54 results about "Compression load" patented technology

The invention belongs to the technical field of computer aided design and structural design, and discloses a multi-scale lattice structure and a design method thereof. The design method comprises the following steps: S1, designing a cubic unit cell with eight symmetrically distributed corner nodes according to a cubic lattice structure; s2, all the lattice unit cells are zoomed, one part of the lattice unit cells are zoomed into small lattice unit cells with the size being half of the original size, and the other part of the lattice unit cells are large lattice unit cells with the original size reserved; s3, in the macroscopic lattice structure, arranging the position relation of the small lattice unit cells and the large lattice unit cells; and S4, through a computer aided design method, adjusting the macroscopic lattice structure by adopting a large and small lattice unit cell connection mode based on rod diameter transition. A multi-scale large and small lattice unit cell arrangement mode is introduced into the lattice structure, so that the lattice structure has better mechanical performance under the same compression load.

The application relates to a compression-shear composite loading system based on a pulley system multi-point mean loading, and relates to a compression-shear composite loading system. In order to solve the problem that the traditional compression-shear composite loading is prone to uneven shear flow for a large-size composite stiffened wall plate structure, the application applies uniform compression loads to the side end surface loading end of a test piece through compression actuating cylinders and a flat pressing plate; two shear actuating cylinders output leftward shear loads along the upper end surface of the test piece; and the other two shear actuating cylinders output rightward shear loads along the lower end surface of the test piece; the loads are converted in direction through a pulley assembly and finally act on the shear plates on the upper and lower sides of the test piece. The application realizes the test under different compression-shear ratios by simultaneously adjusting the sizes of the compression and shear actuating cylinder forces, and optimizes the problem of uneven shear loading through the multi-point coordinated loading system, so that the shear of the measuring point is uniform, and the strength test of the large-size stiffened wall plate structure can be better satisfied.

The application relates to a structure lightweight design method based on a modified equivalent static load method, which comprises the following steps: step 1, establishing a finite element model of an initial structure to be optimized, and calculating linear equivalent static loads; step 2, calculating modulus proportionality coefficients of a plastic deformation stage of the structure to be optimized; step 3, modifying the equivalent static loads of the structure according to the calculated modulus proportionality coefficients; and step 4, carrying out nonlinear topology optimization according to the modified equivalent static loads to obtain an energy-absorbing point lattice cell configuration, and realizing structure lightweight design. The application is based on a material and geometric nonlinear numerical modified equivalent static load method, the equivalent static load method is modified through modulus proportionality coefficients and strain matrix correction coefficients, nonlinear topology optimization of the structure is realized, a three-dimensional model of the point lattice cell configuration is reconstructed according to an optimization result, a geometric parameterized model of the energy-absorbing point lattice cell configuration is obtained, and the model is used for lightweight design of the point lattice structure under a compression load working condition.

The invention belongs to the technical field of bearings, and discloses a foil dynamic pressure radial gas bearing bump foil creep test method, which is characterized in that a miniature rubber block is inserted between a top foil and a rigid substrate, and the miniature rubber block is used as a flexible element, is in direct contact with the top foil, and deforms under the action of a compression load transmitted by the top foil; a monocrystalline silicon semiconductor strain gauge is pasted on the side face of the miniature rubber block, and the direction is perpendicular to the direction of the compression load; in the running process of the bearing, the output strain value of the strain gauge is monitored in real time through a data acquisition system; the semiconductor strain gauge is a sensitive element manufactured based on the piezoresistive effect of semiconductor monocrystalline silicon, the resistivity of a semiconductor crystal material is changed when the semiconductor crystal material is stressed in a certain direction and deforms, and strain, stress and the like are indirectly measured. The device has the beneficial effect that the problem that the creep strain is difficult to test in real time due to the tiny structure of the bump foil is solved.

The application provides a lattice structure modeling method under tensile and compressive load conditions and a derived lattice structure, and realizes lattice structure design under tensile and compressive load conditions. The method comprises the following steps: designing an original solid cell structure; performing generative topological optimization on the original solid cell to obtain a lattice topological configuration under multi-directional uniform tensile load and unidirectional dominant tensile load conditions; reconstructing the lattice structure obtained by the generative topological optimization; evaluating the manufacturability of the reconstructed lattice structure; performing derivative design on the reconstructed lattice structure to improve the manufacturability and bearing capacity thereof; and after the design is completed, preparing a corresponding lattice structure and performing performance testing. The application designs a lattice structure under tensile and compressive load conditions, and reduces the performance difference between the actual manufacturing structure and the design structure through structural adjustment, so that the obtained lattice structure has higher lightweight degree, specific stiffness and specific strength, and can be widely used in the fields of automobiles, aerospace and the like.

If, in a virtual plane orthogonal to a drive axis (X1), a midpoint (MP) between the center of a drive-side base circle (34) and the center of a driven-side base circle (44) is defined as a working point of compression loading generated in the radial direction of the drive axis (X1), a direction orthogonal to a virtual line (VL) connecting two contact points, constituted of a first contact point (P1) and a second contact point (P2), at which a side surface of a driving spiral (33) and a side surface of a driven spiral (43) contact at an outermost circumferential side is defined as the loading direction (LD) of the compression loading, and the range over which the loading direction (LD) fluctuates during one revolution of a drive scroll (30) is defined as a fluctuation range (FR), a stator (13) defines a fixed axis (FX) inside a housing (60), the drive axis is defined by a rotor (14) and is set so as to separate from the fixed axis (FX) in the loading direction (LD) included in the fluctuation range (FR) when not actuated, and so as to match or approach the fixed axis (FX) when actuated.

The invention relates to the technical field of metamaterial lattice structures, in particular to a construction method of a mixed positive and negative Poisson's ratio structure. According to the method, a lattice structure is constructed based on a plurality of FCC, then the lattice structure and a 3D RH structure are fused to form a new concave lattice structure, and the structure solves the problems that an existing negative Poisson's ratio structure is large in plastic section stress fluctuation and low in platform stress under compression loads, so that the energy absorption performance of the negative Poisson's ratio structure is improved, and the energy absorption performance of the negative Poisson's ratio structure is improved. The invention discloses a mixed positive and negative Poisson's ratio structure constructed by the method, a metamaterial comprising the structure and a preparation method of the metamaterial.

The application provides a metal energy-absorbing thin-walled pipe with a negative Poisson's ratio effect and a design method thereof, comprising a thin-walled pipe body, the thin-walled pipe body is composed of a plurality of unit bodies which are sequentially fixedly connected in a head-to-tail mode from top to bottom, each unit body comprises a pipe and a joint which are fixedly connected, the joint is fixed at the bottom of the pipe, and the wall thickness of the pipe is greater than the wall thickness of the joint. In the technical scheme, the thickness of the metal pipe and the connected joint is inconsistent, the thickness of the metal pipe is greater than the thickness of the connected joint, the metal pipe has better bending strength than a conventional metal pipe with the same thickness when subjected to a bending load, is not prone to deformation and bending when subjected to the same load, and the structure has a negative Poisson's ratio effect when subjected to compression, the metal pipe is shortened in the longitudinal direction and shrinks in the transverse direction when subjected to a compression load, is more prone to densification, and has a better energy-absorbing effect than a conventional metal pipe.

The invention discloses a forging part crack measuring mechanism, and belongs to the technical field of crack measurement. The forging part crack measuring mechanism comprises a machine body and a measuring instrument, a load block is slidably connected to the outer wall of a limiting block, the load block and a supporting block are each provided with a fixing assembly used for being connected with a forging part, and a driving assembly used for driving the load block to slide is arranged on the outer wall of the machine body. The compression load or the tensile load can be controlled to be applied to the forging part through the position relation between the protruding part and the connecting part, and the crack change of the forging part is obtained in real time in cooperation with the measuring instrument; the safety block and the safety ring can be collapsed, so that pulling force and pressing force are reduced, core components such as a crankshaft are protected against damage, meanwhile, the fixing assembly can be driven to work through the pressing force of the load block, automatic fixing of the forging part is achieved, and when fixing of the forging part is relieved, only a hand wheel needs to be pulled and rotated.

The application belongs to the technical field of aircraft structure design, and particularly relates to a method for predicting a compression damage region of a composite stiffened panel in an aircraft structure, comprising the following steps: step one, screening important related parameters related to the compression damage of the composite stiffened panel; step two, determining the value range of the important related parameters, sampling and constructing a sample set; step three, constructing a finite element model of the composite stiffened panel, and calculating the damage position of each sample in the sample set under compression load; step four, dividing the composite stiffened panel into multiple regions, and corresponding the damage position of each sample in the sample set under compression load to the corresponding region; step five, based on the corresponding region of each sample in the sample set, constructing a compression damage region prediction model of the composite stiffened panel; and step six, taking the important related parameters as input, and based on the compression damage region prediction model of the composite stiffened panel, calculating the damage region of the composite stiffened panel under compression load.

The utility model discloses a compression test device for composite material thin-walled structure sample piece, including: clamps, anti-instability baffle and compression loading structure, the clamps are divided into two groups, are arranged at interval and are used for clamping the two side edges of the sample piece, each group of clamps comprises two support frames and two clamping plates, the two clamping plates in each group of clamps are respectively connected to the opposite sides of the two supporting frames in the group of clamps, and the opposite end surfaces of the two clamping plates in each group of clamps and the front and rear end surfaces of the corresponding side edges of the sample piece are designed in a shape following manner; the anti-instability baffles are correspondingly attached to the front portion and the rear portion of the sample piece, the two ends of each anti-instability baffle are connected with the two clamps respectively, and the compression loading structure is located over the position between the two clamps and used for applying compression loads to the sample piece. According to the compression test device, effective clamping of the sample piece can be guaranteed, instability and deformation of the sample piece in the compression process can be prevented, and the precision and reliability of a compression test are guaranteed.

The application discloses a soft sealing frictionless ball valve intelligent adaptive control method, and relates to the technical field of valve control, which comprises the following steps: in step one, a perturbation is superimposed on the seat section to determine the instant of the contact seat by judging the residual point of the stiffness mutation and the non-contact stroke reference curve, and the position of the contact seat and the local stiffness are output; in step two, the pressure difference, temperature and seat ring material are collected, the minimum necessary compression load is calculated, and the upper limit of the allowable torque-angle curve is generated; in step three, the smooth closing trajectory is executed with the position of the contact seat as the starting point, the minimum necessary compression load is reached under the amplitude limitation, and the process is stopped, and the contact energy and sealing confirmation are recorded; in step four, the breathing type pressure maintaining is implemented in the maintaining stage, the seat ring health index is formed, and the material-temperature correction coefficient is written back. The method can reduce overload and underload, stabilize zero visible leakage, reduce energy consumption and prolong the service life of the soft seat, improve the predictability of operation and maintenance and the consistency of parameters, and support online diagnosis and maintenance decision.

The invention discloses a rail transit concrete compression fatigue coefficient detection device. A corresponding rail transit concrete test block is fixed by a four-jaw chuck base and a four-jaw chuck device; a simulation solution is added into a water tank until the simulation solution submerges a copper block, current is applied below a pressure transmission device through a first wire and a second wire to simulate the environment, and after the pressure transmission device is supported by a hydraulic device and adjusted to a proper height, the pressure transmission device is compressed at a fixed frequency through the hydraulic device to simulate a real compression load; by monitoring the deformation, crack propagation, compression fatigue life and electrochemical response of the rail transit concrete test block, the compression fatigue coefficient of the rail transit concrete compression fatigue under the composite working condition is evaluated. By adopting the technical scheme of the invention, the stress state of the rail transit concrete compression fatigue in actual operation can be truly reflected, and the rail transit concrete compression fatigue coefficient can be accurately evaluated.

The application belongs to the technical field of computer-aided design and structure design, and discloses a multi-scale lattice structure and a design method thereof. The design method comprises the following steps: S1, a cubic unit cell with 8 symmetrically distributed corner nodes is designed according to a cubic lattice structure; S2, all lattice unit cells are scaled respectively, a part of the lattice unit cells are scaled into small lattice unit cells with a size being half of the original size, and the other part of the lattice unit cells are large lattice unit cells with the original size; S3, the positional relationship of the small lattice unit cells and the large lattice unit cells is arranged in a macroscopic lattice structure; and S4, the macroscopic lattice structure is adjusted by using a connection mode of the small and large lattice unit cells based on rod diameter transition through a computer-aided design method. The multi-scale small and large lattice unit cell arrangement mode is introduced into the lattice structure, so that the lattice structure has better mechanical properties under the same compression load.

The utility model relates to the field of aircraft body structures, and provides a truss type aircraft cargo hold floor structure and an aircraft, the cargo hold floor structure comprises a fuselage frame, a truss, a floor cross beam, fuselage frame connecting nodes, floor cross beam connecting nodes and a floor; the floor beams are arranged on the upper portion of the machine body frame, and the two ends of each floor beam are fixedly connected with the machine body frame. The truss comprises a plurality of stand columns, one ends of the stand columns are connected with the fuselage frame through fuselage frame connecting nodes, and the other ends of the stand columns are connected with the floor cross beams through floor cross beam connecting nodes. The stand columns can rotate around the fuselage frame connecting joints or the floor beam connecting joints. A triangular structure is formed between every two adjacent stand columns and the machine body frame or the floor beam. According to the utility model, the assembly process is simplified, and the production efficiency is improved. And the connecting rotating shafts are adopted at the connecting positions of the truss, the fuselage frame and the floor cross beam, so that the connecting positions only transmit tension and compression loads, and the situation that the positions are insufficient in connection due to large bending moment of the bottom frame is avoided.

The invention discloses a multi-axis synchronous fatigue and limit mechanical property testing device. The device comprises a supporting frame, a vertical force application device, a circumferential force application device, a transverse force application device and a test piece clamping device. The vertical force application device is arranged along the vertical direction and is used for applying a vertical compression load; the circumferential force application device is horizontally arranged and comprises a circumferential actuator, two sets of rolling combination devices and a circumferential limiting device, and the two sets of rolling combination devices are clamped on the two opposite sides of the test piece respectively to apply circumferential compression loads; the transverse force application device is perpendicular to the circumferential force application device and is used for applying a transverse bending load; and the test piece clamping device is fixed on the ground. Synchronous triaxial loading can be carried out on the structural test piece, the stress characteristics of the ultra-deep diving structure under the extreme load condition are truly simulated, the structure is compact, loading of all axes does not interfere with one another, and structural nodes manufactured through a real welding process can be examined.

The invention relates to the technical field of collaborative design, in particular to an intelligent data processing method for public facility design, and the method comprises the steps: determining to carry out hierarchical loading based on a comprehensive evaluation value or carry out trigger loading based on a data abundance value and behavior feedback abnormality according to the category of a design end; determining whether a loading strategy of the target design end at each loading moment of the current loading design period is adjusted from synchronous loading to asynchronous loading or not according to the increment reference value and the spatial loading difference degree; in the asynchronous loading, determining a loading priority coefficient corresponding to each reference design end according to the abnormal evaluation value, and determining whether to perform in-end loading optimization for the reference design end according to the iteration fluctuation degree and the abnormal sub-region proportion; and in the in-end loading optimization, executing an optimization strategy of sub-region grouping loading, and determining whether to adjust the optimization strategy into hierarchical compression loading or not according to a space time sequence coupling abnormal coefficient. According to the invention, the design data loading stability can be improved.

The invention relates to a crack arrest design method and a crack arrest structure for a bonding area of a pressure-bearing wall plate structure, and the crack arrest design method comprises the following steps: S1, determining a buckling deformation profile of the pressure-bearing wall plate structure when bearing a compression load, determining the position of the minimum deformation in the length direction of a stringer, and determining a crack arrest area according to the position; s2, a crack arrest notch is formed in the edge of the outer side of the cap bottom plate in the crack arrest area, the crack arrest notch gradually becomes smaller from the outer side to the inner side, and the edge is in smooth transition; s3, a gasket is made of the same material as the cap bottom plate, the gasket is matched with the crack-arrest notch in shape and consistent with the crack-arrest notch in thickness, the gasket is arranged in the crack-arrest notch and fixedly bonded with the wall plate, and the edge of the gasket is not fixedly connected with the edge of the crack-arrest notch; and S4, a laying layer is arranged on the cap bottom plate in the crack arrest area to serve as a transition belt plate, and the transition belt plate completely covers the crack arrest notch and is bonded and fixed to the cap bottom plate. The crack arrest structure is obtained through a crack arrest design method.

A method for modifying a steel and iron product according to the present invention comprises: a nitriding step for nitriding a steel and iron material to form, on the surface of the steel and iron material, a compound layer (L1) in which iron and nitride are bonded, and a diffusion layer (L2) in which an alloy nitride is deposited; and a compression step for applying a compression load to the surface of the nitrided steel and iron material.

The invention discloses an electro-thermal coupling fiber composite superstructure performance regulation and control method and system, and belongs to the technical field of mechanical superstructure performance regulation and control. The method comprises the steps that a continuous fiber reinforced composite superstructure with the negative stiffness characteristic is prepared, a compression load is applied after fixing, the deformation quantity is kept, stress is relaxed after electrifying and temperature rising, and a fiber reinforced composite superstructure with the negative stiffness characteristic is obtained. And continuing to relax for preset time after power-off cooling, removing the load, and regulating the compression amount, the current and other parameters to regulate and control the performance. According to the invention, single-bistable reversible switching, large-range continuous adjustment of a mechanical curve and cross-time dimension deformation self-driving are realized, and the method is suitable for the fields of information coding and soft drivers.

The application provides a kind of anti-explosion glass compression resistance performance multidimensional analysis method, belongs to the technical field of testing the strength characteristics of solid materials by applying pressure, the method comprises: in the process of applying compression load to anti-explosion glass sample by pressure head, hardware synchronous trigger and parallel acquisition three-dimensional force-displacement time history signal of compression contact surface, high-speed full-field strain image sequence of sample back and piezoelectric sensor array vibration waveform signal;Time-frequency analysis on vibration waveform signal, match strain concentration area to identify micro-crack propagation, interlaminar delamination and other damage events, quantify the distribution ratio and evolution process of work done by external force in structural deformation, material damage dissipation and fragment splashing kinetic energy during compression process;Calculate effective energy dissipation ratio, dominant failure mode evolution sequence and other indicators to generate dynamic evolution spectrum of compression resistance performance.The application realizes the accurate evaluation of the protection efficiency, failure mechanism and critical point of anti-explosion glass under compression load.

A method intended for manufacturing a composite structure for an aircraft. The method includes training a set of artificial neural networks (3.1, 3.2, 3.3) to obtain a composite structure which fulfills certain specification requirements (material properties, shear loads, compression loads, buckling constraints). The neural networks are trained with data obtained from analytical equations and from a finite element model.

The invention belongs to the technical field of aircraft structure design, and particularly relates to a method for predicting a compression damage area of a composite stiffened plate in an aircraft structure, and the method comprises the steps: 1, screening out important related parameters related to the compression damage of the composite stiffened plate; 2, determining a value range of important related parameters, sampling, and constructing a sample set; 3, constructing a finite element model of the composite stiffened plate, and calculating the damage position of each sample in the sample set under the compression load; step 4, dividing the composite material stiffened plate into a plurality of areas, and enabling the damage position of each sample in the sample set under the compression load to correspond to the corresponding area; step 5, constructing a composite material stiffened plate compression failure region prediction model based on the region corresponding to each sample in the sample set; and 6, calculating the damage area of the composite stiffened plate under the compression load based on the composite stiffened plate compression damage area prediction model by taking the important related parameters as input.

The invention relates to a method for testing interface shear strength of an optical fiber embedded composite material based on an annular pressure head, and belongs to the technical field of interface performance testing of optical fibers and composite materials. Comprising the following steps: providing a group A sample and a group B sample of which the cross sectional areas are smaller than the area of a test pressure head; the A group of samples are composite material samples embedded with optical fibers, the end surfaces of the optical fibers and the surface of the matrix are coplanar, and the B group of samples are composite material samples not embedded with optical fibers; acquiring annular pressure data; obtaining matrix data; calculating shear strength; correcting the matrix compression load based on the ratio of the effective compression area of the A group of samples to the effective compression area of the B group of samples to obtain a matrix equivalent compression load; and calculating the difference between the total load and the equivalent compression load of the matrix to obtain an interface shear force, and further calculating the interface shear strength. The interference of the plastic deformation of the matrix on a test result is eliminated, and the accuracy and the reliability of a calculation result are remarkably improved.

The embodiment of the invention discloses a load processing method and device, equipment and a storage medium, and can be applied to the field of databases. The method comprises the following steps: in response to a load compression request, determining a query processing amount of a database at each first moment within a preset time period; determining a plurality of target moments when the query processing capacity is smaller than a first threshold value, dividing a preset time period into a plurality of continuous first time intervals according to each target moment, and determining the load of the database in each first time interval as a load slice; according to log data of a database in a preset time period, determining slice characteristics of each load slice; and clustering the load slices according to the slice features to obtain a plurality of slice sets, and selecting part of the load slices from each slice set as compression loads of the database in a preset time period according to a preset sampling rule. By adopting the embodiment of the invention, the load compression effect of the database can be improved, and the applicability is high.

A method in an illustrative embodiment includes determining a compression ratio of a service processor (SP) in a storage system based on raw data and compressed data. The method further includes determining whether the compression ratio of the SP is greater than a predetermined threshold. The method further includes determining, in response to the compression ratio of the SP being greater than the predetermined threshold, a target virtual data migrator (VDM) associated with a compression task from a plurality of VDMs in the SP. The method further includes offloading the target VDM to a data processing unit (DPU) connected to the SP. In this way, the DPU can be used to expand the resources of the SP, process compression tasks, reduce the load on a CPU in the SP, and improve the compression efficiency and system performance.

The utility model discloses a universal testing machine clamp suitable for an open type high-temperature furnace, which comprises a connecting rod, a square right-angle U-shaped frame and a clamp, and the connecting rod is connected with a universal testing machine; the square right-angle U-shaped frame is connected with the connecting rod, a groove is formed in one end of the square right-angle U-shaped frame, and a through hole is formed in the other end of the square right-angle U-shaped frame; the clamp is installed between the two square right-angle U-shaped frames which are oppositely arranged through the through holes and the grooves. According to the utility model, the square right-angle U-shaped frame is adopted, so that the pull rod realizes compression loading under the action of tensile load, the instability hidden danger of a slender rod under the compression working condition is avoided, and the space of the compression clamp is reduced to the maximum extent; the device is small in size and can be easily applied to a small-volume open type high-temperature furnace; the square right-angle U-shaped frame adopts concentric shaft sliding hole matching, so that coaxial loading can be realized, and the problem of eccentric loading caused by non-coaxial compression loading is effectively avoided.

The application provides a kind of resistance strain gauge transverse effect coefficient calibration test device and calibration method, it is related to resistance strain gauge technical field.The device includes test piece, two tension-compression loading components, bending loading head, bending support head and base;The base is fixed on the lower side of biaxial testing machine;The bending support head is connected to the base;Two tension-compression loading components are respectively connected to the left and right sides of biaxial testing machine;Test piece is connected with two tension-compression loading components;The upper end of bending loading head is connected with the upper side of biaxial testing machine;The lower surface of test piece is in contact with the upper end of bending support head, in the case of no load, test piece is completely supported on bending support head, and test piece has no initial stress.The method based on the two loading modes that the calibration test device can realize can realize calibration test and simulate any ratio biaxial strain test;The device is simple in structure, easy to operate, used with biaxial testing machine, makes full use of existing equipment, and the test cost is low.

The present invention provides a fine adjustment screw assembly and a processing device that appropriately measure a load applied to a processing tool for grinding a grinding tool. The fine adjustment screw assembly is configured to link a first member and a second member at a distance apart, is capable of adjusting a distance between the first member and the second member, and is capable of detecting a load applied to the second member. The fine adjustment screw assembly includes a first external thread capable of being screwed into a first internal thread formed in the first member, a second external thread disposed separately from the first external thread on an extension line of an axial direction of the first external thread, capable of being screwed into a second internal thread formed in the second member, the second internal thread having a different pitch from a pitch of the first internal thread, a linking portion linking the first external thread and the second external thread that are separate from each other into one body, and a load sensor housed inside the linking portion to which a compression load is applied.

The utility model relates to a compression calibration tool for a load sensor. The compression calibration tool comprises a detection frame, a torque loading piece, a calibration sensor and a plane bearing, the torque loading piece downwards applies a dynamic or static axial compression load to the calibration sensor, and the compression load is transmitted to the load sensor in the installation area of the detection frame through the plane bearing. The plane bearing eliminates lateral force interference through balls / pin rollers, and it is ensured that compression loads are strictly transmitted in the axial direction. The detection frame comprises an upper detection plate and a lower detection plate which are symmetrically arranged up and down, a rigid frame is formed by connecting a plurality of groups of supporting rods, the supporting rods are optimized into isosceles triangles, the structural stability is enhanced, and stress concentration is avoided. By arranging the plane bearing and the calibration sensor, the lateral force or the lateral torque is eliminated, the high-precision force value is obtained, the overall structure is simple, and the cost is low.