WO2021128797A1 - Ensemble capteur, dispositif de mesure de forces d'action et machine d'ingénierie - Google Patents

Ensemble capteur, dispositif de mesure de forces d'action et machine d'ingénierie Download PDF

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Publication number
WO2021128797A1
WO2021128797A1 PCT/CN2020/100166 CN2020100166W WO2021128797A1 WO 2021128797 A1 WO2021128797 A1 WO 2021128797A1 CN 2020100166 W CN2020100166 W CN 2020100166W WO 2021128797 A1 WO2021128797 A1 WO 2021128797A1
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WO
WIPO (PCT)
Prior art keywords
sensor assembly
connecting portion
assembly according
bearing
cylindrical body
Prior art date
Application number
PCT/CN2020/100166
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English (en)
Chinese (zh)
Inventor
刘延斌
文杰
郭伦文
付玲
蒋凯歌
Original Assignee
中联重科股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 中联重科股份有限公司 filed Critical 中联重科股份有限公司
Publication of WO2021128797A1 publication Critical patent/WO2021128797A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G01L1/2218—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being of the column type, e.g. cylindric, adapted for measuring a force along a single direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2268—Arrangements for correcting or for compensating unwanted effects

Definitions

  • the invention relates to the detection of engineering equipment, in particular to sensor components and force detection equipment.
  • the purpose of the present invention is to overcome the problem of sensor damage due to eccentric load in the prior art, and to provide a sensor assembly whose anti-deflection structure can reduce the influence of lateral load.
  • one aspect of the present invention provides a sensor assembly, wherein the sensor assembly includes a connecting portion for connecting a substrate to be measured and a carrying portion for carrying, and the carrying portion is provided with a sensing element, so
  • the sensor assembly has an axis and is configured to be a symmetrical structure about the axis, and the connecting portion and/or the bearing portion are provided with a device for preventing the connecting portion and the bearing portion from moving relative to each other in a direction deviating from the axis. Anti-deflection structure.
  • the carrying portion includes a columnar body
  • the connecting portion is provided with a first positioning hole for inserting the columnar body
  • the columnar body and the first positioning hole form the anti-deflection structure.
  • the load-bearing portion includes an integrated spoke structure
  • the spoke structure includes an outer tire, a hub, and spokes located between the outer tire and the hub
  • the hub has a top surface protruding from the spokes and an axial direction.
  • a blind hole is provided and opened toward the connecting portion, and the columnar body is assembled in the blind hole.
  • the bearing portion includes a plurality of first strain gauges, the plurality of first strain gauges are arranged around the circumference of the columnar body, and the side surfaces of the spokes are provided with second strain gauges.
  • the connecting portion has a first surface opposite to the bottom surface of the columnar body, a second surface opposite to the bottom surface of the outer tire, and a third surface opposite to the bottom surface of the hub.
  • the columnar body A first initial gap b1 is formed between the bottom surface of the hub and the first surface, a second initial gap b2 is formed between the bottom surface of the outer tyre and the second surface, and the bottom surface of the hub is between the bottom surface of the hub and the third surface.
  • An anti-overload gap b3 is formed therebetween, the first initial gap b1 is smaller than the second initial gap b2, the second initial gap b2 is smaller than the overload prevention gap b3, and the outer tyre and the connecting portion are arranged between There is a first elastic gasket.
  • the bearing portion includes a cylindrical body corresponding to a central portion of the connecting portion and a peripheral portion corresponding to an outer peripheral portion of the connecting portion, the cylindrical body and the peripheral portion are integrally formed, and the connecting portion There is a second positioning hole for inserting the cylindrical body.
  • the carrying portion includes a cylindrical body corresponding to a central portion of the connecting portion and a peripheral portion corresponding to an outer peripheral portion of the connecting portion, the cylindrical body and the peripheral portion are integrally formed, and the connecting portion It has a positioning boss for inserting into the hollow part of the cylindrical body.
  • the inner wall of the cylindrical body is provided with a first strain gauge, and the peripheral part is provided with a second strain gauge.
  • both ends of the cylindrical body protrude from the end surface of the peripheral portion, and the connecting portion includes a fourth surface opposite to the end surface of the cylindrical body and a fifth surface opposite to the end surface of the peripheral portion.
  • a first initial gap b1 is formed between the end surface of the cylindrical body and the fourth surface
  • a second initial gap b2 is formed between the end surface of the peripheral portion and the fifth surface.
  • a second elastic gasket is provided between the peripheral portion and the connecting portion.
  • the bearing portion has a surface for receiving force, the surface is a spherical surface, and the axis passes through the center of the spherical surface.
  • the present invention also provides a force detection device, wherein the force detection device includes a force-bearing device and the sensor assembly of the present invention, and the connecting portion is installed at the force-bearing end of the force-bearing device.
  • the present invention also provides an engineering machine, wherein the engineering machine includes the force detection device of the present invention.
  • Fig. 1 is a schematic structural diagram of a support reaction force detection device for a leg according to an embodiment of the present invention
  • Figure 2 is a cross-sectional view taken along line A-A in Figure 1;
  • Figure 3 is an enlarged view of B in Figure 2;
  • 4a to 4c are respectively a front view, a cross-sectional view and a perspective view of the connecting portion in FIG. 2 taken along the line C-C;
  • FIG. 5 is a schematic diagram of the first sensing unit in FIG. 2;
  • 6a to 6c are a front view, a cross-sectional view and a perspective view of the second sensing unit in FIG. 2 taken along the line D-D;
  • Fig. 7 is a schematic structural diagram of a sensor assembly according to another embodiment of the present invention.
  • Figures 8a to 8d are respectively a front view, a cross-sectional view taken along the line E-E, a cross-sectional view taken along the line F-F and a perspective view of the carrying part in Figure 7;
  • Figure 9 is a perspective view of the connecting portion in Figure 7;
  • Fig. 10 is a schematic structural diagram of a sensor assembly according to another embodiment of the present invention.
  • Figure 11 is a perspective view of the connecting portion in Figure 10;
  • 12a to 12d are respectively a front view, a cross-sectional view taken along the G-G line, a view viewed from the H direction, and a perspective view of the bearing part in FIG. 10.
  • a sensor assembly including a connecting portion 100 for connecting a substrate to be measured and a carrying portion 200 for carrying, and the carrying portion 200 is provided with a sensing element,
  • the sensor assembly has an axis and is configured to be a symmetrical structure about the axis, and the connecting portion 100 and/or the bearing portion 200 are provided to prevent the connecting portion 100 and the bearing portion 200 from deviating from the axis.
  • a specific anti-deflection structure can be provided accordingly.
  • both the connecting portion 100 and the carrying portion 200 are provided with corresponding anti-deflection structures.
  • the carrying portion 200 includes a columnar body 211
  • the connecting portion 100 is provided with a first positioning hole 110 for inserting the columnar body 211
  • the columnar body 211 and the first The positioning hole 110 forms the anti-deflection structure.
  • the carrying portion 200 may include a plurality of first strain gauges 212, the plurality of first strain gauges 212 are arranged around the circumference of the columnar body 211, and the columnar body 211 and the first strain gauge 212 form a first sensing unit 210. In order to provide more high-precision detection results, other sensing units can be installed.
  • the carrying portion 200 may include an integrated spoke structure including an outer tire 221, a hub 222, and a spoke 223 located between the outer tire 221 and the hub 222, and the hub 222 has a spoke protruding from the The top surface of the spokes 223 and the blind holes 2221 which are axially arranged and open toward the connecting portion, and the columnar body 211 is fitted in the blind holes 2221.
  • the side surface of the spoke 223 may be provided with a second strain gauge 224, so that the second sensing unit 220 may be formed by the spoke structure and the second strain gauge 224.
  • the range of the second sensing unit 220 can be made different from that of the first sensing unit 210, so as to provide measurement results under respective working conditions with higher accuracy.
  • the first sensing unit 210 and the second sensing unit 220 can be made to have an initial gap different from that of the connecting part 100.
  • the different initial gaps can be eliminated, and the sensing units of different ranges can operate in Provide detection feedback under the working conditions with high measurement accuracy to ensure the accuracy of the detection results.
  • corresponding detection methods can be set according to needs, so as to output detection results through different sensing units or combinations thereof in different situations.
  • the sensing unit with a smaller range is used for detection under a lower load condition, and the sensing unit with a larger range is added for detection under a higher load condition.
  • the connecting portion 100 has a first surface opposite to the bottom surface of the columnar body 211, a second surface opposite to the bottom surface of the outer tire 221, and a third surface opposite to the bottom surface of the hub 222,
  • a first initial gap b1 is formed between the bottom surface of the columnar body 211 and the first surface
  • a second initial gap b2 is formed between the bottom surface of the outer tire 221 and the second surface
  • An overload prevention gap b3 is formed between and the third surface
  • the first initial gap b1 is smaller than the second initial gap b2
  • the second initial gap b2 is smaller than the overload prevention gap b3
  • a first elastic gasket 225 is provided between the connecting portion 100 and the connecting portion 100.
  • the connecting portion 100 may be provided with a first elastic gasket groove 150 for placing the first elastic gasket 225.
  • the first elastic gasket 225 exposes the first elastic gasket groove 150, it can provide elastic force to reduce the second elastic gasket.
  • the rigidity of the sensing unit 220 and the first elastic gasket 225 as a whole that is, the overall rigidity is less than the maximum rigidity of the first elastic gasket 225 and the sum of the rigidity of the second sensor unit 220 and the second sensor unit 220 and can be adjusted);
  • the second sensing unit 220 directly contacts the connecting portion 100, and the rigidity does not change.
  • the second sensing unit 220 with a smaller range always has a force transmission relationship with the connecting part 100 through the first elastic gasket 225 (but when the load is small, the second sensing unit 220 still maintains the second connection with the connecting part 100).
  • the initial gap that is, no direct contact, can be sensed by the second sensing unit 220 from the beginning of the load application, so as to meet the requirements of high measurement accuracy under low load.
  • the bearing portion 200 bears a small force (for example, lower than the first preset value)
  • the first initial gap b1 is not eliminated
  • the first sensing unit 210 does not contact the connecting portion 100
  • the second sensing unit 220 passes
  • the first elastic washer 225 is in contact with the connecting part 100, so the load is all transmitted from the connecting part 100 to the outer tyre 221 through the first elastic shim 225.
  • the supporting reaction force F is basically the same as the load F3 borne by the outer tyre 221, so it can pass
  • the second strain gauge 224 is detected.
  • the load is small, and it is also suitable for providing high-precision detection results through the second sensing unit 220 with a small range. This corresponds to the first range stage of the sensor assembly.
  • the second sensing unit 220 passes through the first elasticity
  • the gasket 225 is in contact with the connecting portion 100, and the first sensing unit 210 is in contact with the connecting portion 100 through the cylindrical body 211.
  • the first sensing unit 210 and the second sensing unit 220 bear the load together, and the supporting force F is in contact with the outer wheel.
  • the sum of the load F3 borne by the hoop 221 and the load F1 borne by the columnar body 211 is substantially the same.
  • the load is in a situation where the first sensing unit 210 and the second sensing unit 220 can respectively provide high-precision detection results, and the measurement value is provided by the first sensing unit 210 and the second sensing unit 220 together, which is The sum of the two measured values. This corresponds to the second range stage of the sensor assembly.
  • the first elastic gasket 225 no longer provides the effect of reducing the rigidity of the second sensor unit 220 as a whole.
  • the second sensing unit 220 is in direct contact with the connecting part 100 through the outer tire 221, and the first sensing unit 210 is in contact with the connecting part 100 through the cylindrical body 211. At this time, the first sensing unit 210 and the second sensing unit 220 are in common
  • the supporting reaction force F is basically the same as the sum of the load F3 borne by the outer tire 221 and the load F1 borne by the columnar body 211.
  • the load is in a situation where the first sensing unit 210 and the second sensing unit 220 can respectively provide high-precision detection results, and the measurement value is provided by the first sensing unit 210 and the second sensing unit 220 together, which is The sum of the two measured values. This corresponds to the third range stage of the sensor assembly.
  • the connecting portion 100 (for example, the overload prevention boss 160 provided in the middle) is stopped by the hub 222 to prevent the spokes 222 provided with the second strain gauges 224 from being Damage due to excessive load. This corresponds to the overload protection phase of the sensor assembly.
  • the carrying portion 200 includes a cylindrical body 230 corresponding to the central portion of the connecting portion and an outer peripheral portion corresponding to the connecting portion 100
  • the peripheral portion 240 of the cylindrical body 230 and the peripheral portion 240 are integrally formed.
  • the connecting portion 100 has a second positioning hole 120 for inserting the cylindrical body 230 (as shown in FIGS. 10 to 12d, only the connecting portion 100 is provided with an anti-deflection structure) .
  • the connecting portion 100 has a positioning boss 130 for inserting into the hollow portion of the cylindrical body 230 (only the bearing portion 200 is provided with an anti-deflection structure, as shown in FIGS. 7-9 Shown).
  • the cylindrical body 230 is inserted into the second positioning hole 120 to form an anti-deflection structure.
  • the positioning boss 130 is inserted into the hollow part of the cylindrical body 230 (the cylindrical structure 260) to form an anti-deflection structure.
  • strain gauges can be arranged at different positions of the carrying part 200.
  • the inner wall of the cylindrical body 230 is provided with a first strain gauge 212 to form the first sensing unit 210
  • the peripheral portion 240 is provided with a second strain gauge 224 to form the second sensing unit 220.
  • both ends of the cylindrical body 230 protrude from the end surface of the peripheral portion 240, and the connecting portion 100 includes a fourth surface opposite to the end surface of the cylindrical body 230 and an end surface opposite to the peripheral portion 240.
  • a first initial gap b1 is formed between the end surface of the cylindrical body 230 and the fourth surface
  • a second initial gap b2 is formed between the end surface of the peripheral portion 240 and the fifth surface.
  • the cylindrical body 230 includes a cylindrical structure 260
  • the peripheral portion 240 includes an annular portion 270 surrounding the cylindrical structure 260 and located between the annular portion 270 and the
  • the plate-shaped portion 280 between the cylindrical structures 260, the first strain gauge 212 is arranged on the inner wall of the cylindrical structure 260, and the second strain gauge 224 is arranged on the plate surface of the plate-shaped portion 280
  • the first initial gap b1 formed between the cylindrical structure 260 and the connecting portion 100, and the second initial gap b2 formed between the plate-shaped portion 280 and the connecting portion 100 is 0, that is, the second initial gap b2 is relatively small.
  • the bearing part 200 bears a small force (for example, lower than the first preset value)
  • the first initial gap b1 is not eliminated
  • the first sensing unit 210 is in contact with the connecting part 100
  • the second sensing unit 220 is connected to
  • the part 100 is not in direct contact, so all the load is transmitted from the connecting part 100 to the cylindrical structure 260, and is borne by the integrated cylindrical structure 260, the ring part 270 and the plate part 280. Because the load is small at this time, the range is relatively large.
  • the detection accuracy of the small second sensing unit 220 is higher, so it can be detected by the second strain gauge 224 to provide a more accurate detection result. This corresponds to the first range stage of the sensor assembly.
  • the load is all transmitted from the connecting portion 100 to the cylindrical structure 260 and the annular portion 270, and It is shared by the integrated cylindrical structure 260, the ring portion 270 and the plate portion 280. Due to the larger load at this time, the detection accuracy of the first sensing unit 210 with a larger range is higher, and the detection accuracy of the second sensor with a smaller range is higher.
  • the sensing unit 220 only bears the load together with the first sensing unit 210, but the measured value is no longer accurate and not suitable for providing the measured value, so it can be detected by the first strain gauge 212 to provide a more accurate detection result. This corresponds to the second range stage of the sensor assembly.
  • the outer peripheral portion 240 is in the form of a flange and is connected to the cylindrical body 230 through an annular plate, and the second strain gauge 224 is provided on the annular plate.
  • a second elastic gasket 241 is provided between the outer peripheral portion 240 and the connecting portion 100 to reduce the rigidity of the second sensing unit 220 and the second elastic gasket 241 as a whole.
  • a receiving groove may be provided in the connecting portion 100 and/or the outer peripheral portion 240.
  • the first initial gap b1 is smaller than the second initial gap b2.
  • the bearing portion 200 bears a small force (for example, lower than the first preset value)
  • the first initial gap b1 is not eliminated
  • the first sensing unit 210 does not contact the connecting portion 100
  • the second sensing unit 220 passes
  • the second elastic gasket 241 is in contact with the connecting portion 100, so all the load is transmitted from the connecting portion 100 to the outer peripheral portion 240, and is shared by the integrated cylindrical body 230 and the outer peripheral portion 240.
  • the support reaction force F is substantially the same as the load F1 borne by the outer peripheral portion 240, and thus can be detected by the second strain gauge 224.
  • the load is small, and it is also suitable for providing high-precision detection results through the second sensing unit 220 with a small range. This corresponds to the first range stage of the sensor assembly.
  • the second sensing unit 220 contacts the connecting portion 100 through the second elastic gasket 241
  • the first sensing unit 210 is in contact with the connecting portion 100 through the cylindrical main body 230, and the load is shared by the integrated cylindrical main body 230 and the outer peripheral portion 240. Since the load is relatively large at this time, the first sensing unit 210 with a larger range is The detection accuracy is higher.
  • the second sensing unit 220 with a smaller range only bears the load together with the first sensing unit 210, but the measured value is no longer accurate and not suitable for providing the measured value, so it can be detected by the first strain gauge 212, In order to provide high-precision test results. This corresponds to the second range stage of the sensor assembly.
  • the second elastic gasket 241 no longer provides the effect of reducing the rigidity.
  • the load is directly transmitted to the cylindrical main body 230 and the outer peripheral part 240 by the connecting part 100, and is shared by the integrated cylindrical main body 230 and the outer peripheral part 240.
  • the load is relatively large and the first sensing unit 210 has a large range.
  • the detection accuracy is higher.
  • the second sensing unit 220 with a smaller range only bears the load together with the first sensing unit 210, but the measured value is no longer accurate and not suitable for providing the measured value, so it can be detected by the first strain gauge 212 , In order to provide high-precision test results. This corresponds to the second range stage of the sensor assembly.
  • the first initial gap b1 is smaller than the second initial gap b2.
  • the carrying part 200 and the connecting part 100 can be connected in various suitable ways.
  • the connecting part 100 and the carrying part 200 are provided with a first mounting hole 140 and a second mounting hole 271, and passing through the first mounting hole.
  • the fastener of the hole 140 and the second mounting hole 271 connects the connecting portion 100 and the carrying portion 200.
  • the sensor assembly has an axis and is arranged in a symmetrical structure about the axis
  • the bearing portion 200 has a surface for receiving a force
  • the surface is a spherical surface 250
  • the axis passes through the spherical surface.
  • Ball heart As a result, it is possible to make the bearing portion 100 bear the load in the axial direction as much as possible.
  • a spherical surface 250 can be provided at the ends of the cylindrical body 211 and the cylindrical body 230 away from the connecting portion 100 as in the embodiment shown in FIGS. 1 to 6c and 10 to 12d, or as shown in the figure
  • a bearing ball head 261 is provided at the end of the cylindrical structure 260 to form a spherical surface 250.
  • a force detection device is provided, wherein the force detection device includes a force-bearing device 300 and the sensor assembly of the present invention. As shown in FIGS. 1 and 2, the connecting portion 100 Installed at the load-bearing end of the load-bearing device 300. With the sensor assembly of the present invention, the force received by the force-bearing device 300 can be detected more accurately.
  • the present invention also provides an engineering machine, wherein the engineering machine includes the force detection device of the present invention.
  • the force detection equipment of the present invention can be used in various construction machinery where the bearing capacity needs to be detected.
  • the construction machine may include a leg, and the force-bearing device 300 may be a leg cylinder of the leg.
  • the connecting portion 100 may be installed at the protruding end of the piston rod 310 of the leg cylinder. Therefore, the supporting reaction force of the supporting leg can be accurately detected by the detection device of the present invention.
  • the force-bearing device may be a ball-head type oil cylinder, and the connecting portion 100 is installed at the protruding end of the piston rod of the ball-head type oil cylinder.
  • the ball head cylinder may be, for example, an outrigger cylinder of an engineering machine, and the measured force is the supporting force of the outrigger.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un ensemble capteur, un dispositif de mesure de forces d'action et une machine d'ingénierie. L'ensemble capteur comprend une partie de liaison (100), permettant une liaison à une base à tester, et une partie de support (200), permettant de faire support. La partie de support (200) est pourvue d'éléments de détection (212, 224, 2121, 2122). L'ensemble capteur a un axe et est conçu pour avoir une structure symétrique autour de l'axe. Et la partie de liaison (100) et/ou la partie de support (200) est/sont pourvue(s) d'une structure de prévention d'écartement, permettant d'empêcher le mouvement relatif de la partie de liaison (100) et de la partie de support (200) dans le sens d'écartement de l'axe. La structure de prévention d'écartement permet à la charge portée par la partie de support (200) d'être autant que possible dans la direction axiale, ce qui évite d'endommager les éléments de détection (212, 224, 2121, 2122) de la partie de support (200) par des charges trop importantes d'écartement latéral.
PCT/CN2020/100166 2019-12-27 2020-07-03 Ensemble capteur, dispositif de mesure de forces d'action et machine d'ingénierie WO2021128797A1 (fr)

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CN201911378163.2 2019-12-27
CN201911378163.2A CN111122037B (zh) 2019-12-27 2019-12-27 传感器组件、作用力检测设备和工程机械

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CN111122038B (zh) * 2019-12-27 2020-12-15 中联重科股份有限公司 传感器组件、作用力检测设备和方法以及工程机械
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CN106404527A (zh) * 2016-11-22 2017-02-15 苏州达美特汽车测试技术有限公司 一种用于动态冲击测试的双量程力传感器
CN209416544U (zh) * 2018-12-11 2019-09-20 余姚太平洋称重工程有限公司 一种高精度圆板传感器及加载装置
CN209764240U (zh) * 2019-04-15 2019-12-10 北京万集科技股份有限公司 称重传感器和动态汽车衡
CN111122037A (zh) * 2019-12-27 2020-05-08 中联重科股份有限公司 传感器组件、作用力检测设备和工程机械
CN111122038A (zh) * 2019-12-27 2020-05-08 中联重科股份有限公司 传感器组件、作用力检测设备和方法以及工程机械

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