receiving space 31a between the external strain ring 31 and the internal strain gauge 32. The multidimensional force sensor 1 also includes strain gauges disposed on the measuring beam 33.

[0047] Strain gauges are typically made of conductive or semiconductor materials and have a sensitive grid structure, used to measure strain. When a strain gauge undergoes mechanical deformation under external force, its resistance changes accordingly; this phenomenon is called the "strain effect." In use, the strain gauge is attached to the application area of ​​the measuring beam 33. When the component is subjected to force, strain occurs in the application area, and the sensitive grid deforms accordingly, causing a change in its resistance. The magnitude of this resistance change is then measured by a testing instrument and converted into a strain value for the application area, thus revealing the stress condition of the application area.

[0048] The first seat 10 is disposed on one side of the elastic body 30 along the first direction, and the second seat 20 is disposed on the other side of the elastic body 30 along the first direction. The first seat 10 and the second seat 20 cooperate with each other to improve the support and force transmission effect while sealing the opposite sides of the elastic body 30 along the first direction, thereby preventing external water from entering the interior of the elastic body 30. For example, along the first direction, the first seat 10 and the second seat 20 cooperate with each other to block the receiving space 31a formed by the outer strain ring 31, thereby limiting the entry of external water into the receiving space 31a and preventing it from affecting the strain gauges attached to the measuring beam 33 and the internal wiring of the elastic body 30.

[0049] Since the first base 10, the elastic body 30, and the second base 20 are not integrally formed, there is a possibility of incomplete sealing at the junction of the three. Therefore, the multidimensional force sensor 1 of this application can greatly improve the sealing and waterproofing effect between the elastic body 30 and the first base 10 by setting a flexible rubber pad assembly 40 between the elastic body 30 and the first base 10.

[0050] In a projection plane perpendicular to the first direction, the projection of the bonding area lies within the projection range of the flexible pad assembly 40. That is, along the first direction, viewed from the side of the flexible pad assembly 40 opposite to the elastomer 30, the flexible pad assembly 40 at least shields the bonding area on the elastomer 30, thereby further reducing the risk of external water affecting the strain gauge and the internal circuitry of the elastomer 30.

[0051] Of course, it is understandable that the flexible pad assembly 40 can also cover other areas of the elastomer 30. For example, the flexible pad assembly 40 is attached to the side of the elastomer 30 near the first seat 10 to cooperate with the first seat 10 to seal the side of the elastomer 30 near the first seat 10.

[0052] The flexible pad assembly 40 is made of a flexible material that can deform without breaking under certain external forces, possessing the ability to restore or adapt to its shape. The specific material type can be determined according to actual conditions, such as rubber-based materials (natural rubber, synthetic rubber, recycled rubber, etc.) or foam-based materials.

[0053] It should be noted that in some embodiments, the flexible pad assembly 40 may be provided only between the elastic body 30 and the first seat 10. Depending on the actual situation, in other embodiments, the flexible pad assembly 40 may be provided between the elastic body 30 and the first seat 10, as well as between the elastic body 30 and the second seat 20.

[0054] In the multidimensional force sensor 1 of this application embodiment, an elastic body 30 is disposed between a first base 10 and a second base 20, and a flexible adhesive pad assembly 40 is disposed between the elastic body 30 and the first base 10. In a projection plane perpendicular to the first direction, the projection of the attachment area lies within the projection range of the flexible adhesive pad assembly 40. On the one hand, regarding the multidimensional force sensor 1 in the related art, since the base and elastic body of the multidimensional force sensor 1 are not integrally formed, when the multidimensional force sensor 1 is used in a rainy or humid harsh environment, external water can easily seep into the interior of the multidimensional force sensor 1 from the connection between the base and the elastic body, and flow along the first direction to the strain gauge attached inside the elastic body, thereby wetting the strain gauge and significantly affecting the strain gauge measurement. The multidimensional force sensor 1 of this application embodiment adds a flexible adhesive pad assembly 40 between the elastic body 30 and the first base 10. This allows the flexible adhesive pad assembly 40 to achieve a better sealing effect under the pressure of the elastic body 30 and the first base 10, reducing the possibility of external water seeping into the multidimensional force sensor 1 from between the first base 10 and the elastic body 30. Furthermore, by ensuring that the flexible adhesive pad assembly 40 at least covers the mounting area for supplying the strain gauge along the first direction, the flexible adhesive pad assembly 40 can shield the strain gauge along the first direction. Even if a small amount of external water enters the multidimensional force sensor 1, the flexible adhesive pad assembly 40 can, under its shielding effect, prevent external water from flowing directly along the first direction to the strain gauge located in the mounting area, reducing the impact of external water on the measurement results of the strain gauge mounted in the mounting area, thus achieving a better waterproof effect. On the other hand, the flexible pad assembly 40 is made of flexible material. When external force is applied to the multidimensional force sensor 1, it can minimize the impact of its own force on the elastic body 30, thus ensuring the detection performance of the multidimensional force sensor 1 as much as possible. Therefore, using the flexible pad assembly 40 as a waterproof structure allows the multidimensional force sensor 1 to have both good waterproof performance and good detection performance.

[0055] In one embodiment, please refer to Figure 1 and Figure 4 The elastic body 30 includes an external strain ring 31, an internal strain variant 32, and a measuring beam 33 having a mounting area. A portion of the external strain ring 31 extends through a first direction to form a receiving space 31a. The internal strain variant 32 is disposed within the receiving space 31a, and the measuring beam 33 is disposed within the receiving space 31a between the external strain ring 31 and the internal strain variant 32.

[0056] In a projection plane perpendicular to the first direction, the projection of the area of ​​the receiving space 31a located between the outer strain ring 31 and the inner strain variant 32 lies within the projection range of the flexible pad assembly 40. Therefore, the flexible pad assembly 40 can completely shield and seal the area of ​​the receiving space 31a located between the outer strain ring 31 and the inner strain variant 32 along the first direction. Even if a small amount of external water enters the multidimensional force sensor 1, the shielding effect of the flexible pad assembly 40 can prevent water from continuing to flow into the receiving space 31a along the first direction, thus further improving the sealing and waterproof performance of the flexible pad assembly 40.

[0057] Specifically, the shape of the external strain ring 31 can be set to a circular or polygonal shape according to design requirements or product installation requirements. The shape of the internal accommodating space 31a can be set to match the shape of the internal strain variant 32, or it can be another shape, provided that the installation of the internal strain variant 32 is satisfied. A measuring beam 33 connects the external strain ring 31 and the internal strain variant 32, thus integrating them into a single unit. When subjected to external force, whether the external strain ring 31, the internal strain variant 32, or both are subjected to force, the measuring beam 33 will deform. The strain on the measuring beam 33 can then be detected by strain gauges attached to the mounting area on the measuring beam 33.

[0058] Along the first direction, viewed from the side of the flexible pad assembly 40 away from the elastomer 30, the application area at least shields the area containing the space 31a between the outer strain ring 31 and the inner strain gauge 32, which includes shielding the measuring beam 33 and the strain gauge, thereby further reducing the risk of external water affecting the strain gauge and the internal circuitry of the elastomer 30.

[0059] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 The elastomer 30 includes a connecting portion 34, and the flexible rubber pad assembly 40 includes a waterproof rubber pad 41. A portion of the waterproof rubber pad 41 extends through to form a clearance opening 41a in the first direction, and the connecting portion 34 passes through the clearance opening 41a to connect with the first base 10. This facilitates the connection between the elastomer 30 and the first base 10, thereby improving the overall stability of the structure.

[0060] Specifically, the waterproof pad 41 has a relief opening 41a, which prevents the waterproof pad 41 from interfering with the connection portion 34 of the elastomer 30, and allows the connection portion 34 to pass through the flexible pad assembly 40 to connect with the first seat 10.

[0061] It should be noted that the shape of the clearance opening 41a is not limited. For example, the clearance opening 41a can match the shape of the connecting part 34, thereby facilitating the secure nesting of the waterproof gasket 41 onto the connecting part 34.

[0062] The specific shape of the connecting portion 34 is not limited. For example, the elastomer 30 includes an internal strain variant 32, a portion of which protrudes toward one side of the first base 10 to form the connecting portion 34. The connecting portion 34 and other areas of the internal strain variant 32 form an installation step, which facilitates the application of the waterproof gasket 41 to the installation step and improves the installation stability of the waterproof gasket 41.

[0063] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 4 The flexible gasket assembly 40 also includes an inner fixing gasket ring 42, which is disposed on the side of the waterproof gasket 41 away from the elastomer 30 and is arranged circumferentially around the connecting portion 34. The inner fixing gasket ring 42 is connected to the elastomer 30 to press the waterproof gasket 41 onto the elastomer 30. This improves the installation stability of the waterproof gasket 41 and enhances its sealing effect.

[0064] Specifically, the inner fixing rubber pad ring 42 is a hollow annular fixing rubber pad, with a central cavity through which the connecting part 34 can pass. The inner fixing rubber pad ring 42 is arranged circumferentially around the connecting part 34, which can improve the connection stability between the waterproof rubber pad 41 and the elastomer 30 in the area around the connecting part 34, making the waterproof rubber pad 41 in the area of ​​the clearance opening 41a fit more tightly with the elastomer 30, thereby preventing external water entering the multidimensional force sensor 1 from seeping into the interior of the elastomer 30 from the clearance opening 41a along the first direction, thereby improving the sealing and waterproofing effect of the waterproof rubber pad 41.

[0065] The internal fixation rubber pad ring 42 and the waterproof rubber pad 41 can be made of the same material or different materials, but both must be flexible materials.

[0066] The inner fixing rubber pad ring 42 is fixed to the elastic body 30 from the side of the waterproof rubber pad 41 away from the elastic body 30. This allows the inner fixing rubber pad ring 42 and the elastic body 30 to clamp the waterproof rubber pad 41 together, thereby fixing the waterproof rubber pad 41 to the elastic body 30.

[0067] It should be noted that the specific connection method between the internal fixing rubber pad ring 42 and the elastomer 30 is not limited.

[0068] For example, please see Figure 1 , Figure 2 and Figure 3The inner fixing rubber pad ring 42 has at least one first fastening hole 42a, and the elastomer 30 has at least one second fastening hole 30a. A portion of the inner sidewall of the clearance opening 41a is recessed to form at least one through hole 41b. The first fastening hole 42a, the through hole 41b, and the second fastening hole 30a are connected in a one-to-one correspondence and are fastened together by fasteners. This improves the connection stability between the inner fixing rubber pad ring 42 and the elastomer 30, and also better secures the waterproof rubber pad 41.

[0069] Specifically, the inner fixing rubber pad ring 42 may have only one first fastening hole 42a, the elastomer 30 may have one second fastening hole 30a, and the inner sidewall of the clearance opening 41a may form a through hole 41b. The three through holes are connected to each other to allow fasteners to pass through, thereby achieving the connection between the three.

[0070] Of course, the inner fixing rubber pad ring 42 may also have multiple first fastening holes 42a, the elastic body 30 may have multiple second fastening holes 30a, and the inner sidewall of the clearance opening 41a may form multiple through holes 41b. The first fastening holes 42a, the second fastening holes 30a and the through holes 41b are connected one-to-one to allow fasteners to pass through and achieve the connection of the three.

[0071] In one embodiment, please refer to Figure 1 The flexible rubber pad assembly 40 also includes an outer fixing rubber pad ring 43, which is located on the side of the waterproof rubber pad 41 away from the elastomer 30 and extends around the circumferential outer edge of the waterproof rubber pad 41. The outer fixing rubber pad ring 43, the waterproof rubber pad 41, and the elastomer 30 are tightly connected to press the waterproof rubber pad 41 onto the elastomer 30. This improves the connection stability between the waterproof rubber pad 41 and the elastomer 30 at the circumferential outer edge, making the waterproof rubber pad 41 fit more tightly against the elastomer 30. This prevents external water from seeping into the elastomer 30 from the contact point between the outer edge of the waterproof rubber pad 41 and the elastomer 30 along the first direction, thus further improving the waterproof effect of the waterproof rubber pad 41.

[0072] Specifically, the outer fixing rubber pad ring 43 is a hollow annular fixing rubber pad. The outer fixing rubber pad ring 43 extends around the outer edge of the waterproof rubber pad 41 in the circumferential direction, which can improve the sealing and waterproofing effect of the waterproof rubber pad 41 at the outer edge in the circumferential direction.

[0073] It is understood that in some embodiments, the flexible pad assembly 40 has an outer fixing pad ring 43 and an inner fixing pad ring 42, with the outer fixing pad ring 43 located outside the inner fixing pad ring 42.

[0074] In one embodiment, please refer to Figure 1The multidimensional force sensor 1 also includes a sealing ring 50, with the second seat 20 and the elastic body 30 fitting together. The sealing ring 50 is positioned between the second seat 20 and the elastic body 30 to seal the fitting area. Therefore, by adding the sealing ring 50 between the second seat 20 and the elastic body 30, and through the tight compression of the second seat 20 and the elastic body 30, the sealing and waterproofing effect between the second seat 20 and the elastic body 30 can be improved.

[0075] In one specific embodiment, please refer to Figure 1 and Figure 5 A portion of the second seat 20 near the elastic body 30 is recessed to form a sealing groove 20a extending circumferentially around the second seat 20, and a sealing ring 50 is disposed in the sealing groove 20a.

[0076] Specifically, the sealing groove 20a is an annular groove, and the sealing ring 50 is disposed in the annular groove, thereby enabling the sealing ring 50 to better seal the contact area between the second seat 20 and the elastic body 30.

[0077] In one embodiment, please refer to Figure 1 and Figure 5 The second seat 20 has multiple third fastening holes 20b, each of which is spaced apart around the outer circumference of the sealing groove 20a. The elastic body 30 has multiple fourth fastening holes on the side near the second seat 20. The third fastening holes 20b and the fourth fastening holes are connected one-to-one and fastened together by fasteners. This allows for a tighter connection between the second seat 20 and the elastic body 30, and also improves the sealing effect of the sealing ring 50.

[0078] Specifically, the third fastening hole 20b is located on the outside of the sealing groove 20a, and the third fastening holes 20b are arranged at intervals around the outer circumference of the sealing groove 20a. At the same time, the elastic body 30 is also provided with a plurality of fourth fastening holes corresponding one-to-one with the third fastening holes 20b. Thus, the sealing ring 50 pressed in the sealing groove 20a can be compressed, thereby improving the sealing effect of the sealing ring 50.

[0079] In one embodiment, please refer to Figure 1 and Figure 4 The elastomer 30 has a cable passage 30b on one side along the circumferential direction. The multi-dimensional force sensor 1 also includes a cable adapter 60 and a waterproof wire clamping nut 70. One end of the cable adapter 60 is threaded to the cable passage 30b, and the waterproof wire clamping nut 70 is used to install onto the cable and is threaded to the other end of the cable adapter 60. This prevents external water from entering the multi-dimensional force sensor 1 from the cable.

[0080] Specifically, the through-hole 30b is an opening on the periphery of the elastic body 30, so that the measurement signal collected by the strain gauge set in the attachment area can be transmitted out from the through-hole 30b in the form of an electrical signal.

[0081] The cable adapter 60 is threadedly connected to the cable passage 30b of the elastomer 30, and the cable is threadedly connected to the cable adapter 60 through the waterproof pressure nut 70, thereby enabling better output of electrical signals. At the same time, the use of the waterproof pressure nut 70 can improve the sealing and waterproof effect at the cable and cable adapter 60 after tightening the waterproof pressure nut 70.

[0082] In the description of this application, the references to terms such as "in one embodiment," "in some embodiments," "in a specific embodiment," or "exemplary," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of the different embodiments or examples.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A multidimensional force sensor, characterized in that, include: The first body; The second seat is disposed on one side of the first seat along the first direction; An elastomer is disposed between the first base and the second base, the elastomer having a mounting area for supplying the variable sheet for mounting; A flexible adhesive pad assembly is provided between the elastomer and the first seat; in a projection plane perpendicular to the first direction, the projection of the affixing area is located within the projection range of the flexible adhesive pad assembly.

2. The multi-dimensional force sensor of claim 1, wherein, The elastomer includes an external strain ring, an internal strain variant, and a measuring beam having the attachment area. A portion of the external strain ring extends through the first direction to form a receiving space. The internal strain variant is disposed within the receiving space, and the measuring beam is disposed within the receiving space between the external strain ring and the internal strain variant. In a projection plane perpendicular to the first direction, the projection of the accommodating space located between the external strain ring and the internal strain variant lies within the projection range of the flexible pad assembly.

3. The multi-dimensional force sensor according to claim 1 or 2, characterized in that The elastomer includes a connecting portion, the flexible pad assembly includes a waterproof pad, the waterproof pad extends through a portion of the first direction to form a clearance opening, and the connecting portion passes through the clearance opening to connect with the first seat.

4. The multi-dimensional force sensor of claim 3, wherein, The flexible pad assembly further includes an inner fixing pad ring, which is disposed on the side of the waterproof pad away from the elastomer and is arranged circumferentially around the connecting portion. The inner fixing pad ring is connected to the elastomer to press the waterproof pad onto the elastomer.

5. The multi-dimensional force sensor of claim 4, wherein, The inner fixing rubber pad ring has at least one first fastening hole, the elastomer has at least one second fastening hole, and a portion of the inner sidewall of the clearance opening is recessed to form at least one through hole. The first fastening hole, the through hole, and the second fastening hole are connected in a one-to-one correspondence and are fastened together by fasteners.

6. The multi-dimensional force sensor of claim 3, wherein, The flexible pad assembly further includes an external fixing pad ring, which is located on the side of the waterproof pad away from the elastomer and extends around the circumferential outer edge of the waterproof pad. The external fixing pad ring, the waterproof pad, and the elastomer are fastened together to press the waterproof pad onto the elastomer.

7. The multi-dimensional force sensor according to claim 1 or 2, characterized in that The multidimensional force sensor also includes a sealing ring, the second base and the elastic body are attached together, and the sealing ring is disposed between the second base and the elastic body to seal the attachment point of the second base and the elastic body.

8. The multi-dimensional force sensor of claim 7, wherein, A portion of the second seat body near the elastomer is recessed to form a sealing groove extending circumferentially around the second seat body, and the sealing ring is disposed in the sealing groove.

9. The multi-dimensional force sensor of claim 8, wherein, The second seat has a plurality of third fastening holes, each of which is spaced apart around the outer circumference of the sealing groove. The elastic body has a plurality of fourth fastening holes on the side near the second seat. The third fastening holes and the fourth fastening holes are connected in a one-to-one correspondence and are fastened together by fasteners.

10. The multidimensional force sensor according to claim 1 or 2, characterized in that, The elastomer has a cable passage on one side along the circumferential direction. The multidimensional force sensor also includes a cable adapter and a waterproof wire clamping nut. One end of the cable adapter is threaded to the cable passage, and the waterproof wire clamping nut is used to install onto the cable and is threaded to the other end of the cable adapter.

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